NANOTEC PD4-C - Page 102

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8 Programming with NanoJ

Note

Debug outputs may therefore only be used during the test phase when developing a user program.

Version: 2.0.1 / FIR-v1650 102

Main Page

Table of Contents2
Introduction8
Version Information8
Copyright, Marking and Contact9
Intended Use9
Target Group and Qualification9
Warranty and Disclaimer9
EU Directives for Product Safety10
Other Applicable Regulations10
Used Icons10
Emphasis in the Text10
Numerical Values11
Bits11
Counting Direction (Arrows)11
Safety and Warning Notices12
Technical Details and Pin Assignment13
Environmental Conditions13
Dimensioned Drawings13
Pd4-C5918X4204-E-0113
Pd4-C5918M4204-E-0113
Pd4-C5918L4204-E-0114
Pd4-C6018L4204-E-0114
Pd4-Cb59M024035-E-0114
Electrical Properties and Technical Data14
Technical Data - Motor14
Technical Data15
Overtemperature Protection15
LED Signaling17
Power LED17
Pin Assignment18
Overview18
X1 − Analog Inputs and Outputs18
X2 - Digital Inputs19
X3 - Voltage Supply20
Commissioning22
Configuration23
General23
USB Connection23
Configuration File24
Nanoj Program26
Auto Setup27
Parameter Determination28
Execution28
Parameter Memory30
Special Drive Modes (Clock-Direction and Analog Speed)30
Activation31
Clock-Direction32
Analog Speed32
Test Run with 30 Rpm32
General Concepts33
Control Modes33
General33
Open Loop34
Closed Loop36
Cia 402 Power State Machine37
State Machine37
Behavior Upon Exiting the Operation Enabled State39
User-Defined Units42
Calculation Formulas for User Units42
Limitation of the Range of Motion45
Tolerance Bands of the Limit Switches45
Software Limit Switches45
Cycle Times45
Operating Modes47
Profile Position47
Note Regarding USB47
Overview47
Setting Travel Commands48
Loss of Accuracy for Relative Movements53
Boundary Conditions for a Positioning Move54
Jerk-Limited Mode and Non-Jerk-Limited Mode55
Velocity56
Note Regarding USB56
Description56
Activation56
Controlword56
Statusword56
Object Entries56
Profile Velocity58
Note Regarding USB58
Description58
Activation58
Controlword58
Statusword58
Object Entries58
Profile Torque61
Note Regarding USB61
Description61
Activation61
Controlword61
Statusword61
Object Entries62
Homing63
Note Regarding USB63
Overview63
Homing Method65
Interpolated Position Mode70
Note Regarding USB70
Overview70
Activation70
Controlword70
Statusword71
Use71
Setup71
Operation71
Cyclic Synchronous Position72
Note Regarding USB72
Overview72
Object Entries73
Cyclic Synchronous Velocity73
Note Regarding USB73
Overview73
Object Entries74
Cyclic Synchronous Torque75
Note Regarding USB75
Overview75
Object Entries76
Clock-Direction Mode76
Description76
Activation76
General76
Statusword77
Subtypes of the Clock-Direction Mode77
Auto Setup78
Description78
Activation78
Controlword78
Statusword78
Special Functions79
Digital Inputs and Outputs79
Bit Assignment79
Digital Inputs79
Digital Outputs83
I 2 T Motor Overload Protection87
Description87
Object Entries88
Activation88
Function of I T88
Saving Objects89
General89
Category: Communication90
Category: Application90
Category: Drive91
Category: Tuning92
Starting the Save Process92
Discarding the Saved Data92
Verifying the Configuration93
User Memory Area 2700 H93
Programming with Nanoj95
Nanoj Program95
Mapping in the Nanoj Program98
System Calls in a Nanoj Program100
Description of the Object Dictionary103
Overview103
Structure of the Object Description103
Object Description103
Value Description104
Description105
1000H Device Type106
1001H Error Register107
1003H Pre-Defined Error Field108
1008H Manufacturer Device Name112
1009H Manufacturer Hardware Version112
100Ah Manufacturer Software Version112
1010H Store Parameters113
1011H Restore Default Parameters115
1018H Identity Object117
1020H Verify Configuration118
1F50H Program Data120
1F51H Program Control121
1F57H Program Status122
2028H MODBUS Slave Address123
202Ah MODBUS RTU Baudrate124
202Ch MODBUS RTU Stop Bits124
202Dh MODBUS RTU Parity125
2030H Pole Pair Count125
2031H Maximum Current126
2032H Maximum Speed127
2033H Plunger Block127
