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Operating Instructions - u

1. confirm response Node j Guard Time COB ID 1792 Node ID Remote transmit reguest Node request indication Life Time confirm response Node Guarding Event Life Guarding Event A4 indication indication if guarding error t Toggle Bit Initially 0 changes its value in each Guarding frame s Status s 0x04 4D Stopped Prepared s 0x05 5D Operational s 0x7F 127D Pre Operational 31 Identifier distribution CANopen provides default identifiers for the most important objects in the Predefined Connection Set These consist of a 7 bit node address Node ID and a 4 bit function code in accordance with the following diagram Bit No COB identifier 10 0 lt lt _ _ _ Function Code Node ID The FAULHABER motion controllers only operate with these default identifiers Function Resulting COB ID Communication code binary Parameters at Index NMT 0000 0 SYNC 0001 128 80h 1005h TIME 0010 256 100h 1012h STAMP Communication Parameters at Index Function code Resulting COB ID binary EMER 0001 129 81h 1014h 1015h GENCY 255 FFh PDO1 0011 385 181h 1800h tx 511 1FFh PDO1 0100 513 201h 1400h rX 639 27Fh PDO2 0101 641 281h 1801h tx 767 2FFh PDO2 0110 769 301h 1401h rx 895 37Fh PDO3 0111 897 381h 1802h tx 1023 3FFh PDO3 1000 1025 401h 1402h rx 1151 47Fh
2. Get integral term of velocity controller Corresponds to object 0x60F9 Get amplification value of position controller PP Corresponds to object 0x60FB Get D term of position controller PD Corresponds to object 0x60FB Get integral term of current controller Cl Get peak current PC in mA Get continuous current CC in mA Get deviation value DEV Get window around target position Corresponds to object 0x6067 SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands 6 4 2 2 Configuration of fault pin and digital inputs Command Hex value Data Function Description IOC 0x5C 0 I O Configuration Set input output configuration Return value binary coded LSB Bit 0 Bit 0 7 FAULHABER Hard Blocking 0 7 Function active for input 1 3 Bit 8 15 FAULHABER Hard Polarity 0 7 Rising edge at input 1 3 Bit 16 23 FAULHABER Hard Direction 0 7 right movements stored at input 1 3 Bit 24 State of digital output 0 Low 1 High Bit 25 Level of digital inputs 0 TTL level 5V 1 PLC level 24V Bit 26 28 Function of fault pin 0 ERROUT 1 ENCOUT 2 DIGOUT 3 DIRIN 4 REFIN GDCE OXIA 0 Get Delayed Current Error Set value of error output delay DCE GPN 0x32 0 Get Pulse Number Set pulse number LPN 6 4 2 3 Configuration of homing in FAULHABER mode Command Hex value Data Function Description HOC 0x5B 0 Homing Configuration Set homing configuration Return values binary coded LSB Bit 0 Bit 0 7 SHA setting for inpu
3. Us Set encoder resolution Command Function Description ENCRES Load Encoder Load resolution of external Resolution encoder Value range 0 to 65535 4 times pulse mm Example External encoder with 1000 pulses mm ENCRES4000 Set ENCRES to the post quadrature value of the encoder resolution which is four times the resolution of one channel per revolution Yj Y SZ FAULHABER 3 Functional Description 3 3 Extended operating modes 3 3 5 Analog control of current limit The command SOR3 allows the drive to change current limiting by using the analog input A 10 V signal allows the drive to induce as much current asis limited by the setting for LPC In this mode the l t calculation stops and the LCC setting has no effect Setting LPC beyond what the Servomotor can sustain may cause permanent damage The motion controller only measures the magnitude of the input voltage A negative input voltage will not cause reverse direction Simple position control using a potentiometer circuit example 20 SZ FAULHABER 3 Functional Description 3 4 Special functions of the error connection The fault output pin can be configured to act as an input or an output Use the appropriate command found in the following table to configure the pin for the desired functionality Command Function Description ERROUT Error Output Fault pin as error output ENCOUT Encoder Output Fault pin as pulse output DIGOUT Digital O
4. SDO 1011 1409 581h 1200h tx 1535 5FFh SDO 1100 1537 601h 1200h rX 1663 67Fh NMT 1110 1793 701h Error 1919 77Fh Control SZ FAULHABER 4 CANopen 4 6 Entriesin the object dictionary The configuration parameters are managed in the CANopen Object dictionary The Object dictionary is divided into three areas 1 Communication parameters Index 0x1000 0x1FFF 2 Manufacturer specific area Index 0x2000 Ox5FFF 3 Standardised device profiles 0x6000 Ox9FFF The 1st area contains the objects according to DS301 the 2nd area is reserved for manufacturer specific objects and the 3rd area contains the objects according to DSP402 supported by the FAULHABER motion controllers Each object can be referenced via its index and sub index SDO protocol Overview of the available objects a Communication objects according to DS301 Index Ohject Symbolic Name Name Type Attrb 0x1000 VAR device type UNSIGNED32 ro 0x1001 VAR error register UNSIGNED8 ro 0x1003 ARRAY pre defined error field UNSIGNED32 ro 0x1008 VAR manufacturer device name Vis String const 0x1009 VAR manufacturer hardware version Vis String const 0x100A VAR manufacturer software version Vis String const 0x100C VAR guard time UNSIGNED16 rw 0x100D VAR life time factor UNSIGNED8 rw 0x1010 ARRAY store parameters UNSIGNED32 rw 0x1011 ARRAY restore default parameters UNSIGNED32 rw 0x1014 VAR COB ID EMCY UNSIGNED32 ro 0x1018 RECORD Identity Object
5. After switch on and successful initialisation the FAULHABER drive is immediately in Switch On Disabled state A state change can only be performed when the device isin Operational state see section 4 5 The Shutdown command puts the drive in the Ready to Switch On state transition 2 The Switch On command then switches on the power stage The drive is now enabled and is in Switched On state transition 3 The Enable Operation commands puts the drive in the Operation Enabled state the drive s normal operating mode transition 4 The Disable Operation command returns the drive to the Switched On state and serves e g to terminate a running operation transition 5 SZ FAULHABER 4 CANopen 4 7 Drive control Device control The state changes shown in the diagram are executed by the following commands Shutdown 2 6 8 Switch on 3 Disable Voltage 7 9 10 12 Quick Stop 7 10 11 Disable Operation 5 Enable Operation 4 16 Fault Reset 15 The commands for executing state changes are executed through a special bit combination in the controlword The controlword is located in the Object dictionary under Index 0x6040 and is generally transmitted with PDO1 The meaning of the individual bits of the controlword is explained in section 6 3 1 In the event of state changes the FAULHABER motion controller in its default setting automatically sends the current statu
6. GOHOSEQ 0x2F 0 Go Homing Sequence GOHIX Ox2E 0 Go Hall Index GOIX OxA3 0 Go Encoder Index HO 0xB8 0 Value Define Home Position Description Deactivate drive Activate drive Activate position control and start positioning Load new absolute target position Value range 1 8 10 1 8 10 Load new relative target position in relation to last started target position Resulting absolute target position must be between 2 14 10 and 2 14 10 Output PWM value in VOLTMOD Value range 32767 32767 corresponds to Uv Uv Execute FAULHABER homing sequence A homing sequence is executed if programmed independently of the current mode Move Servomotor to Hall zero point Hall index and set actual position value to 0 Move to the Encoder Index at the fault pin and set actual position value to 0 ext encoder Data 0 Set actual position to 0 Otherwise Set actual position to specified value Value range 1 8 10 1 8 10 SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands 6 4 5 General query commands Command Hex value Data Function Description POS 0x40 0 Get Actual Position Current actual position Corresponds to object 0x6063 TPOS 0x4B 0 Get Target Position Target position of last started positioning Corresponds to object 0x6062 GV 0x3A 0 Get Velocity Current target velocity in mm s Corresponds to object Ox60FF GN 0x2B 0 Get N Current actual velocity in mm s Corresponds to object
7. Ox9A 0x78 0x72 0x75 0x76 Data Value Value Value Value Value Value Value Value Value Value Function Hard Polarity Hard Blocking Hard Direction Set Home Arming for Homing Seguence Set Hard Limit for Homing Seguence Set Hard Notify for Homing Seguence Load Homing Speed Home Arming Hard Limit Hard Notify 7 ets 4 3 2 ijol Analog input Fault pin 3rd input 59 Description Define valid edge and polarity of respective limit switches 1 Rising edge or high level valid 0 Falling edge or low level valid Activate Hard Blocking function for relevant limit switch Presetting of direction that is blocked with HB of respective limit switch 1 right movement blocked 0 left movement blocked Homing behaviour GOHOSEQ Set position value to 0 at edge of respective limit switch Homing behaviour GOHOSEQ Stop motor at edge of respective limit switch Homing behaviour GOHOSEQ Send message to Master at edge of respective limit switch statusword bit 14 1 Load speed and direction for homing GOHOSEQ GOHIX GOIX Value range 10000 to 10000 mns Set position value to 0 and delete relevant HA bit at edge of respective limit switch Setting is not stored Stop motor and delete relevant HL bit at edge of respective limit switch Setting is not stored Send message to Master statusword bit 14 1 and delete relevant HN bit at edge of respective limit
8. defined Analog direction right Peak current limitation 1440 mA Continuous current limitation 480 mA Acceleration 30000 mm s Deceleration ramp 4000 mm s Sampling rate 100 us I term of velocity controller P term of velocity controller P term of position controller D term of position controller I term of current controller Limitation of maximum velocity to 500 mm s Upper positioning range limit Lower positioning range limit Numeric value for pulse output Step width for special operation Step number for spedal operation Resolution of external encoder Do not monitor deviation error Error delay 2 sec Target corridor for positionings Do not permit block commutation Digital inputs PLC compatible Operating mode Profile Position Mode Power stage deactivated Nominal position displacement 0 The FAULHABER Group SGN FAU LH A B E R Of DR FRITZ FAULHABER GMBH amp CO KG DaimlerstraBe 23 25 71101 Schdnaich Germany Tel 49 0 70 31 638 0 Fax 49 0 70 31 638 100 Email info faulhaber de www faulhaber group com MINIMOTOR SA 6980 Croglio Switzerland Tel 41 0 916113100 Fax 41 0 916113110 Email info minimotor ch www minimotor ch i i www faulhaber group com MicroMo Electronics Inc 14881 Evergreen Avenue h Clearwater FL 33762 3008 USA Phone 1 727 572 0131 Fax 1 727 573 5918 Toll Free 800 807 9166 Email info micromo com www micromo com More information Go online F
9. 0 LM Motor Type Setting for connected motor 0 LM special motor according to KN and RM KN Ox9E Value Load Speed Constant Load speed constant Kn according to specificationsin data sheet RM Ox9F Value Load Motor Resistance Load motor resistance Ru according to specification in data sheet Unit mOhm STW 0x77 Value Load Step Width Load step width for step motor and gearing mode Value range 0 65535 STN 0x64 Value Load Step Number Load number of steps per revolution for step motor and gearing mode Value range 0 65535 ADL 0x00 0 Analog Direction Left Positive voltages at the analog input result in left movement of the shaft SOR1 SOR2 ADR 0x01 0 Analog Direction Right Positive voltages at the analog input result in right movement of the shaft SOR1 SOR2 SIN OxAO 0 1 Sinus Commutation 1 No block commutation in the upper velocity range default 57 0 Block commutation in the upper velocity range full modulation SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands 6 4 1 3 General parameters Command Hex value Data Function Description LL 0xB5 Value Load Position Range Load limit positions the drive cannot be moved out of Limits these limits Positive values specify the upper limit and negative values the lower The range limits are only active if APL1 is set Value range 1 8 10 1 8 10 Corresponds to object 0x607D APL 0x03 0 1 Activate Deactivate Activate range limits LL valid for all op
10. 0x6069 GU Ox5F 0 Get PWM Voltage Set PWM value in VOLTMOD GRU 0x60 0 Get Real PWM Voltage Current controller output value GCL 0x10 0 Get Current Limit Current limitation current in mA GRC 0x34 0 Get Real Current Current actual current in mA TEM 0x47 0 Get Temperature Current housing temperature in C OST 0x57 0 Operation Status Display current operating status Return value binary coded LSB Bit 0 Bit 0 Homing running Bit 1 3 Reserved Bit 4 Current limitation active Bit 5 Deviation error Bit 6 Overvoltage Bit 7 Overtemperature Bit 8 Status input 1 Bit 9 Status input 2 Bit 10 Status input 3 Bit 11 Statusinput 4 Bit 12 Statusinput 5 Bit 13 15 Res for further inputs Bit 16 Position attained SWS 0x5A 0 Switch Status Temporary limit switch settings Return value binary coded LSB Bit 0 Bit 0 7 HA setting for input 1 8 Bit 8 15 HN setting for input 1 8 Bit 16 23 HL setting for input 1 8 Bit 24 31 Specifies which limit switch 1 8 has already switched is reset again when the respective input is reset 64 7 Appendix s SA GY FAULHABER 7 1 EC Directive National legislation According to the EC Directive all electrically driven machines equipment and systems produced imported and sold within the European Union must carry a CE mark The EC Directive consists of the following individual Directives which are important for the users of electric motors Machinery Directive 98 37 EC It ap
11. default 1 s The internal velocity values are divided by the velocity factor in order to produce the desired physical values Acceleration Factor Index Subindex NET Type Attrb Default value Meaning 0x6097 0 number of entries Unsigned8 ro 2 Number of object entries 1 numerator Unsigend32 rw 1 Dividend numerator of acceleration factor 2 divisor Unsigend32 rw 1 Divisor denominator of acceleration factor velocity units velocity encoder factor acceleration factor acceleration_units sec The desired acceleration unit can be set with this factor default 1 2 Polarity Index Subindex NET Type Attrb Default value Meaning 0x607E 0 polarity Unsigned8 rw 0 Polarity direction of rotation The direction of rotation can generally be changed with this object Bit 7 1 Neg direction in positioning mode Bit 6 1 Neg direction in velocity mode 6 3 3 Profile Position M ode The objects in this range are available for Positioning Mode Target Postion Index Subindex Name Type Attrb Default value Meaning 0x607A 0 target position Integer32 rw 0 Target position The Target Position is the position to which the drive is to move in Profile Position Mode To do this it uses the current settings for velocity acceleration etc The presetting occurs in user defined units according to the specified Position Factor The Target Position can be interpreted relatively or absolutely depending on the type of positioning that is pr
12. detection is also implemented In addition all functions and parameters of the drive unit can be activated very easily using a special FAULHABER PDO channel For each FAULHABER command a corresponding CAN message frame is available on the PDO channel which enables the CAN unit to be operated similarly to the serial version Drive parameters can be analysed very quickly with the integrated Trace function The FAULHABER Motion Manager software is available for Windows 95 98 M E NT 2K XP this also considerably simplifies the operation and configuration of units using the CAN interface and in addition offers a graphic online analysis function Fields of application Thanks to the compact design the units can be integrated into diverse applications with minimal wiring The flexible connection options open up a broad field of application in all areas for example in decentralized automation technology systems as well asin handling devices and machine tools Options A separate supply for motor and control electronics is optionally available important for safety critical applications in which case the 3rd input is omitted Special preconfiguration of modes and parameters is possible on request The Motion Manager software can be downloaded free of charge from www faulhaber group com 1 Overview SZ FAULHABER 1 2 Quick start To facilitate introduction this section highlights the initial steps for commissioning and operati
13. immunity test m EN 61000 4 6 Immunity to conducted disturbances induced by radio frequency fields m EN 61000 4 8 Power frequency magnetic field immunity test All these tests have been conducted and passed S FAULHABER 7 Appendix 7 3 3 Information on use as intended Please note the following for the devices see also Chapter 2 Preconditions for use as intended M Operation in accordance with the technical data and the User Manual Restrictions E The device MCLM 3006 C is intended for use only in the industrial sector m If the devices are used in the home in business or in commerce or in a small business appropriate measures must be taken to ensure that the emitted interference is below the permitted limits E None of the connection leads with the exception of the power supply may exceed a length of 3 m m The connection leads between Motion Controller and motor must be shielded as of a length of 30 cm on MCLM Installation instructions E The power supply and motor supply leads must each be routed directly on the device MCLM 3006 S each with two windings through a suitable ferrite sleeve e g W rth Elektronik No 742 700 90 or FAULHABER Item No 6501 00068 E The signal leads of the MCLM 3006 S must be routed directly on the device with two windings through an interference suppression ring e g Wurth Elektronik No 742 715 3 FAULHABER Item No 6501 00069 M There isa risk tha
