Document Outline

• Technology application "CiA402 device profile"
  • Overview of the technical documentation for 9400 Servo Drives
  • Contents
  • 1 About this documentation
    • 1.1 Conventions used
    • 1.2 Definition of notes used
  • 2 Short description
  • 3 Parameter setting & configuration
    • 3.1 Basic signal flow
    • 3.2 Assignment of the I/O terminals
      • 3.2.1 Setpoint and control signals
      • 3.2.2 Actual value and status signals
    • 3.3 Short overview of the CiA402 objects
      • 3.3.1 Object directory
      • 3.3.2 CiA402 objects
    • 3.4 Drive initialisation
      • 3.4.1 PDO mapping
      • 3.4.2 Example of a typical drive initialisation for CANopen
      • 3.4.3 Example of a typical drive initialisation for EtherCAT
    • 3.5 Structure of the object descriptions
      • 3.5.1 Data type
      • 3.5.2 Objects with read-only access
      • 3.5.3 Objects with write access
        • 3.5.3.1 Objects with setting range
        • 3.5.3.2 Objects with selection list
        • 3.5.3.3 Objects with bit coded setting
      • 3.5.4 Object attributes
    • 3.6 Common entries
      • 3.6.1 Object description
      • 3.6.2 Motor data
    • 3.7 Device control
      • 3.7.1 Object description
      • 3.7.2 Device control commands
        • 3.7.2.1 Shutdown
        • 3.7.2.2 Switch on
        • 3.7.2.3 Enable operation
        • 3.7.2.4 Quick stop
        • 3.7.2.5 Disable operation
        • 3.7.2.6 Disable voltage
        • 3.7.2.7 Reset fault
      • 3.7.3 Device statuses
        • 3.7.3.1 Not ready to switch on
        • 3.7.3.2 Switch on disabled
        • 3.7.3.3 Ready to switch on
        • 3.7.3.4 Switched on
        • 3.7.3.5 Operation enabled
        • 3.7.3.6 Quick stop active
        • 3.7.3.7 Fault response active
        • 3.7.3.8 Fault
      • 3.7.4 Operating mode changeover
      • 3.7.5 Stop
      • 3.7.6 Quick stop
      • 3.7.7 Controller inhibit
    • 3.8 Factor group
      • 3.8.1 Object description
    • 3.9 Homing mode
      • 3.9.1 Input and output data
      • 3.9.2 Object description
      • 3.9.3 Behaviour of the home position after mains switching
      • 3.9.4 Homing mode
      • 3.9.5 Home position & target position
      • 3.9.6 Drive behaviour after setting the home position
      • 3.9.7 Profile data set change-over
      • 3.9.8 Overview of CiA402 homing modes
      • 3.9.9 Control commands & status information
      • 3.9.10 Basic function "Homing"
    • 3.10 Position control function
      • 3.10.1 Input and output data
      • 3.10.2 Object description
      • 3.10.3 Signal flow
      • 3.10.4 Following error detection
      • 3.10.5 In-position recognition
      • 3.10.6 Brake control
        • 3.10.6.1 Signal configuration
        • 3.10.6.2 Torque feedforward control
    • 3.11 Interpolated position mode
      • 3.11.1 Input and output data
      • 3.11.2 Object description
      • 3.11.3 Signal flow
      • 3.11.4 Setpoint selection
      • 3.11.5 Setpoint interpolation
      • 3.11.6 Control commands & status information
      • 3.11.7 Basic function "Position follower"
    • 3.12 Cyclic synchronous position mode (IEC 61800-7)
      • 3.12.1 Input and output data
      • 3.12.2 Object description
      • 3.12.3 Signal flow
      • 3.12.4 Setpoint selection
      • 3.12.5 Setpoint interpolation
      • 3.12.6 Control commands & status information
      • 3.12.7 Basic function "Position follower"
    • 3.13 Cyclic synchronous velocity mode (IEC 61800-7)
      • 3.13.1 Input and output data
      • 3.13.2 Object description
      • 3.13.3 Signal flow
      • 3.13.4 Setpoint selection
      • 3.13.5 Setpoint interpolation
      • 3.13.6 Control commands & status information
