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Infranor XtrapulsGem User Manual
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7
X
trapulsPac - User Guide
Chapter 1 – General description
1.3 - OTHER DOCUME
NTS
XtrapulsPac Installation guide
.
XtrapulsPac "Safe Tor
que Off" specification.
XtrapulsPac
Templates.
Gem Drive Studio Quick Start guide
EtherCAT®
fieldbus
interface.
GDPS manual, for the use of the GDPS power supply unit
6
8
Table of Contents
Content
3
Table of Contents
3
Chapter 1 - General Description
5
Introduction
5
Architecture
6
Other Documents
7
Chapter 2 - Commissioning
8
Pc Software Installation
8
Starting the Software
10
Drive Communication
10
Parameter Setting
11
Configuration of the Drive
11
Configuration of the Motor
11
Selection in the Motor List
11
Manual Motor Configuration
12
Linear Motor Configuration
14
Position Sensors
15
Servo Loops Adjustment
17
Configuration of the Drive Enable
20
Quick Test of the Servo Drive
20
Logic Inputs
22
Logic Outputs
23
Logic I/Os Extension
24
Braking Resistor
24
Drive Parameter Saving
24
Oscilloscope
25
Dialog Terminal
25
Chapter 3 - Reference
26
Canopen Communication
27
Communication Objects
27
CAN Telegram
27
Default COB-ID
28
Network Management Objects
28
Synchronisation Object
29
Process Data Objects (PDO)
31
Service Data Objects (SDO)
43
Emergency Objects
44
Node Guarding
45
Network Initialisation
45
NMT State Machine
45
Bootup Protocol
47
Initialisation Procedure
47
Device Profile
48
Device Control
48
Drive State Machine
48
Error
57
Error & Warning
57
Warning
66
I²T Protection
67
Braking Resistor Protection
68
Stop Operation
69
Drive Parameters
75
Motor Parameters
75
Motor Brake
81
Motor Current Limits & Current Loop
82
Dynamic Current Limits
87
Motor Temperature Probe
88
IGBT Temperature
89
Sensors
90
Resolver
91
Encoder
94
Hall Effect Sensor
97
Sin-Cos Encoder
97
TTL Encoder
97
Hiperface
98
Absolute Multi-Turn Position
99
Factor and Units
102
Servo Loops
104
Auto-Tuning
113
Save / Load Parameters
115
Operation Modes
117
Supported Drive Modes
117
Mode Selection
118
Profile Position Mode
119
Homing Mode
125
Interpolated Position Mode
132
Profile Velocity Mode
134
Profile Torque Mode
137
Sequence Mode
138
Positioning Sequence
140
Homing Sequence
142
Speed Sequence
142
Torque Sequence
144
Gearing Sequence
145
Sequence Chaining
147
Sequence Parameters
149
Sequence File Format
161
Stepper Emulation Mode
163
Analog Speed Mode
167
Analog Torque Mode
168
Gearing Mode
169
Master-Slave Functions
170
Master-Slave
170
Virtual Master
178
Gearbox Function
180
Application Feature
187
Digital Input/Output Configuration
187
Analog Inputs/Output
194
Encoder Emulation Output
197
Digital Cam
200
Capture
203
Modulo Function
211
Digital Input/Output Extension
213
Maintenance
224
Files
224
Firmware Update
225
Object List
228
Other manuals for Infranor XtrapulsGem
Installation Guide
73 pages
Manual
17 pages
4
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Infranor XtrapulsGem Specifications
General
Brand
Infranor
Model
XtrapulsGem
Category
Controller
Language
English
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