14. occurs in user defined units in accordance with the specified Velocity Factor The object corresponds to the FAULHABER command GN 54 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Velocity Window Index Subindex Name Type Attrb ae value Meaning 0x606D 0 velodty window Unsigned16 rw End velocity window Velocity range around the target speed which is used to identify the attained end velocity The presetting occurs in user defined units in accordance with the specified Velocity Factor Velocity Window Time Index Subindex NET Type Attrb Default value Meaning 0x606E 0 velodty window time Unsigned16 rw 200 Time in end velocity window If the drive stays within the velocity range of the Velocity Window for at least the time set here in milliseconds bit 10 is set in the statusword Target Reached Velocity Threshold Index Subindex NET Type Attrb TAA value Meaning Ox606F 0 velocity threshold Unsigned16 rw Velocity threshold value Velocity range around 0 which is used to detect standstill Presetting occurs in user defined units in accordance with the specified Velocity Factor Velocity Threshold Time Index Subindex NET Type Attrb Default value Meaning 0x6070 0 velocity threshold Unsigned16 rw 200 Time below velocity time threshold value If the drive stays below the velocity threshold value for at least the time set here in milliseconds bit 12 is set in the statusword Speed 0 Velocity
15. settings stability can be achieved by reducing the term of the velocity controller or reducing the P term of the position controller 3 The P term of the position controller can now be increased until the system becomes unstable in order to optimise the motion profile 4 The stability can then be restored through the following measures E Increasing the D term of the position controller example PD20 m Reducing the term of the velocity controller Positioning parameters tuning examples 1 Positioning via analogue Hall sensor CONTMOD a very strong and fast position control with minimal overshot POR7O 13 PP220 PD10 SR10 AC30000 DEC4000 SP1000 b soft and fast position control only parameters changed POR25 DEC3000 c soft and dow positioning SP10 POR38 180 SR10 Positioning via linear encoder with 200 Inc mm ENCMOD with ENCSPEED a very strong and fast position control with minimal overshot POR190 120 PP220 PD10 SR1 AC30000 DEC10000 SP1000 b soft and fast position control only parameters changed POR28 DEC3000 c soft and slow positioning SP10 POR38 160 SR10 4 CANopen SZ FAULHABER 4 1 Introduction m CANopen isa standard software protocol based on CAN hardware Controller Area Network M The international CAN organisation CAN in Automation e V CiA defines the communication profile in DS301 description of the communication structure and the methods for parameter acce
16. specified node LSS Switch Mode Selective if a node is to be configured in the network If the node has not been found in Node Explorer the serial number of the drive node to be configured must be entered otherwise the data fields are already correctly preconfigured 6 In the next dialogue select the desired transfer rate or Auto and enter the desired node address 7 Press Send button 8 The settings are transferred and permanently stored in the controller The Motion Manager then recalls the Scan function and the node should now be displayed with the correct node number in Node Explorer After switching off and on again the drive will operate with the set configuration A CANopen node is always in Pre Operational status after being switched on and must be transferred to Operational status before it is fully operational No PDO communication is possible in Pre Operational status therefore no FAULHABER commands are available in this status either In addition to the Network Manage ment functions only the setting of parameters in the object dictionary by means of SDO transfer is possible here see section 4 1 Overview SZ FAULHABER 1 2 Quick start 1 2 1 Operation using FAULHABER Motion Manager The FAULHABER Motion Manager offers easy access to the CANopen state machines using menus which can either be called up using the Node Explorer context menu right mouse button or using t
17. thermal current model reaches a critical temperature limit is set to continuous current 22 Mode of operation of the current controller When the servomotor starts the peak current is preset as the set point for the current controller As the load increases the current in the motor constantly increases until it finally reaches the peak current The current controller then comes into operation and limits the current to this set point A thermal current model operating in parallel calculates a model temperature from the actually flowing current If this model temperature exceeds a critical value continuous current is switched to and the motor current is regulated to this Only when the load becomes so small that the temperature falls below the critical model temperature is peak current permitted again The aim of this so called t current limitation is to prevent heating of the motor beyond the thermally permissible temperature through appropriate selection of the continuous current On the other hand a high load should be temporarily possible in order to enable very dynamic movements Functioning of the Pt current limitation lt l Motor Time MES Time Load variation 3 5 3 Overtemperature protection If the MOSFET temperature of the external controllers exceeds a preset limit value the motor is switched off The following conditions must be fulfilled in order to reactivate the motor M Temperatur
18. with any transfer rate in accordance with the above table the network baud rate is detected after 3 message frames on the bus line at the most and the drive adjusts accordingly Please note that the first message frames may be lost and booting will take a little longer 2 5 Basic settings During initial set up of MCLM motion controllers a number of basic settings must be made to configure the controller for the connected motor Use the FAULHABER Motion Manager for easy execution of these adjustments Failure to observe these basic settings can result in destruction of components At delivery the MCLM 3003 06 C is set to the linear DC Servomotor LM 1247 020 01 as standard If you wish to connect another motor you must configure the motion controller for the connected motor The FAULHABER Motion Manager then enables the Hall sensor signals to be synchronised for smooth starting and the phase angle to be optimised for best efficiency This process should also be carried out whenever the motor is replaced and during initial set up Optimization for connected motor in the Configuration Drive functions menu The controller parameters and current limitation values must also be adapted to the connected motor and the application The values set with the MOTTYP command can be individ ually changed later With the RN command the default parameters are set according to the set motor type If you wish to connect a motor th
19. 0013 Data type does not agree parameter length too small 0x06 0x09 0x0011 Subindex not available 0x06 0x09 0x0030 General value range error 0x06 0x09 0x0031 Value range error Parameter value too large 0x06 0x09 0x0032 Value range error Parameter value too small 0x06 Ox0A 0x0023 Resource not available 0x08 0x00 0x0021 Access not possible due to local application 0x08 0x00 0x0022 Access not possible due to current device status 28 SZ FAULHABER 4 CANopen 4 4 Emergency Object Error Message The Emergency Object informs other bus subscribers of errors that have occurred The Emergency Object is always 8 bytes in size and structured as follows 11 bit identifier 8 bytes user data 0x80 128D Node ID Error0 LB Error1 HB Error Reg 0 0 0 0 0 The first two bytes contain the 16 bit error code the third byte contains the error register the following 5 bytes can contain a manufacturer specific additional code The error register identifies the error type The possible error Types are described in the OD under Index 0x1001 e g Bit 4 Communication Error The general errors are listed in the following error code table e g Error0 0x10 Error1 0x82 Error 0x8210 PDO not processed due to length error Emergency Error Codes 0000 no error 1000 generic error 2000 current 2300 current device output side 2310 continuous over current 3000 voltage 3200 voltage inside the device 3210 over voltage 4000 tempera
20. AV button 3 Activate drive a FAULHABER Mode OPMOD 1 1 EN command Input in command input field and press Send button or select in Commands Motion control Enable drive menu and press Send button b Modes of Operation OPMOD gt 0 1 Shutdown Select entry Device Control Shutdown using the context menu in Node Explorer or using the Commands CANopen menu 2 Switch On Select entry Device Control Switch On using the context menu in Node Explorer or using the Commands CANopen menu 4 Drive motor examples Move motor relatively by 1000 increments c FAULHABER Mode OPMOD 1 LR1000 command to load the relative target position M command to move to loaded target position d Profile Position Mode OPMOD1 Set Target Position to the value 1000 Object 0x607A Move to Target Position New set point and set rel in statusword 1 Overview SZ FAULHABER 1 2 Ouick start 1 2 2 Operation using a custom interface Start of CANopen node Either an individual node orthe entire network is started and set to Operational status using the broadcast command Start Remote Node 0x000 01 00 The first data byte containsthe start command Start Remote Node the second data byte containsthe node address or 0 forthe entire network After the node has been started all functions can be activated The drive can now be acti
21. Control Parameter Set Index Subindex NET Type Attrb Ma value Meaning Ox60F9 0 number of entries Unsigned16 ro Number of object entries 1 gain Unsigned16 rw Velocity controller P term 2 integration Unsigned16 rw 10 Velocity controller I term time constant Parameters of the velocity controller The object corresponds to the FAULHABER commands POR and I 6 3 7 Common Entries Drive Data Index Subindex Name Type Attrb Default value Meaning 0x6510 0 number of entries Unsigned8 ro 1 Number of object entries 1 motor type Signed32 rw 8 Set motor type 2 Unsigned16 rw 635 Motor speed constant 3 Unsigned32 rw 13170 Motor terminal resistance The motor type to which the control is set can be queried or set here The object corresponds to the FAULHABER command MOTTYP GM OTTYP 55 6 Parameter Description SZ FAULHABER 6 4 FAULHABER commands The drive can be configured and controlled very easily with the FAULHABER commands All supported ASCII commands of the serial variant are available as CAN message frames on PDO2 The first byte always contains the HEX value of the command and the following 4 bytes can contain data RxPDO2 FAULHABER command 11 bit identifier 5 bytes user data 0x300 768D Command LLB LHB HLB HHB Node ID To configure the drive via the FAULHABER Channel the device must be in Operational NMT state Some of the parameters can also be set via the object dictionary but others only via the FAULHABE
22. HABER parameter HP for the limit switch used is simultaneously set to 1 rising edge Index Pulse Home awn Home Switch 1 GY SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Methods 5 6 and 21 22 Homing at a negative Homing switch Negative Home Switch Depending on the status of the Homing switch the drive moves in one or the other direction until it reaches the falling 5 21 or rising 6 22 edge The Homing switch only has one falling edge in the direction of the upper limit switch The FAULHABER parameter HP for the limit switch used is simultaneously set to 0 falling edge Methods 7 to 14 and 23 to 30 Homing at the Homing switch Home Switch These methods use a limit switch that is only active within a defined path range A distinction is made in respect of the reaction to the two edges With methods 7 to 14 after detection of the edge the drive continues until the index pulse at which the Homing position is set Methods 7 and 23 Homing at bottom of falling edge Start in positive direction if switch is inactive l Home e ee e Positive Limit swwith gp Methode 8 and 24 Homing at the top of rising edge Start in postive direction if switch is inactive Methods 9 and 25 Homing at top of rising edge Start always in positive direction Methods 10 and 26 Homing at top of falling edge Start always in positive direction Methods 11 and 27 Homing at
23. HL and HN commands Command Function Description HA Home Arming Set the position value to 0 and delete corresponding HA bit at edge of respective limit switch Setting is not saved HL Hard Limit Stop motor and delete corresponding HL bit at edge of respective limit switch Setting is not saved HN Hard Notify Send message to Master statusword bit 14 1 and delete corresponding HN bit at edge of respective limit switch Setting is not saved These special commands can be used to define actions that are to be triggered at an edge of the relevant input independently of a homing sequence A programmed limit switch function will remain effective until the preselected edge occurs The programming can be changed with a new command before an edge occurs The settings are not saved with the SAVE command so all limit switches are inactive again after power cycling HL SHL command Positioning mode When the edge occurs the motor positions itself on the reference mark with maximum acceleration 3 Functional Description SZ FAULHABER 3 3 Extended operating modes The extended operating modes are only available in FAULHABER mode Modes of Operation or OPMOD must be set to 1 Use the CONTMOD command to revert from an extended operating mode to normal mode 3 3 1 Stepper motor mode STEPMOD Stepper Motor Change to stepper Mode motor mode In stepper motor mode the analog input acts as frequency input The err
24. Identity 23h ro Server SDO Parameter 0x1200 RECORD 1st Server SDO parameter SDO Parameter 22h ro Receive PDO Communication Parameter 0x1400 RECORD 1st receive PDO Parameter PDO CommPar 20h rw 0x1401 RECORD 2nd receive PDO Parameter PDO CommPar 20h rw 0x1402 RECORD 3rd receive PDO Parameter PDO CommPar 20h rw Receive PDO Mapping Parameter 0x1600 RECORD 1st receive PDO mapping PDO Mapping 21h ro 0x1601 RECORD 2nd receive PDO mapping PDO Mapping 21h ro 0x1602 RECORD 3rd receive PDO mapping PDO Mapping 21h ro Transmit PDO Communication Parameter 0x1800 RECORD 1st transmit PDO Parameter PDO CommPar 20h rw 0x1801 RECORD 2nd transmit PDO Parameter PDO CommPar 20h rw 0x1802 RECORD 3rd transmit PDO Parameter PDO CommPar 20h rw Transmit PDO Mapping Parameter 0x1A00 RECORD 1st transmit PDO mapping PDO Mapping 21h ro 0x1A01 RECORD 2nd transmit PDO mapping PDO Mapping 21h ro 0x1A02 RECORD 3rd transmit PDO mapping PDO Mapping 21h ro 32 SZ FAULHABER 4 CANopen 4 6 Entriesin the object dictionary b Drive profile objects according to DSP402 Index Name Type Attrb Meaning 0x6040 controlword Unsigned16 rw Drive control 0x6041 statusword Unsigned16 ro Status display 0x6060 modes of operation Integer8 wo Operating mode changeover 0x6061 modes of operation display Integer8 ro Set operating mode 0x6062 position demand value Integer32 ro Last target position 0x6063 position actual value Integer32 ro Actual position in incr
25. It current limitation controller 13 SZ FAULHABER 3 Functional description 3 1 Position control In this operating mode target positions can be loaded asthe controller parameters POR 1 PP and PD must with the CAN interface Positioning can be performed in be configured for the respective application The two different ways positioning range limits can be set using the command a In Profile Position Mode according to DSP402 LL and activated with APL Position moves are made Modes of operation or OPMOD must be set to 1 using the FAULHABER commands for motion control Target Position profile and controller parametersare set using the object dictionary or using FAULHABER LA Load Absolute Load new absolute target position commands In particular the acceleration values AC Position Value range 1 8 10 1 8 109 0x6083 and DEC 0x6084 the maximum speed SP LR Load Relative Load new relative target position 0x607F the current limitation values LPC Position in relation to last started target and LCC as well as the controller parameters POR I position The resulting absolute PP and PD Ox60FB and 0x60F9 must be configured mire een ee eee for the respective application The positioning range 7 sa A i limits can be set using the command LL or objed M Initiate Motion Activate position contro IMI gt SEL USING i J and start positioning 0x607D Positioning is started with the controlword and checked with the st
