Comando S Sec

Smart Electromotor Controller
Description
Commissioning
of the
Servomotor-
Controllers
Type
SEC-AC-305-CO
SEC-AC-508-CO
Fieldbus-protocol
CanOpen
Description
534 277
en 0208NH
[665843]
Contents and general instructions
Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de
Layout . . . . . . . . . . . . . . . . . Festo AG & Co.KG, Abtl. KG-GD
Type setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DUCOM
E (Festo AG & Co.KG, D-73726 Esslingen, Federal Republic of

Germany 2003)
Internet: http://www.festo.com
E-Mail: service_international@festo.com
The copying, distribution and utilization of this document as

well as the communication of its contents to others without
expressed authorization is prohibited. Offenders will be held
liable for the payment of damages. All rights reserved, in
particular the right to carry out patent, utility model or
ornamental design registration.
Festo P.BE-SEC-AC-CO-EN en 0208NH I

II Festo P.BE-SEC-AC-CO-EN en 0208NH

Contents
Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII

Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Notes on the use of this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX
Validity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX
Further manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX
Further documentation about CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X
Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.2 How to use the CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
2. Cabling and pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.2 Pin assignment and setting of the node address . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3 Absolute Maximum Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4 General values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5 CAN-Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.1 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.2 Electrical features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.6 A-D converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.6.1 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.7 CAN bus cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2.8 Cabling notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
Festo P.BE-SEC-AC-CO-EN en 0208NH III

3. Activation of CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2 Activation by Terminal program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3 Examples for the activation of CANopen communication . . . . . . . . . . . . . . . 3-6
3.4 Activation by Transfer window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
4. Access methods/SDO access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2 Access by SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.1 SDO sequences to read or write parameters . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.2.2 SDO error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.2.3 Simulation of SDO accesses via RS232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.3 PDO-Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.3.1 Description of objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.3.2 Objects for parametrizing PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.3.3 Activation of PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.4 SYNC-Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.5 EMERGENCY message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.5.1 Structure of an EMERGENCY message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.5.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.6 Node-Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
4.6.1 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.7 Network management (NMT service) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
5. Adjustment of parameters/Load and save set of parameters . . . . . . . . . . 5-1
5.1 Load and save set of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.1.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.1.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.2 Conversion factors (Factor Group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.2.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.2.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.3 Power stage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.3.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.3.2 Objekte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
IV Festo P.BE-SEC-AC-CO-EN en 0208NH

5.4 Current control and motor adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32

5.4.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
5.4.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
5.5 Velocity controller and overspeed protection . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.5.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.5.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.6 Position Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48
5.6.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48
5.6.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51
5.7 Encoder settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.7.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.7.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.8 Sources for demand / actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.8.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.8.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.9 Digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-80
5.9.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-80
5.9.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-80
5.10 Homing switches (Limit / Reference switch) . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
5.10.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
5.10.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
6. Device Control/State diagram (State machine) . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1 State diagram (State machine) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.1.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.2 The state diagram of the servo controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.1.3 Controlword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.1.4 Reading the status of the servo controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.1.5 Statusword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
6.1.6 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
7. Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1 Adjustment of the Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.1.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Festo P.BE-SEC-AC-CO-EN en 0208NH V

7.1.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.2 Operating Mode Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.2.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.2.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
7.3 Operating Mode (Profile Position Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
7.3.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
7.3.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
7.4 Profile Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-42
7.4.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-42
7.4.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-44
7.5 Profile Torque Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-56
7.5.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-56
7.5.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-59
A. Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.1 Recommended components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
B. Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
B.1 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
VI Festo P.BE-SEC-AC-CO-EN en 0208NH

Designated use
The Controllers described in this manual are intended for

fitting into a machine or an automated system. You must
always observe the instructions in this manual concerning
safety and the designated use of the controllers.
The Controllers may only be used as follows:
in accordance with designated use
in its original state
without any modifications by the user
in faultless technical condition.
If additional commercially-available components such as sen-

sors and actuators are connected, the specified limits for
pressures, temperatures, electrical data, torques, etc. must
not be exceeded.
Please observe the standards specified in the relevant

chapters and comply with technical regulations, as well as
with national and local regulations.
Warning
If to be used as an explosion-protected operating device,
make sure that:
S electrical contacts are not disconnected under tension
S the completely fitted product with all plugs, adapters
and protective caps complies at least with protection
class IP 64.
Festo P.BE-SEC-AC-CO-EN en 0208NH VII

Target group
This manual is intended exclusively for technicians trained in

control and automation technology, who have experience in
installing, commissioning, programming and diagnosing posi-
tioning systems and servo controllers.
Service
Please consult your local Festo repair service if you have any
technical problems.
Notes on the use of this manual
The information and data contained in this document have

been composed to the best of our knowledge. However, devi-
ations between this document and the product cannot be
excluded entirely. The manufacturer does not accept liability
for any resulting errors or consequential damage. Neither will
any liability be accepted for damage resulting from the use of
the device or applications or from damaged circuits in the
device. The manufacturer reserves the right to modify, amend
or improve the document or the product without prior noti-
fication. This document may not, neither entirely nor in part,
be reproduced, translated into any other natural or machine-
readable language or transferred to data carriers, neither
electronically, mechanically, optically nor any other way -
without expressive authorisation by the author.
VIII Festo P.BE-SEC-AC-CO-EN en 0208NH

Trademarks
Any product names in this document may be registered

trademarks. The sole purpose of any trademarks in this docu-
ment is the identification of the corresponding products.
Validity
The publication of this version renders all previous versions

of this manual invalid.
Further manuals
Technical Documentation SEC-AC-...: These manuals con-

tain a general survey of the respective servo controller
family.
Technical Documentation for First Commissioning of

SEC-AC-... These manuals contain instructions for all
necessary steps to put the controller into operation to-
gether with a motor.
Festo P.BE-SEC-AC-CO-EN en 0208NH IX

Further documentation about CANopen
CANopen is a standard established by the association CAN

in Automation . A great number of device manufacturers are
organised in this association. Therefore we may suppose that
this standard will gradually replace all manufacturer-specific
CAN protocols in use and a manufacturer independent com-
munication interface will be soon available for the user:
CiA Draft Standard 201...207: In this book the general

network administration and the transfer of objects are
determined. This book is rather comprehensive. The rel-
evant aspects are treated in the Technical Documentation
CANopen in hand so that it is not necessary in general to
acquire the DS201..207.
CiA Draft Standard 301: In this book the basic structure of

the object dictionary of a CANopen device and the access
to this directory are described. Besides this the state-
ments made in the DS201..207 are described in detail.
The elements needed for the servo controller families ARS
and IMD-F of the object directory and the access methods
which belong to them are described in the present man-
ual. It is advisable to acquire the DS301 but not necess-
ary.
CiA Draft Standard 402: This book describes the concrete

implementation of CANopen in servo controllers. Though
all implemented objects are also briefly documented and
described in this Technical Documentation CANopen the
user should own this book.
Order address
CAN in Automation (CiA) International Headquarter
Am Weichselgarten 26
91058 Erlangen / Germany
Tel. +49-(0)9131-601091
Fax: +49-(0)9131-601092
X Festo P.BE-SEC-AC-CO-EN en 0208NH

Important user instructions
Danger categories
This manual contains instructions on the possible dangers
which may occur if the product is not used correctly. These
instructions are marked (Warning, Caution, etc), printed on a
shaded background andmarked additionally with a picto-
gram. A distinction is made between the following danger
warnings:
Warning
... This means that failure to observe this instruction may
result in serious personal injury or damage to property.
Caution
result in personal injury or damage to property.
Please note
result in damage to property.
The following pictogram marks passages in the text which

describe activities with electrostatically sensitive compo-
nents.
Electrostatically sensitive components may be damaged if

they are not handled correctly.
Festo P.BE-SEC-AC-CO-EN en 0208NH XI

Marking special information

The following pictograms mark passages in the text contain-
ing special information.
Pictograms
Information:
Recommendations, tips and references to other information
sources.
The parameters thus marked affect the internal controller

structure and must be used with caution.
Accessories:
Information on necessary or sensible accessories for the
Festo product.
Text markings
S The bullet indicates activites which may be carried out in

any order.
1. Figures denote activities which must be carried out in the

numerical order specified.
Hyphens indicate general activities.
XII Festo P.BE-SEC-AC-CO-EN en 0208NH

Safety instructions
Pay attention to the safety notes!
Warning
Noncompliance of the safety notes may cause personal or
property damage.
Inside the SEC-AC and on its connections there are high
voltages which can be extremely dangerous.
Switch off the power supply of the SEC-AC, the PC and the
motor, therefore, and wait for at least 5 minutes in order
that the intermediate circuit can discharge before you con-
nect or disconnect any plugs.
Warning
During installation, commissioning and maintenance you
must observe the safety and accident prevention regula-
tions valid for the specific application.
The following regulations apply but are not guaranteed to
be complete:
VDE 0100: Regulations for the installation of
high voltage (up to 1000 V) devices
EN 60 204-1: Electric systems with electronic
operating media
EN 50 178: Equipment for high voltage systems
with electronic operating media
EN 61 800-3: Electric drives with adjustable speed
EN 292
EN 954
Festo P.BE-SEC-AC-CO-EN en 0208NH XIII

XIV Festo P.BE-SEC-AC-CO-EN en 0208NH

Introduction
Chapter 1
Festo P.BE-SEC-AC-CO-EN en 0208NH 1-1

1. Introduction
Contents
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.2 How to use the CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1-2 Festo P.BE-SEC-AC-CO-EN en 0208NH

1. Introduction
1.1 About this manual
This manual describes how to parametrize and control the

servo controller of the family SEC-AC-... by using the standar-
dised protocol CANopen. The adjustment of the physical
parameters, the activation of the CANopen protocol, the
embedding into a CAN network and the communication with
the controller will be explained.
1.2 How to use the CAN interface
The CAN interface is a unit of components which can be ac-

quired as a plug-in module for the servo controllers of the
family SEC-AC-...
The plug-in unit is delivered already installed in the servo
controller SEC-AC-...-CO.
Once a CAN unit is plugged into the controller it is automati-

cally identified by the controller but not activated.
The standard firmware of the servo controllers from version 6

onwards contains the features of CANopen.
If a CAN module is plugged into the controller the features of
CANopen have to be activated once via RS232.
Preferably this should be done via the parameter set-up pro-
gram.

1. Introduction

Cabling and pin assignment
Chapter 2

2. Cabling and pin assignment
Contents
2. Cabling and pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.2 Pin assignment and setting of the node address . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3 Absolute Maximum Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4 General values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5 CAN-Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.1 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.6 A-D converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.6.1 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.7 CAN bus cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2.8 Cabling notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2.1 Description
The CAN bus interface possesses a CAN bus output (X306) as

well as a differential 12-bit analogue input with a 5 V auxiliary
output voltage (X303). By means of 5 DIP switches 16 differ-
ent node addresses can be set or a 120 W terminating resis-
tor can be switched in, as desired.
2.2 Pin assignment and setting of the node address
Fig. 2/1: Sketch of the module

X303 SW1 X306

MiniCombicon, 4-pin DIP switch, 5-pin Sub-D-Stecker, 9-pol.,
male
Pin Designation switch Designation Pin Designation
1 AIN 1 Knoten-Nr. LSB 1 nc
2 AIN# 2 Knoten-Nr. 2 CAN-L
3 AGND 3 Knoten-Nr. 3 CAN-GND
4 5V Output 4 Knoten-Nr. MSB 4 nc
5 120 terminating resis- 5 CAN-SHIELD

t between
tor b t CAN
CAN-LL and
d
CAN-H 6 CAN-GND
7 CAN-H
8 nc
9 nc

2.3 Absolute Maximum Ratings
SYMBOL PARAMETER RATING UNIT
AIN, AIN# Analog Input Differential Voltage -30 to 30 VDC
AIN, AGND Analog Input Voltage -30 to 30 VDC
CAN-H, CAN-L CAN Input Voltage -36 to 36 VDC
2.4 General values
SYMBOL PARAMETER Min Typ Max UNIT
Pges Complete power output *) 560 mW
*) with unswitched inputs
2.5 CAN-Bus
2.5.1 Function
The pin assignment of the sub-D plug is compatible with the

recommendation of the Can in Automation User Group.
A 120 W terminating resistor is integrated and can be swit-
ched in via SW1, 5.
2.5.2 Electrical features
The CAN bus output of the module is fully compatible with

ISO 11898-24 V.

2.6 A-D converter
2.6.1 Function
An analogue auxiliary voltage of 5 V and a differential 12-bit

analogue input are provided by a 4-pin MiniCombicon plug.
2.6.2 Electrical features
5 V output
VOUT Output voltage 4.75 5.0 5.25 VDC
Inenn Output rated current 50 mA
I KS Short circuit current limitation (20C) 110 mA
Analogue input
fg Critical frequency (-3dB) 3500 Hz
tris Rise time, step response 67 s
Frequency characteristic TP 1.O.
Resolution 12 Bit
Integral linearity 0.5 *) 1 LSB
Differential linearity 0.5 *) 1 LSB
Drift offset 0..70C See Fig. 2/3
Drift amplification 0..70C See Fig. 2/3
*) See Fig. 2/2

1 Amplifier fault [LSB]

2 Input voltage [V]
Fig. 2/2: Typical curve of amplifier fault vs input voltage
(example measured values)

3 Fault [LSB]
4 Temperature [C]
Fig. 2/3: Typical curve of the offset (dotted line) and am-
plifier fault vs temperature (example measured
values)

2.7 CAN bus cabling
Caution
Please respect carefully the following information and
notes for the cabling of the controller to get a stable and
undisturbed communication system. A non professional
cabling can cause malfunctions of the can bus which hence
the controller to shutdown with an error.
2.8 Cabling notes
The can bus offers an easy and safe way to connect all parts
of a plant. As condition all following instructions have to be
respected carefully.
Fig. 2/4: Cabling (schematically)
S All nodes of a network are principally connected in series,

so that the CAN cable is looped through all controllers
(see Figure 2.2).
S The two ends of the CAN cable have to be terminated by a

resistor of 120 5%. Please note that such a resistor is
often already installed in CAN cards or the PLC.
S For cabling shielded cable with exactly two twisted pairs

have to be used.
One twisted pair is used for CAN-H and CAN-L.
One twisted pair is used commonly for CAN-GND.

The shield of the cable is connected to CAN-SHIELD at

all nodes.
A table with technical data of suitable cables can be found

at the end of this chapter. Recommended cables can be
found in the Appendix (Recommended components).
S We dissuade from using connectors in between the can

bus line. If it is still necessary to use connectors, assure
that the connection of the shield is done by using metallic
cases.
S For less noise injection principally
never place motorcables parallel to signalcables.
use only motorcables specified by the manufacturer

of the servo controller.
shield and earth motorcables correctly.
For further informations refer to the Controller Area Network

protocol specification, Ver. 2.0, Robert Bosch GmbH, 1991.
Technical data CAN bus cable:

2 twisted pairs, d 0.22 mm2 loop resistance < 0,2 /m
shielded char. impedance 100-120

Activation of CANopen
Chapter 3

3. Activation of CANopen
Contents
3. Activation of CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2 Activation by Terminal program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3 Examples for the activation of CANopen communication . . . . . . . . . . . . . . . 3-6
3.4 Activation by Transfer window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3.1 Survey
The activation of CANopen is done one-time using the serial

interface of the servo controller.
Two different ways are possible:
Using a standard terminal program.
Using the Transfer window of the parameter set-up pro-

gram.
The two possibilities are described more exact in the follow-

ing chapter.
Altogether 3 parameters have to be entered:
Basic Node Number

For unmistakable identification each user within the net-
work has to have an unique node number. The node
number is used to address the device.
Baudrate
This parameter determines the used baudrate in kBaud.
Please note that high baudrates can only be achieved
with short cable length.
Mode
With the mode parameter special functions like changing
the node number by digital inputs can be set.

3.2 Activation by Terminal program
The Terminal program have to be set to: baudrate = 9600

baud, 8 data bits, 1 stop bit.
The parameters for activating CANopen are transferred using

a single command (BUS:...). This command will be built as
follows (All parameters have to be entered hexadecimal):
BUS NN BBBB MMMM

Write command
MODE
The mode parameters is set bit by bit:
Bit Value Meaning
0 0001h Special function
1 0002h Special function
2 0004h Activation of CANopen
3 0008h Activates check if node exist twice (node verification)
4 0010h Adds DIN0...DIN3 to basic node number
5 0020h Adds AIN1 to basic node number
6 0040h Reserved, must be zero
... ...
15 8000h Reserved, must be zero

BUS NN BBBB MMMM

Write command
Check if node exist twice:

If one node number was incorrectly assigned twice in the CAN network
the error 23 will be displayed.
Add DIN0...DIN3 to basic node number:
Used to build the node number of the servo controller dependent of its
plug-in location. Once after reset the combination of digital inputs
(DIN0...DIN3) is added to the basic node number.
Add AIN1to basic node address:
Additional AIN1 can be added with valence 32. For a high level the input
has to be connected to Vref = 10V.
The Bits 0 and 1 as well as 6 to 15 always have to be cleared.
BAUDRATE
The following baudrates are permissible:
Baudrate BBBB Baudrate BBBB
1000 kBaud 03E8h 100 kBaud 0064h
800 kBaud 0320h 50 kBaud 0032h
500 kBaud 01F4h 20 kBaud 0014h
250 kBaud 00FAh 10 kBaud 000Ah
125 kBaud 007Dh
BASIC NODE NUMBER

Basic node number of the device. It can be modified by digital inputs
(see MODE).
BUS ? Read command
Read configuration.
Answer according to write command.

3.3 Examples for the activation of CANopen communication
Node number: 1
Baudrate: 1000 kB
Mode: CANopen with node verification
BUS:01:03E8:000C
Node number: 10
Baudrate: 500 kB
BUS:0A:01F4:000C
Node number: 1+ Value of digital inputs

Baudrate: 1000 kB
BUS:01:03E8:001C
Node number: any, e.g. 0

Baudrate: any, e.g. 0
Mode: deactivate CANopen
BUS:00:0000:0000

3.4 Activation by Transfer window
It can be found in menu under File | Transfer. If this command

is not available (greyed) it is necessary to change the user
level under Options | User level to Expert.
Fig. 3/1:
After entering the BUS command in the upper input line press
the Send button. The syntax of the command can be found in
chapter 3.2 and 3.3.


Access methods/SDO access
Chapter 4

4. Access methods/SDO access
Contents
4. Access methods/SDO access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2 Access by SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.1 SDO sequences to read or write parameters . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.2.2 SDO error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.2.3 Simulation of SDO accesses via RS232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.3 PDO-Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.3.1 Description of objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.3.2 Objects for parametrizing PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.3.3 Activation of PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.4 SYNC-Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.5 EMERGENCY message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.5.1 Structure of an EMERGENCY message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.5.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.6 Node-Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
4.6.1 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.7 Network management (NMT service) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27

4.1 Survey
CANopen offers an easy and standardised way to access all

parameters of the servo controller (e.g. the maximum cur-
rent). To achieve a clear arrangement an unique index and
subindex is assigned to every parameter (CAN object). The
parameters altogether form the so called object dictionary.
The object dictionary can be accessed via CAN bus in primar-

ily two ways: A confirmed access with so called SDOs and a
unconfirmed access using so called PDOs with no hand-
shake.
1 3 2 1 2
4 5
1 6 2
1 Superimposed control 4 Confirmation

2 Servo controller 5 Data from the servo controller
3 Order 6 Data to the servo controller
Fig. 4/1: Access methods
As a rule the servo controller will be parametrized and con-

trolled by SDOs. Additional types of messages (so called
Communication Objects, COB) are defined for special applica-
tions. They will be sent either by the superimposed control or
the servo controller:

Object Meaning Description
SDO Service Data Object Used for normal parametrization of the servo con-
troller
PDO Process Data Object Fast exchange of process data (e.g. velocity
actual value) possible
SYNC Synchronization Message Synchronisation of several CAN nodes
EMCY Emergency Message Used to transmit error messages of the servo

controller
NMT Network Management Used for network services
NODE-GUARDING Node Guarding Used for observing all nodes by cyclic messages
Every message sent via CAN bus contains an address to

identify the node the message is meant for. This address is
called Identifier. The lower the identifier, the higher the prior-
ity. Each communication object mentioned above has a spe-
cific identifier.
The following Figure shows the schematic structure of a

CANopen message:
1 2
601h Len D0 D1 D2 D3 D4 D5 D6 D7
1 Number of data bytes (in this case 8)

2 Data bytes 0...7
3 Identifier
Fig. 4/2:

4.2 Access by SDO
The object dictionary can be accessed with Service Data Ob-

jects (SDO). This access is particularly easy and clear. There-
fore it is recommended to base the application on SDOs first
and later adapt some accesses to the certainly faster but
more complicated Process Data Objects (PDOs).
SDO accesses always start from the superimposed control

(host). The host sends a write request to change a parameter
or a read request to get a parameter from the servo con-
troller. Every request will be answered by the servo controller
either sending the requested parameter or confirming the
write request.
Every command has to be sent with a definite identifier so

that the servo controller knows what command is intended
for it. This identifier is composed of the base 600h + node
number of the corresponding servo controller. The servo
controller answers with identifier 580h + node number.
The structure of the writing and reading sequences depends

on the data type as 1, 2 or 4 data bytes have to be sent or
received. The following data types will be supported:
UINT8 8 bit value, unsigned 0... 255

INT8 8 bit value, signed -128... 127
UINT16 16 bit value, unsigned 0... 65535
INT16 16 bit value, signed -32768 ... 32767
UINT32 32 bit value, unsigned 0... (232-1)
INT32 32 bit value, signed -(231) ... (231-1)

4.2.1 SDO sequences to read or write parameters
Following sequences have to be used to read or write can

objects of mentioned type. Commands to write a value into
the servo controller start with a different token depending on
the parameters data type, whereas the first token of the
answer is always the same. For commands to read para-
meters its vice versa: They always start with the same token,
whereas the answer of the servo controller starts with a token
depending on the parameters data type. For all numerical
values the hexadecimal notation is used.
read command write command
UINT8/INT8
Command 40h IX01) IX12) SU3) 2Fh4) IX0 IX1 SU DO
Answer 4Fh4) IX0 IX1 SU D0 60h IX0 IX1 SU
UINT16/INT16
Command 40h IX0 IX1 SU 2Bh5) IX0 IX1 SU DO D1
Answer 4Bh5) IX0 IX1 SU D0 D1 60h IX0 IX1 SU
UINT32/INT32
Command 40h IX0 IX1 SU 23h6) IX0 IX1 SU DO D1 D2 D3
Answer 43h6) IX0 IX1 SU D0 D1 D2 D3 60h IX0 IX1 SU
1) Lower byte of Index (hex)

2) Higher byte of Index (hex)
3) Subindex (hex)
4) Token for 8 bit
5) Token for 16 bit
6) Token for 32 bit

Example
UINT8/INT8 Reading of Obj. 6061_00h Writing of Obj. 1401_02h

Returning data: 01h Data: EFh
Command 40h 61h 60h 00h 2Fh 01h 14h 02h EFh
Answer 4Fh 61h 60h 00h 01h 60h 01h 14h 02h

Returning data: 1234h Data: 03E8h
Command 40h 41h 60h 00h 2Bh 40h 60h 00h E8h 03h
Answer 4Bh 41h 60h 00h 34h 12h 60h 40h 60h 00h

Returning data: 12345678h Data: 12345678h
Command 40h 93h 60h 01h 23h 93h 60h 01h 78h 56h 34h 12h
Answer 43h 93h 60h 01h 78h 56h 34h 12h 60h 93h 60h 01h
4.2.2 SDO error messages
If an error occurs reading or writing an object (e.g. because

the value is out of range) the servo controller answers with an
error message instead of the normal answer:
Command ... IX0 IX1 SU ... ... ... .