      • 3.13.7 Basic function "Speed follower"
    • 3.14 Cyclic synchronous torque mode (IEC 61800-7)
      • 3.14.1 Input and output data
      • 3.14.2 Object description
      • 3.14.3 Signal flow
      • 3.14.4 Setpoint selection
      • 3.14.5 Setpoint interpolation
      • 3.14.6 Control commands & status information
      • 3.14.7 Basic function "Torque follower"
    • 3.15 Touch probe
      • 3.15.1 Input and output data
      • 3.15.2 Object description
      • 3.15.3 Internal interfaces | function block "L_CiA402TouchProbe"
    • 3.16 Torque limiting
      • 3.16.1 Input and output data
      • 3.16.2 Object description
    • 3.17 Parameterisable additional functions
      • 3.17.1 Undervoltage recognition of the DC link
      • 3.17.2 Connection between limiter and safety module
      • 3.17.3 Dynamic change of the proportional gain Vp of the speed controller
      • 3.17.4 Dynamic change of the proportional gain Vp of the angle/position controller
      • 3.17.5 Telegram failure recognition and monitoring
    • 3.18 Using the FB Editor
    • 3.19 Internal interfaces | function block "L_CiA402DeviceProfile"
    • 3.20 Application error messages
    • 3.21 Parameterisable function blocks
      • 3.21.1 Adaption_Positioncontroller
      • 3.21.2 Adaption_Speedcontroller
      • 3.21.3 CountMultiError
      • 3.21.4 CountSingleError
      • 3.21.5 DetectErrorLimit
      • 3.21.6 DetectMultiError
      • 3.21.7 DetectSingleError
      • 3.21.8 DetectUnderVoltage
      • 3.21.9 L_DevApplErr1
  • 4 Step-by-step commissioning
    • 4.1 Create new Engineer project
    • 4.2 Set machine parameters
    • 4.3 Setting communication parameters for CANopen
    • 4.4 Settings for "Homing mode"
    • 4.5 Settings for "Interpolated position mode"
    • 4.6 Speed feedforward control
    • 4.7 Torque/feed force feedforward control
    • 4.8 Controller settings
    • 4.9 Final steps
  • 5 Parameter reference
    • 5.1 Structure of the parameter descriptions
      • 5.1.1 Data type
      • 5.1.2 Parameters with read-only access
      • 5.1.3 Parameters with write access
        • 5.1.3.1 Parameters with setting range
        • 5.1.3.2 Parameters with selection list
        • 5.1.3.3 Parameters with bit-code setting
        • 5.1.3.4 Parameters with subcodes
      • 5.1.4 Parameter attributes
      • 5.1.5 Abbreviations used in parameter & selection texts
    • 5.2 Parameter list
      • C03001 | UG min threshold
      • C03002 | Selection of limiter / safety interconnection
      • C03010 | Max. telegram failure value
      • C03011 | Counter SingleError
      • C03012 | Counter MultiError
      • C03013 | Reset Errorcounter
      • C03500 | CiA402 profile
      • C03503 | Motor type
      • C03504 | Motor catalog number
      • C03505 | Motor manufacturer
      • C03506 | Http motor catalog address
      • C03507 | Motor calibration date
      • C03508 | Motor service period
      • C03509 | Motor data
      • C03512 | Drive manufacturer
      • C03513 | Http drive catalogue address
      • C03514 | Supported drive modes
      • C03515 | Digital inputs
      • C03516 | Digital outputs
      • C03517 | Physical outputs
      • C03518 | Bit mask
      • C03519 | Abort connection option code
      • C03520 | Error code
      • C03521 | Supported drive modes
      • C03522 | Drive catalog number
      • C03530 | Control word
      • C03531 | Status word
      • C03532 | Shutdown option code
      • C01533 | DS402 disable operation option code
      • C03534 | Quick stop option code
      • C03535 | Halt option code
      • C03536 | Fault reaction option code
      • C03537 | Mode of operation