26. Load maximum permissible deviation of actual velocity from target velocity deviation Value range 0 32767 CORRIDOR 0x9D Value Load Corridor Window around the target position Value range 0 65535 Corresponds to object 0x6067 58 SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands 6 4 1 4 Configuration of fault pin and digital inputs Command Hex value Data Function Description ERROUT 0x14 0 Error Output Fault pin as error output ENCOUT 0x11 0 Encoder Output Fault pin as pulse output DIGOUT Ox0A 0 Digital Output Fault pin as digital output The output is set to low level DIRIN Ox0C 0 Direction Input Fault pin as direction input REFIN 0x41 0 Reference Input Fault pin as reference or limit switch input DCE 0x6B Value Delayed Current Error Delayed error output for ERROUT in 1 100 sec Value range 1 65535 LPN 0x82 Value Load Pulse Number Preset pulse number for ENCOUT Value range 1 255 co 0x05 0 Clear Output Set digital output DIGOUT to low level SO 0x45 0 Set Output Set digital output DIGOUT to high level TO 0x55 0 Toggle Output Switch digital output DIGOUT SETPLC 0x51 0 Set PLC inputs Digital inputs PLC compatible 24 V level SETTTL 0x52 0 Set TTL inputs Digital inputs TTL compatible 5 V level 6 4 1 5 Configuration of homing and limit switches in FAULHABER mode Command HP HB HD SHA SHL SHN HOSP HA HL HN Limit switch bit mask Hex value 0x79 0x73 0x74 Ox8A 0x90
27. PP 0x5D 0 GPD Ox5E 0 GCI 0x63 0 GPC 0x30 0 GCC 0x18 0 GDEV 0x1C 0 GCORRIDOR 0x62 0 Function Get Mode Get Encoder Resolution Get Motor Type Get Speed Constant Get Motor Resistance Get Step Width Get Step Number Get Minimum Velocity Get Minimum Analog Voltage Get Positive Limit Get Negative Limit Get Maximum Speed Get Acceleration Get Deceleration Get Sampling Rate Get Velocity Prop Term Get Velodty Integral Term Get Position Prop Term Get Position D Term Get Current Integral Term Get Peak Current Get Continuous Current Get Deviation Get Corridor 61 Description Get FAULHABER mode 0 CONTMOD 1 STEPMOD 2 APCMOD 3 ENCMOD HALLSPEED 4 ENCM OD ENCSPEED 5 GEARMOD 6 VOLTMOD Get encoder resolution ENCRES Get motor type 0 MOTTYP Speed constant for MOTTYPO Motor resistance for MOTTYPO in mOhm Get step width STW Get step number per polar pitch STN Get minimum speed MV in mm s Get minimum start voltage value MAV in mV Get positive limit position LL Corresponds to object 0x607D Get negative limit position LL Corresponds to object 0x607 Get maximum speed SP in mm s Corresponds to object 0x6081 Set acceleration value AC in mm s Corresponds to object 0x6083 Get deceleration value DEC in mm s Corresponds to object 0x6084 Get sampling rate of velocity controller in ms 10 Get amplification value of velocity controller POR Corresponds to object 0x60F9
28. Parameter Description 6 1 Communication Objects according to DS301 Receive PDO3 Mapping Parameters Index Subindex NET Type Attrb value Meaning 0x1602 0 Number of entries Unsigned8 ro Number of object entries 1 1st object Unsigned32 ro ETTE Reference to 8 bit to be mapped Trace Mode for Parameter 1 2 2nd object Unsigned32 ro 0x23030208 Reference to 8 bit to be mapped Trace Mode for Parameter 2 3 3rd object Unsigned32 ro 0x23030308 Reference to 8 bit to be mapped Trace time code setting 4 4th object Unsigned32 ro 0x23030408 Reference to 8 bit Trace value to be mapped Number of packets 5 5th object Unsigned32 ro 0x23030508 Reference to 8 bit Trace value to be mapped Time interval Transmit PDO1 Communication Parameters Index Subindex Name Type Attrb Default value Meaning 0x1800 0 Number of entries Unsigned8 ro 2 Number of object entries 1 COB ID Unsigned32 ro 0x180 CAN Object Identifier Node ID for TxPDO1 2 transmission type Unsigned8 rw 255 PDO transmission type asynchronous Transmit PDO2 Communication Parameters Index Subindex NET Type Attrb Default value Meaning 0x1801 0 Number of entries Unsigned8 ro 2 Number of object entries 1 COB ID Unsigned32 ro 0x280 CAN Object Identifier Node ID for TxPDO2 2 transmission type Unsigned8 rw 253 PDO transmission type asynchronous only on request RTR Transmit PDO3 Communication Parameters Index Subindex NET Type Attrb Default value Meaning 0x1802 0 Number of e
29. R channel Certain parameters can only be set and used inthe FAULHABER operating mode Modes of Operation 1 object 0x6060 or command OPMOD asthey have a direct influence on the drive behaviour The reaction to FAULHABER commands depends on the transmission type set for TxPDO2 OD index 0x1801 a transmission type 253 After sending the command on RxPDO2 a reguest RTR must be executed on TxPDO2 to get the answer of guery commandsor to check transmit commands b transmission type 255 The commands are immediately answered on TxPDO2 6 bytes are always returned the first byte specifies the command and the following 4 bytes the desired value as a Long Integer for transmit commands 0 followed by an error code 56 TxPDO2 FAULHABER data 11 bit identifier 5 bytes user data 0x280 Command LLB LHB HLB HHB Error 640D Node ID Error Explanation Command successfully executed 2 EEPROM writing done 4 Overtemperature drive disabled 5 Invalid parameter 7 Unknown command 8 Command not available 13 Flash defect Example Query actual position of node 3 Command POS Transmit Id 303 40 00 00 00 00 Request Id 283 Receive Id 283 40 E8 03 00 00 01 E Actual position 1000D SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands 6 4 1 Basic setting commands The commands listed here are used for the configuration of basic setting parameters which are stored in the Flash data memory
30. Step number number of steps number of steps per magnetic pitch Circuit example gearing mode for MCLM 3003 06 C Value range of STN and STW 0 to 65535 Command Function Description STW Load Step Load step width for stepper Width motor and gearing mode STN Load Step Load number of steps per Number magnetic pitch for stepper motor and gearing mode Example Motor has to move for the magnetic pitch at 1000 pulses of the external encoder STW1 STN 1000 The direction can be predefined with the commands ADL and ADR or using an external signal at the fault pin DIRIN command The acceleration and speed parameters AC DEC SP are effective in gearing mode These permit gentle starting and deceleration The position range limits set via LL must also be activated with the APL1 command in order to prevent the exit of the shaft Protective functions Overtemperature Overcurrent Overvoltage L gt controller Postion Marget PI velocity liid controller t Vactual Velocity calculation L E Oe ee E G 10k 5 S V4 Evaluation Ey reference mark Or VDD h 2 7k REFIN KA TJ V5 Set point pn i Eases encoder KB V3 gt jcalculation P V8 gt Evaluation input 3 CAN bus Inte
31. W Operating Instructions CANopen MCLM 3003 06 C We create motion Table of Contents SZ FAULHABER 2 Installation 3 Functional Description 4 CANopen 1 1 General description 1 2 Quick start 1 2 1 Operation using FAULHABER Motion Manager 1 2 2 Operation using a custom interface 2 1 Connections and wiring 2 1 1 Installation instructions 2 1 2 Maintenance 2 1 3 Specialised staff 2 2 CAN wiring 2 3 Servomotor connection 2 4 Baud rate and node ID 2 5 Basic settings 3 1 Position control 3 2 Homing and limit switches 3 3 Extended operating modes 3 3 1 Stepper motor mode 3 3 2 Gearing mode electronic gearing 3 3 3 Analog positioning mode 3 3 4 Dual loop PID control mode 3 3 5 Analog control of current limit 3 4 Special functions of the error connection 3 5 Technical information 3 5 1 Sinusoidal commutation 3 5 2 Current controller and lt current limitation 3 5 3 Over temperature protection 3 5 4 Undervoltage monitoring 3 5 5 Overvoltage regulation 3 5 6 Adjustment of controller parameters 4 1 Introduction 4 2 PDOs Process Data Objects 4 3 SDO Service Data Object 4 4 Emergency Object Error Message 4 5 NMT Network Management 4 6 Entries in the object dictionary 4 7 Drive control Device control ON OW 10 10 10 11 11 12 12 14 15 17 17 18 19 19 20 21 22 22 22 22 23 23 23 24 25 27 29 30 32 34 SZ FAULHABER 5 Extended CAN Functions 6 Parameter Descri
32. a around the target position which is used for the Target Reached message Presetting isin user defined units according to the specified Position Factor The object corresponds to the FAULHABER command CORRIDOR Position Window Time Index Subindex Name Type Attrb Default value Meaning 0x6068 0 position Unsigned16 rw 200 Time in target window time position window If the drive stays within the range of the position window for at least the time set here in milliseconds bit 10 is set in the statusword Target Reached 6 3 6 Profile Velocity Mode The objects in this range are available for speed control operation Velocity sensor actual value Index a Name Type Attrb raa value Meaning 0x6069 velodty sensor Integer32 ro Current velocity value actual value The output occurs in user defined units in accordance with the specified Velocity Factor The object corresponds to the FAULHABER command GN Velocity demand value Index Subindex NET Type Attrb Default value Meaning 0x606B 0 velocity Integer32 ro 0 Target velocity demand value The output occurs in user defined units in accordance with the specified Velocity Factor The object corresponds to the FAULHABER command GV Velocity actual value Index Subindex NET Type Attrb Default value Meaning 0x606C 0 velocity Integer32 ro 0 Current velocity value actual value Identical value to 0x6069 with use of the integrated analog Hall sensors for velocity recording The output
33. ansfer modes Expedited Transfer Transfer of maximum 4 bytes Segmented Transfer Transfer of more than 4 bytes Asa maximum of 4 data bytes are transferred with FAULHABER motion controllers except for version and device name requests only Expedited Transfer is described here The message frames are always 8 bytes and structured as follows Reading OD entries Client E Server Upload Request 11 bit identifier 8 bytes user data 0x600 1536D Node ID 0x40 Index LB Index HB Subindex 0 0 0 0 Server E Client Upload Response 11 bit identifier 8 bytes user data 0x580 1408D Node ID 0x4x Index LB Index HB Subindex LLB DO LHB D1 HLB D2 HHB D3 ByteO 0x4x specifies the number of valid data bytes in DO D3 and the transfer type and is coded as follows for Expedited Transfer lt 4 data bytes 1 data byte in DO ByteO 0x4F 2 data bytesin DO D1 Byte0 0x4B 3data bytesin DO D2 Byte0 0x47 4 data bytes in DO D3 Byte0 0x43 Writing OD entries Client gt Server Download Request 11 bit identifier 8 bytes user data 0x600 1536D Node ID Ox2x Index LB Index HB Subindex LLB DO LHB D1 HLB D2 HHB D3 ByteO 0x2x specifies the number of valid data bytes in DO D3 and the transfer type and is coded as follows for Expedited Transfer lt 4 data bytes 1 data byte in DO Byte0 0x2F 2 data bytesin DO D1 Byte0 0x2B 3 data bytesin DO D2 Byte0 0x27 4 data bytes in DO D3 Byte0 0x23 If no specification o
34. art the entire network Start All Remote Nodes 11 bit identifier 2 bytes user data 0x000 0x01 0x00 The devices are then in Operational state The device isnow fully functional and can be operated via PDOs The status diagram is shown below Power on or Hardware Reset 1 At Power ontheinitialisation state isentered autonomously Initialisation finished enter PRE OPERATIONAL 2 automatically 3 6 Start_Remote_Node indication 4 7 Enter PRE OPERATIONAL State indication Stopped 5 8 aai indication 9 10 11 Reset_Node indication Operational 12 13 14 Reset_Communication indication In Stopped Prepared state the device isin error status and can no longer be operated via SDO and PDOs Only NMT messages are received in order to produce a status change Status changes can be performed with the help of the NMT services An NMT message frame always consists of 2 bytes on the identifier 0x000 11 bit identifier 2 bytes user data 0x000 cs Node ID CS Command Specifier Node ID Node address 0 all nodes The possible values for the Command Specifier CS are listed in the following table State transition Command specifier cs Explanation 1 The initialisation state is entered autonomously at power on 2 The Pre Operational state is entered automatically after initialisation and the boot up message is sent 3 6 cs 0x01 1D Start_Remot
35. at is not specified in the motor type list select motor type 0 MOTTYPO and set the para meters kn speed constant and Rm motor resistance in accordance with the specifications in the data sheet using the commands KN and RM Use the command ENCRES or the Drive Parameters dialogue in the Motion Manager Configuration Drive functions menu to configure the post quadrature encoder reso lution which is four times the resolution of one channel per revolution If using the Fault Pin as an input REFIN DIRIN the desired function must be programmed before applying external voltage to prevent destroying the input output 3 Functional Description SZ FAULHABER The motion controllers can be configured for different operating modes The drive unit is delivered as standard as servomotor in Profile Position Mode according to CiA DSP402 The drive can be reconfigured by means of the corre sponding configuration commands If the settings are to be permanently stored the command SAVE formerly EEPSAV must be executed after the configuration this saves the current settings in the flash memory from where they will be reloaded when the unit is next switched on The prerequisite for operation of the drive in one of the operating modes specified here is that the unit isin Operational NMT status and the power stage is activated Switched On or EN All commands and objects listed below are summarized and explai
36. atusword see section 6 3 3 Example i 1 Load target position LA400 Modes of operation or OPMOD must be set to 1 FAULHABER operating mode CONTM OD or ENCMOD and SORO must be set Profile and controller parameters are configured using the FAULHABER basic setting Attainment of the target position isindicated in both operating modes by the statusword on TxPDO1 Bit 10 Target reached provided that the transmission type for RxPDO1 is set to 255 Object 0x1800 commands In particular the i M acceleration values AC and DEC the maximum speed The linear Hall sensors used as position transducers on the LM SP the current limitation values LPC and LCC as well servomotors effectively produce 3000 pulses per magnetic pitch 14 3 Functional Description SZ FAULHABER 3 2 Homing and limit switches Available inputs for homing and limit switches m Anin E Fault E 3 in In the linear DC Servomotor the zero crossing of the Hall sensor signals is also available as index pulse appearing once per magnetic pitch The index pulse of an external Homing can be performed in two different ways a In Homing mode according to DSP402 Modes of operation or OPMOD must be set to 6 Homing Method Homing Offset Homing Speed and Homing Acceleration are set using the object dictionary objects 0x6098 0x607C 0x6099 and 0x609A The homing sequence is started with the controlword and checked with the statusword se
37. ceive PDO1 Communication Parameters Index Subindex Name Type Attrb Default value Meaning 0x1400 0 Number of entries Unsigned8 ro Number of object entries 1 COB ID Unsigned32 ro er CAN Object Identifier Node ID for RxPDO1 2 transmission type Unsigned8 ro 255 PDO transmission type Receive PDO2 Communication Parameters Index Subindex NET Type Attrb Default value Meaning 0x1401 0 Number of entries Unsigned8 ro 2 Number of object entries 1 COB ID Unsigned32 ro 0x300 CAN Object Identifier Node ID for RxPDO2 2 transmission type Unsigned8 ro 255 PDO transmission type Receive PDO3 Communication Parameters Index Subindex Name Type Attrb Default value Meaning 0x1402 0 Number of entries Unsigned8 ro Number of object entries 1 COB ID Unsigned32 ro or CAN Object Identifier Node ID for RxPDO3 2 transmission type Unsigned8 ro 255 PDO transmission type Receive PDO1 Mapping Parameters Index Subindex NET Type Attrb Default value Meaning 0x1600 0 Number of entries Unsigned8 ro 1 Number of object entries 1 1st object Unsigned32 ro 0x60400010 Reference to 16 bit to be mapped controlword 0x6040 Receive PDO2 Mapping Parameters Index Subindex NET Type Attrb Default value Meaning 0x1601 0 Number of entries Unsigned8 ro 2 Number of object entries 1 1st object Unsigned32 ro 0x23010108 Reference to 8 bit to be mapped FAULHABER command 2 2nd object Unsigned32 ro 0x23010220 Reference to 32 bit to be mapped command argument 40 SZ FAULHABER 6
38. cific objects FAULHABER command Index Subindex Name Type Attrb Default value Meaning 0x2301 0 Number of entries Unsigned8 ro 2 Number of object entries 1 command Unsigned8 rw 0 Command byte for FAULHABER channel 2 argument Unsigned32 rw 0 Argument for FAULHABER command This object is written via RxXPDO2 and always contains the last transmitted FAULHABER command Return value of FAULHABER command Index Subindex NET Type Attrb Default value Meaning 0x2302 0 Number of entries Unsigned8 ro 2 Number of object entries 1 value Unsigned32 ro 0 Return value of FAULHABER command 2 error Unsigned8 ro 0 Error code 1 OK for further errors see The content of this object is requested by means of a Request RTR on TxPDO2 and supplies the return value for commands on the FAULHABER channel Trace configuration Index Subindex NET Type Attrb Default value Meaning 0x2303 0 Number of entries Unsigned8 ro 5 Number of object entries 1 model Unsigned8 rw 0 Trace mode for Parameter 1 2 mode2 Unsigned8 rw 0 Trace mode for Parameter 2 3 time code Unsigned8 rw 1 Data with time code 4 packets Unsigned8 rw 1 Number of packets to be transmitted per request 5 period Unsigned8 rw 1 Time interval between packets This object is written via RXxPDO3 and always contains the last transmitted Trace setting Trace data Index Subindex NET Type Attrb Default value Meaning 0x2304 0 Number of entries Unsigned8 ro 3 Number of object entries 1 valuel Unsigned32 ro 0 La