2034H Upper Voltage Warning Level128
2035H Lower Voltage Warning Level128
2036H Open Loop Current Reduction Idle Time129
2037H Open Loop Current Reduction Value/Factor129
2039H Motor Currents130
203Ah Homing on Block Configuration132
203Bh I2T Parameters133
203Dh Torque Window136
203Eh Torque Window Time136
2050H Encoder Alignment137
2051H Encoder Optimization137
2052H Encoder Resolution138
2056H Limit Switch Tolerance Band139
2057H Clock Direction Multiplier140
2058H Clock Direction Divider140
2059H Encoder Configuration140
205Ah Encoder Boot Value141
205Bh Clock Direction or Clockwise/Counter Clockwise Mode142
2060H Compensate Polepair Count142
2061H Velocity Numerator143
2062H Velocity Denominator143
2063H Acceleration Numerator144
2064H Acceleration Denominator144
2065H Jerk Numerator144
2066H Jerk Denominator145
2084H Bootup Delay145
2101H Fieldbus Module Availability146
2102H Fieldbus Module Control147
2103H Fieldbus Module Status148
2300H Nanoj Control150
2301H Nanoj Status151
2302H Nanoj Error Code151
230Fh Uptime Seconds153
2310H Nanoj Input Data Selection153
2320H Nanoj Output Data Selection155
2330H Nanoj In/Output Data Selection156
2400H Nanoj Inputs157
2410H Nanoj Init Parameters158
2500H Nanoj Outputs159
2600H Nanoj Debug Output160
2700H User Storage Area161
2800H Bootloader and Reboot Settings163
3202H Motor Drive Submode Select165
320Ah Motor Drive Sensor Display Open Loop166
320Bh Motor Drive Sensor Display Closed Loop168
3210H Motor Drive Parameter Set169
3212H Motor Drive Flags173
3220H Analog Inputs175
3221H Analogue Inputs Control176
3225H Analogue Inputs Switches177
3240H Digital Inputs Control178
3241H Digital Input Capture181
3242H Digital Input Routing182
3250H Digital Outputs Control185
3252H Digital Output Routing187
3320H Read Analogue Input189
3321H Analogue Input Offset190
3322H Analogue Input Pre-Scaling191
3502H MODBUS Rx PDO Mapping192
3602H MODBUS Tx PDO Mapping196
3700H Following Error Option Code200
4012H HW Information200
4013H HW Configuration201
4014H Operating Conditions202
4040H Drive Serial Number204
4041H Device ID204
603Fh Error Code205
6040H Controlword205
6041H Statusword206
6042H Vl Target Velocity208
6043H Vl Velocity Demand208
6044H Vl Velocity Actual Value209
6046H Vl Velocity Min Max Amount209
6048H Vl Velocity Acceleration210
6049H Vl Velocity Deceleration211
604Ah Vl Velocity Quick Stop212
604Ch Vl Dimension Factor213
605Ah Quick Stop Option Code215
605Bh Shutdown Option Code215
605Ch Disable Option Code216
605Dh Halt Option Code217
605Eh Fault Option Code217
6060H Modes of Operation218
6061H Modes of Operation Display219
6062H Position Demand Value219
6063H Position Actual Internal Value220
6064H Position Actual Value220
6065H Following Error Window221
6066H Following Error Time out221
6067H Position Window222
6068H Position Window Time222
606Bh Velocity Demand Value223
606Ch Velocity Actual Value223
606Dh Velocity Window224
606Eh Velocity Window Time224
6071H Target Torque225
6072H Max Torque226
6074H Torque Demand226
6077H Torque Actual Value227
607Ah Target Position227
607Bh Position Range Limit228
607Ch Home Offset229
607Dh Software Position Limit229
607Eh Polarity230
6081H Profile Velocity231
6082H End Velocity231
6083H Profile Acceleration232
6084H Profile Deceleration232
6085H Quick Stop Deceleration233
6086H Motion Profile Type233
6087H Torque Slope233
608Fh Position Encoder Resolution234
6091H Gear Ratio235
6092H Feed Constant236
6098H Homing Method237
6099H Homing Speed237
609Ah Homing Acceleration239
60A4H Profile Jerk239
60C1H Interpolation Data Record241
60C2H Interpolation Time Period242
60C4H Interpolation Data Configuration243
60C5H Max Acceleration245
60C6H Max Deceleration245
60F2H Positioning Option Code246
60F4H Following Error Actual Value247
60Fdh Digital Inputs248
60Feh Digital Outputs249
60Ffh Target Velocity250
6502H Supported Drive Modes250
6505H Http Drive Catalogue Address251
Copyrights253
Introduction253
Aes253
Md5253
Uip254
Dhcp254
CMSIS DSP Software Library254
Fatfs254
Protothreads255
Lwip255

NANOTEC PD4-C - Page 102

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