..Answer: 80h IX0 IX1 SU F0 F1 F2 F3
1 2
1 Error token
2 Error code (4 Byte)
Fig. 4/3:

Error code Description

F3 F2 F1 F0
06 01 00 00 h Read access to an object that can only be written
06 01 00 01 h Write access to an object that can only be read
06 02 00 00 h The addressed object does not exist
06 04 00 41 h The specified object cannot be mapped into a PDO
06 06 00 00 h Hardware failure
06 07 00 10 h The data length of the object does not match the message length
06 07 00 12 h The data length of the object is greater than the message length
06 07 00 13 h The data length of the object is smaller than the message length
06 09 00 11 h The addressed subindex does not exist
06 09 00 30 h The data value is out of range
06 09 00 31 h The transferred data is too big for the object
06 09 00 32 h The transferred data is too small for the object
08 00 00 10 h Command string SAVE or LOAD incorrect
08 00 00 22 h The controller is in wrong operation mode for this kind of operation
08 00 00 23 h Before parametrizing max_current, motor_rated_current has to be valid
08 00 00 47 h Overflow of an internal value
4.2.3 Simulation of SDO accesses via RS232
The firmware of the servo controller from version 7e onwards

offers the option to simulate SDO accesses via the serial port.
Consequently it is possible to check objects written to the
controller via CAN bus by using the serial port. Particularly
using the transfer window (see File | Transfer) will simplify
the building of applications.

The following syntax has to be used:
UINT8/INT8
Command ?XXXX1)SU2) =XXXXSU:WW
Answer =XXXXSU:WW3) =XXXXSU:WW
UINT16/INT16
Command ?XXXXSU =XXXXSU:WWWW
Answer =XXXXSU:WWWW4) =XXXXSU:WWWW
UINT32/INT32
Command ?XXXXSU =XXXXSU:WWWWWWW
Answer =XXXXSU:WWWWWWWW5) =XXXXSU:WWWWWWWW
1) Index (hex)
2) Subindex (hex)
3) 8 bit data (hex)
4) 16 bit data (hex)
5) 32 bit data (hex)
Please note that the commands are composed of chars with-

out spaces.
Caution
Never use this access mechanism in real applications !
The access via RS232 is only implemented for checking
your application. The protocol is inapplicable for real time
access to the controller and may cause errors. In addition
the syntax of this protocol may change without notice.

4.3 PDO-Message
Process Data Objects (PDOs) are suitable to transmit data

event-controlled, whereat the PDO contains one or more
predefined parameters. In contrast to SDOs no hand-shake is
used. So the receiver has to be able to handle an arriving
PDO at any time. In most cases this requires a great deal of
software in the host computer. This disadvantage is in con-
trast to the advantage that the host computer does not need
cyclically inquiry of the objects embedded in a PDO, which
mean strong reduction of bus load.
EXAMPLE
The host computer wants to know when the servo controller
has reached the target position at a positioning from A to B.
If SDOs are used the host constantly has to poll the object
statusword, e.g. every millisecond, thus loading the bus ca-
pacity more or less depending on the request cycle time.
If PDOs are used the servo controller is parametrized at the
start of an application in such a way that a PDO is send on
each modification of the statusword. So the host computer
need not to poll all the time but a message is sent to it auto-
matically if an event occurs.

Following types of PDOs can be differenced:
Type Data flow Description
Transmit-PDO (T-PDO) Servo } Host Servo controller sends PDO if a certain event occurs
Receive-PDO (R-PDO) Host } Servo Servo controller evaluates PDO if a certain event
occurs
The servo controller disposes of two Transmit- and two Re-

ceive-PDOs.
Almost all parameters can be embedded (mapped) into a

PDO, i.e. the PDO is for example composed of the velocity
actual value, the position actual value or the like.
Before a PDO can be used the servo controller has to know,
what data shall be transmitted, because a PDO only contains
useful data and no information about the kind of parameter.
In the following example the PDO contains the position actual
value in the data byte D0...D3 and the velocity actual value in
the data bytes D4...D7.
D1 D2 D3 D4 D5 D6 D7
1 Start of velocity actual value(D4...D7)

2 Start of position actual value (D0...D3)
Fig. 4/4:
Almost any desired data frame can be built this way. The fol-
lowing chapter shows how to parametrize the servo controller
for that purpose:

4.3.1 Description of objects
Identifier of PDO COB_ID_used_by_PDO
In the object COB_ID_used_by_PDO the desired identifier has

to be entered. The PDO will be sent with this identifier. If bit
31 is set the associated PDO will be deactivated. This is the
default setting.
Number of objects to be number_of_mapped_objects

transmitted
The object determines how many objects are mapped into the
specific PDO. Following restrictions has to be respected:
A maximum of 4 objects can be mapped into a PDO.
The total length of a PDO must not exceed 64 bit.
Objects to be transmitted first_mapped_object ... fourth_mapped_object
The host has to parametrize the index, the subindex and the
length of each object, that should be transmitted by the PDO.
By specifying the length also parts of an object can be
mapped into a PDO. Only multiple of 8 bit are allowed start-
ing with the LSB.

The following format has to be used:
1 2 3
xxx_mapped_object Index Subindex Length

(16 Bit) (8 Bit) (8 Bit)
1 Index of object to be mapped (hex)

2 Subindex of object to be mapped (hex)
3 How many bytes of the object should be mapped into
the PDO
Fig. 4/5:
When will be transmitted transmission_type and inhibit_time
For each PDO it can be parametrized which event results in

sending (Transmit-PDO) resp. evaluating (Receive-PDO) the
PDO:
Value Meaning Admitted

for
00h -8Ch SYNC-Message TPDOs

The value determines how many SYNC messages will be ignored before RPDOs
the PDO will be
sent (T-PDO) resp.
evaluated (R-PDO).
FCh SYNC-Message / Remote- TPDOs

The PDO will be updated on every received SYNC message, but not send
until requested by a Remote Frame.
FDh Remote- TPDOs

The PDO will always be updated and sent, if requested by a Remote
Frame.

Value Meaning Admitted

for
FEh Cyclic TPDOs
A Transfer-PDO will be updated and sent cyclic. The period is determined (RPDOs)
by the object inhibit_time.
Receive-PDOs will be evaluated immediately after receipt.
FFh On change TPDOs

The Transfer-PDO will be sent, if at least one bit of the PDO data has
changed. Therefore the object inhibit_time determines the minimal
period between two PDOs in multiples of 100 s.
Masking transmit_mask_high and transmit_mask_low
Using the transmission_type On change the TPDO will al-

ways be sent if at least one bit has changed. Sometimes it is
useful to send the TPDO only if a defined bit has changed.
Therefore it is possible to mask the TPDO. Thereby only TPDO
bits with an 1 in the corresponding bit of the mask will take
effect to determine if the TPDO has changed. This function is
manufacturer specific and deactivated by default, i.e. all bits
of the mask are set by default.
EXAMPLE
Following objects should be transmitted in a PDO:
Name of object Index_subindex Mapping length / Meaning

Length of object
statusword 6041h_00h 16 von 16 Bit Device Control
position_actual_value 6064h_00h 32 von 32 Bit Actual position
digital_inputs 60FDh_00h 16 von 32 Bit Digital inputs
The 1st Transmit-PDO (TPDO1) should be used and should

always be sent if a digital input changes but at most every 10
ms. The PDO should use identifier 201h.

1. Parametrize number of objects
The PDO contains 3 objects

} number_of_mapped_objects = 3h
2. Parametrize objects to be mapped
The above mentioned objects have to be assembled to a

32 bit value:
Index =6041h Subin. = 00h Length = 10h

} first_mapped_object = 60410010h
Index =6064h Subin. = 00h Length = 20h

} second_mapped_object = 60640020h
Index =60FDh Subin. = 00h Length = 10h

} third_mapped_object = 60FD0010h
3. Parametrize transmission_type
The PDO should be sent if (a digital input) changes.

} transmission_type = FFh
The PDO have to be masked in order to restrict the condi-

tion for a transmission of the PDO to a change of the digi-
tal inputs.
} transmit_mask_high = FFFF0000h
} transmit_mask_low = 00000000h
The PDO should be sent at most every 10 ms

(100 x100 s).
} inhibit_time = 64h
4. Identifier parametrieren
The PDO should use identifier 201h. For activating bit 31

has to be cleared.
} COB_ID_used_by_PDO = 00000201h

4.3.2 Objects for parametrizing PDOs
1. Transmit-PDO
Index Comment Type Acc. Default Value
1800h_00h number of entries UINT8 ro 03h
1800h_01h COB-ID used by PDO UINT32 rw 80000181h
1800h_02h transmission type UINT8 rw FFh
1800h_03h inhibit time (100 s) UINT16 rw 0000h
1A00h_00h number of mapped objects UINT8 rw 01h
1A00h_01h first mapped object UINT32 rw 60410010h
1A00h_02h second mapped object UINT32 rw 00000000h
1A00h_03h third mapped object UINT32 rw 00000000h
1A00h_04h fourth mapped object UINT32 rw 00000000h
2. Transmit-PDO2
1801h_03h inhibit time (100 s) UINT16 rw 0000h
1A01h_00h number of mapped objects UINT8 rw 02h
1A01h_01h first mapped object UINT32 rw 60410010h
1A01h_02h second mapped object UINT32 rw 60610008h
1A01h_03h third mapped object UINT32 rw 00000000h
1A01h_04h fourth mapped object UINT32 rw 00000000h

tpdo_1_transmit_mask
2014h _00h number of entries UINT8 ro 02h
2014h _01h tpdo_1_transmit_mask_low UINT32 rw FFFFFFFFh
2014h _02h tpdo_1_transmit_mask_high UINT32 rw FFFFFFFFh
tpdo_2_transmit_mask
2015h _00h number of entries UINT8 ro 02h
2015h _01h tpdo_2_transmit_mask_low UINT32 rw FFFFFFFFh
2015h _02h tpdo_2_transmit_mask_high UINT32 rw FFFFFFFFh
1. Receive PDO
1600h_00h number of mapped objects UINT8 rw 01h
1600h_01h first mapped object UINT32 rw 60400010h
1600h_02h second mapped object UINT32 rw 00000000h
1600h_03h third mapped object UINT32 rw 00000000h
1600h_04h fourth mapped object UINT32 rw 00000000h

2. Receive PDO
1601h_00h number of mapped objects UINT8 rw 02h
1601h_01h first mapped object UINT32 rw 60400010h
1601h_02h second mapped object UINT32 rw 60600008h
1601h_03h third mapped object UINT32 rw 00000000h
1601h_04h fourth mapped object UINT32 rw 00000000h
4.3.3 Activation of PDOs
The following points have to be fulfilled for the activation of a

PDO:
At least one object has to be mapped into the PDO and

the number_of_mapped_objects must not be zero.
The Identifier of the PDO has to be defined.
The communication status of the servo controller has to

be operational (see chapter 4.7, Network management
(NMT service).

4.4 SYNC-Message
Several devices of a plant can be synchronised with each

other. To that purpose one of the devices (in most cases the
superimposed control) periodically sends synchronisation
messages. All connected servo controller receive these mess-
ages and use them for the treatment of the PDOs (see chapter
4.3).
The identifier the servo controller receives SYNC messages is

fixed to 080h. The identifier can be read via the object
COB_ID_sync_message.
Object attribute Attribute value
Index 1005h
Name COB_ID_sync_message
Object Code VAR
Data Type UINT32
Access rw
PDO Mapping no
Units
Value Range 00000080h
Default Value 00000080h

4.5 EMERGENCY message
The servo controller supervises the functions of its essential

units. The power supply, the power stage, the angle encoder
input, and the technology module belong to these units. Be-
sides this the motor (temperature, angle encoder) and the
limit switches are constantly controlled. Bad parameters
could also result in error messages (division by zero etc.).
If an error occurs the error number is displayed by the servo

controller. If several error messages occur at the same time
the message which has the highest priority (the least number)
is always displayed.
4.5.1 Structure of an EMERGENCY message
If an error occurs the servo controller always sends an

EMERGENCY message. The identifier of this message is 080h
plus node number.
The EMERGENCY message consists of eight data bytes with

the error code in the first two bytes. There is a further error
code in the third byte which is not very informative and there-
fore needs not to be interpreted. The other five bytes contain
zeros.
emergency message
080h+node no. error_code sub_error 0 0 0 0 0
Display Error code Reason / Meaning
02 3220h Undervoltage in the intermediate circuit of the power stage
03 4310h Motor temperature exceeds the upper range
04 4210h Power stage temperature exceeds the upper range
05 5111h Undervoltage in the internal power supply

Display Error code Reason / Meaning

06 2320h Overcurrent or short circuit in the power stage
07 3210h Overvoltage in the intermediate circuit of the power stage
08 7303h Encoder fault
10 7123h Motor overspeed fault (see Object 6510h_21h)
11 8612h Error during homing operation
12 8100h Technology module fault (fieldbus error) 1)
14 7122h Error during the automatic motor identification
15 6320h Division by zero 2)
16 6100h Program execution fault *)
17 7124h Following error (see Object 6510h_22h)
18 6300h Error during precalculation of a positioning motion *)
20 7306h Incremental input fault (change of angle exceeds upper range)
21 5400h Current measurement fault *)
23 8101h Fieldbus error: Duplicate node number
24 8120h Fieldbus error: Node guarding activated
25 6000h Unknown device type (improper firmware) *)
26 5530h FLASH fault: No application parameter set *)
27 5530h FLASH fault: Checksum error *)
28 5530h FLASH fault: Writefault *)
30 6301h Internal calculation overflow due to the Factor Group *)
31 2312h I2t limitation active

*) On this fault please contact your supplier.
1) Most frequent cause: Faulty cabling and /or EMI problems
2) Most frequent cause: Incorrect parametrizing of the Factor Group

Besides the error messages the boot_up_message of the

servo controller is also transferred on the identifier 080h +
node number. The message can be identified easily as it does
not contain any data.
4.5.2 Objects
Object 1003h: pre_defined_error_field

The error codes of the error messages are recorded in a four-
stage error memory. This memory is structured like a shift
register so that always the last error is stored in the object
standard_error_field_0. By a read access to the object
pre_defined_error_field you can find out how many error
messages are recorded in the error memory at the moment.
The error memory is deleted by writing the value 00h into the
object pre_defined_error_field. In addition an error reset
(see chapter 6.1: State diagram: State transition 15) has to be
executed to reactivate the power stage of the servo controller
after an error.
pre_defined_error_field
1003h _00h pre_defined_error_field UINT8 rw 00h
1003h _01h standard_error_field_0 UINT32 ro 00000000h

4.6 Node-Guarding
The servo controller and the superimposed control are super-

vising each other with the node guarding. If node guarding is
activated in the servo controller the superimposed control
has to send messages to the servo controller cyclically. The
servo controller on its side has to answer these messages. If
the cyclical message of the superimposed control does not
arrive within a defined period the servo controller changes
into the error status (display: 24), deactivates the power
stage and sends an emergency message with the error code
8120h.
The permissible period between two messages is determined

by the product of the object guard_time (100Ch) and of the
object life_time_factor (100Dh). As these two objects are
evaluated in the servo controller only together as a product it
is always possible to set the object life_time_factor (100Dh)
to one. Then the maximum time interval can be adjusted di-
rectly by the object guard_time (100Ch).
Usually the messages sent by the superimposed control only

consist of remote frames. The CAN controller used in the
servo controller only supports this kind of message telegrams
insufficiently. Therefore normal messages are used instead.
The superimposed control sends messages to the servo con-

troller without useful data. The servo controller responds by a
byte which contains the toggle-bit and the NMT state (see
chapter 4.7 Network management (NMT service)):
Structure of the response of the servo controller:
node guarding telegramm
700h+node number Togglebit NMT-State

S The toggle-bit has to be checked by the superimposed

control. It is cleared in the first response of the servo con-
troller after initialisation. Node guarding is activated auto-
matically if all of the following requirements are fulfilled:
Object 100Ch (guard_time) 0000h
Object 100Dh (life_time_factor) 00h
NMT-State = operational (see chapter 4.7 Network

management (NMT service))
Object 6510h_12h (node_guarding_without_rtr_bit) = 1
4.6.1 Objects
Object 100Ch: guard_time
Index 100Ch
Name guard_time
Object Code VAR
Data Type UINT16
Access rw
PDO Mapping no
Units ms
Value Range 0 - 20000
Default Value 0

Object 100Dh: life_time_factor
Index 100Dh
Name life_time_factor
Object Code VAR
Data Type UINT8
Access rw
PDO Mapping no
Units
Value Range 0 - 255
Default Value 0
Object 100Eh: node_guarding_ID

The identifier used for the node-guarding can be read via the
object 100Eh (node_guarding_ID). This identifier is used for
the messages going from the superimposed control to the
servo controller and in the opposite direction.
Index 100Eh
Name node_guarding_ID
Object Code VAR
Data Type UINT32

Access ro
PDO Mapping no
Units
Value Range 700h + node_ID
Default Value 700h + node_ID
Object 6510h_12h: node_guarding_without_rtr_bit

As the CAN controller being in the servo controller supports
messages with RTR-bit insufficiently an additional mode was
implemented here. This mode has to be activated so that only
normal telegrams are interchanged between the servo con-
troller and the superimposed control.
Index 6510h
Subindex 12h
Name node_guarding_without_rtr_bit
Object Code VAR
Data Type UINT16
Access ro
PDO Mapping no
Units
Value Range 0 (off ) , 1 (active)
Default Value 0

4.7 Network management (NMT service)
All CANopen devices can be triggered via the network man-

agement. A special identifier (000h) is reserved for that.
Commands can be sent to one or all servo controller via this
identifier. Each command consists of two bytes. The first byte
contains the command code and the second byte the node
address of the addressed servo controller. All nodes which
are in the network can be addressed via the node address
zero simultaneously. So it is possible, for example, to make a
reset in all devices at the same time. The servo controller
does not quit the NMT-commands. It is only indirectly poss-
ible to decide if a reset was successful (e. g. through the
boot-up-message after a reset).
Structure of the message of the superimposed control:
Identifier Byte 0 Byte 1
000h Commandscode node address
Meaning of the NMT codes:
Code Name Communication state
01 NMT Start operational
02 NMT Stop pre-operational
03 Disconnect Remote Node pre-operational
80 pre-operational
81 reset node pre-operational
82 reset communication pre-operational
Please note
The communication status has to be set for node guarding
and PDO communication as these features only work if the
communication status has been set to operational.