39. d are limited to 4000 pulses per second Command Function Description LPN Load Pulse Preset pulse number for ENCOUT Number Value range 1 to 255 Example Output 100 pulses per magnetic pitch at the fault pin LPN100 In the case of 18 mm s 100 pulses per second are output For speeds that would generate more than the maximum possible pulse number at the set LPN value the maximum number is output The set pulses are precisely achieved but the timing does not necessarily have to exactly agree delays possible Position determination via pulse counting is therefore possible provided that no change occurs in the direction and the maximum possible pulse number is not exceeded Fault pin as digital output In DIGOUT mode the error connection can be used as universal digital output The digital output can be set or deleted via the following commands Command Function Description co Clear Output Set digital output DIGOUT to low level SO Set Output Set digital output DIGOUT to high level TO Toggle Output Switch digital output DIGOUT SZ FAULHABER 3 Functional Description 3 5 Technical information 3 5 1 Sinusoidal commutation The MCLM 3003 06 C are characterised by a so called sinus commutation This means that the preset magnetic field is always ideally positioned in relation to the shaft Asa result force fluctuations can be reduced to a minimum even at very low speeds In addition the servomotor moves partic
40. d has been successfully executed 1 command successfully executed for further error codes see section 6 4 RxPDO3 Trace configuration 11 bit identifier 5 bytes user data 0x400 1024D Node ID Model Mode2 TC Packets Period This PDO serves for setting Trace mode which allows internal parameters to be read out quickly The data configuration looks like this Byte 0 Mode for Parameter 1 Byte 1 Mode for Parameter 2 Byte 2 Transfer with time code 1 0 Byte 3 Number of packets to be transmitted per request default 1 Byte 4 Time interval between packets default 1 ms The possible operating modes for parameters 1 and 2 are described in section 5 2 TxPDO3 Trace data 11 bit identifier 3 to 8 bytes user data 0x380 896D Node ID Data0 Datal Data2 Data3 Data4 Data5 Data6 Data7 A request RTR on this provides the Trace data according to the setting made via RxPDO3 see section 5 2 26 SZ FAULHABER 4 CANopen 4 3 SDO Service Data Object The Service Data Object allows parameters to be read and written in the object dictionary OD Access occurs via the 16 bit index and the 8 bit subindex The motion controller acts as server in this case i e it provides data at the dient s PC PLC request upload and receives data from the dient download Byte0 Byte1 2 Byte3 Byte4 Command Specifier 16 bit index 8 bit subindex 1 4 byte parameter data E Entry in the object dictionary There are 2 different SDO tr
41. d high concentrations of chemical pollutants must be avoided Cooling of the unit must be guaranteed especially when installing in housings and cabinets Asthe unit cools passively with surface heat sinks case temperatures up to 85 C may occur Operation is only guaranteed if the supply voltage lies within the defined tolerance ranges Wiring should only be altered with no voltage applied to the unit 2 1 2 Maintenance The units are maintenance free in principle The air filters of cabinet units must be regularly checked and cleaned if required depending on the quantity of dust In the event of heavy soiling the units themselves must be cleaned with halogen free agents 2 1 3 Specialised staff Only trained specialised staff and instructed persons with knowledge in the field of automation technology and standards and regulations such as EMC Directive Low Voltage Directive Machinery Directive VDE Regulations such as DIN VDE 0100 DIN VDE 0113 EN 0204 DIN VDE 0160 EN 50178 Accident Prevention Regulations may install and commission the units This description should be carefully read and heeded prior to commissioning SZ FAULHABER 2 Installation 2 2 CAN wiring CAN Bus Line CAN_L CAN isa 2 wire bus system to which all nodes are The maximum line length is limited by the transfer rate connect in parallel A terminal resistance of 120 2 must and the signal propagation time be connected to each end of the bus
42. ds ADL and ADR The acceleration and speed paramaters AC DEC SP are effective in APCMOD These permit gentle starting and stopping Velocity control using a pulse width modulated PWM signal If SOR2 is set in APCMOD the pulse duty factor of a PWM signal can be used as command position Default duty cycle at the analog input HM Greater than 50 commands a positive position m Equal to 50 commands target position 0 E Less than 50 commands a negative position Absolute positioning within one magnetic pitch Thanks to the linear Hall sensors the absolute position can be recorded within one magnetic pitch on Linear DC Servomotors This means that even if the power supply is disconnected the position determination supplies the correct position value after restarting if the shaft has only been moved within one magnetic pitch The following commands enable the drive to be accurately positioned in the voltage range 0 V to 10 V within one magnetic pitch and to return to the correct position even after the power has been cycled without homing APCMOD change to analog positioning LL3000 fix maximum position at 1 magnetic pitch Note on input circuit The circuit for the analog input is designed as a differential amplifier If the analog input is open an unexpected displacement may be possible The input must be set to the voltage level of AGND or rather be connected to AGND with low impedance 19 3 3 4 Dual lo
43. e below a preset limit value E Target velocity set to 0 mm s Note on determination of the coil temperature The housing temperature is measured and the power loss concluded from the current measurement The MOSFET or coil temperature is calculated from these values via a thermal model In most applications this method represents a thermal servomotor protection device 3 Functional Description SZ FAULHABER 3 5 Technical information 3 5 4 Undervoltage monitoring If the supply voltage falls below the lower voltage threshold the power stage is switched off The motion controller remains active When the voltage returns within the permissible range the power stage is switched on again immediately 3 5 5 Overvoltage regulation If the motor is operated as a generator it produces energy Usually power supply units are not able to feed this energy back into the power line Conseguently the supply voltage at the motor increases and depending on the speed the permissible maximum voltage may be exceeded In order to avoid severe damage to components the MCLM 3003 06 C contain a controller which adjuststhe shaft displacement if a limit voltage 32 V is exceeded Asa result the energy generated in the motor is converted and the voltage of the electronics remains limited to 32 V This method protects the drive during generating operation and rapid braking 3 5 6 Adjustment of the controller parameters The controller parame
44. e fault pin as reference or limit switch input Command Function Description REFIN Reference Input Fault pin as reference or limit switch input The limit switch functions for the fault pin are only accepted if REFIN is activated setting must be saved with SAVE or EEPSAV Important Configure the fault pin as an input before applying external voltage 15 S SZ FAULHABER 3 Functional Description 3 2 Homing and limit switches Configuration of homing and limit switches in FAULHABER mode The following commands use the following bit mask for configuration of the limit switch functions 7je 5 4 s3 2 1 o fer input Fault pin 3rd input Set or delete the bit at the position of the required input for each command Polarity and limit switch function Command Function HP Hard Polarity Description Define effective edge and polarity of respective limit switches 1 Rising edge and high level effective 0 Falling edge and low level effective Activate Hard Blocking function for relevant limit switch Presetting of direction which is blocked by HB of the respective limit switch 1 Forward direction blocked 0 Backward direction blocked HB Hard Blocking HD Hard Direction The Hard Blocking function provides reliable protection against overshooting of the range limit switch If the HB limit switch is activated then the direction set with HD will be blocked i e the drive can only move o
45. e section 6 3 4 The function of the inputs is set using object 0x2310 see section The Anin and Fault connections are designed as inter 6 2 rupt inputs which meansthat they are edge triggered All other inputs are not edge triggered so that the signal should last at least 500 us long to be reliably detected The maximum reaction time to level changes at all inputs is 500 s encoder can also be connected to the fault pin this allows for a very repeatable system b In FAULHABER Mode Modes of operation or OPMOD must be set to 1 The function of the inputs and the homing behaviour is set with the FAULHABER commands described below A previously stored homing sequence is then started t levels of digital inputs eee 9 p with the following FAULHABER commands Command Function Description Command Function Description SETPLC Set PLC Inputs Digital inputs PLC compatible d 24 V level GOHOSEQ Go Homing Execute FAULHABER homing TARESTE A Sequence sequence A homing sequence SETTTL Set TTL Inputs T a ee is executed if programmed Svs irrespective of the current mode The signal level of the digital inputs can be set using the GOHIX Go Hall Index ae sie onal zee pom E all index and set actual position above commands value tot PLC Default Low 0 7 0 V High 12 5 V Us GOIX Go Encoder Move to the encoder index at TTL Low 0 0 5 V High 3 5 V Us Index the fault pin and set actual position value to 0 Configur
46. e time measurement must then occur in the Master SZ FAULHABER 6 Parameter Description 6 1 Communication Objects according to DS301 Device Type Index Subindex NET Type Attrb Default value Meaning 0x1000 0 device type Unsigned32 ro No Specification of the device type Contains information on the device type divided into two 16 bit fields Byte MSB LSB Additional Information Device Profile Number Device Profile Number 0x192 402D Error Register Index Subindex NET Type Attrb Default value Meaning 0x1001 0 error register Unsigned8 ro No Error register Internal device errors are displayed in this byte asfollows Bit M O Meaning generic error current voltage temperature communication error overrun error state device profile specific reserved always 0 manufacturer specific NOUBKRWNEFO OKI O AI OMI lt O Pre defined Error Field error memory Index Subindex NET Type Attrb Default value Meaning 0x1003 0 number of errors Unsigned8 ro No No of stored errors 1 standard error field Unsigned32 ro No Last error 2 standard error field Unsigned32 ro No Further error The error memory contains the description of the last occurring error The standard error field is divided into two 16 bit fields Byte MSB LSB Additional Information Error Code Errors are reported by the Emergency Object The meaning of the individual error codes is described in section 4 4 The error memory is d
47. e_Node Starts the device and releases PDO transmission 4 7 cs 0x80 128D Enter_Pre Operational Stops PDO transmission SDO still active 5 8 cs 0x02 2D Stop_Remote_Node Device goesinto error state SDO and PDO switched off 9 10 11 cs 0x81 129D Reset_Node Performsa reset All objects are reset to Power On defaults 12 13 14 cs 0x82 130D Reset Communication Performs a reset of the communication functions 30 SZ FAULHABER 4 CANopen 4 5 NMT Network Management Boot Up message After the initialisation phase the FAULHABER motion controller sends the boot up message a CAN message with one data byte Byte0 0x00 on the identifier of the Node Guarding message 0x700 Node ID 11 bit identifier 1 byte user data 0x700 1792D Node ID 0x00 The Boot Up message signalsthe end of the initialisation phase of a newly activated module which can then be configured and started Node Guarding The current device status can be reguested with the Node Guarding Object The Master sends a request request message frame to the Guarding Identifier of the monitored node by setting a remote frame The node then responds with the Guarding message which contains the current node status and a toggle bit The following diagram describes the Node Guarding protocol Node Life Guarding COB ID 1792 Node ID Remote transmit request NMT Master NMT Slave indication request
48. eed 0x6099 and Homing Acceleration 0x609A to the desired value 2 In the controlword set bit 4 Homing operation start to 1 to start the homing sequence 3 Drive responds with bit 12 Homing attained set in the statusword when the homing sequence is complete If an error occurs during the homing sequence bit 13 Homing error is set in the statusword An in progress homing sequence can be interrupted by writing a 0 to bit 4 in the controlword 6 3 5 Position Control Function The objects in this range are used to monitor positioning operation Position Demand Value Index Subindex NET Type Attrb Default value Meaning 0x6062 0 position Integer32 ro 0 Preset value for demand value target position Position Actual Value Index Subindex Name Type Attrb Default value Meaning 0x6063 0 position actual value Integer32 ro 0 Current actual position increments The internal encoder increments are output The object corresponds to the FAULHABER command POS 53 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Position Actual Value Index Subindex NET Type Attrb Default value Meaning 0x6064 0 position actual value Integer32 ro 0 Current actual position scaled Output occurs in user defined units according to the specified position factor Position Window Index Subindex NET Type Attrb ak value Meaning 0x6067 0 position window Unsigned32 rw Target position window Symmetrical are
49. eel free to browse through the latest lights inspirational application report press information and order our catalogues and documentations easily and conveniently at the click of a mouse button OFAULHABER Group MA MCLM 3003 06 C EN 2 Edition 1 10 2008
50. eleration Unsigned32 rw 4000 Braking ramp value The presetting occurs in user defined units according to the specified Acceleration Factor The object corresponds to FAULHABER command DEC Quick Stop Deceleration Index Subindex NET Type Attrb Default value Meaning 0x6085 0 quick stop Unsigned32 rw 30000 Braking ramp value deceleration for Quick Stop The presetting occurs in user defined units according to the specified Acceleration Factor Motion Profile Type Index Subindex NET Type Attrb Default value Meaning 0x6086 0 motion profile type Integer16 ro 0 Type of motion profile Only Motion Profile type 0 is supported Linear ramp trapezoidal profile Control Effort Index Subindex NET Type Attrb Default value Meaning Ox60FA 0 control effort Integer32 ro 0 Controller output The object corresponds to FAULHABER command GRU Position Control Parameter Set Index Subindex NET Type Attrb Default value Meaning Ox60FB 0 number of entries Unsigned16 ro 2 Number of object entries 1 gain Unsigned16 rw 80 Position controller P term 2 D constant Unsigned16 rw 10 Position controller D term Position controller parameters The object corresponds to FAULHABER commands PP and PD Parameters P and of the speed controller in object Ox60F9 section also influence the behaviour of the position controller 49 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Two methods can be used to preset target posit
51. eleted by writing a 0 to Subindex 0 If no error has occurred since switch on then the object only consists of Subindex 0 with the entry 0 37 SZ FAULHABER 6 Parameter Description 6 1 Communication Objects according to DS301 Manufacturer Device Name Index Subindex NET Type Attrb Default value Meaning 0x1008 0 manufacturer device Vis String const No Device name name Use the Segmented SDO protocol to read out the device name asit can be larger than 4 bytes Manufacturer Hardware Version Index Subindex NET Type Attrb Default value Meaning 0x1009 0 manufacturer Vis String const No Hardware version hardware version Use the Segmented SDO protocol to read out the hardware version as it can be larger than 4 bytes Manufacturer Software Version Index Subindex NET Type Attrb Default value Meaning 0x100A 0 manufacturer Vis String const No Software version software version Use the Segmented SDO protocol to read out the software version as it can be larger than 4 bytes Guard Time Index Subindex NET Type Attrb Default value Meaning 0x100C 0 guard time Unsigned16 rw 0 Monitoring time for Node Guarding Specification of Guard Time in milliseconds 0 switches the monitoring off Life Time Factor Index Subindex NET Type Attrb Default value Meaning 0x100D 0 Life time factor Unsigned8 rw 0 Time factor for lifeguarding The Life Time Factor multiplied by the Guard Time gives the Life Time for the Node Gua
