Infranor XtrapulsGem User Manual

6
X
trapulsPac – User Guide
Chapter 1 – General description
Each parameter has the following properties:
- Access type: it is possible to read it, to write it….; "ro" ” means "read only" , “rw“ means "read & write".
- Length: byte, word (16 bit), long (32 bit).
- Possibility or not to access the parameter by using fast communication CANopen services (Process Data Object
service PDO). If yes, the field “PDO mapping” of the object dictionary will be “yes”.
Convention: A numerical field can be filled-in with numerical values described as “hexadecimal” or “decimal”. An
hexadecimal value will be written “0xvalue”.
1.2 - ARCHITECTURE
XtrapulsPac is a freely configurable drive.
The drive configuration includes servo-loop parameters, motor and sensor parameters, communication
parameters and I/O configuration parameters. The configuration parameters can be stored into the drive non-
volatile memory.
The XtrapulsPac drive can be controlled via the fieldbus (CANopen or EtherCAT), via the analog input (analog
speed drive), via the PULSE and DIR inputs (stepper emulation) or via the digital I/Os (stand-alone positioner)
according to the selected operation mode.
The following diagram describes the functional architecture of the XtrapulsPac drive:
* Note
: Analog Speed Mode, Stepper Emulation Mode and Gearing Mode are not available in the EtherCAT®
version.
Communication bus (CANopen, RS-232…)
Communication
Standard Modes
Profile Torque
Profile Velocity
Profile Position
Homing
Interpolated Position
Manufacturer Modes
Sequence Mode
Analog Speed Mode *
Analog Torque Mode
Stepper Emulation Mode *
Gearing Mode *
Position Loop
Speed Loop
Current Loop

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English