The following diagram gives a survey about the used ident-

ifier:
Object Type Identifier (hexadecimal) Remarks
SDO (Host to controller) 600h + node number
SDO (Controller to host) 580h + node number
T-PDO1 181h Standard values.

C be
Can b changed
h d on demand.
d d
T-PDO2 281h
R-PDO1 201h
R-PDO2 301h
SYNC 080h
EMCY 080h + node number
NODE-GUARDING 700h + node number
NMT 000h

Adjustment of parameters/Load and save set of
parameters
Chapter 5

5. Adjustment of parameters/Load and save set of parameters
Contents
5. Adjustment of parameters/Load and save set of parameters . . . . . . . . . . 5-1
5.1 Load and save set of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.1.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.1.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.2 Conversion factors (Factor Group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.2.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.2.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.3 Power stage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.3.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.3.2 Objekte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.4 Current control and motor adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
5.4.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
5.4.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
5.5 Velocity controller and overspeed protection . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.5.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.5.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.6 Position Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48
5.6.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48
5.6.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51
5.7 Encoder settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.7.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.7.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.8 Sources for demand / actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.8.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.8.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.9 Digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-80
5.9.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-80
5.9.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-80
5.10 Homing switches (Limit / Reference switch) . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
5.10.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
5.10.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84

Before a certain task (e.g. torque or velocity control) can be

managed by the servo controller several parameters have to
be adjusted according to the used motor and the specific
application. Therefore the chronological order suggested by
the following chapters should be abided.
After explaining the parameter adjustment the device control

and the several modes of operation will be presented.

5.1 Load and save set of parameters
5.1.1 Survey
The servo controller has three parameter sets:
Current parameter set
This parameter set is in the transient memory (RAM) of

the servo controller. It can be read and written optionally
via the parameter set-up program or via the CAN bus.
When the servo controller is switched on the application
parameter set is copied into the current parameter set .
Default parameter set
This is the unmodifiable default parameter set of the

servo controller given by the manufacturer. The default
parameter set can be copied to the current parameter set
through a write process into the CANopen object
1011h_01h (restore_all_default_parameters). This copy
process is only possible while the output power stage is
switched off.
Application parameter set
The current parameter set can be saved into the non-

transient flash memory. This saving process is enabled by
a write access to the CANopen object 1010h_01h
(save_all_parameters) and is only possible while the
output power stage is switched off. When the servo con-
troller is switched on the application parameter set is
copied to the current parameter set.

The following graphic illustrates the coherence between the

respective parameter sets.
Default parameter set Application parameter set
CANopen Reset of CANopen

Object 1011 servo controller Object 1010
Current parameter set
Fig. 5/6:
Two different methods are possible concerning the parameter

set administration:
The parameter set is made up with the parameter set-up

program and also transferred to the single servo con-
troller by the parameter set-up program. With this method
only those objects which can be accessed via CANopen
exclusively have to be adjusted via the CAN bus.
This method has the disadvantage that the parameter
set-up software is needed for every start of a new ma-
chine or in case of repair (exchange of servo controller).
Therefore this method only makes sense for individual
units.

This method is based on the fact that most application

specific parameter sets only vary in few parameters from
the default parameter set. Thus it is possible to set up the
current parameter set after every reset via the CAN bus.
To that purpose the default parameter set is first loaded
by the superimposed control (call of the CANopen object
1011h_01h (restore_all_default_parameters)). After-
wards only those objects are transferred which vary. The
complete process only lasts about 0.3 seconds per drive.
It is advantageous that this method also works for non-
parametrized servo controllers and the parameter set-up
software is not necessary for this.
Please note
It is urgently recommended to use method 2.
The appendix of this manual contains an example program
demonstrating this process.
Warning
Before switching on the power stage for the first time, as-
sure that the servo controller contains the desired para-
meters.
An incorrect parameter set-up may cause uncontrolled
behaviour of the motor and thereby personal or material
damage may occur.

5.1.2 Objects
Object 1011h: restore_default_parameters

Through the object 1011h_01h (restore_all_default_para-
meters) it is possible to put the current parameter set into a
defined state. For that purpose the default parameter set is
copied to the current parameter set. The copy process is en-
abled by a write access to this object and the string load is
to be passed as data set in hexadecimal form. This command
is only executed while the output power stage is deactivated.
Otherwise the SDO error The controller is in wrong operation
mode for this kind of operation is generated. The parameter
for the CAN communication (node number, baudrate and
mode) remain unchanged.
Index 1011h
Name restore_default_parameters
Object Code ARRAY
Number of Elements 1
Data Type UINT32
Sub-Index 01h
Description restore_all_default_parameters
Access rw
PDO Mapping no
Units
Value Range 64616F6Ch (load)
Default Value 1

Object 1010h: store_parameters

To store the current parameter set as application parameter
set the object 1010h_01h (save_all_parameters) has to be
used.
Index 1010h
Name store_parameters
Object Code ARRAY
Data Type UINT32
Sub-Index 01h
Description save_all_parameters
Access rw
PDO Mapping no
Units
Value Range 65766173h (save)
Default Value 1

5.2 Conversion factors (Factor Group)
5.2.1 Survey
Servo controllers will be used in a huge number of applica-

tions: As direct drive, with gear or for linear drives. To allow
an easy parametrization for all kind of applications, the servo
controller can be parametrized in such a way that all values
like the demand velocity refer to the driven side of the plant.
The necessary calculation is done by the servo controller.
Consequently it is possible to enter values directly in e.g.
millimetre per second if a linear drive is used. The conversion
is done by the servo controller using the Factor Group. For
each physical value (position, velocity and acceleration) ex-
ists a specific conversion factor to adapt the unit to the own
application. In general the user specific units defined by the
Factor Group are called position_units, speed_units and ac-
celeration_units. The following Figure shows the function of
the Factor Group:

Fig. 5/7:
Principally all parameters will be stored in its internal units

and converted while reading or writing a parameter.
Therefore the Factor Group should be adjusted once before
commissioning the servo controller and not to be changed
during parametrization.
The default setting of the Factor Group is as follows:
Value Name Unit Remark
Length position_units Increments 65536 Increments equals 1 revolution
Velocity speed_units rpm Revolution per minute
Acceleration acceleration_units rpm/s Increase of velocity per second

5.2.2 Objects
Objects treated in this chapter
Index Object Name Type Attr.
6093h ARRAY position_factor UINT32 rw
6094h ARRAY velocity_encoder_factor UINT32 rw
6097h ARRAY acceleration_factor UINT32 rw
607Eh VAR polarity UINT8 rw
Object 6093h: position_factor

The object position_factor converts all values of length of the
application from position_units into the internal unit
increments (65536 Increments equals 1 Revolution).
It consists of numerator and divisor:
Index 6093h
Name position_factor
Object Code ARRAY
Data Type UINT32

Sub-Index 01h
Description numerator
Access rw
PDO Mapping Possible
Units increments
Value Range 1..(232 -1)
Default Value 1
Sub-Index 02h
Description divisor
Access rw
Units position_units
Default Value 1
To calculate the position_factor the following values are

necessary:
gear_ratio Ratio between revolutions on the driving side (R IN) and rev-
olutions on the driven side (ROUT).
feed_constant Ratio between revolutions on the driven side (ROUT) and
equivalent motion in position_units (e.g. 1 rev = 360)
velocity_encoder_resolution Internal resolution of position values: 1 RIN equals 65536
= 65536 Ink. Increments.

RIN
(e.g. degree)
OR
ROUT (e.g. mm)
Fig. 5/8:
The calculation of the position_factor is done with the follow-

ing equation:
65536 gear_ratio
position_factor = numerator =
divisor feed_constant
Numerator and divisor of the position_factor has to be en-

tered separately. Therefore it may be necessary to extend the
fraction to generate integers:
EXAMPLE
1. Desired unit on the driven side (position_units)
2. feed_constant: How many position_units are

1 revolution (ROUT)
3. gear_ratio: R IN per ROUT
4. Calculate equation

1 2 3 4 Result
shortened
Inc. 1 ROUT 1/1 num: 1

= 65536 Ink 65536 Inc 1R 1 div: 1
R 1R 1
= 1Inc
65536Inc 1Inc
1R
1/10 degree 1 ROUT 1/1 65536 Inc 1R num: 4096

(/10) = 3600 /10 R 1R 65536Inc div: 225
=
360010 360010
1R
1/100 Rev. 1 ROUT 1/1 65536 Inc 1R num: 16384

R 1R 65536Inc
(U/100) = 100 R/100 = div: 25
100U100 100R100
1R
1/100 Rev. 1 ROUT 2/3 65536 Inc 2R num: 32768

R 3R 131072Inc
(U/100) = 100 R/100 = div: 75
100R100 300R100
1R
1/10 mm 1 ROUT 1/1 65536 Inc 1R num: 131072

R 1R 655360Inc
(mm/10) = 631.5 mm/10 = div: 1263
631.5mm10 6315mm10
1R
1/10 1 ROUT 4/5 65536 Inc

4R
5R num: 524288
mm(mm/10) = 631.5 mm/10 R 2621440Inc div: 6315
=
631.5mm10 31575mm10
1R
Object 6094h: velocity_encoder_factor

The object velocity_encoder_factor converts all speed values
of the application from speed_units into the internal unit in-
crements per second (65536 Increments equals 1 Revol-
ution). It consists of numerator and divisor:

Index 6094h
Name velocity_encoder_factor
Object Code ARRAY
Data Type UINT32
Sub-Index 01h
Access rw
Units increments
Default Value 65536
Sub-Index 02h
Description divisor
Access rw
Units increments
Default Value 60

In principle the calculation of the velocity_encoder_factor is

composed of two parts: A conversion factor from internal
units of length into position_units and a conversion factor
from internal time units into user defined time units (e.g. from
seconds to minutes). The first part equals the calculation of
the position_factor. For the second part another factor is
necessary for the calculation:
time_factor_v Ratio between internal and user defined time units.

velocity_encoder_resolution Internal resolution of position values: 1 R IN equals 65536
= 65536 Inc. Increments.
The calculation of the velocity_encoder_factor is done with

the following equation:
65536 gear_ratio time_factor_v

velocity_encoder_factor = numerator =
Numerator and divisor of the position_factor has to be en-

tered separately. Therefore it may be necessary to extend the
fraction to generate integers:
EXAMPLE
1. Desired unit on the driven side (speed_units)
2. feed_constant: How many position_units are 1 revolution

(ROUT) ?
3. time_factor_v: Desired time unit contains how many sec-

onds ?

1 2 3 4 5
Result
shortened
RPM = R min 1 ROUT 1 min 1/1 num: 16384

= = 65536 Inc
R
1R
1R
1min
60s 65536Incs div: 15
1R
=
65536 Inc 60 s 60Rmin
1R
1/10 /s 1 ROUT 1s 1/1 65536 Inc 1R 1s num: 4096

R 1R 1s 65536Inc
(/10s) = = = div: 225
360010 360010s
3600 /10 1s 1R
1/100 RPM 1 ROUT 1 min 1/1 65536 Inc 1R 1min

1U 60s num: 4096
R 65536Incs
(U/100min) = = = div: 375
100 R/100 60 s
100R100 6000Umin
1R
1/100 RPM 1 ROUT 1 min 2/3 65536 Inc 2R 1min num: 8192
R 3R 60s 131072Incs
(R/100min) = = = div: 1125
100 R/100 60 s
100R100 18000U100min
1R
1/10 mm/s 1 ROUT 1s 1/1 65536 Inc 1R 1s num: 131072

R 1R 1s 655360Incs
(mm/10s) = = = div: 1263
631.5mm10 6315mm10s
631.5 mm/10 1s 1R
1/10 mm/s 1 ROUT 1s 4/5 65536 Inc

4R
5R 1s num: 524288
R 1s 524288Incs
(mm/10s) = = = div: 6315
631.5mm10 6315mm10s
631.5 mm/10 1s 1R
Object 6097h: acceleration_factor

The object acceleration_factor converts all acceleration va-
lues of the application from acceleration_units into the inter-
nal unit increments per second2 (65536 Increments equals 1
Revolution). It consists of numerator and divisor:

Index 6097h
Name acceleration_factor
Object Code ARRAY
Data Type UINT32
Sub-Index 01h
Access rw
Units increments
Default Value 65536
Sub-Index 02h
Description divisor
Access rw
Units increments
Default Value 60

The calculation of the acceleration_factor is also composed

of two parts: A conversion factor from internal units of length
into position_units and a conversion factor from internal time
units squared into user defined time units squared (e.g. from
seconds2 to minutes2). The first part equals the calculation of
the position_factor. For the second part another factor is
necessary for the calculation:
time_factor_a Ratio between internal time units squared and user defined
time units squared
(e.g. 1 min2 = 1 min(1min = 60s 60s = 3600 s2)
velocity_encoder_resolution Internal resolution of position values: 1 RIN = 65536 Inc.
= 65536 Inc.
The calculation of the acceleration_factor is done with the

following equation:
65536 gear_ratio time_factor_a

acceleration_factor = numerator =
Numerator and divisor of the acceleration_factor has to be

entered separately. Therefore it may be necessary to extend
the fraction to generate integers:
EXAMPLE
1. Desired unit on the driven side (acceleration_units)
2. feed_constant: How many position_units are 1 revol-

ution(ROUT)
3. time_factor_a: Desired (time unit)2 contains how many

seconds2 ?

1 2 3 4 5
Result
shortened
RPM s 1 ROUT 1 min s 1/1 num: 16384

65536 Inc 1R 1mins 65536Incs 2
(R/min s) = = R 1R 2
60s div: 15
1R
=
65536 60 s s 60Rmin s
1R
Inc =
60 s2
1/10 /s2 1 ROUT 1 s2 1/1 2 num: 4096

65536 Inc 1R 1s2 65536Incs 2
(/10s2) = = R 1R 1s
= div: 225
3600 1 s2 360010 360010s 2
1R
/10
1/100 R/min2 1 ROUT 1 min2 1/1 2 num: 1024

65536 Inc 1R 1min 65536Incs 2
(R/100 min2) = = R 1R 3600s2
=
div: 5625
100 60 s 60 s 100R100 360000Rmin2
U/100 = 1R
3600s2
1/100 R/min2 1 ROUT 1 min2 2/3 2 num: 2048

65536 Inc 2R 1min 131072Incs 2 div:
(R/100min2) = = R 3R 3600s2
=
16875
100 60 s 60 s 100R100 1080000R100min
U/100 = 1R
3600s2
1/10 mm/s2 1 ROUT 1 s2 1/1 2 num: 131072

65536 Inc 1R 1s2 655360Incs 2
(mm/10s2) = = R 1R 1s
= div: 1263
631.5 1 s2 631.5mm10 6315mm10s 2
1R
mm/10
1/10 mm/s2 1 ROUT 1 s2 4/5 4R 2 num: 524288

65536 Inc 5R 1s2 524288Incs 2
(mm/10s2) = = R 1s
= div: 6315
631.5 1 s2 631.5mm10 6315mm10s 2
1R
mm/10

Object 607Eh: polarity

The signs of the position and velocity values of the servo con-
troller can be adjusted via the corresponding polarity flag.
This flag can serve to invert the direction of rotation of the
motor keeping the same desired values. In most applications
it makes sense to set the position_polarity_flag and the
velocity_polarity_flag to the same value. The conversion
factors will be used when reading or writing a position or vel-
ocity value. Stored parameters will not be affected.
Index 607Eh
Name polarity
Object Code VAR
Data Type UINT8
Bit Meaning
6 velocity_polarity_flag
0: multiply by 1 (default)
1: multiply by -1 (invers)
7 position_polarity_flag
0: multiply by 1 (default)
1: multiply by -1 (invers)

5.3 Power stage parameters
5.3.1 Survey
The supply voltage is directly fed into the power stage. The
rectified supply voltage is smoothened by the capacitors of
the intermediate circuit. The motor is fed from the intermedi-
ate circuit via the IGBTs. The power stage contains a number
of security functions which can be parametrized in part:
Servo controller enable logic (software and hardware

enabling)
Overvoltage control of the intermediate circuit
Undervoltage control of the intermediate circuit
Overcurrent control
Power stage control
The thermal load of the power stage is proportional to the

motor current and the clock frequency of the IGBTs. The clock
frequency can be reduced from 10 kHz to 5 kHz for some
representatives of the device family SEC-AC-... to reduce the
thermal load of the power stage in applications using high
motor currents.

5.3.2 Objekte
Object 6510h_10h: enable_logic

The digital inputs enable power stage and enable controller
have to be set so that the power stage of the servo controller
can be activated:
The input enable power stage directly acts on the trigger
signals of the power transistors and would also be able to
interrupt them in case of a defective microprocessor. There-
fore the clearing of the signal enable power stage during the
motor is rotating causes the effect that the motor coasts
down without being braked or is only stopped by a possibly
existing holding brake.
The signal of the input enable controller is processed by the

microcontroller of the servo controller. Depending on the
mode of operation the servo controller reacts differently after
clearing this signal:
Profile Position Mode and Profile Velocity Mode

The motor is decelerated using the defined brake ramp
after clearing the signal. The power stage is switched off if
the motor speed is below 10 rpm and a possibly existing
holding brake is locked.
Torque Mode
The power stage is switched off immediately after the
signal has been cleared. At the same time a possibly ex-
isting holding brake is locked. Therefore the motor coasts
down without being braked or is only stopped by a stop
brake which might exists.
Warning
Both signals do not ensure that the motor is de-energised,
although the power stage has been switched off.

If the servo controller is operated via the CAN bus, it is often

desirable to connect the two digital inputs enable power
stage and enable controller together at 24V and to control
the power stage enabling via the CAN bus. Therefore the Ob-
ject 6510h_10h (enable_logic) is always set to two after a
reset if a CAN module is plugged. However, it can be repro-
grammed.
Index 6510h
Name drive_data
Object Code REC
Sub-Index 10h
Description enable_logic
Data Type UINT16
Access rw
PDO Mapping no
Units
Value Range 0: Digital inputs enable power

stage and enable controller.
1: Digital inputs enable power
stage and enable controller
and RS232.
2: Digital inputs enable power
stage and enable controller
and Fieldbus
Default Value 2

Object 6510h_30h: pwm_frequency

The switching losses of the power stage is proportional to the
switching frequency of the power transistors. A little more
power can be taken from some devices of the SEC-AC-... fam-
ily by reducing the PWM frequency from 10 kHz to 5 kHz.
Switch over for these devices is made via this object. Switch
over is only possible while the power stage is switched off.
Sub-Index 30h
Description pwm_frequency
Data Type UINT16
Access rw
PDO Mapping no
Units Hz
Value Range --- , 10000 bei SEC-AC-305

5000, 10000 bei SEC-AC-508
Default Value 10000
Object 6510h_3Ah: enable_enhanced_modulation

With the object enable_enhanced_modulation the enhanced
modulation can be activated. The DC bus voltage will be used
more effective thereby increasing the possible velocity by up
to 14%. In contrast the control behaviour and the smooth
running properties at low speed diminish a little. This object
can only be written if the power stage is switched off.

Sub-Index 3Ah
Description enable_enhanced_modulation
Data Type UINT16
Access rw
PDO Mapping no
Units Hz
Value Range 0: Aus

1: Ein
Default Value 0
Object 6510h_31h: power_stage_temperature

The temperature of the power stage can be read via the ob-
ject power_stage_temperature. If the temperature specified
in the object 6510h_32h (max_power_stage_temperature) is
exceeded the power stage is switched off and an error mess-
age is sent.
Sub-Index 31h
Description power_stage_temperature
Data Type INT16
Access ro
PDO Mapping no
Units C
Value Range -40...150
Default Value

Object 6510h_32h: max_power_stage_temperature

The temperature of the power stage can be read via the ob-
ject 6510h_31h (power_stage_temperature). If the tempera-
ture specified in the object max_power_stage_temperature
is exceeded the power stage is switched off and an error
message is sent.
Sub-Index 32h
Description max_power_stage_temperature
Data Type INT16
Access ro
PDO Mapping no
Units C
Value Range 80
Default Value 80
Object 6510h_33h: nominal_dc_link_circuit_voltage

The nominal device voltage in mV can be read via the object
nominal_dc_link_circuit_voltage.
Sub-Index 33h
Description nominal_dc_link_circuit_voltage
Data Type UINT32
Access ro
PDO Mapping no
Units mV


Value Range 310000, 560000
Default Value
Object 6510h_34h: actual_dc_link_circuit_voltage

The current voltage in mV of the intermediate circuit can be
read via the object actual_dc_link_circuit_voltage.
Sub-Index 34h
Description actual_dc_link_circuit_voltage
Data Type UINT32
Access ro
PDO Mapping no
Units mV
Value Range ARS: 0...1000000

IMD-F: 0...320000
Default Value
Object 6510h_35h: max_dc_link_circuit_voltage

The max_dc_link_circuit_voltage indicates above which volt-
age in the intermediate circuit the power stage is switched off
at once for reasons of safety and an error message is sent.