52. ements 0x6064 position actual value Integer32 ro Actual position scaled 0x6067 position window Unsigned32 rw Target position window 0x6068 position window time Unsigned16 rw Time in target position window 0x6069 velocity actual sensor value Integer32 ro Current speed value 0x606B velocity demand value Integer32 ro Target speed 0x606C velocity actual value Integer32 ro Current speed value 0x606D velocity window Unsigned16 rw End speed window 0x606E velocity window time Unsigned16 rw Time in end speed window Ox606F velocity threshold Unsigned16 rw Speed threshold value 0x6070 velocity threshold time Unsigned16 rw Time below speed threshold value 0x607A target position Integer32 rw Target position 0x607C homing offset Integer32 rw Reference point offset 0x607D software position limit ARRAY rw Area limits 0x607E polarity Unsigned8 rw Polarity direction of rotation 0x607F max profile velocity Unsigned32 rw Maximum speed 0x6081 profile velocity unsigned32 rw Maximum speed 0x6083 profile acceleration Unsigned32 rw Acceleration value 0x6084 profile deceleration Unsigned32 rw Braking ramp value 0x6085 quick stop deceleration Unsigned32 rw Quick stop braking ramp value 0x6086 motion profile type Integer16 ro Motion profile 0x6093 postion factor ARRAY rw Position factor 0x6096 velocity factor ARRAY rw Speed factor 0x6097 acceleration factor ARRAY rw Acceleration factor 0x6098 homing method Integer8 rw Homing method 0x6099 homing speed ARRAY
53. er of the relevant node must be known The following baud rates Bit Timing Parameters can be set Baud rate Index 1000 kBit 0 800 kBit 500 kBit 250 kBit 125 kBit 50 kBit 20 kBit 10 kBit NO PWN EB 8 In addition an automatic baud rate detection can be activated by sending the index value OxFF The following node numbers can be set 1 255 Node ID 255 OxFF indicates that the node has yet to be configured in which case the node remains in LSS Init status until it receives a valid node number Only then may the NMT initialization continue The LSS protocol also supports the reading out of LSS addresses comprising vendor ID product code revision number and serial number of connected units as well as reading out of the set node ID The identifiers 0x7E5 Master and 0x7E4 Slave on which the protocol is processed are used for the LSS communication After configuration the set parameters are stored in the Flash memory so that they are available again after power cycling the drive For activation of Switch Mode Selective FAULHABER controllers only use vendor ID product code and serial number The value 0 0 can always be assigned for revision number as this value is ignored in the protocol 12 Vendor ID 327 Product code 3150 For a detailed description of the LSS protocol please see CiA document DSP 305 If automatic baud rate detection is activated the drive can be used in a network
54. erating modes Position Limits 1 Position limits activated 0 Position limits deactivated SP Ox8F Value Load Maximum Speed Load maximum speed Value range 0 to 10000 mm s Setting applies for all modes Corresponds to object 0x607F AC 0x65 Value Load Command Load acceleration value Acceleration Value range 0 to 30000 mm 2 Corresponds to object 0x6083 DEC 0x6D Value Load Command Load deceleration value Deceleration Value range 0 to 30000 mm s Corresponds to object 0x6084 SR OxA4 Value Sampling Rate Load sampling rate of the velocity controller asa multiplier of 100 ps Value Range 1 20 ms 10 POR 0x89 Value Load Velocity Load velocity controller amplification Proportional Term Value range 1 255 Corresponds to object 0x60F9 l 0x7B Value Load Velocity Integral Load velocity controller integral term Term Value range 1 255 Corresponds to object 0x60F9 PP 0x9B Value Load Position Load position controller amplification Proportional Term Value range 1 255 Corresponds to object 0x60FB PD 0x9C Value Load Position Differential Load position controller D term Term Value range 1 255 Corresponds to object 0x60FB cl OxA2 Value Load Current Integral Load integral term for current controller Term Value range 1 255 LPC 0x81 Value Load Peak Current Limit Load peak current Value range 0 to 12000 mA LCC 0x80 Value Load Continuous Current Load continuous current Limit Value range 0 to 12000 mA DEV Ox6F Value Load Deviation
55. ervomotor phase B orange Hall C Hall sensor C grey Hall B Hall sensor B blue SGND GND signal black 5V VCC red Hall A Hall sensor A green PHC Servomotor phase C yellow In addition a 9 pin SUB D connector is attached with the following assignment Pin Meaning 2 CAN L RS232 RxD 3 GND 7 CAN H RS232 TxD only for software update available 2 Installation SZ FAULHABER 2 1 Connections and wiring Power supply 24 V GND The power supply should provide suitable current for the connected motor Please pay attention to the polarity as inverting the connection will destroy the internal fuse The fuse can only be replaced at the factory Analog input analog input analog GND AGND The analog input is executed as a differential input In order to prevent a voltage drop in the supply cable connect the analog GND to the power supply GND The analog input has various uses depending on the configuration m Current limitation value via analog voltage m Presetting of target position via analog voltage m Digital input for reference and limit switches m Connection for an external encoder Analog input to GND Channel A Analog GND to GND Channel B in gearing or encoder mode CAN connections The CAN wiring is established using the connections CAN H CAN L and the supply GND A serial PC inter face can also be connected with the same connections in order to perform a firmware update Err
56. eset via the controlword The object corresponds to the FAULHABER command LA or LR Software Position Limit Index Subindex NET Type Attrb Default value Meaning 0x607D 0 number of entries Unsigned8 ro 2 Number of object entries 1 min position limit Integer32 rw 1666 Lower positioning range limit 2 max position limit Integer32 rw 1666 Upper positioning range limit The range limits specified here in relation to the reference position cannot be exceeded The presetting occursin user defined units according to the specified Position Factor The object corresponds to the FAULHABER command LL 48 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Max Profile Velocity Index Subindex NET Type Attrb Default value Meaning 0x607F 0 max profile velocity Unsigned32 rw 500 Maximum velocity 0x6081 0 profile velocity Unsigned32 rw 500 Maximum velocity Maximum velocity during a positioning The presetting occurs in user defined units according to the specified Velocity Factor The object corresponds to the FAULHABER command SP Profile Acceleration Index Subindex NET Type Attrb Default value Meaning 0x6083 0 profile acceleration Unsigned32 rw see spec Acceleration value The presetting occurs in user defined units according to the specified Acceleration Factor The object corresponds to the FAULHABER command AC Profile Deceleration Index Subindex Name Type Attrb Default value Meaning 0x6084 0 profile dec
57. f the number of data bytes is necessary Byte0 0x22 Server E Client Download Response 11 bit identifier 8 bytes user data 0x580 1408D Node ID 0x60 Index LB Index HB Subindex 0 0 0 0 Termination of the SDO protocol in the event of error Client E Server 11 bit identifier 8 bytes user data 0x600 1536D Node ID 0x80 Index LB Index HB Subindex Error0 Errorl Error2 Error3 Server E Client 11 bit identifier 8 bytes user data 0x580 1408D Node ID 0x80 Index LB Index HB Subindex ErrorO Errorl Error2 Error3 Error3 Error class Error2 Error code Errorl Additional error code HB Error0 Additional error code LB SZ FAULHABER 4 CANopen 4 3 SDO Service Data Object Error class Error code Additional code Description 0x05 0x03 0x0000 Toggle bit unchanged 0x05 0x04 0x0001 SDO Command Specifier invalid or unknown 0x06 0x01 0x0000 Acessto this object is not supported 0x06 0x01 0x0002 Attempt to write to a Read_Only parameter 0x06 0x02 0x0000 Object not present in the object dictionary 0x06 0x04 0x0041 Object cannot be mapped in PDO 0x06 0x04 0x0042 Number and or length of mapped objects would exceed PDO length 0x06 0x04 0x0043 General parameter incompatibility 0x06 0x04 0x0047 General internal error in device 0x06 0x06 0x0000 Access terminated due to hardware error 0x06 0x07 0x0010 Data type or parameter length do not agree or are unknown 0x06 0x07 0x0012 Data type does not agree parameter length too large 0x06 0x07 0x
58. fault application parameters parameters This object loads the default configuration parameters status at delivery A read access provides information on the restore options The restore process is triggered by writing the signature load to the relevant subindex Signature MSB LSB ASCII d a o The parameters are only set to the default values at the next boot up reset If the default parameters are to be definitively saved a save command must be executed after the reset COB ID Emergency Message Index Subindex Name Type Attrb Default value Meaning 0x1014 0 COB ID EMCY Unsigned32 ro 0x80 CAN Object Identifier Node ID of the Emergency Object Identity Object Index Subindex NET Type Attrb Default value Meaning 0x1018 0 Number of entries Unsigned8 ro 4 Number of object entries 1 Vendor ID Unsigned32 ro 327 Manufacturer ID number Faulhaber 327 2 Product code Unsigned32 ro 3150 Product ID number 3 Revision number Unsigned32 ro Version number 4 Serial number Unsigned32 ro Serial no SZ FAULHABER 6 Parameter Description 6 1 Communication Objects according to DS301 Server SDO Parameters Index Subindex NET Type Attrb M value Meaning 0x1200 0 Number of entries Unsigned8 ro Number of object entries 1 COB ID Client E Unsigned32 ro aa CAN Object Identifier Server rx Node ID for Server RxSDO 2 COB ID Server E Unsigned32 ro 0x580 CAN Object Identifier Client tx Node ID for Server TxSDO Re
59. fault value Meaning 0x6061 0 Modes of Integer8 ro 1 Display of set operation display operating mode The set operating mode can be queried here The return value corresponds to the values of Object 0x6060 The object corresponds to the FAULHABER GOPMOD command 6 3 2 Factor Group The objects in this range serve for conversion between internal values and user defined physical values Position Factor Index Subindex NET Type Attrb Default value Meaning 0x6093 0 number of entries Unsigned8 ro 2 Number of object entries 1 numerator Unsigned32 rw 1 Dividend numerator of position factor 2 feed_constant Unsigned32 rw 1 Divisor denominator of position factor position encoder resolution gear_ratio position factor feed constant The desired position unit for Profile Position Mode can be set with thisfactor default encoder resolution The internal position values are divided by the position factor in order to produce the desired physical values SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Velocity Factor Index Subindex NET Type Attrb Default value Meaning 0x6096 0 number of entries Unsigned8 ro 2 Number of object entries 1 numerator Unsigend32 rw 1 Dividend numerator of velocity factor 2 divisor Unsigend32 rw 1 Divisor denominator of velocity factor position_encoder_resolution velocity_encoder_resolution velocity_factor The desired velocity unit can be set with this factor
60. h all relevant requirements particularly the EMC Directive 2004 108 EC Test certificates for individual motors issued in accordance with EU standards are available on request 65 7 3 Electromagnetic compatibility EMC 7 3 1 Definition Electromagnetic compatibility is defined as the ability of a device unit of equipment or system to function satisfactorily in its electromagnetic environment without introducing intolerable electromagnetic disturbances to anything in that environment EMC Directive 7 3 2 EMC Directives and Standards Motion Controller MCLM 3006 C comply with the EMC Directive 2004 108 EG if used as intended Proof of this has been furnished demonstrating compliance with the following Harmonised Standards E EN 61000 6 4 10 01 Generic standards Emission standard for industrial environments m EN 61000 6 2 10 01 Generic standards Immunity for industrial environments The aforesaid Generic Standards prescribe certain standardised tests for the emitted interference and interference immunity tests The following tests are required due to the connections on the MCLM Generic Standard on Emitted Interference m EN 55011 Class A Electromagnetic disturbance characteristics Generic Standard on Interference Immunity m EN 61000 4 2 Electrostatic discharge m EN 61000 4 3 Radiated radio frequency electromagnetic field m EN 61000 4 4 Electrical fast transient burst m EN 61000 4 5 Surge
61. he Commands CANopen menu The desired node must have been activated beforehand by double clicking in Node Explorer The current statuses are always displayed in the status line at the bottom of the screen The FAULHABER commands described below can be entered directly in the command input line or selected from the Commands menu After sending the command a command interpreter is activated which converts the command into a corresponding CAN message frame on PDO2 In order to drive a motor using the Motion Manager follow the procedure below assuming a valid node number and matching baud rate 1 Start network node Start Remote Node The right mouse button in Node Explorer opens a context menu then select the entry CANopen Network Management NMT Start Remote Node or use menu Commands CANopen gt FAULHABER commands are now available 2 Configure drive functions A user friendly dialog that enables the desired settings to be made is available under the menu item Configuration Drive functions For external motion controllers MCLM 3003 06 C you must check that the correct basic settings have been made for the connected motor see section 2 5 Depending on whether you wish to operate the drive using the standard CANopen objects or the simpler FAULHABER commands go into the desired mode Modes of Operation OPMOD 1 3 6 or 1 If the settings are to be permanently stored press the EEPS
62. he internal structure FAULHABER Motion Manager also enables easy access to the individual objects via a graphic user interface 4 CANopen SZ FAULHABER 4 2 PDOs Process Data Objects PDOs correspond to a CAN message frame with up to 8 bytes and are used for the transfer of process data i e control and monitoring of the device behaviour The PDOs are designated from the viewpoint of the field device Receive PDOs RxPDOs are received by the field device and contain e g control data while Transmit PDOs TxPDOs are sent by the field device and contain e g monitoring data PDOs can only be transmitted if the device isin Operational status see section 4 5 PDO communication modes Event controlled Data are sent by the device automatically after a change Remote Reguest RTR Data are sent after a reguest message frame Synchronised not supported Data are sent after receipt of a SYNC object FAULHABER motion controllers provide the following PDOs Receive PDO1 controlword according to DSP402 Transmit PDO1 statusword according to DSP402 Receive PDO2 FAULHABER command Transmit PDO2 FAULHABER request data RTR Receive PDO3 FAULHABER trace configuration Transmit PDO3 FAULHABER trace data RTR 25 RxPDO1 Controlword 11 bit identifier 2 bytes user data 0x200 512D Node ID LB HB Contains the 16 bit controlword according to CiA DSP402 which controls the state machi
63. ions M Individual set points After reaching the target position the drive informsthe Master that it has reached the target and can then move to a new target position The speed is usually 0 before a new positioning is started m A sequence of set points After reaching one target position the drive immediately moves to the next previously assigned target position This results in a continuous movement without the need to decelerate the drive to speed 0 in between Both methods are controlled by the temporal sequence of bits 4 and 5 New Set point Change Set immediately of the controlword and bit 12 Set point acknowledge of the statusword These bits enable preparation of a new set point while an old movement instruction is still being executed via a handshake mechanism Procedure for individual positionings Prerequisite NMT state Operational drive state Operation enabled and Modes of Operation 0x6060 set to Profile Position Mode 1 1 Set Target Position 0x607A to the desired value 2 In the controlword set bit 4 New set point to 1 bit 5 Change set immediately to 0 and bit 6 abs rel depending on whether absolute or relative positioning is required 3 Drive responds with bit 12 Set point acknowledge set in the statusword and commences positioning 4 The drive indicates that it has reached the target position via the statusword with bit 10 set Target reached An existing or new pos