      • C03538 | Mode of operation display
      • C03550 | Position notation index
      • C03551 | Position dimension index
      • C03552 | Velocity notation index
      • C03553 | Velocity dimension index
      • C03554 | Acceleration notation index
      • C03555 | Acceleration dimension index
      • C03556 | Position encoder resolution
      • C03557 | Encoder increments
      • C03558 | Motor revolution
      • C03559 | Velocity encoder resolution
      • C03560 | Encoder increments per second
      • C03561 | Motor revolutions per second
      • C03562 | Gear ratio
      • C03565 | Feed constant
      • C03567 | Feed shaft revolutions
      • C03568 | Position factor
      • C03569 | Position factor numerator
      • C03570 | Position factor divisor
      • C03571 | Velocity encoder factor
      • C03572 | Velocity encoder factor numerator
      • C03573 | Velocity encoder factor divisor
      • C03574 | Velocity factor1
      • C03575 | Velocity factor1 numerator
      • C03576 | Velocity factor1 divisor
      • C03577 | Velocity factor2
      • C03578 | Velocity factor1 numerator
      • C03579 | Velocity factor2 divisor
      • C03580 | Acceleration factor
      • C03581 | Acceleration factor numerator
      • C03582 | Acceleration factor divisor
      • C03583 | Polarity
      • C03585 | Load home position
      • C03590 | Position demand value unit
      • C03591 | Position actual value
      • C03592 | Position actual value unit
      • C03593 | Following error window
      • C03594 | Following error time out
      • C03595 | Position window
      • C03596 | Position window time
      • C03597 | Following error actual value
      • C03598 | Control effort
      • C03599 | Position control parameter set
      • C03600 | Position demand value
      • C03601 | Homing method
      • C03602 | Brake control
      • C03603 | Brake torque add
      • C03604 | Following error reaction
      • C03605 | Safe IO state
      • C03606 | Safety module state
      • C03612 | Homing speeds
      • C03615 | Homing acceleration
      • C03630 | Interpolation sub mode select
      • C03631 | Interpolation data record
      • C03632 | Interpolated data X1
      • C03636 | Interpolation time period
      • C03637 | Ip time units
      • C03638 | Ip time index
      • C03639 | Interpolation sync definition
      • C03640 | Synchronize on group
      • C03641 | Ip sync every N event
      • C03642 | Interpolation data configuration
      • C03643 | Max buffer size
      • C03644 | Actual buffer size
      • C03645 | Buffer organization
      • C03646 | Buffer position
      • C03647 | Size of data record
      • C03648 | Buffer clear
      • C03653 | Velocity actual value
      • C03654 | Offset velocity
      • C03658 | Target velocity
      • C03670 | Target torque
      • C03673 | Torque demand value
      • C03677 | Torque actual value
      • C03678 | Current actual value
      • C03679 | Torque slope
      • C03680 | Torque profile type
      • C03681 | Power stage parameters
      • C03682 | Torque control parameters
      • C03683 | Torque offset
      • C03684 | Positive speed limit
      • C03685 | Negative speed limit
      • C03686 | Positive torque limit
      • C03687 | Negative torque limit
      • C03688 | Max torque
      • C03690 | Target position
      • C03691 | Offset position
      • C03700 | Touch probe function
      • C03701 | Touch probe function
      • C03706 | Touch probe pos1 pos value
      • C03707 | Touch probe pos1 neg value
      • C03708 | Touch probe pos2 pos value
      • C03709 | Touch probe pos2 neg value
    • 5.3 Attribute table
  • 6 Index
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