Sub-Index 35h
Description max_dc_link_circuit_voltage
Data Type UINT32
Access ro
PDO Mapping no
Units mV
Default Value ARS-310/xx: 399994

ARS-560/xx: 769989
Object 6510h_36h: min_dc_link_circuit_voltage

The servo controller has an undervoltage control. This control
can be activated via the object 6510h_37h (en-
able_dc_link_undervoltage_error). The object 6510h_36h
(min_dc_link_circuit_voltage) determines the lower voltage
range. Below this voltage the servo controller decelerates and
switches off the power stage afterwards. Beside this an error
message is sent.
Sub-Index 36h
Description min_dc_link_circuit_voltage
Data Type UINT32
Access rw
PDO Mapping no
Units mV


Default Value 125000
Object 6510h_37h: enable_dc_link_undervol-

tage_error
The undervoltage control can be activated via the object en-
able_dc_link_undervoltage_error.
In object 6510h_36h (min_dc_link_circuit_voltage) you must
specify the lowest possible intermediate circuit voltage at
which the controller should work.
Sub-Index 37h
Description enable_dc_link_undervoltage_
error
Data Type UINT16
Access rw
PDO Mapping no
Units
Value Range 0 (inactive), 1 (active)
Default Value 0
Object 6510h_40h: nominal_current

The nominal current of the device can be read via this object.
It is also the upper limit for the object
6075h (motor_rated_current).

Sub-Index 40h
Description nominal_current
Data Type UINT32
Access ro
PDO Mapping no
Units mA
Value Range dependent of servo controller
Default Value dependent of servo controller
Object 6510h_41h: peak_current

The peak current device can be read via this object. It is also
the upper limit for the object 6073h (max_current).
It is also the upper limit for the object
6073h (max_current).
Sub-Index 41h
Description peak_current
Data Type UINT32
Access ro
PDO Mapping no
Units mA
Default Value dependent of servo controller

5.4 Current control and motor adaptation
Caution
Incorrect setting of current control parameters and the
current limits may possibly destroy the motor and even the
servo controller immediately!
5.4.1 Survey
The parameter set of the servo controller has to be adapted

to the connected motor and the used cable set. The following
parameters are concerned:
Nominal current Depending on motor
Overload Depending on motor
Pairs of poles Depending on motor
Current controller Depending on motor
Additional if a resolver is used:
Direction of rotation Depending on motor and the

phase sequence in the motor
cable and the resolver cable
Offset angle Depending on motor and the

phase sequence in the motor
cable and the resolver cable
These data have to be determined by the parameter set-up

program when a motor type is used for the first time. You may
obtain elaborate parameter sets for a number of motors from
your dealer. Please remember that direction of rotation and
offset angle also depend on the used cable set. Therefore the
parameter sets only work if wiring is identical.

Caution
Permuted phase order in the motor or the resolver cable
may result in a positive feedback so the motor cannot be
controlled. The motor will rotate uncontrolled !
Please set object 6510 h_21h and 6510h_22h accordingly
(overspeed protection, see chapter 5.5: Velocity controller
and overspeed protection).
5.4.2 Objects
6075h VAR motor_rated_current UINT32 rw
6073h VAR max_current UINT16 rw
604Dh VAR pole_number UINT8 rw
6410h RECORD motor_data UINT32 rw
60F6h RECORD torque_control_parameters UINT16 rw
Object 6075h: motor_rated_current

This value can be taken from the motor plate and is specified
in mA (effective value, RMS). The upper limit is determined by
the object 6510h_40 : nominal_current.
Index 6075h
Name motor_rated_current
Object Code VAR
Data Type UINT32


Access rw
PDO Mapping no
Units mA
Default Value 566
Please note
If a new value is written into object 6075h
(motor_rated_current) also object 6073h (max_current)
has to be rewritten.
Object 6073h: max_current

Servo motors may be overloaded for a certain period of time.
The maximum permissible motor current is set via this object.
It refers to the nominal motor current (object 6075h:
motor_rated_current) and is set in thousandths. The upper
limit for this object is determined by the object 6510h_41h
(peak_current). Many motors may be overloaded by the fac-
tor 2 for a short while. In this case the value 2000 has to be
written into this object.
Please note
Before writing object 6073h (max_current) the object
6075h (motor_rated_current) must have a valid value.

Index 6073h
Name max_current
Object Code VAR
Data Type UINT16

Access rw
PDO Mapping no
Units per thousand of rated current
Value Range
Default Value 1750
Object 604Dh: pole_number

The number of poles of the motor can be taken from the
motor datasheet or the parameter set-up program.
The pole number is always integer. Often the pairs of poles
are specified instead of the pole number. Then the pole
number corresponds to twice the pairs of poles.
Index 604Dh
Name pole_number
Object Code VAR
Data Type UINT8


Access Sincoder: ro (from Firmware
Rev. 8e: rw)
other: rw
PDO Mapping no
Units
Value Range 2-14
Default Value 4
Object 6410h_03h: iit_time_motor

Servo motors may be overloaded for a certain period of time.
This object indicates how long the motor may receive a cur-
rent specified in the object 6073h (max_current). After the
expiry of the IIT-time the current is automatically limited to
the value specified in the object 6075h (motor_rated_current)
in order to protect the motor. The default adjustment is 2
seconds and can be used for most motors.
Index 6410h
Name motor_data
Object Code REC

Sub-Index 03h
Description iit_time_motor
Data Type UINT16
Access rw
PDO Mapping no
Units ms
Default Value 2000

Object 6510h_38h: iit_error_enable

The object iit_error_enable determines the behaviour when
reaching the iit limit: Either this will only be displayed in the
statusword or Error 31 will be generated and the power stage
will be switched off.
Index 6510h
Name drive_data
Object Code REC
Sub-Index 38h
Description iit_error_enable
Data Type UINT16
Access rw
PDO Mapping no
Units
Value Range 0: Warning (statusword)

1: Error 31
Default Value

Object 6410h_11h: resolver_offset_angle

In case of the used servo motors permanent magnets are on
the rotor. These magnets generate a magnetic field whose
orientation to the stator depends on the rotor position. For
the electronic commutation the controller always has to posi-
tion the electromagnetic field of the stator in the correct angle
towards this permanent magnetic field. For that purpose it
currently determines the rotor position with an angle encoder
(resolver etc.).
If a resolver is used the resolver_offset_angle determines

the orientation of the zero impulse of the angle encoder to-
wards the permanent magnetic field. This angle can be evalu-
ated by the parameter set-up program. The angle determined
by the parameter set-up program is in the range of +/-180. It
has to be converted as follows:
resolver_offset_angle = set-up program value/180*32767
Index 6410h
Name motor_data
Object Code REC
Sub-Index 11h
Description resolver_offset_angle
Data Type INT16
Access Yaskawa: ro
other: rw
PDO Mapping no


Units
Value Range -32767...32767, 32767 = 180
Default Value undefined
Object 6410h_10h: phase_order

With the object phase_order it is possible to consider per-
mutations of motor- or resolver cable. On a normal cabling
this object has to be zero, on an inverted cabling one. This
value can be taken from the parameter set-up program.
Sub-Index 10h
Description phase_order
Data Type UINT16
Access rw
PDO Mapping no
Units
Value Range 0, 1
Default Value 0
Object 60F6h: torque_control_parameters

The data of the current controller has to be taken from the
parameter set-up program. The following conversions have to
be noticed:
S The gain of the current controller has to be multiplied by

256. In case of a gain of 1.5 in the parameter set-up pro-
gram the value 384 = 180h has to be written into the ob-
ject torque_control_gain.

The time constant of the current controller is specified in milli-

seconds in the parameter set-up program. This time constant
has to be converted to microseconds before it can be trans-
ferred into the object torque_control_time. In case of a speci-
fied time of 0.6 milliseconds a value of 600 has to be entered
into the object torque_control_time.
Index 60F6h
Name torque_control_parameters
Object Code RECORD
Sub-Index 01h
Description torque_control_gain
Data Type UINT16
Access rw
PDO Mapping no
Units 256 = Gain 1
Value Range 20...25600
Default Value 768

Sub-Index 02h
Description torque_control_time
Data Type UINT16
Access rw
PDO Mapping no
Units s
Default Value 1000
Please note
The resolution of the object torque_control_time (60F6
h_02h) is 102,4 s. Therefore the reread value may differ
from the written one.

5.5 Velocity controller and overspeed protection
5.5.1 Survey
The parameter set of the servo controller has to be adapted

to the specific application. In particular the gain strongly de-
pends on the masses coupled to the motor. So the data have
to be determined by means of the program when the plant is
set into operation.
Warning
Incorrect setting of the velocity control parameters may
lead to strong vibrations and destroy parts of the plant this
way!
5.5.2 Objects
60F9h RECORD velocity_control_parameters rw
6510h RECORD motor_data rw
Object 60F9h: velocity_control_parameters

The data of the velocity controller can be taken from the para-
meter set-up program. Note the following conversions:
The gain of the velocity controller has to be multiplied by 256.

In case of a gain of 1.5 in the parameter set-up program the
value 384 = 180h has to be written into the object
velocity_control_gain.

The time constant of the velocity controller is specified in

milliseconds in the parameter set-up program. This time con-
stant has to be converted to microseconds before it can be
transferred into the object velocity_control_time. In case of a
specified time of 2.0 milliseconds a value of 2000 has to be
written into the object velocity_control_time.
The velocity_control_filter_time can also be taken from the

parameter set-up program under parameters | speed con-
troller.
Index 60F9h
Name velocity_control_parameters
Object Code RECORD
Sub-Index 01h
Description velocity_control_gain
Data Type UINT16
Access rw
PDO Mapping no
Units 256 = Gain 1
Default Value 2560

Sub-Index 02h
Description velocity_control_time
Data Type UINT16
Access rw
PDO Mapping no
Units s
Default Value 6150
Sub-Index 04h
Description velocity_control_filter_time
Data Type UINT16
Access rw
PDO Mapping no
Units s
Default Value 410
Please note
The resolution of the object 60F9h_02h
(velocity_control_time) and 60F9h_03h
(velocity_control_filter_time) is 204.8 s.
Therefore the reread value may differ from the written one.

Object 6510h_21h: over_speed_protection_

limit_speed
A maximum permissible speed can be entered into the object
6510h_21h (over_speed_ protection_limit_speed). If this
speed is exceeded the power stage is switched off immedi-
ately. So the motor runs to zero without being braked. This
mechanism is designed as additional protection against de-
fective sensor and motor cables (phase break) and against an
offset angle that has been parametrized incorrectly. It also
operates in case of disturbed signals on the zero impulse line
of an incremental encoder and even works if the servo con-
troller does not actually control the motor. The value of the
maximum permissible speed has to be entered in
speed_units. Values equivalent to more than 16000 rpm will
be automatically replaced by the upper limit whereby the
function is deactivated (as lowest value recommended: 150
rpm).
Index 21h
Name over_speed_protec-
tion_limit_speed
Object Code VAR
Data Type UINT32

Access rw
PDO Mapping no
Units speed units
Value Range 0..(232-1)

Object 6510h_22h: position_error_switch_off_limit

A maximum permissible trailing error (following_error) can be
entered into the object position_error_switch_off_limit.
If the trailing error exceeds this value the power stage is
switched off immediately. So the motor coasts down without
being braked. This mechanism is designed as additional
protection against defective sensor and motor cables (phase
break) and against an offset angle that has been parame-
trized incorrectly. It also operates in case of disturbed signals
on the zero impulse line of an incremental encoder and even
works if the servo controller does not actually control the
motor. The value of the maximum difference between the
position_demand_value and the position_actual_value has
to be entered in position_units. Entering 0 deactivates this
function.
Index 22h
Name position_error_switch_off_limit
Object Code VAR
Data Type UiNT32

Access rw
PDO Mapping no
Units position units
Default Value 0 (off )

5.6 Position Control Function
5.6.1 Survey
This chapter describes all parameters which are required for

the position controller. The desired position value (posi-
tion_demand_value) of the trajectory generator is the input
of the position controller. Besides this the actual position
value (position_actual_value) is supplied by the angle en-
coder (resolver, incremental encoder, etc.). The behaviour of
the position controller can be influenced by parameters. It is
possible to limit the output quantity (control_effort) in order
to keep the position control system stable. The output quan-
tity is supplied to the speed controller as desired speed
value. In the Factor Group all input and output quantities are
converted from the application-specific units to the respect-
ive internal units of the controller.
The following subfunctions are defined in this chapter:
1. Trailing error (Following Error)
The deviation of the actual position value (posi-

tion_actual_value) from the desired position value (posi-
tion_demand_value) is named trailing error. If for a certain
period of time this trailing error is bigger than specified in the
trailing error window (following_error_window) bit 13 (fol-
lowing_error) of the object statusword will be set. The per-
missible time can be defined via the object follow-
ing_error_time_out.

Fig. 5/9: Following error: Functional overview
Fig. 5/10 shows how the window function is defined for the
message following error. The range between xi-x0 and
xi+x0 is defined symmetrically around the desired position
(position_demand_value) xi. For example the positions xt2
and xt3 are outside this window (following_error_window). If
the drive leaves this window and does not return to the win-
dow within the time defined in the object follow-
ing_error_time_out then bit 13 (following_error) in the
statusword will be set.
Fig. 5/10: Following error

2. Position Reached
This function offers the chance to define a position window

around the target position (target_position) . If the actual
position of the drive is within this range for a certain period of
time - the position_window_time - bit 10 (target_reached)
will be set in the statusword.
Fig. 5/11: Position reached - Functional overview
Fig. 5/11 shows how the window function is defined for the
message position reached. The position range between
xi-x0 and xi+x0 is defined symmetrically around the target
position (target_position) xi. For example the positions xt0
and xt1 are inside this position window (position_window).
If the drive is within this window a timer is started. If this
timer reaches the time defined in the object position_win-
dow_time and the drive uninterruptedly was within the valid
range between xi-x0 and xi+x0, bit 10 (target_reached) will be
set in the statusword.

As far as the drive leaves the permissible range, bit 10 is

cleared and the timer is set to zero.
Fig. 5/12: Position reached (target reached)
5.6.2 Objects
The following objects are defined in this chapter:
6062h VAR position_demand_value INT32 ro
6063h VAR position_actual_value* INT32 ro
6064h VAR position_actual_value INT32 ro
6065h VAR following_error_window UINT32 rw
6066h VAR following_error_time_out UINT16 rw
6067h VAR position_window UINT32 rw
6068h VAR position_window_time UINT16 rw
60FAh VAR control_effort INT32 ro
60FBh RECORD position_control_parameter_set rw
60FCh VAR position_demand_value* INT32 ro

Affected objects from other chapters
Index Object Name Type Chapter

607Ah VAR target_position INT32 7.4 Operating Mode Profile Position
Mode
607Bh VAR position_range_limit INT32 7.4 Operating Mode Profile Position

Mode
607Ch VAR home_offset INT32 7.2 Operating Mode Homing mode
607Dh VAR software_position_limit INT32 7.4 Operating Mode Profile Position

Mode
607Eh VAR polarity UINT8 5.2 Conversion factors (Factor Group)
6093h VAR position_factor UINT32 5.2 Conversion factors (Factor Group)
6094h ARRAY velocity_encoder_factor UINT32 5.2 Conversion factors (Factor Group)
6096h ARRAY acceleration_factor UINT32 5.2 Conversion factors (Factor Group)
6041h VAR controlword INT16 5.13. Device Control
6041h VAR statusword UINT16 5.13. Device Control
Object 60FBh: position_control_parameter_set

All parameters of the servo controller have to be adapted to
the specific application. Therefore the position control para-
meters have to be determined optimal by means of the para-
meter set-up program.
Warning
Incorrect setting of the position control parameters may
lead to strong vibrations and so destroy parts of the plant !

The position controller compares the desired position with

the actual position and forms a correction speed (Object
60FAh: control_effort). This correction speed is supplied to
the speed controller. The position controller is relatively slow
compared to the current controller and speed controller.
Therefore the controller internally works with feed forward so
that the correction work for the position controller is mini-
mised reaching a fast settling time.
Usually a proportional control unit is sufficient as position

controller. The gain of the position controller has to be multi-
plied by 256. In case of a gain of 1.5 in the menu Position
controller of the parameter set-up program the value 384 =
180h has to be written into the object position_control_gain.
Normally the position controller can work without an integra-

tor. In this case 0 has to be written into the object posi-
tion_control_time. Otherwise the time constant of the posi-
tion controller has to be converted to microseconds. So the
value 4000 has to be written into the object position_con-
trol_time in case of a time of 4.0 milliseconds.
Please note
The resolution of the object position_control_time
(60FBh_02h) is 409.6 s. Therefore the reread value may
differ from the written one.
As the position controller even transforms smallest deviations

into a considerable correction speed, very high correction
speeds may occur in case of a short disturbance (e. g. short
blocking). This can be avoided if the output of the position
controller is adequately limited (e.g. 500 rpm) via the object
position_control_v_max.
The object position_error_tolerance_window determines the

maximum control deviation without reaction of the position
controller. Therewith it is possible to even out backlash within
the plant.

Index 60FBh
Name position_control_parameter_set
Object Code RECORD
Sub-Index 01h
Description position_control_gain
Data Type UINT16
Access rw
PDO Mapping no
Units 256 = Gain 1
Default Value 102
Sub-Index 02h
Description position_control_time
Data Type UINT16
Access rw
PDO Mapping no
Units milliseconds
Value Range 0..65536
Default Value 0 (deactivated)

Sub-Index 04h
Description position_control_v_max
Data Type UINT32
Access rw
PDO Mapping no
Units speed units
Default Value 487
Sub-Index 05h
Description position_error_tolerance_window
Data Type UINT32
Access rw
PDO Mapping no
Default Value 16
Object 6062h: position_demand_value

The current position demand value can be read by this object.
This position is fed into the position controller by the trajec-
tory generator.

Index 6062h
Name position_demand_value
Object Code VAR
Data Type INT32

Access ro
Value Range (-231)..(231-1)
Default Value
Object 60FCh: position_demand_value

The current position demand value in the internal unit in-
crements can be read by this object.
You can use the object 6062h (position_demand_value) to
read the position demand value in the user-defined unit.
Index 60FCh
Name position_demand_value*
Object Code VAR
Data Type INT32


Access ro
Units increments
Value Range (-231)..(231-1)
Default Value
Object 6064h: position_actual_value

The actual position can be read by this objects. The unit of
this object is position_units.
Index 6064h
Name position_actual_value
Object Code VAR
Data Type INT32

Access ro
Value Range (-231)..(231-1)
Default Value

Object 6063h: position_actual_value

The actual position in the internal unit increments can be read
by this objects. The actual position in position_units can be
read by the object 6064h (position_actual_value).
Index 6063h
Name position_actual_value*
Object Code VAR
Data Type INT32

Access ro
Units increments
Value Range (-231)..(231-1)
Default Value
Object 6065h: following_error_window

The object following_error_window (trailing error window)
defines a symmetrical range around the desired position
value (position_demand_value). If the actual position (posi-
tion_actual_value) is outside the trailing error window (fol-
lowing_ error_window) a trailing error occurs and bit 13 in the
object statusword will be set.

The following reasons may cause a trailing error:
A drive is locked
The positioning speed is too high
The accelerations are too high
The object following_error_window is too low
The position controller is not parametrized correctly.
If the value of the trailing error window is set to 232-1 then the
trailing error window is deactivated.
Index 6065h
Name following_error_window
Object Code VAR
Data Type UINT32

Access rw
Default Value 9102

Object 6066h: following_error_time_out

If a trailing error occurs longer than defined in this object
bit 13 (following_error) will be set in the statusword.
Index 6066h
Name following_error_time_out
Object Code VAR
Data Type UINT16

Access rw
Units milliseconds
Default Value 0
Object 60FAh: control_effort

The output quantity of the position controller can be read via
this object. This value is supplied internally to the speed con-
troller as desired value.
Index 60FAh
Name control_effort
Object Code VAR
Data Type INT32


Access ro
Units speed_units
Value Range (-231)..(231-1)
Default Value 0
Object 6067h: position_window

A symmetrical range around the target position (target_posi-
tion) is defined by the object position_window. If the actual
position value (position_actual_value) is within this range
the target position (target_position) is regarded as reached.
Index 6067h
Name position_window
Object Code VAR
Data Type UINT32

Access rw
Units position_units
Default Value 1820

Object 6068h: position_window_time

If the actual position of the drive is within the positioning win-
dow (position_window) as long as defined in this object
bit 10 (target_reached) will be set in the statusword.
Index 6068h
Name position_window_time
Object Code VAR
Data Type UINT16

Access rw
Units milliseconds
Default Value 0

5.7 Encoder settings
5.7.1 Survey
This chapter describes the configuration of the position en-

coder input X2 and the incremental input X10 resp. the incre-
mental output X11.
For instance it is possible to parametrize the resolution of an

incremental encoder connected to X2. Using the incremental
input X10 you can connect an external position encoder op-
tionally (e.g. on the driving side of a gear) or feed in an addi-
tional position demand value to synchronise two motors.
Caution
Incorrect parameter adjustment may cause uncontrolled
revolving of the motor and thereby damaging of machine
parts.
Please note
In case of strange behaviour of the servo controller after
parametrizing like an incorrect velocity value e.g., please
check the following objects. If you dont use an external
encoder the actual value of all objects has to comply with
the default value.