64. itioning instruction can now be started New set point velocity V2 Vy Ea t b t3 time Procedure for a sequence of set points Prerequisite NMT state Operational drive state Operation Enabled and Modes of Operation 0x6060 set to Profile Position Mode 1 1 Set Target Position 0x607A to the desired value 2 In the controlword set bit 4 New set point and bit 5 Change set immediately to 1 and bit 6 abs rel depending on whether absolute or relative positioning is reguired 3 Drive responds with bit 12 Set point acknowledge set in the statusword and commences positioning 4 A new positioning instruction can now be started New set point with relative positionings the new target position is added to the last target position The drive then moves to the new target position immediately 5 The end of positioning is indicated by the statusword with set bit 10 Target reached velocity V2 Vy to t t2 time 50 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile 6 3 4 Homing Mode The objects in this range are available for Homing Mode After switch on a homing sequence must generally be executed in order to reset the position value on the homing limit switch Homing Offset Index Subindex NET Type Attrb Default value Meaning 0x607C 0 Homing Offset Integer32 rw 0 Zero point displacement from the reference position Homing Method Index Subi
65. le using the object dictionary many extended operating modes are only accessible using the FAULHABER channel see section 6 All features of the drive can also be operated without in depth CANopen knowledge such as Device Control SDO protocol and object dictionary The FAULHABER channel on PDO2 provides an easy means of executing all supported commands For drive control using the FAULHABER channel you must first set the operating mode to Modes of Operation 1 by using the following FAULHABER command and argument RxPDO2 FAULHABER command OPM OD 1 11 bit identifier 5 bytes user data 0x300 768D OxFD OxFF OxFF OxFF OxFF Node ID All FAULHABER commands can then be used for drive control in accordance with the following protocol RxPDO2 FAULHABER command 11 bit identifier 5 bytes user data 0x300 768D Command LLB LHB HLB HHB Node ID Example Set speed of node 1 at 50 mm s command SP50 ID 301 8F 32 00 00 00 All available commands are listed in section 6 4 2 Installation SZ FAULHABER 2 1 Connections and wiring MCLM 3003 06 C The connections are indicated on the terminal strips and are assigned as follows Supply side Connection Meaning CAN_H CAN High RS232 TxD CAN_L CAN Low RS232 RxD AGND Analog GND Fault Error output Anin Analog input 24V RAV GND GND 3 In 3rd input optional electronics supply Motor side Connection Meaning Ph A Servomotor phase A brown PH B S
66. line In addition to the two signal lines CAN_H and CAN_L the nodes must 1000 kBit s 25 m be connected together by a common GND line 500 kBit s 100 m 250 kBit s 250 m 125 kBit s 500 m 50 kBit s 1000 m 20 kBit s 2500 m 10 kBit s 5000 m 2 3 Servomotor connection 1 MCLM 3003 06 C The signal lines are susceptible to interference therefore a maximum cable length can not be specified For cable lengths gt 300 mm the use of shielded wires is recommended MCLM connection PhaA brown Phase A PhB orange Ph C Housing yellow Linear DC Servomotor SGND black 5V red Hall A Hall sensor A Hall B ee LE sensor B Hall C Housing 11 2 Installation SZ FAULHABER 2 4 Baud rate and Node ID Node address and transfer rate are set using the network in accordance with the LSS protocol as per CiA DSP305 Layer Setting Services and Protocol A configuration tool which supports the LSS protocol such as FAULHABER Motion Manager is required The configuration tool is the LSS Master and the drives act as LSS slaves LSS slaves can be configured in two ways 1 Switch Mode Global switches all connected LSS slaves into configuration mode However only one LSS slave may be connected to set baud rate and node ID 2 Switch Mode Selective switches just one LSS slave in the network into configuration mode Vendor ID product code revision number and serial numb
67. mm s 2 Controller output Integer16 4 Motor current Integer16 mA 44 Housing temperature Unsigned16 C 46 Coil temperature Unsigned16 C 200 Actual position Integer32 Inc 201 Target position Integer32 Inc 36 Data request Depending on the mode set for parameters 1 and 2 3 to 8 bytes are sent back on TxPDO3 after a request RTR on TxPDO3 1 Model between 0 and 15 Mode2 at 255 inactive E 3byte 1st byte Low byte data 2nd byte High byte data 3rd byte Time code The data are in Integer16 format 2 Model between 16 and 199 Mode2 at 255 inactive E 3byte Coding asin 1 The data are in Unsigned16 format 3 Model between 200 and 255 Mode2 at 255 inactive E 5byte 1st byte Lowest byte data 2nd byte Second byte data 3rd byte Third byte data 4th byte Highest byte data 5th byte Time code The data are in Integer32 format 4 Model corresponding to 1 2 or 3 and Modez2 less than 255 E S5to8byte Byte 1to 2 4 Data bytes of Model Byte 3 5 to 4 6 8 Data bytes of Mode2 Byte 5 7 Time code The data bytes of Mode2 are coded as for Model The time code corresponds to a multiple of the time basis of 1 ms and defines the time interval to the last transmission If 2 Integer32 parameters are requested there is no more space for the time code in the CAN frame and configuration parameter 2 must therefore be set to 0 transfer without time code Th
68. ndex NET Type Attrb Default value Meaning 0x6098 0 Homing Method Integer8 rw 20 Homing Method All Homing Methods defined in DSP402 V2 are supported 1to 14 Homing with index pulse if present 17 to 30 Homing without index pulse 33 34 Homing at index pulse if present 35 Homing at current position Methods 1 and 17 Homing at lower limit switch Negative Limit Switch If the limit switch is inactive the drive initially moves in the direction of the lower limit switch until its positive edge is detected If the limit switch is active the drive moves up out of the limit switch until the negative edge is detected With Method 1 the drive then moves to the next index pulse at which the Home position is set Methods 2 and 18 Homing at upper limit switch Positive Limit Switch If the limit switch is inactive the drive initially moves in the direction of the upper limit switch until its positive edge is detected If the limit switch is active the drive moves down out of the limit switch until the negative edge is detected With Method 2 the drive then moves to the next index pulse at which the Home position is set Methods 3 4 and 19 20 Homing at a positive Homing switch Positive Home Switch Depending on the status of the Homing switch the drive moves in one or the other direction until it reaches the falling 3 19 or rising 4 20 edge The Homing switch only has one rising edge in the direction of the upper limit switch The FAUL
69. ne of the drive unit The PDO refers to the object index 0x6040 in the object dictionary The bit division is described in section 6 3 1 TxPDO1 Statusword 11 bit identifier 2 bytes user data 0x180 384D Node ID LB HB Contains the 16 bit statusword according to CiA DSP402 which displays the status of the drive unit The PDO refers to the object index 0x6041 in the object dictionary The bit division is described in section 6 3 1 SZ FAULHABER 4 CANopen 4 2 PDOs Process Data Objects RxPDO2 FAULHABER command 11 bit identifier 5 bytes user data 0x300 768D Node ID Command LLB LHB HLB HHB Provides the FAULHABER channel for the transmission of manufacturer specific commands All parameters and control commands of the drive unit can be transmitted using this PDO 5 bytes are always transferred the first byte specifies the command and the following 4 bytes specify the argument as a Long Integer value A description of the commands is given in section 6 4 TxPDO2 FAULHABER data 11 bit identifier 6 bytes user data 0x280 640D Node ID Command LLB LHB HLB HHB Error FAULHABER channel for request commands A request RTR on this PDO provides the data requested with the previously sent command 6 bytes are always transferred the first byte specifies the command and the following 4 bytes the desired value as a Long Integer followed by an error code The Error byte can also be used to check whether a Transmit comman
70. ned in section 6 The FAULHABER commands which are transferred as CAN message frames as described in section 6 4 to PDO2 are specified for each operating mode The FAULHABER Motion Manager enables simple setting of the configuration parameters and operating modes using corresponding dialog windows The specified commands can be entered in plain text or selected from the Commands menu The CANopen state machines can be conveniently operated using menu selections The current statuses are automatically displayed in the status line Please note that the FAULHABER commands can only be received in Operational status Motion Manager menu Commands CANopen Network Management NMT Start Remote Node Circuit example MCLM 3006 C with reference switch on analog input and fault pin set as digital output o 24 V DC sinusoidal commutator Hall sensor A Shaft Hall sensor B Protective functions 10x Overtemperature Overcurrent Overvoltage 3 phase PWM Target Position Marget pi velocity i poster controller controller 3 red is Evaluation input 3 Velocity brown calculation e __ Evaluation e EV reference mark CAN Bus yellow M CANopen CANL a i communication CAN H 9 l and configuration GND module postion calculation i Hall sensor C
71. nge simultaneously with the settings of the FAULHABER parameters HB HD HA HN and HP Notify switch Index Subindex Name Type Attrb Default value Meaning 0x2311 0 Triggered switch Unsigned8 ro 0 Triggered switch This object can be used to query which switch has triggered in accordance with the above bit mask after receipt of a statusword message with bit14 set Reading the object resets bit14 in the statusword again FAULHABER fault register Index Subindex Name Type Attrb Default value Meaning 0x2320 0 Number of entries Unsigned8 ro 3 Number of object entries 1 Internal fault register Unsigned16 ro 0 Current internal fault O No fault 2 Emergency mask Unsigned16 rw OxFF Faultsthat trigger an emergency message frame 3 Fault mask Unsigned16 rw 0 Faults that are treated as DSP402 errors and influence the state machine error state 4 Errout mask Unsigned16 rw OxFF Faults that set the error output This object describes the treatment of internal faults The errors are coded as follows and can be masked by adding the required error Types 0x1000 Software overflow 0x0004 Overvoltage 0x0001 Current limit active 0x0100 CAN error 0x0008 Temperature error 0x0002 Speed deviation 0x0010 NVRAM error SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Set baud rate Index Subindex Name Type Attrb Default value Meaning 0x2400 0 Baud rate Unsigned8 ro OxFF Set baud rate You can use this object to que
72. ntries Unsigned8 ro 2 Number of object entries 1 COB ID Unsigned32 ro 0x380 CAN Object Identifier Node ID for TxPDO3 2 transmission type Unsigned8 ro 253 PDO transmission type asynchronous only on request RTR 41 SZ FAULHABER 6 Parameter Description 6 1 Communication Objects according to DS301 Transmit PDO1 Mapping Parameters Index Subindex NET Type Attrb Default value Meaning 0x1A00 0 Number of entries Unsigned8 ro 1 Number of object entries 1 1st object Unsigned32 ro 0x60410010 Reference to 16 bit to be mapped statusword 0x6041 Transmit PDO2 Mapping Parameters Index Subindex NET Type Attrb Default value Meaning 0x1401 0 Number of entries Unsigned8 ro 3 Number of object entries 1 1st object Unsigned32 ro 0x23010108 Reference to 8 bit to be mapped FAULHABER command 2 2nd object Unsigned32 ro 0x23020120 Reference to 32 bit value to be mapped 3 2nd object Unsigned8 ro 0x23020208 Reference to 8 bit error code to be mapped Transmit PDO3 Mapping Parameters Index Subindex NET Type Attrb Default value Meaning 0x1402 0 Number of entries Unsigned8 ro 3 Number of object entries 1 1st object Unsigned32 ro 0x23040120 Reference to 32 bit to be mapped Trace value of Parameter 1 2 2nd object Unsigned32 ro 0x23040220 Reference to 32 bit to be mapped Trace value of Parameter 2 3 3rd object Unsigned32 ro 0x23040308 Reference to 8 bit time code to be mapped SZ FAULHABER 6 Parameter Description 6 2 Manufacturer spe
73. on of FAULHABER motion controllers with CANopen interface However the detailed documentation must always be read and adhered to particularly section 2 5 The units are delivered as standard without a valid node address node ID OxFF and with automatic baud rate detection set In order to set the baud rate and node address the unit must first be configured for CAN using an appropriate configuration tool which supports the LSS protocol according to CIA DSP305 FAULHABER Motion Manager 3 installed on a PC with supported CAN interface can also be used for this purpose The node address and baud rate can be set using the LSS compatible configuration tool either in Global mode if only one drive is connected or in Selective mode with the serial number if a drive isto be configured on the network see section 2 4 If the FAULHABER Motion Manager is to be used as a configuration tool proceed as follows 1 Connect drive unit to the CAN interface of the PC and switch on or connect PC to the CAN network 2 Start FAULHABER Motion Manager 3 Activate CAN interface as communication inter face and configure with the menu item Terminal Connections 4 Select menu item Configuration Connection parameters 5 Select Configuration mode a Globally configure individual drive LSS Switch Mode Global if only one LSS node is connected and you do not wish to input further data b Selectively configure
74. op PID control mode For high precision applications an external encoder on the end effector may be used to accurately control the system A word of caution isin order Any backlash in the system may lead to an unstable system causing damage to mechanical components m The resolution of the system is dependent upon the resolution of the external encoder E The position limits must be adjusted when the external encoder is used m The Servomotor velocity may be controlled by using the Hall sensors or the external encoder E The external encoder on the end effector will realize even more significant benefits like higher precision E Hall sensors are still used for commutation Command Function Description ENCMOD Encoder Change to encoder signals mode Mode An external encoder signal serves as position transducer the current position value is set to 0 HALLSPEED Hall sensor as Hall sensors used to control motor speed sensor speed ENCSPEED Encoder as External encoder used to control speed sensor motor speed The two channels of the external encoder signals are connected to Anin and AGND which may need to be connected to the 5 V encoder supply using a 2 7 kQ pull up resistor The maximum limit position value preset with the LL command covers the value range from 0 to 1800000000 for the positive and 0 to 1800000000 for the negative limit position Input Maximum input frequency 400 kHz Level low 0 0 5 V high 3 5 V
75. or output The error output hasthe following characteristics E In the absence of an error the output pulls the output to GND Open Collector E In the event of an error the output has a 100 kQ path to GND m The output current is limited to roughly 30 mA asthe applied voltage should not exceed the power supply voltage maximum Us m Short circuit proof The error output is activated in the following situations E Current limiting activates m Over voltage protection activates internal power bus exceeds 32 V m Power stage shuts down due to over temperature m The actual velocity differs from the target by an amount greater than the set acceptable deviation DEV 10 The error output connection can also be reconfigured for other functions m Encoder pulse output E Digital output E Limit switch input M Direction input 3rd input This connection can be used as reference or digital input The unit isalso available with a separate logic and output stage power sections During an emergenoy situation disconnecting the supply voltage will shut down the output stage de powering the motor Supplying voltage independently to the third input will keep the logic section powered only available with option 3085 2 1 1 Installation instructions The place of installation must be selected so that clean and dry cooling air is available for cooling the unit The units are intended for indoor operation Large amounts of dust an
76. or output must be configured as direction input if the direction isto be changed using a digital signal Alternatively the direction can also be preset using the commands ADL and ADR Command Function Description DIRIN Direction Input Fault pin as rotational direction input The drive moves a configurable number of steps for each pulse at the analog input m The number of steps per magnetic pitch is easily programmable and is only limited by the resolution of the encoder M The individual step is easily configurable M There is no detent force m The full dynamics of the motor can be used m The servomotor is very quiet m Because of the encoder there is no loss of steps even under extreme loads E There is no current draw when the motor reaches position m The system only consumes the energy it needs Input Maximum input frequency 400 kHz Level 5 V TTL or 24 V PLC compatible depending on configuration Stepper mode enables position accurate velocity control any rational ratios can be set for input frequency to motor speed using step width and step number in accordance with the following formula Displacement pulses n polar pitch Tm 17 Displacement _ Displacement commanded of the motor Pulses Number of pulses at the frequency input number of steps STW Step width step width factor number of steps per pulse at frequency input STN Step number number of steps number of steps per magnetic pi
77. peed control operation or a homing sequence is explained subseguently in the section for the respective operating mode 45 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Statusword Index Subindex NET Type Attrb Default value Meaning 0x6041 0 Statusword Unsigned16 ro 0 Status display The statusword serves to display the current state of the drive state machine and is generally transmitted automatically in the event of status changes by means of TxPDO1 The individual bits of the statusword have the following meaning Bit Function Commands for Device Control State Machine gt c Q xs os oe 9 roi wey 289 os 38 Sos s amp g 3 28 2 250 na 2450 AO OL On LS uw 0 Ready to Switch On 0 0 1 1 1 1 1 0 1 Switched On 0 0 0 1 1 1 1 0 2 Operation Enabled 0 0 0 0 1 1 1 0 3 Fault 0 0 0 0 0 0 1 1 4 Voltage Enabled X X X X X X X X 5 Quick Stop X X 1 1 1 0 X X 6 Switch On Disabled 0 1 0 0 0 0 0 0 7 Warning 8 0 9 Remote 10 Target Reached 11 Internal limit active 12 Set point acknowledge Speed Homing attained 13 Homing Error 14 Hard Notify 15 0 Warning not used Remote not used Target Reached 0 Target Position Target Velocity not yet reached 1 Target Position Target Velocity reached Halt 1 Drive has reached speed 0 Set point acknowledge 0 No new target position adopted yet Profile Position Mode 1 New target position adopted Homing attained 0 Homing sequence not yet complete 1 Homing seq
78. plies to independently functioning machines or a chain of machines forming whole plants or systems For built in components non operational machines a manufacturer s declaration is submitted according to Annex II B of the Machinery Directive 98 37 EC Low Voltage Directive 2006 95 EC It applies to all drives with a nominal voltage from 75 to 1 500 V DC or from 50 to 1 000 V AC The drives described in this instruction manual do not fall within the scope of this Directive as they are designed for smaller voltages EMC Directive 2004 108 EC The Electromagnetic Compatibility EMC Directive applies to all electronic and electrical equipment plant and systems which are also sold to end users consumers These speed controllers therefore fall within the scope of this Directive The CE mark indicates that the speed controllers listed in this instruction manual fulfil the requirements of the EMC Directive Compliance is documented by the Declaration of Conformity 7 2 Declaration of Conformity and CE marking FAULHABER drive systems and components are parts manufactured and supplied exclusively for the purpose of further processing by persons who have the requisite level of expertise within the area of electromagnetic compatibility Therefore CE marking is not required The EC Directive European Communities governing CE marking applies solely to products which are brought onto the market These products must comply wit
79. ption 7 Appendix 5 1 The FAULHABER channel 5 2 Trace 6 1 Communication objects according to DS301 6 2 Manufacturer specific objects 6 3 Objects of the DSP402 drive profile 6 3 1 Device Control 6 3 2 Factor Group 6 3 3 Profile Position Mode 6 3 4 Homing Mode 6 3 5 Position Control Function 6 3 6 Profile Velocity Mode 6 3 7 Common Entries 6 4 FAULHABER commands 6 4 1 Basic setting commands 6 4 1 1 Commands for special FAULHABER operating modes 6 4 1 2 Parameters for basic settings 6 4 1 3 General parameters 6 4 1 4 Configuration of the fault pin and digital inputs 6 4 1 5 Configuration of homing and limit switches in FAULHABER mode 6 4 2 Query commands for basic settings 6 4 2 1 Operating modes and general parameters 6 4 2 2 Configuration of fault pin and digital inputs 6 4 2 3 Configuration of homing in FAULHABER mode 6 4 3 Miscellaneous commands 6 4 4 Motion control commands 6 4 5 General query commands 7 1 EC Directive National legislation 7 2 Dedaration of Conformity and CE marking 7 3 Electromagnetic compatibility EM C 7 3 1 Definition 7 3 2 EMC Directives and Standards 7 3 3 Information on use asintended 7 4 Configuration at delivery 36 36 37 49 45 45 47 48 51 53 54 55 56 57 57 57 58 59 59 60 60 62 62 63 63 64 65 65 65 65 65 66 66 SZ FAULHABER Version 2 edition 1 10 2008 Firmware version MCLM 3006 C 3150 55B Copyright by OFAULHABER Group All rights
80. rding Protocol see section 4 5 O switches Lifeguarding off Store Parameters Index Subindex NET Type Attrb Default value Meaning 0x1010 0 largest sub Unsigned8 ro 3 Number of index supported storage options 1 save all parameters Unsigned32 rw 1 Saves all parameters 2 save communication Unsigned32 rw 1 Only save communication parameters parameters 3 save application Unsigned32 rw 1 Only save application parameters parameters This object stores configuration parameters in the non volatile flash memory A read access provides information on the storage options 38 SZ FAULHABER 6 Parameter Description 6 1 Communication Objects according to DS301 The storage process is triggered by writing the signature save to the relevant subindex Signature MSB LSB ISO 8859 o v a s ASCII hex 65h 76h 61h 73h The object corresponds to the FAULHABER command SAVE Attention The command may not be executed more than 10 000 times as otherwise the function of the Flash memory can no longer be guaranteed Restore Default Parameters Index Subindex NET Type Attrb Default value Meaning 0x1011 0 largest subindex Unsigned8 ro 3 Number of supported restore options 1 restore all Unsigned32 rw 1 Loads all default parameters default parameters 2 restore default Unsigned32 rw 1 Only load default communication communication parameters parameters 3 restore default Unsigned32 rw 1 Only load application de
81. reserved induding translation rights No part of this description may be duplicated reproduced stored in an information system or processed or transferred in any other form without prior express written permission of FAULHABER Group Although all due care has been taken in the compilation of this description FAULHABER Group cannot accept any liability for any errors in this description or for the conseguences of such errors Egually no liability can be accepted for direct or conseguential damages resulting from misuse of the eguipment The pertinent regulations regarding safety engineering and interference suppression must be complied with Subject to modifications 1 Overview SZ FAULHABER 1 1 General description This document describes the functionality and operation of the following equipment with CANopen interface MCLM 3003 06 C The MCLM 3003 06 Cis an external motion controller for linear DC servomotors with linear Hall sensors which can be operated without additional encoders All of the motion controllers are based on a high performance digital signal processor DSP which enables tight control precise positioning and very low speeds The following drive tasks can be performed m Velocity control with tight requirements on synchronous operation and minimal force fluctuations A PI controller maintains target velocities m Velocity profiles such as ramp triangular or trapezoidal movements can be reali
82. rface CAN_L o v CAN H o GND t CANopen communication and configuration module o 24V DC V6 3 phase Phase A M8 brown PWM Phase B M7 orange Motor sinusoidal Phase C M1 yellow commutatori M2 reen Chaft I lt g position all sensor 5 blue calculation Hall sensor C M6 grey It current l 5V VCC M3 red limitation controller controller R SignalGND m4 black GND 18 SZ FAULHABER 3 Functional Description 3 3 Extended operating modes 3 3 3 Analog positioning mode In analog postioning mode the position can be commanded using a potentiometer or an external analog voltage Command Function Description APCMOD Analog Position Change to position control via Control Mode analog voltage The full scale deflection at 10 V is set using the LL command At 10 Vthe drive will move the motor an egual distance but inthe opposite direction Command Function Description LL Load Position Load limit positions the drive does Range Limits not move out of these limits in positioning mode positive values specify the upper limit and negative values specify the lower limit APCMOD Position value at 10 V Irrespective of the preset LL value the maximum position islimited to 3 000 000 in APCMOD Note The resolution of the analog input islimited to 12 bit 4096 steps The direction can be predefined with the comman
83. rw Homing speed 0x609A homing acceleration Unsigned32 rw Homing acceleration 0x60F9 velocity control parameter set ARRAY rw Parameters for speed controller Ox60FA control effort Integer32 ro Controller output Ox60FB position control parameter set ARRAY rw Parameters for position controller 0x60FF target velocity Integer32 rw Target speed 0x6510 drive data RECORD rw Drive information A detailed description of the individual objects is provided in section 6 33 SZ FAULHABER 4 CANopen 4 7 Drive control Device control The FAULHABER motion controllers support drive control according to CiA DSP402 This device profile for drives is based on the CiA DS301 communication profile and provides standardised objects for drive control and configuration In addition to Device Control the operating modes Profile Position Mode Profile Velocity Mode and Homing Mode are also supported Application layer and communication profile DS 301 Drive Profile 402 Device Control state machine Modes of operation CAN network Profile Velocity Mode Homing Profile Servomotor 34 The drive behaviour is mapped in CANopen via a state machine The states can be controlled with the control word and displayed with the statusword Power Disabled Fault Reaction Active Not Ready to Switch On Switch On Disabled Ready to Switch On Enabled Quick Stop Active Operation Enable
84. ry which baud rate is set The index of the set baud rate or OxFF is returned if AutoBaud is set Baud rate Index Baud rate Index 1000 KBit 0 125 KBit 4 800 KBit 1 50 KBit 6 500 KBit 2 20 KBit 7 250 KBit 3 10 KBit 8 AutoBaud OxFF 6 3 1 Device Control The objects in this range serve to control and display the drive behaviour Controlword Index Subindex NET Type Attrb Default value Meaning 0x6040 0 controlword Unsigned16 rw 0 Drive control The controlword serves to control the drive state machine and is generally transmitted by means of RxPDO1 The individual bits of the controlword have the following meaning Function Commands for Device Control State Machine lt c c h K 2 v 3 2s 8 8 Se 83 33 f 58 35 Aa n AS 56 EE 0 Switch on 0 1 X X 1 1 X 1 Enable Voltage 1 1 0 1 1 1 X 2 Quick Stop 1 1 X 0 1 1 X 3 Enable Operation X X X X 0 1 X 4 New set point Homing operation start 5 Change set immediately 6 abs rel 7 Fault reset 0 gt 1 8 Halt 9 0 10 0 11 0 12 0 13 0 14 0 15 0 New set point 0 Do not set new target position 1 Set new target position Change set 0 Finish current positioning and start a new positioning immediately 1 Interrupt current positioning and start a new positioning abs rel 0 Target Position isan absolute value 1 Target Position isa relative value Fault reset 0 gt 1 Reset fault Halt 0 Motion can be executed 1 Stop drive The necessary command sequence at the start of a positioning a s
85. sed Gentle starting or deceleration can easily be implemented m Positioning mode Starting from defined positions with high resolution 1 3000 of polar pitch using linear Hall sensors of LM motors m Acquisition of reference marks and limit switches m Extended operating modes Stepper mode Analog positioning mode Electronic gear operation with external incremental encoder m Force control with adjustable current limitation m Storage of the set configurations Various inputs and outputs are available for the implementation of these tasks m Set value input for target velocity Analog or PWM signals can be used The input can also be used as digital or reference input A frequency signal or an external incremental encoder can also be connected here m Error output Open Collector Can also be reprogrammed as direction digital or reference mark input and as pulse or digital output m1 additional digital input CANopen interface for integration in a CAN network with transfer rates up to 1M bit s The CANopen communication profile according to DS301 V4 02 and DSP402 V2 0 accord ing to CiA specification for slave equipment with the following services is also supported E 1 server SDO E 3 transmit PDOs 3 receive PDOs m Static PDO mapping m NMT with Node Guarding m Emergency object Transfer rates and node number are set using the network in accordance with the LSS protocol as per DSP305 V1 1 and automatic baud rate
86. ss control and monitoring functions m Device profiles are specified for the various devices such as DSP402 for drives and DS401 for I O devices general device description from the user s viewpoint m Public data are managed via the object dictionary parameter table access to entries via index and sub index M There are two data communication objects PDOs process data objects for control and monitoring SDOs service data objects for access to the object dictionary m Further objects are available for network management node guarding and synchronisation m CANopen supports up to 127 nodes per network segment with transfer rates up to 1 MBit s m The communication is message related each communication object receives its own 11 bit identifier 24 The FAULHABER motion controllers support the CANopen communication profile according to CiA DS301 V4 The following communication objects are supported 3 transmit PDOs 3 receive PDOs 1 server SDO 1 emergency object NMT with node guarding no heartbeat No SYNC no time stamp object The identifier configuration of the CANopen objects is defined according to the Predefined Connection Set see section 4 5 The data assignment of the PDOs is permanently preset static PDO Mapping Many manufacturers offer CANopen libraries for PC and PLC systems through which the individual objects can be easily accessed without having to deal with t
87. st value of Parameter 1 2 value2 Unsigned32 ro 0 Last value of Parameter 2 3 time code Unsigned8 ro 0 Last time code value The content of this object is requested by means of a Request RTR on TxPDO3 and supplies the Trace data for the set parameters The last requested values are always temporarily stored 43 SZ FAULHABER 6 Parameter Description 6 2 Manufacturer specific objects Limit switch setting Index Subindex Name Type Attrb Default value Meaning 0x2310 0 Number of entries Unsigned8 ro 5 Number of object entries 1 Negative Limit Unsigned8 rw 0 Lower limit switch 2 Positive Limit Unsigned8 rw 0 Upper limit switch 3 Homing Unsigned8 rw 0 Homing switch 4 Notify Unsigned8 rw 0 Notify switch 5 Polarity Unsigned8 rw 7 Polarity of switch 1 Pos edge valid 0 Neg edge valid The function of the digital inputs can be set according to the following bit mask 7 e s 4 3 2 1 0 Analog input Fault pin 3rd input Upon reaching the upper or lower limit switch the drive is stopped and can only be moved out of the limit switch again in the opposite direction Hard Blocking Homing switches are only active in DSP402 Homing Mode Polarity and Notify are not taken into account here and the position value is reset after execution of homing Notify switches indicate activation with the statusword and setting of bit14 You can then query which switch has triggered with Object 0x2311 The settings of this object cha
88. switch Setting is not stored SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands 6 4 2 Query commands for basic settings 6 4 2 1 Operating modes and general parameters Command Hex value Data Function Description GOPMOD OxFE 0 Get Operation Mode Display current CANopen operating mode 1 FAULHABER mode 1 Profile Position Mode 6 Homing Mode Corresponds to object 0x6061 modes of operation display CST 0x58 0 Configuration Status Set operating mode Return value binary coded LSB Bit 0 Bit 0 2 Reserved Bit 3 4 Velocity presetting 0 SORO CAN interface 1 SOR1 Analog voltage 2 SOR2 PWM signal 3 SOR3 current limitation value Bit 5 6 reserved Bit 7 9 FAULHABER mode 0 CONTMOD 1 STEPM OD 2 APCMOD 3 ENCM OD HALLSPEED 4 ENCM OD ENCSPEED 5 GEARM OD 6 VOLTMOD Bit 10 Power amplifier 0 Disabled DI 1 Enabled EN Bit 11 Position controller 0 Switched off 1 Switched on Bit 12 Analog direction 0 ADL 1 ADR Bit 13 Position Limits APL 0 Deactivated 1 Activated Bit 14 Sinus commutation SIN 0 Permit block commutation 1 Do not permit block commutation 60 SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands Command Hex value Data GMOD 0x28 0 GENCRES 0x1E 0 GMOTTYP 0x29 0 GKN 0x4D 0 GRM Ox4E 0 GSTW 0x39 0 GSTN 0x38 0 GMV 0x2A 0 GMAV 0x27 0 GPL 0x31 0 GNL 0x2C 0 GSP 0x36 0 GAC 0x15 0 GDEC 0x1B 0 GSR 0x56 0 GPOR 0x33 0 GI 0x26 0 G
89. sword on PDO1 The current state can also be requested at any time via a remote request on PDO1 The statusword is located in the Object dictionary under Index 0x6041 The meaning of the individual bits of the statusword is explained in section 6 3 1 35 5 Extended CAN Functions S SZ FAULHABER 5 1 The FAULHABER channel A special FAULHABER channel is available on PDO2 via which all commands of the motion controller can be simply executed For each FAULHABER command there is a corresponding CAN frame with which the CAN unit can be operated similarly to the serial variant All functions and parameters of this drive unit can be accessed via this channel Section 6 4 contains a complete description of the FAULHABER commands 5 2 Trace It is possible to trace operating data via PDO3 i e to read data out online in a resolution of up to 1 ms After setting the desired trace type via RxPDO3 the values can be requested in succession by means of requests to TxPDO3 see section 4 2 Trace configuration RxPDO3 Byte Function 0 Mode for parameter 1 1 Mode for parameter 2 255 No second parameter Transmission with time code 1 With time code 0 Without time code Number of data packets to be transmitted per request Default 1 Time interval between packets ms Default 1ms 2 The following values are available for parameters 1 and 2 0 Actual speed Integer16 mm s 1 Target speed Integer16