5.7.2 Objects

2020h VAR position_controller_resolution UINT32 rw
2021h VAR position_encoder_selection INT16 rw
2022h VAR synchronization_encoder_select INT16 rw
2023h VAR synchronization_filter_time UINT32 rw
2024h RECORD encoder_X2_data_field rw
2025h RECORD encoder_X10_data_field rw
2028h VAR encoder_emulation_resolution INT32 rw
Object 2020h: position_controller_resolution
Only for experienced users
The object position_controller_resolution defines the in-

crements per unit of length / angle the position controller is
calculating with. This resolution should be adapted to the
resolution of the position encoder connected optional to X2
or X10 respectively adapted to the resolution of the technol-
ogy module. Nevertheless different values are possible to
achieve the unit needed in the machine, e.g. 1,000,000 in-
crements per meter or 36,000 increments per revolution. The
servo controller uses this object to make a conversion factor.
This may cause an overflow or underflow that will be detected
by the controller before releasing the power stage and
thereby cause an error.

Index 2020h
Name position_controller_resolution
Object Code VAR
Data Type UINT32

Access rw
PDO Mapping no
Units increments
Default Value 65536

Object 2023h: synchronization_filter_time
The object synchronization_filter_time determines the time

constant of a low pass used to smooth the synchronisation
velocity. Suggestive values are 400-20000s.
Index 2023h
Name synchronization_filter_time
Object Code VAR
Data Type UINT32

Access rw
PDO Mapping no
Units s
Value Range 410...26843340
Default Value 410

Object 2024h: encoder_X2_data_field
The object record encoder_X2_data_field is a collection of all

parameter used for parametrizing the encoder at X2.
The object encoder_X2_resolution determines the in-

crements per unit of length / angle of the used encoder. For
most of all encoders this is a fixed value, yet motors by Yas-
kawa are available with 12, 13 or 15 bit resolution. The resol-
ution of the used encoder has to be parametrized in this ob-
ject.
The objects encoder_X2_numerator and encoder_X2_divisor

are used for the conversion of encoder increments (object
encoder_X2_counter) into the unit of the position controller
(object position_controller_selection). Also possibly avail-
able gears can be considered. The encoder increments will be
multiplied by
position_controller_resolution encoder_X2_numerator

encoder_X2_resolution encoder_X2_divisor
to build the position demand value (object encoder_x2_posi-

tion).
Some encoders do not create a reference signal.

Hence the evaluation can be deactivated by the object
encoder_x2_control.
With the object encoder_x2_status it can be determined if a

reference pulse (northmarker) has occurred. For incremental
encoders this may not occur before 1 complete revolution.
For resolver and absolute angle encoders bit 0 is always set.

Index 2024h
Name encoder_X2_data_field
Object Code RECORD
Sub-Index 01h
Description encoder_X2_resolution
Data Type UINT32
Access Heidenhain: ro (see Object 2029h)

Other: rw
PDO Mapping no
Units increments
Value Range RDC12: 4096

RDC16: 65536
RDC16N: 65536
SinCos: 262144
SinCoder: 262144
Yaskawa: 4096, 8192 or 32768
Incremental encoder: 64 - 500000000
Default Value depends to the used encoder

Sub-Index 02h
Description encoder_X2_numerator
Data Type INT16
Access rw
PDO Mapping no
Units
Value Range +/- 32767
Default Value 1
Sub-Index 03h
Description encoder_X2_divisor
Data Type INT16
Access rw
PDO Mapping no
Units
Default Value 1
Sub-Index 04h
Description encoder_X2_counter
Data Type UINT32
Access ro


Units Increments
Value Range 0 - (encoder_X2_resolution-1)
Default Value
Sub-Index 05h
Description encoder_X2_position
Data Type INT32
Access rw
Value Range (-231)..(231-1)
Default Value
Sub-Index 06h
Description encoder_X2_control
Data Type INT32
Access rw
PDO Mapping no
Units
Value Range b0=1: ignore the northmarker

Only incremental encoder:
b1=1: sinus-commutation
enabled
Default Value 0

Sub-Index 07h
Description encoder_X2_status
Data Type INT32
Access ro
Units
Value Range 1: northmarker appeared
Default Value 0

Object 2025h: encoder _X10_data_field
The object record position_X10_data_field is a collection of

all parameter used for parametrizing the encoder at X10.
The object encoder_X10_resolution defines the increments

per unit of length / angle of the used encoder. The resolution
of the used encoder has to be parametrized to this object.
The objects encoder_X10_numerator and encoder_X10_div-

isor are used for the conversion of encoder increments (ob-
ject encoder_X10_counter) into the unit of the position con-
troller (object position_controller_selection). Also possibly
available gears can be considered. The encoder increments
will be multiplied by
position_controller_resolution encoder_X10_numerator

encoder_X10_resolution encoder_X10_divisor
to build the current position value

(Object encoder_x10_position).
Some encoder do not create a reference signal. Hence the

evaluation can be deactivated by the object
encoder_x10_control.
With the object encoder_x10_status it can be determined if a

reference pulse has occurred (this may not occur before one
complete revolution). This bit can be cleared.

Using the object max_x2_x10_position_difference a monitor-

ing function for the objects encoder_X2_position and en-
coder_X10_position can be realised. If the difference be-
tween these two objects exceeds the value in max_X2_X10_
position_difference the power stage will be switched off im-
mediately and error 17 will be displayed (CANopen error code
7124). Parametrizing 0 will disable this function.
Index 2025h
Name encoder_X10_data_field
Object Code RECORD
Sub-Index 01h
Description encoder_X10_resolution
Data Type UINT32
Access rw
PDO Mapping no
Units increments
Default Value

Sub-Index 02h
Description encoder_X10_numerator
Data Type INT16
Access rw
PDO Mapping no
Units
Default Value 1
Sub-Index 03h
Description encoder_X10_divisor
Data Type INT16
Access rw
PDO Mapping no
Units
Default Value 1
Sub-Index 04h
Description encoder_X10_counter
Data Type UINT32
Access ro


Units Increments
Value Range 0 - (encoder_X10_resolution-1)
Default Value 0
Sub-Index 05h
Description encoder_X10_position
Data Type INT32
Access rw
Value Range (-231)..(231-1)
Default Value 0
Sub-Index 06h
Description encoder_X10_control
Data Type INT32
Access rw
PDO Mapping no
Units
Value Range 1: ignore the northmarker
Default Value 0

Sub-Index 07h
Description encoder_X10_status
Data Type INT32
Access rw
Units
Value Range 1: northmarker appeared
Default Value 0
Sub-Index 08h
Description max_X2_X10_position_difference
Data Type UINT32
Access rw
Units Position units
Value Range 0 - (231-1)
Default Value 0 (off )

Object 2028h: encoder_emulation_resolution

The object encoder_emulation_resolution determines the
resolution of the encoder emulation output X11. The value
range depends on the used encoder and must not exceed the
value in encoder_X2_resolution. Otherwise the entered value
will be limited to this value.
Index 2028h
Name encoder_emulation_resolution
Object Code VAR
Data Type INT32

Access RDC12, RDC16,
SinCos, SinCoder ro
Other rw
PDO Mapping no
Units Increments
Value Range RDC12: 4096

RDC16: 4096
RDC16N: 4..65536
SinCos: 2048
SinCoder: 4096
Yaskawa: 0...4096/0...8192/0...32768
Incremental-Encoder:0...encoder_X2_resolution
Heidenhain: 4...65536
Default Value 4096

5.8 Sources for demand / actual value
5.8.1 Survey
The following objects can be used to change the source of the

demand and the actual value. By default the standard en-
coder input X2 will be used for the position actual value.
If an external position encoder is used, e.g. on the driving
side of a gear, it is possible to use the signals of the incre-
mental input X10 as actual value. It is also possible to use
signals of X10 as additional position demand value, e.g. to
synchronise two motors.
5.8.2 Objects
Object 2021h: position_encoder_selection

The object position_encoder_selection determines the input
for the current position value (X2, X10 or Technology mod-
ule).
Index 2021h
Name position_encoder_selection
Object Code VAR
Data Type INT16


Access rw
PDO Mapping no
Units
Value Range 0: X2, 1: X10, 2:Technology-Modul
Default Value 0
Object 2022h: synchronization_encoder_select

The object synchronization_encoder_select determines the
input for the additional position demand value. It can be used
to synchronise two motors.
Index 2022h
Name synchronization_encoder_select
Object Code VAR
Data Type INT16

Access rw
PDO Mapping no
Units
Value Range 1: No Encoder

1: X10
2: Technology-module
Default Value 1

5.9 Digital inputs and outputs
5.9.1 Survey
All digital inputs of the servo controller can be read out and
almost any digital output can be set or reset using the can
bus. In addition to it several state messages can be mapped
to the outputs.
5.9.2 Objects
Object 60FDh: digital_inputs

Using object 60FDh the digital inputs can be read out:
Index 60FDh
Name digital_inputs
Object Code VAR
Data Type UINT32

Access ro
Units
Value Range 0..FFFFFFFFh
Default Value

Bit Value Digital input
0 00000001h Negative limit switch
1 00000002h Positive limit switch
2 00000004h Reference switch
3 00000008h Power stage locked (Either the signal controller enable or

power stage enable is not set)
16 - 23 Additional inputs of the can module
24 - 27 Target position selectors (POS0-POS3, Din0..Din3)
28 10000000h Start input
29 20000000h Sample input

Object 60FEh: digital_outputs

The digital outputs can be set via the object 60FEh. For that
purpose it has to be indicated which of the digital outputs are
allowed to be set in the object digital_outputs_mask. Then
the selected outputs can be set optionally via the object digi-
tal_outputs_data.
It has to be kept in mind that a delay of up to 15 milliseconds

may occur between sending the command and a real reaction
of the outputs when the brake and the default outputs (DOUT
1 - DOUT 3) are triggered. When the outputs are really set can
be found out by rereading the object 60FEh. The additional
digital outputs of the CAN module act without a mentionable
delay.
Index 60FEh
Name digital_outputs
Object Code ARRAY
Data Type UINT32
Sub-Index 01h
Description digital_outputs_data
Access rw
Units
Default Value 0

Sub-Index 02h
Description digital_outputs_mask
Access rw
Units
Default Value 16711680; 00FF0000h
Bit Digital output
0 Brake
16 - 23 Additional digital outputs of the CAN module
25 - 27 Default outputs of the servo controller (Dout1 - Dout3)

5.10 Homing switches (Limit / Reference switch)
5.10.1 Survey
For the definition of the reference (zero) position of the servo

controller optional limit switches or reference switches can be
used. Further information concerning reference methods can
be found in chapter 7.2, Operating Mode Homing mode.
5.10.2 Objects
Object 6510h_11h: limit_switch_polarity

The polarity of the limit switches can be parametrized by the
object 6510h_11h (limit_switch_polarity). For B-contacts
(normally closed) zero has to be entered, for A-contacts (nor-
mally opened) one.
Index 6510h
Sub-Index 11h
Name limit_switch_polarity
Object Code AR
Data Type UINT16


Access rw
Units
Value Range 0, 1
Default Value 1
Object 6510h_14h: homing_switch_polarity

The polarity of the homing switch can be parametrized by the
object 6510h_14h (homing_switch_polarity). For B-contacts
(normally closed) zero has to be entered, for A-contacts (nor-
mally opened) one.
Index 6510h
Sub-Index 14h
Name homing_switch_polarity
Object Code VAR
Data Type UINT16

Access rw
Units
Value Range 0, 1
Default Value 1

Object 6510h_13h: homing_switch_selector

The object 6510h_13h (homing_switch_selector) determines,
if the reference switch is connected either to the START or the
SAMPLE input of the servo controller.
Index 6510h
Sub-Index 13h
Name homing_switch_selector
Object Code VAR
Data Type UINT16

Access rw
PDO Mapping no
Units
Value Range 0: SAMPLE input (DIN9)

1: START input (DIN8)
Default Value 0

Object 6510h_15h: limit_switch_deceleration

The object limit_switch_deceleration determines the de-
celeration used to stop the motor if a limit switch will be re-
ached during normal operation (limit switch emergency stop).
Index 6510h
Sub-Index 15h
Name limit_switch_deceleration
Object Code VAR
Data Type UINT32

Access rw
Units acceleration units
Default Value 1966080 Inc / sec2
High values result in fast braking, low values result in slow

braking of the motor.
With excessive values for braking acceleration (delay) the
delay time will tend towards 0 s.
This may result in the fault message Division by zero in the
parametrizing program.
Select a value suitable for your application.


Device Control/State diagram (State machine)
Chapter 6

6. Device Control/State diagram (State machine)
Contents
6. Device Control/State diagram (State machine) . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1 State diagram (State machine) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.1.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.2 The state diagram of the servo controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.1.3 Controlword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.1.4 Reading the status of the servo controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.1.5 Statusword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
6.1.6 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21

6.1 State diagram (State machine)
6.1.1 Survey
The following chapter describes how to control the servo con-

troller using CANopen, i.e. how to switch on the power stage
or to reset an error.
Using CANopen the complete control of the servo is done by

two objects. Via the controlword the host is able to control
the servo, as the status of the servo can be read out of the
statusword. The following items will be used in this chapter:
State The servo controller is in different states dependent on for

instance if the power stage is alive or if an error has oc-
curred. States defined under CANopen will be explained in
this chapter.
Example: SWITCH_ON_DISABLED
State Transition Just as the states it is defined as well how to move from one
state to another (e.g. to reset an error). These state transi-
tions will be either executed by the host by setting bits in
the controlword or by the servo controller itself, if an error
occurs for instance.
Command To initiate a state transition defined bit combinations have to
be set in the controlword. Such bit combination are called
command.
Example: Enable Operation
State diagram All the states and all state transitions together form the so
called state diagram: A survey of all states and the possible
transitions between two states.

6.1.2 The state diagram of the servo controller
Fig. 6/1: State diagram of the servo controller
The state diagram can be divided into three main parts:

Power Disabled means the power stage is switched off and
Power Enabled the power stage is live. The area Fault
contains all states necessary to handle errors of the con-
troller.
The most important states have been highlighted in the Fig-
ure: After switching on the servo controller initialises itself
and reaches the state SWITCH_ON_DISABLED after all. In this
state CAN communication is possible and the servo controller
can be parametrized (e.g. the mode of operation can be set to
velocity control). The power stage remains switched off and
the motor shaft is freely rotatable. Through the state transi-
tions 2, 3 and 4 (enable controller under CANopen) the
state OPERATION_ENABLE will be reached. In this state the
power stage is live and the servo controller controls the
motor according to the parametrized mode of operation.

Therefore previously ensure that the servo controller has

been parametrized correctly and the according demand value
is zero.
The state transition 9 complies with disabling the power

stage, i.e. the motor is freely rotatable.
In case of a fault the servo controller branches independent

of the current state lately to the state FAULT. Dependent on
the seriousness of the fault several actions can be executed
before, for instance an emergency stop (FAULT_REAC-
TION_ACTIVE).
To execute the mentioned state transitions defined bit com-

binations have to be set in the controlword. To that the lower
4 bits of the controlword will be evaluated commonly. At first
only the important transitions 2, 3, 4, 9 and 15 will be ex-
plained. A table of all possible transitions can be found at the
end of this chapter.
The following chart contains the desired state transition in the

1st column. The 2nd column contains the condition for the
transition (mostly a command by the host, here marked with
a frame). How the command has to be built, i.e. what bits
have to be set in the controlword, will be shown in the 3rd
column (x = not relevant).

No. Executed if Bit combination (control- Action

word)
Bit 3 2 1 0
2 Enable controller + Enable Shutdown = x 1 1 0 None

power stage applying + Com-
mand Shutdown
3 Command Switch On Switch On = x 1 1 1 Power stage will be

switched on
4 Command Enable Operation Enable Operation = 1 1 1 1 Motor is controlled ac-

cording to
modes_of_operation
9 Command Disable Voltage Disable Voltage = x x 0 x Power stage is dis-

abled. The motor is
freely rotatable.
15 ause of fault remedied Fault Reset = Bit 7 = Reset fault

+ Command Fault Reset
Fig. 6/2: Most important state transitions
EXAMPLE
After the servo controller has been parametrized it should be

enabled, i.e. the power stage should be switched on:
1. The servo is in the state SWITCH_ON_DISABLED.
2. The state OPERATION_ENABLE should be reached.
3. In accordance to the state diagram (Figure 6.9) the state

transitions 2, 3 and 4 have to be executed.

4. From Figure 6.10 follows:
Transition 2: controlword = 0006h

New state: READY_TO_SWITCH_ON 1)

New state: SWITCHED_ON 1)
Transition 4: controlword = 000Fh

New state: OPERATION_ENABLE 1)
Please note
The example implies, that no more bits in the control-
word are set. (For the state transitions only the bits 0..3
are necessary).
The state transitions 3 and 4 can be combined by setting
the controlword to 000Fh directly. For the state transition
3 the set bit 3 is irrelevant.
1) The host has to wait until the requested state can be read
in the statusword. This will be explained more exact in the
following chapter.

State diagram: States

In the following table all states and their meaning are listed:
Name Meaning
NOT_READY_TO_ The servo controller executes its selftest. The CAN communication does
SWITCH_ON not work.
SWITCH_ON_DISABLED The selftest has been completed. Activation of the CAN communication.
READY_TO_SWITCH_ON MeaningThe servo controller waits until the digital inputs Enable con-
troller + Enable power stage will be set (enable_logic = 2).
SWITCHED_ON 1) The power stage is live.
OPERATION_ENABLED1) The motor is under voltage and will be controlled according to

modes_of_operation
QUICKSTOP_ACTIVE 1) The Quick Stop Function will be executed (see: quick_stop_op-

tion_code). The motor is under voltage and will be controlled according
to the Quick Stop Function.
FAULT_REACTION_ An error has occurred. On critical errors switching to state Fault. Other-
ACTIVE 1) wise the action according to the fault_reaction_option_code will be ex-
ecuted. The motor is under voltage and will be controlled according to
the Fault Reaction Function.
FAULT An error has occurred. The power stage has been switched off.
1) The power stage is live.

State diagram: State transitions

The following table lists all state transitions and their mean-
ing:
No. Executed if Bit combination (control- Action

word)
Bit 3 2 1 0
0 Power on or Reset internal transition Execute selftest
1 Self test successful internal transition Activation of the CAN

communication
2 Enable controller + En- Shutdown = x 1 1 0

able power stage applying
+ Command Shutdown
3 Command Switch On Switch On = x 1 1 1 Power stage will be

switched on
4 Command Enable Operation Enable Operation = 1 1 1 1 Motor is controlled ac-

cording to
modes_of_operation
5 Command Disable Oper- Disable Operation = 0 1 1 1 Power stage is disabled.

ation Motor is freely rotatable
6 Command Shutdown Shutdown = x 1 1 0 Power stage is disabled.

Motor is freely rotatable
7 Command Quick Stop Quick Stop = x 0 1 x
8 Command Shutdown Shutdown = x 1 1 0 Power stage is disabled.

9 Command Disable Voltage Disable Voltage = x x 0 x Power stage is disabled.

10 Command Disable Voltage Disable Voltage = x x 0 x Power stage is disabled.

11 Command Quick Stop Quick Stop = x 0 1 x A braking according to

quick_stop_option_code
is started.

12 Braking has ended or Disable Voltage = x x 0 x Power stage is disabled.

Command Disable Voltage Motor is freely rotatable
13 Error occurred internal transition On non-critical errors reac-

tion according to fault_re-
action_option_code. On
critical error executing
transition 14.
14 Error treating has ended internal transition Power stage is disabled.

15 Cause of fault remedied + Fault Reset = Bit 7 = Reset fault (Rising edge)
Command Fault Reset
Warning
Power stage disabled
This means the transistors are not driven anymore. If this
state is reached on a rotating motor, the motor coasts
down without being braked. If a mechanical motor brake
is available it will be locked.
Caution
This does not ensure that the motor is not under voltage.
Warning
Power stage enabled
This means the motor will be controlled according to the
chosen mode of operation. If a mechanical motor brake is
available it will be released. A defect or an incorrect para-
meter set-up (Motor current, number of poles, resolver
offset angle, etc.) may cause an uncontrolled behaviour of
the motor

6.1.3 Controlword
Object 6040h: controlword

Via the controlword the state of the servo controller can be
changed or a designated action (e.g. starting homing oper-
ation) can be executed directly. The meaning of the bits 4, 5,
6 and 8 depends on modes_of_operation, which will be ex-
plained in the chapter hereafter.
Index 6040h
Name controlword
Object Code VAR
Data Typee UINT16


Access rw
Units
Value Range 0...FFFFh
Default Value 0
Bit Value Function
0 0001h
1 0002h Initiating
g state transitions.
(
(Bits will be
b evaluated d commonly))
2 0004h
3 0008h
4 0010h new_set_point/start_homing_operation
5 0020h change_set_immediatly
6 0040h absolute/relative
7 0080h reset_fault
8 0100h halt
9 0200h reserved set to 0
Fig. 6/3: Bit assignment of the controlword

As described detailed in the previous chapter the bits 0..3 are

used to execute state transitions. The necessary commands
are summarised in the following chart. The command Fault
Reset will be executed on a rising edge of bit 7 (from 0 to 1).
Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0

0080h 0008h 0004h 0002h 0001h
Shutdown x x 1 1 0
Switch On x x 1 1 1
Disable Voltage x x x 0 x
Quick Stop x x 0 1 x
Disable Operation x 0 1 1 1
Enable Operation x 1 1 1 1
Fault Reset x x x x
Fig. 6/4: Survey of all commands (x = not relevant)
Please note
S As some state transitions take time for processing, all
changes written into the controlword have to read back
from the statusword. Only when the requested status
can be read in the statusword, one may write in further
commands using the controlword.
Following the remaining bits of the controlword will be ex-

plained. The meaning of some bits depends on the object
modes_of_operation, i.e. if the controller will be torque or
velocity controlled for instance.

Bit 4 Depends on modes_of_operation:

new_set_point On Profile Position Mode:
A rising edge indicates to the servo controller that a new
positioning task should be processed. (You must also read
chapter 7.3 for this).
start_homing_ On Homing Mode:
operation A rising edge starts the parametrized search for reference. A
falling edge stops the search immediately.
Bit 5 change_set_ Only on Profile Position Mode:
immediatly If this bit is cleared a current positioning order will be pro-
cessed before starting a new one. If this bit is set a current
positioning order will be interrupted by the new one. See
also chapter 7.3.
Bit 6 relative Only on Profile Position Mode:
If this bit is set the target_position of the current positioning
order will be added to the position_demand_value of the
position controller.
Bit 7 reset_fault On a rising edge the servo controller tries to reset the pres-
ent errors. This will only succeed if the cause of error has
been remedied.
halt On Profile Position Mode:
If this bit is set the current positioning will be cancelled ac-
cording to the object profile_deceleration. After stopping
the bit target_reached (statusword) will be set. Resetting
this bit has no effect.
halt On Profile Velocity Mode:
If this bit is set the velocity will be reduced to zero according
to the profile_deceleration. Resetting this bit will accelerate
the motor again.
halt On Profile Torque Mode:
If this bit is set the torque will be reduced to zero according
to the torque_slope. Resetting this bit will accelerate the
motor again.
halt On Homing Mode:
If this bit is set the current homing operation will be can-
celled and a homing error will be generated. Resetting this
bit has no effect.

6.1.4 Reading the status of the servo controller
Similar to initiating several commands by setting bits of the

controlword, the state of the servo controller can be read by
specific bit combinations in the statusword.
The following chart lists all states of the state diagram and
their respective bit combination occurring in the statusword.
State Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Maske Value

0040h 0020h 0008h 0004h 0002h 0001h
NOT_READY_TO_SWITCH_ON 0 x 0 0 0 0 004Fh 0000h
SWITCH_ON_DISABLED 1 x 0 0 0 0 004Fh 0040h
READY_TO_SWITCH_ON 0 1 0 0 0 1 0006Fh 0021h
SWITCHED_ON 0 1 0 0 1 1 006Fh 0023h
OPERATION_ENABLE 0 1 0 1 1 1 006Fh 0027h
FAULT 0 x 1 1 1 1 004Fh 000Fh
FAULT_REACTION_ACTIVE 0 x 1 1 1 1 004Fh 000Fh
QUICK_STOP_ACTIVE 0 0 0 1 1 1 006Fh 0007h
Fig. 6/5: States of device (x = not relevant)

EXAMPLE
The above mentioned example shows, what bits in the con-

trolword have to be set to enable the servo controller. Now
the requested state should be read out of the statusword:
Transition from SWITCH_ON_DISABLED to OPERATION_EN-
ABLE:
1. Write state transition 2 into the controlword.
2. Wait until state READY_TO_SWITCH_ON occurs in the

statusword.
Wait until (statusword & 006Fh) = 0021h 1)
3. The state transitions 3 and 4 can be written combined into

the controlword.
4. Wait, until the state OPERATION_ENABLE occurs in the

statusword.
Transition
3+4: controlword = 000Fh
Wait until (statusword & 006Fh) = 0027h *1)
Please note
The example implies, that no more bits in the controlword
are set. (For the state transitions only the bits 0..3 are
necessary).
1) To identify a state also cleared bits have to be evaluated

(see table). Therefore the statusword has to be masked
properly.

6.1.5 Statusword
Object 6041h: statusword
Index 6041h
Name statusword
Object Code VAR
Data Typee UINT16

Access ro
Units
Value Range 0..FFFFh
Default Value 0

Bit Value Function
0 0001h
1 0002h State of the servo controller ((see Fig.

g 6/5)
/ )
( h
(These bits
b have
h to be
b evaluated d commonly))
2 0004h
3 0008h
4 0010h voltage_disabled
5 0020h
St t off th
State the servo controller
t ll (s.( Fi
Fig. 6/5).
6/5)
6 0040h
7 0080h warning
8 0100h unused
9 0200h remote
10 0400h target_reached
11 0800h internal_limit_active
12 1000h set_point_acknowledge/speed_0/homing_attained
13 2000h following_error/homing_error
14 4000h unused
15 8000h trigger_result
Fig. 6/6: Bit assignment of the statusword
Please note
All bits of the statusword are not buffered and therefore
representing the actual state of the device.

In addition to the state of the device several informations can

be read out directly of the statusword, i.e. every bit is as-
signed a specific event like a following error. The meaning of
the bits is as follows:
Bit 4 voltage_disable This bit is set if the transistors of the power stage switched
off.
Warning
On a defect the motor may still be under voltage.
Bit 5 quick_stop If this bit is cleared a Quick Stop will be executed according
to the quick_stop_option_code.
Bit 7 warning This bit is undefined. It must not be evaluated.
Bit 8 manufacturer specific This bit is undefined. It must not be evaluated.
Bit 9 remote This bit indicates that the power stage can be enabled via the
can bus. It is set if the object enable_logic is set accordingly.
target_reached On Profile Position Mode:

This bit will be set if the actual position (position_
actual_value) is within the parametrized position window
(position_window).
It will also be set if the motor stops after setting the bit halt in
the controlword.
It will be cleared if a new positioning is started.
target_reached On Profile Velocity Mode:

The bit will be set if the actual velocity (veloc-
ity_actual_value) is within the parametrized velocity window
(velocity_window, velocity_ window_time).
Bit 11 internal_limit_active This bit indicates that the iit limitation is active.

set_point_ On Profile Position Mode:

acknowledge This bit will be set to acknowledge the bit new_set_point in
the controlword. It will be cleared if the bit new_set_point
will be cleared. See chapter 6.1.3 Functional Description as
well.
speed_0 On Profile Velocity Mode:

This bit will be set if the velocity_actual_value is within the
window determined by the object velocity_threshold.
homing_attained On Homing Mode:

This bit will be set if the homing operation has been finished
without an error.
following_error On Profile Position Mode:

This bit will be set if the position_actual_value differs from
the position_demand_value so much that the difference is
out of the tolerance window determined by the objects fol-
lowing_error_window and following_ error_time_out.
homing_error On Homing Mode:

This bit will be set if a homing operation was cancelled by
setting the bit halt in the controlword, if both limit switches
are closed or the search for the switch exceeds the prede-
fined positioning limits (min_position_limit, max_posi-
tion_limit).
Bit 14 unused This bit is unused at present. It must not be evaluated.
Bit 15 trigger_result manufacturer specific

This bit will be set, if a trigger event occurs and the corre-
sponding trigger mask is set accordingly.

6.1.6 Objects
605Bh VAR shutdown_option_code INT16 rw
605Ch VAR disable_operation_option_code INT16 rw
605Ah VAR quick_stop_option_code INT16 rw
605Eh VAR fault_reaction_option_code INT16 rw
Object 605Bh: shutdown_option_code

The object shutdown_option_code determines the behaviour
if the state transition 8 (from OPERATION ENABLE to READY
TO SWITCH ON) will be executed.
Index 605Bh
Name shutdown_option_code
Object Code VARVAR
Data Typee INT16

Access rw
PDO Mapping no
Units
Value Range 0: Power stage will be switched off.

Motor is freely rotatable.
Default Value 0

Object 605Ch: disable_operation_option_code

The object disable_operation_option_code determines the
behaviour if the state transition 5 (from OPERATION ENABLE
to SWITCHED ON) will be executed.
Index 605Ch
Name disable_operation_option_code
Object Code VAR
Data Typee INT16

Access rw
PDO Mapping No
Units
Value Range 0: Power stage will be switched off.

Motor is freely rotatable.
Default Value 0
Object 605Ah: quick_stop_option_code

The object quick_stop_option_code determines the behav-
iour if a Quick Stop will be executed.
Index 605Ah
Name quick_stop_option_code
Object Code VAR
Data Typee INT16


Access rw
PDO Mapping No
Units
Value Range 2: Motor decelerates according to the

quick stop acceleration
Default Value 2
Object 605Eh: fault_reaction_option_code

The object fault_reaction_option_code determines the be-
haviour on a fault. Notwithstanding the power stage will al-
ways be switched off on a critical fault.
Index 605Eh
Name fault_reaction_option_code
Object Code VAR
Data Typee INT16

Access rw
PDO Mapping no
Units
Value Range 0. Power stage will be switched off

The motor is freely rotatable
2: Motor slows down with the
quick stop ramp
Default Value 0


Operating modes
Chapter 7

7. Operating modes
Contents
7. Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1 Adjustment of the Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.1.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.1.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2 Operating Mode Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.2.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.2.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
7.3 Operating Mode (Profile Position Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
7.3.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
7.3.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
7.4 Profile Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-42
7.4.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-42
7.4.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-44
7.5 Profile Torque Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-56
7.5.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-56
7.5.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-59

7. Operating modes
7.1 Adjustment of the Operating Mode
7.1.1 Survey
The servo controller can be set into a great number of operat-

ing modes. Only some are specified in detail under CANopen:
torque controlled operation
speed controlled operation
homing operation (search for reference)
positioning operation
7.1.2 Objects
6060h VAR modes_of_operation INT8 wo
6061h VAR modes_of_operation_display INT8 ro

7. Operating modes
Object 6060h: modes_of_operation

The operating mode of the servo controller is determined by
the object modes_of_operation.
Index 6060h
Name modes_of_operation
Object Code VAR
Data Type INT8

Access wo
Units
Value Range 1, 3, 4, 6
Default Value 255
Value Action
-1 Unknown or invalid operating mode on CANopen
1 Profile Positioning Mode (position controller with position-

ing operation)
3 Profile Velocity Mode (speed controller with setpoint ramp)
4 Torque Profile Mode (torque controller with setpoint ramp)
6 Homing mode (homing operation)

7. Operating modes
Please note
The current operating mode can only be read in the object
modes_of_operation_display.
S As a change of the operating mode might require some
time to process, one will have to wait until the new se-
lected mode appears in the object modes_of_oper-
ation_display.
Object 6061h: modes_of_operation_display

The current operating mode of the servo controller can be
read in the object modes_of_operation_display.
Index 6061h
Name modes_of_operation_display
Object Code VAR
Data Type INT8

Access ro
Units
Value Range -1, 1, 3, 4, 6
Default Value 3

7. Operating modes
Value Action
-1 Unknown operating mode under CANopen
1 Profile Positioning Mode (position controller with position-

ing operation)
3 Profile Velocity Mode (speed controller with setpoint ramp)
4 Torque Profile Mode (torque controller with setpoint ramp)
6 Homing mode (homing operation)
Please note
The operating mode can only be set via the object
modes_of_operation.
S As a change of the operating mode might require some
time, one will have to wait until the new selected mode
appears in the object modes_of_operation_display.
During this period of time it could happen that invalid
operating modes (-1) are displayed for a short while.

7. Operating modes
7.2 Operating Mode Homing mode
7.2.1 Survey
This chapter describes how the servo controller searches the

start position (also called reference point or zero point).
There are various methods to determine this position. Either
the limit switches at the end of the positioning range can be
used or a reference switch (zero point switch) within the poss-
ible range of motion. Among some methods the zero impulse
of the used encoder (resolver, incremental encoder, etc.) can
be included to achieve a state that can be reproduced as well
as possible.
Fig. 7/1: Homing operation
The user can determine the velocity, acceleration, and the

kind of homing operation. After the servo controller has found
its reference the zero position can be moved to the desired
point via the object home_offset.
There are two kinds of speed for the homing operation. The
higher search speed (speed_during_search_for_switch) is
used to find the limit switch respectively the reference switch.
To determine the reference slope exactly a lower speed is
used (speed_during_search_for_zero) .

7. Operating modes
Please note
The motor will not necessarily reach the reference position.
If all required values are known, no physical motion will be
executed.
7.2.2 Objects
607Ch VAR home_offset INT32 rw
6098h VAR homing_method INT8 rw
6099h ARRAY homing_speeds UINT32 rw
609Ah VAR homing_acceleration UINT32 rw
6040h VAR controlword UINT16 6 Device control
6041h VAR statusword UINT16 6 Device control

7. Operating modes
Object 607Ch: home_offset

The object home_offset determines the displacement of the
zero position to the limit resp. reference switch position.
Fig. 7/2: Home Offset
Index 607Ch
Name home_offset
Object Code VAR
Data Type INT32

Access rw
Value Range (-231)..(231-1)
Default Value 0

7. Operating modes
Object 6098h: homing_method

The object homing_method determines which kind of homing
operation is used.
Object Attribute value

attribute
Index 6098h
Name homing_method
Object Code VAR
Data Type INT8
Object Attribute value

attribute
Access rw
Units
Value Range -18, -17, -2, -1, 1, 2, 7, 11, 17, 18, 23, 27, 32, 33, 34
Default Value 17
homing_method Direction Target Reference point for Home

position
-18 Positive Endstop Endstop
-17 Negative Endstop Endstop
-2 Positive Endstop Zero impulse
-1 Negative Endstop Zero impulse
1 Negative Limit switch Zero impulse
2 Positive Limit switch Zero impulse
7 Positive Reference switch Zero impulse

7. Operating modes
homing_method Direction Target Reference point for Home

position
11 Negative Reference switch Zero impulse
17 Negative Limit switch Limit switch
18 Positive Limit switch Limit switch
23 Positive Reference switch Reference switch
27 Negative Reference switch Reference switch
32 Negative Zero impulse Zero impulse
33 Positive Zero impulse Zero impulse
34 No run Actual position
Please note
S Using method 34 is only possible if at least one time a
zero impulse has been detected by the servo controller
before executing the homing operation or the detection
of the zero impulse has been disabled. Otherwise a hom-
ing error occurs.
Object 6099h: homing_speeds

This object determines the speeds which are used during the
homing operation.
Index 6099h
Name homing_speeds
Object Code ARRAY
Data Type UINT32

7. Operating modes
Sub-Index 01h
Description speed_during_search_for_switch
Access rw
Units speed units
Default Value 100 min-1
Sub-Index 02h
Description speed_during_search_for_zero
Access rw
Units speed units
Default Value 10 min-1

7. Operating modes
Object 609Ah: homing_acceleration

The objects homing_acceleration determine the acceleration
which is used for all acceleration and deceleration during the
search for reference.
Index 609Ah
Name homing_acceleration
Object Code VAR
Data Type UINT32

Access rw
Default Value 0

7. Operating modes
Description of Features
Usually it is necessary to know the absolute position for posi-
tioning motions. For various reasons servo controller mostly
have no absolute angle encoder so that a search for reference
is necessary in almost all cases after resetting the device. A
number of different methods is kept ready for that. The
method that is necessary for the application can be selected
via the object homing_method.
There are four possible signals for the homing operation: the
negative and positive limit switch, the reference switch and
the (periodic) zero impulse of the angle encoder. Besides this
the controller can refer to the negative or positive endstop
without additional signal.
If a method of reference has been determined via the object

homing_method the following adjustments are fixed by that:
The signal for the reference (negative or positive limit

switch, the reference switch, negative or positive end-
stop)
The direction and process of the homing operation
The kind of evaluation of the zero impulse of the used

angle encoder
The different methods for the homing operation are shown in

the following diagrams. The encircled numbers correspond to
the code that has to be entered in the object
homing_method.

7. Operating modes
Method 1: Negative limit switch using zero impulse

evaluation
If this method is used the drive first moves relatively quick
into the negative direction until it reaches the negative limit
switch. This is displayed in the diagram by the rising edge.
Afterwards the drive slowly returns and searches for the exact
position of the limit switch. The zero position refers to the first
zero impulse of the angle encoder in positive direction from
the limit switch.
Fig. 7/3: Homing operation to the negative limit switch including evaluation of the zero
impulse
Method 2: Positive limit switch using zero impulse

evaluation
into the positive direction until it reaches the positive limit
position of the limit switch. The zero position refers to the first
zero impulse of the angle encoder in negative direction from
the limit switch.

7. Operating modes
Fig. 7/4: Homing operation to the positive limit switch including evaluation of the zero
impulse
Methods 7 and 11: Reference switch and zero im-

pulse evaluation
These two methods use the reference switch which is only
active over parts of the distance. These reference methods
are particularly useful for round-axis applications where the
reference switch is activated once per revolution.
In case of method 7 the drive first moves into positive and in

case of method 11 into negative direction. Depending on the
direction of the motion the zero position refers to the first
zero impulse in negative or positive direction from the refer-
ence switch. This can be seen in the two following diagrams.

7. Operating modes
Fig. 7/5: Homing operation to the reference switch evaluating the zero impulse for a
positive start motion
Please note
When using homing operations to the reference switch the
limit switches keep its normal function.
Fig. 7/6: Homing operation to the reference switch evaluating the zero impulse for a
negative start motion

7. Operating modes
Method 17: Homing operation to the negative limit

switch
into the negative direction until it reaches the negative limit
position of the limit switch. The zero position refers to the
descending edge from the negative limit switch.
Fig. 7/7: Homing operation to the negative limit switch
Method 18: Homing operation to the positive limit

switch
into the positive direction until it reaches the positive limit
position of the limit switch. The zero position refers to the
descending edge from the positive limit switch.

7. Operating modes
Fig. 7/8: Homing operation to the positive limit switch
Methods 23 and 27: Homing operation to the refer-

ence switch
These two methods use the reference switch which only is
active over part of the distance. These reference methods are
particularly useful for round-axis applications where the ref-
erence switch is activated once per revolution.
In case of method 23 the drive first moves into positive and in

case of method 27 into negative direction. The zero position
refers to the edge from the reference switch. This can be seen
in the two following diagrams.
Fig. 7/9: Homing operation to the reference switch for a positive start motion

7. Operating modes
Please note
When using homing operations to the reference switch the
limit switches keep its normal function.
Fig. 7/10: Homing operation to the reference switch for a negative start motion
Methods 32 and 33: Homing operation to the zero

impulse
For the methods 32 and 33 the direction of the homing oper-
ation is negative and positive, respectively. The zero position
refers to the first zero impulse from the angle encoder in
search direction.
Fig. 7/11: Homing operation only referring to the zero impulse

7. Operating modes
Method 34: Homing operation to the current posi-

tion
On method 34 the zero position is referred to the current
position.
Method -1: Negative stop evaluating the zero im-

pulse
If this method is used the drive moves into negative direction
until it reaches the stop. The servo controller needs ca. 1 sec-
ond to identify the stop. The stop has to be mechanically di-
mensioned so that it is not damaged in case of the parame-
trized maximum current. The zero position refers to the first
zero impulse of the angle encoder in positive direction from
the stop.
Fig. 7/12: Homing operation to the negative stop evaluating the zero impulse
Method -2: Positive stop evaluating the zero im-

pulse
If this method is used the drive moves into positive direction
trized maximum current. The zero position refers to the first
zero impulse of the angle encoder in negative direction from
the stop.