90. t 1 8 Bit 8 15 SHN setting for input 1 8 Bit 16 23 SHL setting for input 1 8 input 6 8 Reserved GHOSP 0x24 0 Get Homing Speed Set homing speed in mm s 62 SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands 6 4 3 Miscellaneous commands Command Hex value Data Function SAVE 0x53 0 Save Parameters EEPSAV RESET 0x59 0 Reset RN 0x44 0 Reset Node FCONFIG OxDO 0 Factory Configuration 6 4 4 Motion control commands Description Save current parameters and configuration setting to Flash memory The drive will also start with these settings when next switched on Corresponds to object 0x1010 Attention Command must not be executed more than 10 000 times as otherwise the function of the Flash memory can no longer be guaranteed Restart drive node Corresponds to NMT Reset Node Set parameters to original values ROM values current acceleration controller parameters maximum speed limit positions All configurations and values are reset to the delivery status The drive is deactivated after this command The drive is only reactivated with the ROM values when the supply is reconnected The commands executed here are only available in FAULHABER mode Modes of operation 1 Command Hex value Data Function DI 0x08 0 Disable Drive EN OxOF 0 Enable Drive M 0x3C 0 Initiate Motion LA 0xB4 Value Load Absolute Position LR 0xB6 Value Load Relative Position U 0x92 Value Set Output Voltage
91. t damage may occur as the result of electrostatic discharges at the connection contacts e g D SUB connector and terminal strip In order to avoid such discharges these connectors should be covered by suitable protective caps Information on scope and frequency of maintenance m See Chapter 2 1 4 66 7 4 Configuration at delivery The standard configuration parameters with which the units are delivered are listed below These settings can also be reloaded at any time with the command FCONFIG followed by a hardware reset For the default values of the CANopen objects not listed here please see the Parameter Description Baud rate and Node ID are each set to OxFF i e automatic baud rate recognition and invalid node number MCLM 3003 06 C FAULHABER command CONTMOD APL1 SORO MOTTYPO ERROUT HP7 HBO HDO HOSP20 SHAO SHLO SHNO ADR LPC1440 LCC480 AC30000 DEC4000 SR1 110 POR20 PP80 PD10 C140 SP500 LL1666 LL 1666 LPN16 STW1 STN 1000 ENCRES2048 DEV30000 DCE200 CORRIDOR20 SIN1 SETPLC OPMOD1 DI LRO M CANopen object 0x6083 0x6084 0x60F9 0x60F9 0x60FB Ox60FB 0x607F 0x607D 0x607D 0x6067 0x6060 Description Normal operation Position limits activated Velocity presetting via CAN Motor type LM 1247 020 01 Fault pin Error output All inputs react to rising edge No Hard Blocking limit switch defined Homing Speed 20 mm s No FAULHABER homing sequence
92. tch Value range of STN and STW 0 to 65535 Command Function Description STW Load Step Load step width for step motor Width and gearing mode STN Load Step Load number of steps per magnetic Number for step motor and gearing mode Example Motor should move 1 1000th of magnetic pitch for each input pulse STW1 STN1000 The direction can be predefined with the commands ADL and ADR or using an external signal at the fault pin DIRIN command The acceleration and speed parameters AC DEC SP are effective in stepper motor mode These permit gentle starting and stopping The position range limits set using LL must also be activated with the APL1 command in order to prevent the exit of the shaft SZ FAULHABER 3 Functional Description 3 3 Extended operating modes 3 3 2 Gearing mode electronic gearing Using gearing mode forces the attached motor to follow an external encoder Command Function GEARMOD Gearing Mode Description Change to gearing mode The two channels of an external encoder are connected to Anin and AGND which may need to be connected to the 5 V encoder supply using a 2 7 kQ pull up resistor The gear ratio can be set in accordance with the following formula Displacement pulses FN polar pitch Tm Displacement Pulses STW Displacement commanded of the motor Post quadrature encoder pulses Step width step width factor number of steps per encoder pulse STN
93. ters are already preset for common applications However in order to optimally adapt the controller to the respective application the controller parameters must be optimized Varioustheoretical and practical adjustment rules exist but these will not be described in more detail here A simple practical method of adjusting the controller is explained below The digital controller operates at a sampling rate of 100 us When needed the sampling rate can be increased up to 2 ms The following controller parameters are available Command Function Description POR Load Velocity Load velocity controller Proportional amplification Term Value range 1 255 Corresponds to object 0x60F9 l Load Velocity Load velocity controller Integral Term integral term Value range 1 255 Corresponds to object 0x60F9 PP Load Position Load position controller Proportional amplification Term Value range 1 255 Corresponds to object 0x60FB PD Load Position Load position controller D term D Term Value range 1 255 Corresponds to object 0x60FB SR Load Sampling Load sampling rate of the velocity Rate controller as a multiplier of 100 us Value Range 1 20 ms 10 23 Possible procedure Set parameters of position controller 1 Set initial configuration m Default value for P term 80 PP80 m Default value for D term 10 PD10 2 Motion profiles appropriate for the application must now be run If the system does not function stably with these
94. top of falling edge Start in negative direction if switch is inactive Methods 12 and 28 Homing at top of rising edge Start in negative direction if switch is inactive Methods 13 and 29 Homing at bottom of rising edge Start always in negative direction Methods 14 and 30 Homing at bottom of falling edge Start always in negative direction Methods 33 and 34 Homing at index pulse Drive moves in negative 33 or positive 34 direction until the index pulse Method 35 The position counter is reset at the current position 52 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Homing speed Index Subindex Name Type Attrb Default value Meaning 0x6099 0 Number of entries Unsigned32 ro 2 Number of entries 1 Speed during search Unsigned32 rw 40 Speed during search for switch for switch 2 Speed during search Unsigned32 rw 20 Speed during search for zero for zero point The data are provided in user defined units according to the specified Velocity Factor Homing acceleration Index Subindex Name Type Attrb Default value Meaning 0x609A 0 Homing acceleration Unsigned32 rw 50 Acceleration during homing The presetting is made in user defined units according to the specified Acceleration Factor Procedure for a homing sequence Prerequisite NMT state Operational drive state Operation enabled and Modes of Operation Ox6060 set to Homing Mode 6 1 Set Homing Mode 0x6098 Homing Sp
95. ture 4200 device temperature 4210 over temperature 5000 device hardware 5500 data storage 5530 flash memory error 6000 device software 6100 internal software 8000 monitoring 8100 communication 8110 CAN overrun objects lost 8120 CAN in error passive mode 8130 life guard error or heartbeat error 8140 recovered from bus off 8150 transmit COB ID collision 8200 protocol error 8210 PDO not processed due to length error 8220 PDO length exceeded 8400 velocity speed controller deviation 8600 positioning controller 8611 following error SZ FAULHABER 4 CANopen 4 5 NMT Network Management After power on and successful initialisation the FAULHABER motion controllers are automatically in Pre Operational state In this state communication with the device can only occur via service data objects SDOs as well as NMT messages in order to make or request parameter settings The FAULHABER motion controllers are supplied with sensible default settings for all objects so that asa rule no further parameterisation is necessary at system start Usually any necessary parameter settings are performed once e g with the help of the FAULHABER Motion Manager and then stored permanently in the data flash memory These settings are then available immediately after system start A single CAN message is sufficient to start a CANopen device Start Remote Node 11 bit identifier 2 bytes user data 0x000 0x01 Node ID Or to st
96. uence successfully completed Speed 0 Speed unequal to 0 Profile Velocity Mode 1 Speed 0 Homing Error 0 No error 1 Error Hard Notify 0 No limit switch has triggered 1 A Notify switch hastriggered see Object 0x2311 for which input hastriggered SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Bit 10 Target Reached is set when the drive has reached its target position in Profile Position Mode Presetting a new set point deletes the bit Bit 11 Internal Limit Active indicates that a range limit has been reached Position Range Limit or Limit Switch Bit 12 Set point acknowledge Speed is set after receipt of a new positioning command controlword with New Set Point and reset when New Set Point is reset in the controlword handshake for positioning command The bit is set at velocity 0 in Profile Velocity Mode Modes of operation Index Subindex NET Type Attrb Default value Meaning 0x6060 0 Modes of operation Integer8 wo 1 Operating mode changeover The following values are available 1 Profile Position Mode Position Control 6 Homing Mode Homing 1 FAULHABER Specific Operating Mode The individual operating modes are described in more detail later in this section Modes 1 to 6 automatically switch the drive into Normal Mode CONTMOD with digital set point presetting SORO The object corresponds to the FAULHABER OPMOD command Modes of operation display Index Subindex NET Type Attrb De
97. ularly quietly In the current version the sinus commutation has been extended by a so called flat top modulation which enables 15 more modulation Asa result higher no load speeds are possible With the SINO command the system can even be set so that over 30 more modulation is possible In this mode the sinus commutation in the upper speed range switches over to a block commutation This full modulation enables the complete speed range of the Servomotor to be utilised Command Function Description SIN Sinus 1 Only sinusoidal commutation Commutation 0 Block commutation in the upper speed range full modulation possible 3 5 2 Current controller and t current limitation The FAULHABER motion controllers are equipped with an integral current controller which enables implementation of amoment limitation The following parameters can be set Command Function Description LPC Load Peak Load peak current Current Limit Value range 0 to 12000 mA LCC Load Continuous Load continuous current Current Limit Value range 0 to 12000 MA CI Load Current Load integral term for current controller Value range 1 255 Integral Term 1 Peak current FAULHABER command LPC1500 E set peak current to 1500 mA The current is limited to the peak current provided that the thermal current model calculates a non critical temperature 2 Continuous current FAULHABER command LCC600 set continuous current to 600 mA If the
98. ut of the limit switch The speed stays at 0 mm s if target velocities are in the wrong direction Example Setting of the Hard Blocking function for fault pin and 3th input 214 2 2 4 6E HB6 Definition of homing behaviour Command Function Description SHA Set Home Arming Homing behaviour GOHOSEQ for Homing Set position value to 0 at edge of Sequence respective limit switch SHL Set Hard Limit Homing behaviour GOHOSEQ for Homing Stop motor at edge of respective Sequence limit switch SHN Set Hard Notify Homing behaviour GOHOSEQ for Homing Send message to Master statusword Sequence bit 14 1 at edge of respective limit switch In order to be able to execute a homing sequence with the command GOHOSEQ a homing sequence must be defined for a specific limit switch If the drive is already located in the limit switch when 16 GOHOSEQ is called it attempts to move out of the switch Asthe speed defined in HOSP would only drive the mechanics further into the switch the same velocity as set in HOSP is used but in the opposite direction Example The following commands configure the drive to stop the motor set the actual position to 0 and notify the Master when input 3 transitions to a high state HP4 SHA4 SHL4 SHN4 Homing Speed Command Function Description HOSP Load Homing Load speed and direction Speed for homing GOHOSEO GOHIX Unit mm s Example HOSP 100 Direct programming using HA
99. utput Fault pin as digital output The output initializes to low logic pulled to GND DIRIN Direction Input Fault pin as direction input REFIN Reference Input Fault pin as reference or limit switch input The REFIN and DIRIN functions have already been explained in the relevant sections Fault pin as error output In ERROUT mode the output is set as soon as one of the following errors occurs One of the set current limitation values LPC LCC is exceeded Set maximum permissible speed deviation DEV is exceeded Overvoltage detected Maximum coil or MOSFET temperature exceeded In order to hide the transient occurrence of errors during the acceleration phase for example an error delay can be set which specifies how long an error must be present before it is displayed at the error output Command Function Description DCE Delayed Current Delayed error output for ERROUT Error in 1 100 sec Example Only display error after 2 seconds DCE200 If one of the above errors occurs a corresponding Emergency Object is sent to the CAN network Please consider the error mask in object 0x2320 Only it is set at 1 the error status will be send See also chapter 6 2 under FAULHABER fault register Fault pin as pulse output In the ENCOUT mode the fault pin is used as pulse output which outputs an adjustable number of pulses per magnetic pitch The pulses are derived from the Hall sensor signals of the LM motors an
100. vated and operated using the Device Control functions according to CiA DSP402 or using the FAULHABER message frames on PDO2 The identifiers of the individual objects are allocated according to the Predefined Connection Set and are dependent on the node number see section 4 5 These are the most important objects Object Function Identifier TxPDO1 Statusword 0x180 node no RxPDO1 Controlword 0x200 node no TxPDO2 FAULHABER data 0x280 node no RxPDO2 FAULHABER command 0x300 node no TxSDO Read object 0x580 node no RxSDO Write object 0x600 node no In delivery status the drives are in the operating mode Modes of operation 1 Profile Position Mode when switched on In this operating mode the drive control is performed using the Device Control state machine which is operated using the controlword Object 0x6040 or RxPDO1 and queried using the statusword Object 0x6041 or TxPDO1 The following command sequence is prescribed to activate the power output stage 1 Shutdown Controlword 0x06 2 Switch on Enable Operation Controlword 0x0F The drive isthen in Operation Enabled status in which it can be operated using the corresponding objects of the Profile Position Mode see section 4 7 and section 6 3 3 The drive can be configured both by means of SDO transfer using the objects of the object dictionary and using PDO2 with the commands of the FAULHABER channel Not all configuration options are accessib
101. with the SAVE EEPSAV command and reloaded from here after switch on 6 4 1 1 Commands for special FAULHABER operating modes Only available in FAULHABER mode M odes of operation OPMOD 1 Command Hex value Data Function Description OPMOD OxFD 0 Operation Mode CANopen operating mode 1 FAULHABER mode 1 Profile Position Mode 6 Homing Mode Corresponds to object 0x6060 modes of operation SOR Ox8E 0 3 Source For Velocity Source for velocity presetting 0 CAN interface default 1 Voltage at analog input 2 PWM signal at analog input 3 Current limitation value via analog input CONTMOD 0x06 0 Continuous Mode Switch back from an extended mode to normal mode STEPM OD 0x46 0 Stepper Motor Mode Switch to stepper motor mode APCMOD 0x02 0 Analog Position Switch to position control via analog voltage Control Mode ENCM OD 0x10 0 Encoder Mode Switch to encoder mode An external encoder serves as position detector the current position value is set to 0 HALLSPEED 0x3B 0 Hall Sensor as Speed via Hall sensors in encoder mode Speed Sensor ENCSPEED 0x12 0 Encoder as Speed via encoder signals in encoder mode Speed Sensor GEARMOD 0x1D 0 Gearing Mode Switch to gearing mode VOLTMOD 0x49 0 Set Voltage Mode Activate voltage regulator mode 6 4 1 2 Parameters for basic settings Command Hex value Data Function Description ENCRES 0x70 Value Load Encoder Resolution Load resolution from external encoder Value range 0 to 65535 4 times pulse mm MOTTYP 0x84

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