7. Operating modes
Fig. 7/13: Homing operation to the positive stop evaluating the zero impulse
Method -17: Homing operation to the negative stop

If this method is used the drive moves into negative direction
trized maximum current. The zero position refers directly to
the endstop.
Fig. 7/14: Homing operation to the negative stop

7. Operating modes
Method -18: Homing operation to the positive stop

If this method is used the drive moves into positive direction
trized maximum current. The zero position refers directly to
the endstop.
Fig. 7/15: Homing operation to the positive stop

7. Operating modes
Control of the homing operation

The homing operation is started by setting bit 4 in the con-
trolword. The successful end of a homing operation is indi-
cated by a set bit 12 in the object statusword. A set bit 13 in
the object statusword indicates that an error has occurred
during the homing operation. The error reason can be identi-
fied by the objects error_register and predefined_error_field.
Bit 4 Meaning
0 Homing operation is not active
0} 1 Start homing operation
1 Homing operation is active
1} 0 Interrupt homing operation
Bit 13 Bit 12 Meaning
0 0 Homing operation has not yet finished
0 1 Homing operation executed successfully
1 0 Homing operation not executed successfully
1 1 Illegal state

7. Operating modes
7.3 Operating Mode (Profile Position Mode)
7.3.1 Survey
The structure of this operating mode is shown in Figure 7.16:
The target position (target_position) is passed to the trajec-

tory generator. This generator generates a desired position
value (position_demand_value) for the position controller
that is described in the chapter Position Controller (position
control function, chapter 5.6). These two function blocks can
be adjusted independently from each other.
Fig. 7/16: Trajectory generator and position controller

7. Operating modes
All input quantities of the trajectory generator are converted

into internal quantities of the controller by means of the
quantities of the Factor group (see chapter 5.2: Conversion
factors (Factor Group)). The internal quantities are marked by
an asterisk and are not imperatively needed by the user.
Fig. 7/17: The trajectory generator

7. Operating modes
7.3.2 Objects
607Ah VAR target_position INT32 rw
607Bh ARRAY position_range_limit INT32 rw
607Dh ARRAY software_position_limit INT32 rw
6081h VAR profile_velocity INT32 rw
6082h VAR end_velocity INT32 rw
6083h VAR profile_acceleration UINT32 rw
6084h VAR profile_deceleration UINT32 rw
6085h VAR quick_stop_deceleration UINT32 rw
6086h VAR motion_profile_Type INT16 rw
6510h RECORD position_range_limit_enable rw
6040h VAR controlword INT16 6 Device control
6041h VAR statusword UINT16 6 Device control
605Ah VAR quick_stop_option_code INT16 6 Device control
607Eh VAR polarity UINT8 5.2 Conversion factors
6093h ARRAY position_factor UINT32 5.2 Conversion factors
6094h ARRAY velocity_encoder_factor UINT32 5.2 Conversion factors
6097h ARRAY acceleration_factor UINT32 5.2 Conversion factors

7. Operating modes
Object 607Ah: target_position

The object target_position determines the destination the
servo controller moves to. For this purpose the current ad-
justments of the velocity, of the acceleration, of the deceler-
ation and the kind of motion profile (motion_profile_type)
have to be considered. The target position (target_position)
is interpreted either as an absolute or relative position. This
depends on bit 6 (relative) of the object controlword.
Index 607Ah
Name target_position
Object Code VAR
Data Type INT32
Access rw
Value Range (-231)..(231-1)
Default Value 0

7. Operating modes
Object 607Bh: position_range_limit

The object position_range_limit (limit of the positioning
range) contains two subparameters: min_posi-
tion_range_limit and max_position_range_limit. These ob-
jects limit the numerical range of the position values. If one of
these limits is exceeded the corresponding actual position
value automatically jumps to the other limit of the positioning
range. This is particularly useful for rotary axes. The position
limits which correspond to the same position, e.g. 0 and 360
have to be entered.
This feature is normally disabled. It has to be activated in the

object 6510h_20h position_range_limit_enable.
Index 607Bh
Name position_range_limit
Object Code ARRAY
Data Type INT32
Sub-Index 01h
Description min_position_range_limit
Access rw
Value Range (-231)..(231-1)
Default Value -231

7. Operating modes
Sub-Index 02h
Description max_position_range_limit
Access rw
Value Range (-231)..(231-1)
Default Value 231 - 1
Object 6510h_20h: position_range_limit_enable

Using the object position_range_limit_enable the position
limits determined by the object 607Bh can be activated.
Index 6510h
Subindex 20h
Name position_range_limit_enable
Object Code VAR
Data Type UINT16

7. Operating modes
Access rw
PDO Mapping no
Units
Value Range 0: Deactivated

1: Standard
Default Value 0
Object 607Dh: software_position_limit

The object software_position_limit contains the subpara-
meters min_position_limit and max_position_limit. For ab-
solute positioning motions each new target position
(target_position) is checked if it is within these limits, i.e.
writing values out of these limits leads to an error message.
However, it is possible to leave this positioning window using
relative positioning motions. The positioning window is speci-
fied in position_units and always refers to the zero position
of the drive (see also: homing operation).
Index 607Dh
Name software_position_limit
Object Code ARRAY
Data Type INT32
Sub-Index 01h
Description min_position_limit

7. Operating modes

Access rw
Value Range (-231)..(231-1)
Default Value -231
Sub-Index 02h
Description max_position_limit
Access rw
Value Range (-231)..(231-1)

7. Operating modes
Object 6081h: profile_velocity

The object profile_velocity specifies the speed that usually is
reached during a positioning motion at the end of the acceler-
ation ramp. The object profile_velocity is specified in
speed_units. If the ratio between profile_velocity and the
corresponding acceleration or deceleration exceeds circa
26 sec the error Overflow of an internal value occurs. In this
case either the acceleration is too small or the velocity is too
large.
Index 6081h
Name profile_velocity
Object Code VAR
Data Type INT32
Access rw
Units speed units
Value Range (-231)..(231-1)
Default Value 0

7. Operating modes
Object 6082h: end_velocity

The object end_velocity defines the speed at the target posi-
tion (target_position). Usually this object has to be set to zero
so that the controller stops when it reaches the target posi-
tion. The object end_velocity is specified in speed_units like
the object profile_velocity. If the ratio between end_velocity
and the corresponding acceleration or deceleration exceeds
circa 26 sec the error Overflow of an internal value occurs. In
this case either the acceleration is too small or the velocity is
too large.
Index 6082h
Name end_velocity
Object Code VAR
Data Type INT32
Access rw
Units speed units
Value Range (-231)..(231-1)
Default Value 0

7. Operating modes
Object 6083h: profile_acceleration

The object profile_acceleration determines the maximum
acceleration used during a positioning motion. It is specified
in acceleration_units. If the ratio between profile_acceler-
ation and the corresponding velocity exceeds circa 26 sec the
error Overflow of an internal value occurs. In this case either
the acceleration is too small or the velocity is too large.
Index 6083h
Name profile_acceleration
Object Code VAR
Data Type UINT32
Access rw
Default Value 0

7. Operating modes
Object 6084h: profile_deceleration

The object profile_deceleration specifies the maximum de-
celeration used during a positioning motion. This object is
specified in the same units as the object profile_acceler-
ation. If the ratio between profile_deceleration and the
corresponding velocity exceeds circa 26 sec the error Over-
flow of an internal value occurs. In this case either the accel-
eration is too small or the velocity is too large.
Index 6084h
Name profile_deceleration
Object Code VAR
Data Type UINT32
Access rw
Default Value 0

7. Operating modes
Object 6085h: quick_stop_deceleration

The object quick_stop_deceleration determines the deceler-
ation if a Quick Stop will be executed and the quick_stop_op-
tion_code (605Ah) is set to 2.
The object quick_stop_deceleration is specified in acceler-

ation_units.
Index 6085h
Name quick_stop_deceleration
Object Code VAR
Data Type UINT32
Access rw
Default Value 14110

7. Operating modes
Object 6086h: motion_profile_Type

The object motion_profile_type is used to select the kind of
positioning profile. Besides a linear profile also a jerkless
profile is available.
Index 6086h
Name motion_profile_Type
Object Code VAR
Data Type INT16
Access rw
Units none
Value Range 0-3
Default Value 0
Value Kurvenform
0 Linear ramp
1 Sin2 ramp
2 Jerkless ramp
3 Linear ramp with jerkless start

7. Operating modes
Functional Description
Two different ways to apply target positions to the servo con-
troller are supported.
Single setpoints
After reaching the target_position the servo controller signals
this status to the host by the bit target_reached (Bit 10 of
controlword) and then receives a new setpoint. The servo
controller stops at the target_position before starting a move
to the next setpoint.
Set of setpoints
After reaching the target_position the servo controller im-
mediately processes the next target_position which results in
a move where the velocity of the drive normally is not re-
duced to zero after reaching a setpoint.
These two methods are controlled by the bits new_setpoint

and change_set_immediately in the object controlword and
setpoint_acknowledge in the object statusword. These bits
are in a request-response relationship. So it is possible to
prepare one positioning job while another job is still running.
Fig. 7/18: Positioning job transfer from a host

7. Operating modes
Figure 7/18 shows the communication between the host and

the servo controller via the CAN bus:
At first the positioning data (target_position, profile_velocity,

end_velocity and profile_acceleration) are transferred to the
servo controller. After the positioning data set has been trans-
ferred completely (1) the host can start the positioning mo-
tion by setting the bit new_setpoint in the controlword (2).
This will be acknowledged by the servo controller by setting
the bit setpoint_acknowledge in the statusword (3), when
the positioning data has been copied into the internal buffer.
Afterwards the host can start to transfer a new positioning
data set into the servo controller (4) and clear the bit
new_setpoint (5). The servo controller signals by a cleared
setpoint_acknowledge bit that it can accept a new drive job
(6). The host has to wait for the falling edge of the bit set-
point_acknowledge before a new positioning motion can be
started (7).
In Figure 7/19 a new positioning motion is started after the

previous one has been finished completely. For that purpose
the host evaluates the bit target_reached in the object
statusword.
Fig. 7/19: Simple positioning job

7. Operating modes
In Figure 7/23 a new positioning motion has already been

started while the previous motion was still running. The host
already transfers the subsequent target to the servo con-
troller if it signals by a cleared setpoint_acknowledge bit that
it has read the buffer and started the corresponding position-
ing motion. In this way the positioning motions are joined
together gaplessly. For this operating mode the object
end_velocity of the first job should be parametrized to the
same value as the object profile_velocity of the following job
so that the servo controller does not decelerate to zero
amongst the single positioning motions.
Fig. 7/20: Gapless sequence of positioning jobs
If the bit change_set_immediately is set in the controlword,

a new positioning move started with the bit new_set_point
will interrupt the current positioning move immediately and
start the new drive job at once. Therefore the end position
may be undefined if a relative positioning move interrupts a
current one.

7. Operating modes
7.4 Profile Velocity Mode
7.4.1 Survey
The profile velocity mode includes the following subfunctions:
Setpoint generation by the ramp generator
Speed recording via the angle encoder by differentiation
Speed control with suitable input and output signals
Limitation of the desired torque value (torque_de-

mand_value)
Control of the actual speed (velocity_actual_value) with

the window-function/threshold
The meaning of the following parameters is described in the

chapter Profile Position Mode: profile_acceleration, pro-
file_deceleration, quick_stop

7. Operating modes

7. Operating modes
Fig. 7/21: Structure of the profile velocity mode
7.4.2 Objects
6069h VAR velocity_sensor_actual_value INT32 ro
606Ah VAR sensor_selection_code INT16 rw
606Bh VAR velocity_demand_value INT32 ro
606Ch VAR velocity_actual_value INT32 ro

7. Operating modes

606Dh VAR velocity_window UINT16 rw
606Eh VAR velocity_window_time UINT16 rw
606Fh VAR velocity_threshold UINT16 rw
6080h VAR max_motor_speed UINT32 rw
60FFh VAR target_velocity INT32 rw
6040h VAR controlword INT16 6. Device Control
6041h VAR statusword UINT16 6. Device Control
6063h VAR position_actual_value* INT32 5.6 Position Control

Function
6069h VAR velocity_sensor_actual_value INT32 5.6 Position Control

Function
6071h VAR target_torque INT1 7.5 Profile Torque Mode
6072h VAR max_torque_value UINT16 7.5 Profile Torque Mode
607Eh VAR polarity UINT8 5.2 Conversion factors

(Factor Group)
6083h VAR profile_acceleration UINT32 7.3 Operating Mode

Profile Position Mode
6084h VAR profile_deceleration UINT32 7.3 Operating Mode

6085h VAR quick_stop_deceleration UINT32 7.3 Operating Mode

6086h VAR motion_profile_Type INT16 7.3 Operating Mode

6094h ARRAY velocity_encoder_factor UINT32 5.2 Conversion factors

(Factor Group)

7. Operating modes
Object 6069h: velocity_sensor_actual_value

The speed encoder is read via the object velocity_sen-
sor_actual_value. The value is normalised in increments per
second. Also the object 606Ch can be used to determine the
actual velocity value.
Index 6069h
Name velocity_sensor_actual_value
Object Code VAR
Data Type INT32
Access ro
Units increments/s
Value Range (-231)..(231-1)
Default Value 0

7. Operating modes
Object 606Ah: sensor_selection_code

The speed sensor can be selected by this object. Currently no
separate speed sensor will be provided by the servo con-
troller. Therefore only the default angle encoder can be se-
lected.
Index 606Ah
Name sensor_selection_code
Object Code VAR
Data Type INT16
Access rw
Units
Value Range 0
Default Value 0

7. Operating modes
Object 606Bh: velocity_demand_value

The velocity demand value can be read via this object. It will
be influenced by the ramp generator and the trajectory gen-
erator respectively. Besides this the correction speed of the
position controller is added if it is activated.
Index 606Bh
Name velocity_demand_value
Object Code VAR
Data Type INT32
Access ro
Units speed_units
Value Range (-231)..(231-1)
Default Value 0

7. Operating modes
Object 606Ch: velocity_actual_value

The actual velocity value can be read via the object veloc-
ity_actual_value.
Index 606Ch
Name velocity_actual_value
Object Code VAR
Data Type INT32
Access ro
Units speed_units
Value Range (-231)..(231-1)
Default Value 0

7. Operating modes
Object 606Dh: velocity_window

With the object velocity_window a tolerance window for the
velocity actual value will be defined for comparing the veloc-
ity_actual_value with the target_velocity (object 60FFh). If
the difference is smaller than the velocity window for a longer
time than specified by the object velocity_window_time bit
10 (target_reached) will be set in the object statusword.
See also: Object 606Eh (velocity_window_time).
Index 606Dh
Name velocity_window
Object Code VAR
Data Type UINT16
Access rw
Units speed_units
Value Range 0-65535
Default Value 4

7. Operating modes
Object 606Eh: velocity_window_time

The object velocity_window serves to adjust the window
comparator. It compares the velocity_actual_value with the
target_velocity (object 60FFh). If the difference is smaller
than specified by velocity_window for a longer time than
specified by the object velocity_window_time bit 10
(target_reached) will be set in the object statusword.
Index 606Eh
Name velocity_window_time
Object Code VAR
Data Type UINT16
Access rw
Units ms
Value Range 0-10000
Default Value 0

7. Operating modes
Object 606Fh: velocity_threshold

The object velocity_threshold determines the velocity below
the axis is regarded as stationary. As soon as the veloc-
ity_actual_value exceeds the velocity_threshold longer than
the velocity_threshold_time bit 12 is cleared in the statu-
sword.
Index 606Fh
Name velocity_threshold
Object Code VAR
Data Type UINT16
Access rw
Units speed_units
Value Range 0-65535
Default Value 10

7. Operating modes
Object 6070h: velocity_threshold_time

The object velocity_threshold determines the velocity below
the axis is regarded as stationary. As soon as the veloc-
ity_actual_value exceeds the velocity_threshold longer than
the velocity_threshold_time bit 12 is cleared in the statu-
sword. Instantaneous this object will not be evaluated by the
servo controller. Therefore the regulator always behaves as if
0 is specified.
Index 6070h
Name velocity_threshold_time
Object Code VAR
Data Type UINT16
Access rw
Units ms
Value Range 0-10000
Default Value 0

7. Operating modes
Object 6080h: max_motor_speed

The object max_motor_speed specifies the maximum per-
missible speed for the motor in rpm. The object is used to
protect the motor and can be taken from the motor specifica-
tions. If a higher value as specified by max_motor_speed is
written into the object target_velocity an error message re-
turns. The velocity_demand_value will not be limited directly
according to this object.
Index 6080h
Name max_motor_speed
Object Code VAR
Data Type UINT16
Access rw
Units rpm
Default Value 6000

7. Operating modes
Object 60FFh: target_velocity

The object target_velocity is the setpoint for the ramp gener-
ator.
Index 60FFh
Name target_velocity
Object Code VAR
Data Type INT32
Access rw
Units speed_units
Value Range (-231)..(231-1)
Default Value 0

7. Operating modes
7.5 Profile Torque Mode
7.5.1 Survey
This chapter describes the torque controlled operation. This

operating mode offers the chance to demand an external
torque value (target_torque) which can be smoothed by the
integrated ramp generator. So it is also possible to use this
servo controller for trajectory control functions where both
position controller and speed controller are dislocated to an
external computer.

7. Operating modes
Fig. 7/22: Structure of the Profile Torque Mode

7. Operating modes
The parameters torque_slope and torque_profile_type (ramp

form) have to be specified for the ramp generator.
If bit 8 halt is set in the controlword the ramp generator re-

duces the torque down to zero. Correspondingly it raises it
again to the target_torque if bit 8 is cleared. In both cases
this will be done under consideration of the ramp generator.
All definitions within this document refer to rotatable motors.
If linear motors are used all torque-objects correspond to
force instead. For reasons of simplicity the objects do not
exist twice and their names should not be modified.
The operating modes Profile Position Mode and Profile Veloc-

ity Mode need the torque controller to work properly. There-
fore it is always necessary to parameterise the torque con-
troller.

7. Operating modes
7.5.2 Objects
6071h VAR target_torque INT16 rw
6072h VAR max_torque UINT16 rw
6074h VAR torque_demand_value INT16 ro
6076h VAR motor_rated_torque UINT32 rw
6077h VAR torque_actual_value INT16 ro
6078h VAR current_actual_value INT16 ro
6079h VAR DC_link_circuit_voltage UINT32 ro
6087h VAR torque_slope UINT32 rw
6088h VAR torque_profile_Type INT16 rw
60F7h RECORD power_stage_parameters rw
60F6h RECORD torque_control_parameters rw
6040h VAR controlword INT16 6 Device Control
60F9h RECORD motor_parameters 5.4 Current control and motor
6075h VAR motor_rated_current UINT32 5.4 Current control and motor
6073h VAR max_current UINT16 5.4 Current control and motor

7. Operating modes
Object 6071h: target_torque

This parameter is the input value for the torque controller in
Profile Torque Mode. It is specified as thousandths of the
nominal torque (object 6076h).
Index 6071h
Name target_torque
Object Code VAR
Data Type INT16
Access rw
Units per thousand of rated torque
Value Range -32768..32767
Default Value 0

7. Operating modes
Object 6072h: max_torque

This value is the maximum permissible value of the motor. It
is specified as thousandths of motor_rated_torque (object
6076h). If for example a double overload of the motor is per-
missible for a short while the value 2000 has to be entered.
Hinweis
The Object 6072h: max_torque corresponds with object
6073h: max_current. You are only allowed to write to one
of these objects, once the object 6075h: motor_rated_cur-
rent has been parametrized with a valid value.
Index 6072h
Name max_torque
Object Code VAR
Data Type UINT16
Access rw
PDO Mapping No
Default Value 2000

7. Operating modes
Object 6074h: torque_demand_value

The current demand torque can be read in thousandths of
motor_rated_torque (6076h) via this object. The internal li-
mitations of the servo controller will be considered (current
limit values and iit control).
Index 6074h
Name torque_demand_value
Object Code VAR
Data Type INT16
Access ro
Default Value 0

7. Operating modes
Object 6076h: motor_rated_torque

This object specifies the nominal torque of the motor. This
value can be taken from the motor plate. It has to be entered
by the unit 0.001 Nm.
Index 6076h
Name motor_rated_torque
Object Code VAR
Data Type UINT32
Access rw
PDO Mapping no
Units 0.001 Nm
Default Value 1000

7. Operating modes
Object 6077h: torque_actual_value

The actual torque value of the motor can be read via this ob-
ject in thousandths of the nominal torque (object 6076h).
Index 6077h
Name torque_actual_value
Object Code VAR
Data Type INT16
Access ro
Default Value 0

7. Operating modes
Object 6078h: current_actual_value

The actual current value of the motor can be read via this
object in thousandths of the nominal current (object 6075h).
Index 6078h
Name current_actual_value
Object Code VAR
Data Type INT16
Access ro
Units per thousand of rated current
Default Value 0

7. Operating modes
Object 6079h: dc_link_circuit_voltage

The voltage in the intermediate circuit of the regulator can be
read via this object. The voltage is specified in millivolt.
Index 6079h
Name DC_link_circuit_voltage
Object Code VAR
Data Type UINT32
Access ro
Units MV

7. Operating modes
Object 6087h: torque_slope

This parameter describes the modification speed of the set-
point ramp. This speed is to be specified as thousandths of
the nominal torque per second. For example the desired
torque value target_torque is raised from 0 Nm to the value
motor_rated_torque. If the output value of the intercon-
nected torque ramp is to reach this value within a second the
value 1000 is to be entered into this object.
Index 6087h
Name torque_slope
Object Code VAR
Data Type UINT32
Access rw
Units per thousand of rated torque per second
Default Value 87

7. Operating modes
Object 6088h: torque_profile_Type

The object torque_profile_type defines by which shape of
curve a setpoint step is executed. Instantaneous only the
linear ramp is implemented in the servo controller so only 0
can be written to this object.
Index 6088h
Name torque_profile_Type
Object Code VAR
Data Type INT16
Access rw
Units
Value Range 0
Default Value 0

Technical appendix
Appendix A
Festo P.BE-SEC-AC-CO-EN en 0208NH A-1

A. Technical appendix
Contents
A. Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.1 Recommended components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
A-2 Festo P.BE-SEC-AC-CO-EN en 0208NH

A.1 Recommended components
CAN bus plugs for SEC-AC-...
FBS-SUB-9-WS-CO-K from Festo
CAN bus cables
Suitable cables are available at

Friedrich Ltze GmbH,
Tel. +49-(0)7151/6053-0, Fax +49-(0)7151/6053-277:
Designation Loop Capacity Char. impe- Order no. Remark

resistance (800 Hz) dance
Ltze-Electronic max. 60 nF/km 100-120 104 206

Bus (C)Y 186/km
2x2x0,22
Ltze-Superflex max. 60 nF/km 100-120 104 220 suitable for

Bus (C) PUR 159,8/km drag chains
2x2x0,25
Festo P.BE-SEC-AC-CO-EN en 0208NH A-3

A-4 Festo P.BE-SEC-AC-CO-EN en 0208NH

Index
Appendix B
Festo P.BE-SEC-AC-CO-EN en 0208NH B-1

B. Index
Contents
B. Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
B-2 Festo P.BE-SEC-AC-CO-EN en 0208NH

B. Index
A
acceleration_factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
Actual position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-57
Increments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58
actual_dc_link_circuit_voltage . . . . . . . . . . . . . . . . . . . . 5-28
Additional position demand value, Synchronization . . . 5-79
Adjustment of parameters . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Adjustment of the Operating Mode . . . . . . . . . . . . . . . . . 7-3
B
boot_up_message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
C
Cabling notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
CAN interface, Use of . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Control of the servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
control_effort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60
Controlword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Bit assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
Converting factors
Acceleration factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
Position factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Sign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
Speed factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
Current controller
Gain of . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
Time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-41
current_actual_value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-65
D
dc_link_circuit_voltage . . . . . . . . . . . . . . . . . . . . . . . . . . 7-66

B. Index
Default parameter, load . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

Description of Features . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII
Device Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Device control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-80
Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-82
Maske . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-83
digital_inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-80
digital_outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-82
digital_outputs_data . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-82
digital_outputs_mask . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-83
disable_operation_option_code . . . . . . . . . . . . . . . . . . . 6-22
Velocity controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
Filter time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44
Time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
E
EMERGENCY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
EMERGENCY message . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
Enable controller . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23 , 5-24
Enable power stage . . . . . . . . . . . . . . . . . . . . . . . . 5-23 , 5-24
enable_dc_link_undervoltage_error . . . . . . . . . . . . . . . 5-30
enable_enhanced_modulation . . . . . . . . . . . . . . . . . . . . 5-25
enable_logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
Encoder _X10
Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74 , 5-75
Divisor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74
Numerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-73
Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75

B. Index
Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-73
Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-76
encoder _X10_data_field . . . . . . . . . . . . . . . . . . . . . . . . . 5-72
encoder _X2_data_field . . . . . . . . . . . . . . . . . . . . . . . . . . 5-67
Encoder output X11, Resolution . . . . . . . . . . . . . . . . . . . 5-77
encoder_emulation_resolution . . . . . . . . . . . . . . . . . . . . 5-77
encoder_X10_control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75
encoder_X10_counter . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74
encoder_X10_divisor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74
encoder_X10_numerator . . . . . . . . . . . . . . . . . . . . . . . . . 5-74
encoder_X10_position . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75
encoder_X10_resolution . . . . . . . . . . . . . . . . . . . . . . . . . 5-73
encoder_X10_status . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-76
Encoder_X2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-67
0 impulse control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
Factor (counter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
Factor (divisor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
Max. position difference to X10 . . . . . . . . . . . . . . . . . . 5-76
Numerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-68
Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-68
Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
encoder_X2_control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
encoder_X2_counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
encoder_X2_divisor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
encoder_X2_numerator . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
encoder_X2_position . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
encoder_X2_resolution . . . . . . . . . . . . . . . . . . . . . . . . . . 5-68
encoder_X2_status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
end_velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-34
Enhanced modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Error, SDO error messages . . . . . . . . . . . . . . . . . . . . . . . . 4-7

B. Index
Ex protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII
F
Factor Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
acceleration_factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
position_factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
velocity_encoder_factor . . . . . . . . . . . . . . . . . . . . . . . 5-14
Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Fault Reaction Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
fault_reaction_option_code . . . . . . . . . . . . . . . . . . . . . . 6-23
Filter time constant , Synchronisation velocity . . . . . . . . 5-66
Following Error, Definition . . . . . . . . . . . . . . . . . . . . . . . . 5-48
Following error, Protection . . . . . . . . . . . . . . . . . . . . . . . . 5-47
following_error_time_out . . . . . . . . . . . . . . . . . . . . . . . . 5-60
following_error_window . . . . . . . . . . . . . . . . . . . . . . . . . 5-58
G
Gain of the current controller . . . . . . . . . . . . . . . . . . . . . 5-40
guard_time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
H
home_offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
homing mode
home_offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
homing_acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
homing_method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
homing_speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
Homing operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
Homing switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84 , 5-85

B. Index
homing_acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
homing_method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
homing_speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
homing_switch_polarity . . . . . . . . . . . . . . . . . . . . . . . . . 5-85
homing_switch_selector . . . . . . . . . . . . . . . . . . . . . . . . . 5-86
I
Identifier
NMT service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
node_guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
iit limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38
iit time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36
iit_error_enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38
iit_time_motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36
Important user instructions# . . . . . . . . . . . . . . . . . . . . . . . XI
Intermediate circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Maximum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
intermediate circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
K
Kind of homing operation . . . . . . . . . . . . . . . . . . . . . . . . 7-10
L
life_time_factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
Limit switch . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84 , 7-15 , 7-18
Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
Limit switch emergency stop . . . . . . . . . . . . . . . . . . . . . . 5-87
limit_switch_deceleration . . . . . . . . . . . . . . . . . . . . . . . . 5-87
limit_switch_polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
M
Max. current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31

B. Index
Max. intermediate circuit . . . . . . . . . . . . . . . . . . . . . . . . . 5-28

max_current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
max_dc_link_circuit_voltage . . . . . . . . . . . . . . . . . . . . . . 5-28
max_motor_speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-54
max_position_limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-32
max_position_range_limit . . . . . . . . . . . . . . . . . . . . . . . . 7-30
max_power_stage_temperature . . . . . . . . . . . . . . . . . . . 5-27
max_torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-61
max_X2_X10_position_difference . . . . . . . . . . . . . . . . . 5-76
min_dc_link_circuit_voltage . . . . . . . . . . . . . . . . . . . . . . 5-29
min_position_limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
min_position_range_limit . . . . . . . . . . . . . . . . . . . . . . . . 7-29
modes_of_operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
modes_of_operation_display . . . . . . . . . . . . . . . . . . . . . . 7-5
motion_profile_type . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-38
Motor adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
Motor current, Maximum . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
Motor nominal current . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
Motor parameter
Max. current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
Nominal current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
Pairs of poles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
Phase order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
motor_rated_current . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
motor_rated_torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-63
N
Network management . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
NMT service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
Node-Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
node_guarding_ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

B. Index
node_guarding_without_rtr_bit . . . . . . . . . . . . . . . . . . . 4-26
Nominal current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
Nominal device voltage . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
nominal torque of the motor . . . . . . . . . . . . . . . . . . . . . . 7-63
nominal_current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
nominal_dc_link_circuit_voltage . . . . . . . . . . . . . . . . . . 5-27
Not Ready to Switch On . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Notes on the use of this manual# . . . . . . . . . . . . . . . . . . . VIII
O
Object 1005#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
Object 100C#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
Object 100D#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
Object 100E#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
Object 1010#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Object 1010#h_01#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Object 1011#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Object 1400#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
Object 1401#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
Object 1600#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
Object 1601#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
Object 1800#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Object 1801#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Object 1A00#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Object 1A01#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Object 2014#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
Object 2015#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
Object 2020#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
Object 2021#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78

B. Index
Object 2022#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-79

Object 2023#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-66
Object 2024#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-67
Object 2024#h_01#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-68
Object 2024#h_02#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
Object 2024#h_03#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
Object 2024#h_04#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
Object 2024#h_05#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
Object 2024#h_06#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
Object 2024#h_07#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
Object 2025#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-72
Object 2025#h_01#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-73
Object 2025#h_02#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74
Object 2025#h_03#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74
Object 2025#h_04#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74
Object 2025#h_05#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75
Object 2025#h_06#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75
Object 2025#h_07#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-76
Object 2025#h_08#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-76
Object 2028#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
Object 6040#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Object 6041#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
Object 604D#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
Object 605A#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22
Object 605B#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
Object 605C#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22
Object 605E#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23
Object 6060#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Object 6061#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
Object 6062#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55

B. Index
Object 6063#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58

Object 6064#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-57
Object 6065#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58
Object 6066#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60
Object 6067#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61
Object 6068#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-62
Object 6069#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-46
Object 606A#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-47
Object 606B#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-48
Object 606C#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-49
Object 606D#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50
Object 606E#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-51
Object 606F#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-52
Object 6070#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-53
Object 6071#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-60
Object 6072#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-61
Object 6073#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
Object 6074#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-62
Object 6075#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
Object 6076#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-63
Object 6077#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-64
Object 6078#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-65
Object 6079#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-66
Object 607A#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
Object 607B#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29
Object 607B#h_01#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29
Object 607B#h_02#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
Object 607C#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
Object 607D#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
Object 607E#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21

B. Index
Object 6080#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-54

Object 6081#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-33
Object 6082#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-34
Object 6083#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35
Object 6084#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-36
Object 6085#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-37
Object 6086#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-38
Object 6087#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-67
Object 6088#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-68
Object 6093#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Object 6094#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Object 6097#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
Object 6098#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
Object 6099#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
Object 6099#h_01#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
Object 6099#h_02#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
Object 609A#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
Object 60F6#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
Object 60F6_01#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-41
Object 60F6_02#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
Object 60F9#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
Object 60F9#h_04#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
Object 60F9#h_01#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44
Object 60F9#h_02#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
Object 60FA#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60
Object 60FB#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
Object 60FB#h_01#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54
Object 60FB#h_02#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54
Object 60FB#h_04#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55
Object 60FB#h_05#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55

B. Index
Object 60FC#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-56

Object 60FD#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-80
Object 60FE#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-82
Object 60FE#h_01#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-82
Object 60FE#h_02#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-83
Object 60FF#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-55
Object 6410#h_03#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36
Object 6410#h_10#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
Object 6410#h_11#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-39
Object 6510#h_10#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
Object 6510#h_11#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
Object 6510#h_12#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
Object 6510#h_13#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-86
Object 6510#h_14#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-85
Object 6510#h_15#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-87
Object 6510#h_20#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
Object 6510#h_21#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-46
Object 6510#h_22#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-47
Object 6510#h_30#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Object 6510#h_31#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
Object 6510#h_32#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
Object 6510#h_33#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
Object 6510#h_34#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Object 6510#h_35#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Object 6510#h_36#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
Object 6510#h_37#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
Object 6510#h_38#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38
Object 6510#h_3A#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Object 6510#h_40#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
Object 6510#h_41#h . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31

B. Index
Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

Adjustment of the . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Operation enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
over_speed_protection_limit_speed . . . . . . . . . . . . . . . 5-46
Overspeed protection . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
P
Parameter sets, Save parameter sets . . . . . . . . . . . . . . . . 5-8
PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
RPDO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
COB-ID used by PDO . . . . . . . . . . . . . . . . . . . . . . . . 4-17
first mapped object . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
fourth mapped object . . . . . . . . . . . . . . . . . . . . . . . 4-17
Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
Number of entries . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
number of mapped objects . . . . . . . . . . . . . . . . . . . 4-17
second mapped object . . . . . . . . . . . . . . . . . . . . . . . 4-17
third mapped object . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
transmission type . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
RPDO2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
COB-ID used by PDO . . . . . . . . . . . . . . . . . . . . . . . . 4-18
Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
TPDO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
TPDO2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
COB-ID used by PDO . . . . . . . . . . . . . . . . . . . . . . . . 4-16
inhibit time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

B. Index

PDO-Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 , 4-10
peak_current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31
Permissible speed, Protection . . . . . . . . . . . . . . . . . . . . . 5-46
Phase order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
phase_order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
Pole number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
pole_number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
Position Control Function . . . . . . . . . . . . . . . . . . . . . . . . 5-48
Position control parameters . . . . . . . . . . . . . . . . . . . . . . 5-52
Position controller
Output of . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60
Time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53
Position controller , Gain . . . . . . . . . . . . . . . . . . . . . . . . . 5-53
Position demand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
Position demand value . . . . . . . . . . . . . . . . . . . . . . . . . . 5-56
Position Reached . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-50
position_actual_value . . . . . . . . . . . . . . . . . . . . . . 5-57 , 5-58
position_control_gain . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54
position_control_parameter_set . . . . . . . . . . . . . . . . . . . 5-52
position_control_time . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54
position_control_v_max . . . . . . . . . . . . . . . . . . . . . . . . . 5-55
position_controller_resolution . . . . . . . . . . . . . . . . . . . . 5-64
position_demand_value . . . . . . . . . . . . . . . . . . . . 5-55 , 5-56
position_encoder_selection . . . . . . . . . . . . . . . . . . . . . . 5-78
position_error_switch_off_limit . . . . . . . . . . . . . . . . . . . 5-47
position_error_tolerance_window . . . . . . . . . . . . . . . . . 5-55
position_factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

B. Index
position_range_limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29
position_range_limit_enable . . . . . . . . . . . . . . . . . . . . . . 7-30
position_window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61
position_window_time . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-62
Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
Power stage parameter
Intermediate circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Max. current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31
Max. intermediate circuit . . . . . . . . . . . . . . . . . . . . . . . 5-28
Max. temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
Min. voltage range . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
Nominal device voltage . . . . . . . . . . . . . . . . . . . . . . . . 5-27
Power stage parameters
PWM frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22 , 5-26
power_stage_temperature . . . . . . . . . . . . . . . . . . . . . . . 5-26
Profile Position Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
motion_profile_type . . . . . . . . . . . . . . . . . . . . . . . . . . 7-38
end_velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-34
position_range_limit . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29
position_range_limit_enable . . . . . . . . . . . . . . . . . . . . 7-30
profile_acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35
profile_deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-36
profile_velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-33
quick_stop_deceleration . . . . . . . . . . . . . . . . . . . . . . . 7-37
software_position_limit . . . . . . . . . . . . . . . . . . . . . . . . 7-31
target_position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
Profile Torque Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-56
current_actual_value . . . . . . . . . . . . . . . . . . . . . . . . . . 7-65
dc_link_circuit_voltage . . . . . . . . . . . . . . . . . . . . . . . . 7-66
max_torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-61
motor_rated_torque . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-63
target_torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-60
torque_actual_value . . . . . . . . . . . . . . . . . . . . . . . . . . 7-64
torque_demand_value . . . . . . . . . . . . . . . . . . . . . . . . . 7-62
torque_profile_type . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-68
torque_slope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-67
Profile Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-42
max_motor_speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-54

B. Index
sensor_selection_code . . . . . . . . . . . . . . . . . . . . . . . . 7-47
target_velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-55
velocity_actual_value . . . . . . . . . . . . . . . . . . . . . . . . . . 7-49
velocity_demand_value . . . . . . . . . . . . . . . . . . . . . . . . 7-48
velocity_sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-46
velocity_threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-52
velocity_threshold_time . . . . . . . . . . . . . . . . . . . . . . . 7-53
velocity_window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50
velocity_window_time . . . . . . . . . . . . . . . . . . . . . . . . . 7-51
profile_acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35
profile_deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-36
profile_velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-33
pwm_frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Q
Quick Stop Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
quick_stop_deceleration . . . . . . . . . . . . . . . . . . . . . . . . . 7-37
quick_stop_option_code . . . . . . . . . . . . . . . . . . . . . . . . . 6-22
R
R-PDO 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
R-PDO 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
Ready to Switch On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Receive_PDO_1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
Receive_PDO_2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
Reference switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
Resolution, Position controller . . . . . . . . . . . . . . . . . . . . 5-64
Resolution of the encoder emulation output X11 . . . . . 5-77
resolver_offset_angle . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-39
restore_default_parameters . . . . . . . . . . . . . . . . . . . . . . . 5-7
S
Safety instructions# . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII

B. Index
SAMPLE input as reference switch . . . . . . . . . . . . . . . . . 5-86

save_all_parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 , 4-5
Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
SDO-Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
sensor_selection_code . . . . . . . . . . . . . . . . . . . . . . . . . . 7-47
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Set of parameters, Load and save . . . . . . . . . . . . . . . . . . . 5-4
shutdown_option_code . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
software_position_limit . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
Speed, during the homing operation . . . . . . . . . . . . . . . 7-11
START input as reference switch . . . . . . . . . . . . . . . . . . . 5-86
State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Fault Reaction Active . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Not Ready to Switch On . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Operation enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Quick Stop Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Ready to Switch On . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Switch On Disabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Switched On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
State diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
Statemachine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
Statusword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
Bit assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
Object description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21 , 7-22 , 7-23
store_parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Switch On Disabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Switched On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
SYNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
SYNC-Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
synchronization_encoder_select . . . . . . . . . . . . . . . . . . . 5-79

B. Index
synchronization_filter_time . . . . . . . . . . . . . . . . . . . . . . . 5-66
T
T-PDO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
T-PDO2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Target position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
Target position window . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61
Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-62
target_position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
target_torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-60
target_velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-55
Time constant of the current controller . . . . . . . . . . . . . 5-41
torque_actual_value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-64
torque_control_gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-41
torque_control_parameters . . . . . . . . . . . . . . . . . . . . . . 5-40
torque_control_time . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
torque_demand_value . . . . . . . . . . . . . . . . . . . . . . . . . . 7-62
torque_profile_type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-68
torque_slope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-67
tpdo_1_transmit_mask . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
tpdo_2_transmit_mask . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
Trailing error, Time out . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60
Trailing error window . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58
Trajectory generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-26
transfer_PDO_1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
transfer_PDO_2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
U
Undervoltage control
Activate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29

B. Index
Deactivate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
V
Velocity value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-49
velocity_actual_value . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-49
velocity_control_filter_time . . . . . . . . . . . . . . . . . . . . . . . 5-45
velocity_control_gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44
velocity_control_parameters . . . . . . . . . . . . . . . . . . . . . . 5-43
velocity_control_time . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
velocity_demand_value . . . . . . . . . . . . . . . . . . . . . . . . . . 7-48
velocity_encoder_factor . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
velocity_sensor_actual_value . . . . . . . . . . . . . . . . . . . . . 7-46
velocity_threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-52
velocity_threshold_time . . . . . . . . . . . . . . . . . . . . . . . . . 7-53
velocity_window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50
velocity_window_time . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-51
Voltage range, Minimum . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
Z
Zero impulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
Zero position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

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Smart Electromotor Controller

Layout . . . . . . . . . . . . . . . . . Festo AG & Co.KG, Abtl. KG-GD

Type setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DUCOM

E (Festo AG & Co.KG, D-73726 Esslingen, Federal Republic of

The copying, distribution and utilization of this document as

Festo P.BE-SEC-AC-CO-EN en 0208NH I

II Festo P.BE-SEC-AC-CO-EN en 0208NH

Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII

1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

2. Cabling and pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

Festo P.BE-SEC-AC-CO-EN en 0208NH III

3. Activation of CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

4. Access methods/SDO access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.1 Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

5. Adjustment of parameters/Load and save set of parameters . . . . . . . . . . 5-1

5.1 Load and save set of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

IV Festo P.BE-SEC-AC-CO-EN en 0208NH

5.4 Current control and motor adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32

6. Device Control/State diagram (State machine) . . . . . . . . . . . . . . . . . . . . . . 6-1

6.1 State diagram (State machine) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

7. Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.1 Adjustment of the Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

Festo P.BE-SEC-AC-CO-EN en 0208NH V

7.1.2 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

A. Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

A.1 Recommended components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

B.1 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3

VI Festo P.BE-SEC-AC-CO-EN en 0208NH

The Controllers described in this manual are intended for

in accordance with designated use

in its original state

without any modifications by the user

in faultless technical condition.

If additional commercially-available components such as sen-

Please observe the standards specified in the relevant

Festo P.BE-SEC-AC-CO-EN en 0208NH VII

This manual is intended exclusively for technicians trained in

Notes on the use of this manual

The information and data contained in this document have

VIII Festo P.BE-SEC-AC-CO-EN en 0208NH

Any product names in this document may be registered

The publication of this version renders all previous versions

Technical Documentation SEC-AC-...: These manuals con-

Technical Documentation for First Commissioning of

Festo P.BE-SEC-AC-CO-EN en 0208NH IX

Further documentation about CANopen

CANopen is a standard established by the association CAN

CiA Draft Standard 201...207: In this book the general

CiA Draft Standard 301: In this book the basic structure of

CiA Draft Standard 402: This book describes the concrete

X Festo P.BE-SEC-AC-CO-EN en 0208NH

Important user instructions

The following pictogram marks passages in the text which

Electrostatically sensitive components may be damaged if

Festo P.BE-SEC-AC-CO-EN en 0208NH XI

Marking special information

The parameters thus marked affect the internal controller

S The bullet indicates activites which may be carried out in

1. Figures denote activities which must be carried out in the

Hyphens indicate general activities.

XII Festo P.BE-SEC-AC-CO-EN en 0208NH