TR-Electronic MP-200 - Table 2: Abbreviations Used; Terminology

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Page 14 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020

Continuation “Abbreviations used / Terminology”

Software

SYNC

Synchronization

TPDO

Transmit PDO

Volt

XML

Extensible Markup Language

write only

ZSW

Status word

ZSW.x

Bit x of the status word

Table 2: Abbreviations used / Terminology

Main Page

Table of Contents3
Contents3
List of Tables8
List of Figures9
List of Formulas9
Revision Index10
General Information11
Target Group11
Applicability11
References12
Table 1: References12
Abbreviations Used / Terminology13
Table 2: Abbreviations Used / Terminology14
Additional Safety Instructions15
Definition of Symbols and Instructions15
Organizational Measures15
Technical Data16
Current Firmware Versions16
Electrical Characteristics16
Ethercat / DS-40217
CE Conformity18
Ethercat Information19
Ethercat Functional Principle19
Figure 1: Ethercat Functional Principle19
Protocol20
Figure 2: Ethernet Frame Structure20
Ethercat State Machine (ESM)21
Table 3: States, State Machine21
Figure 3: Ethercat State Machine21
Transition into the OPERATIONAL State22
Device Profile23
Figure 4: Canopen over Ethercat Communication Mechanism23
Canopen over Ethercat (Coe)24
Figure 5: Canopen Organized in the ISO/OSI Layer Model24
Figure 6: Ethercat Organized in the ISO/OSI Layer Model24
Object Dictionary25
Process and Service Data Objects25
Figure 7: Structure of the Object Dictionary25
Figure 8: Comparison of PDO/SDO Characteristics25
Compatibility with the Cia DS-301 Communication Profile26
Transmission of SDO Messages27
PDO Mapping29
Further Information29
DSP 402 Drive Profile30
DSP 402 State Machine31
Figure 9: DSP 402 State Machine31
Operating Condition32
Table 4: States of the Status Word32
Table 5: Operating States, Status Word32
State Transitions33
Change Mode of Operation34
Table 6: State Transitions34
Table 7: Change Operating State34
Profile Position (PP)" Operating Mode35
Control Word35
Table 8: Control Word (Object 0X6040), "Profile Position" Operating Mode35
Status Word36
Table 9: Status Word (Object 0X6041), "Profile Position" Operating Mode36
Perform Positioning37
Figure 10: Positioning Ramp37
Absolute / Relative Positioning38
Figure 11: Absolute Positioning (Top) and Relative Positioning (Bottom)38
Transfer of New Movement Records39
Termination of a Positioning Movement39
Relevant Parameters39
Table 10: Positioning Parameter39
Profile Velocity (PV)" Operating Mode40
Control Word40
Table 11: Control Word (Object 0X6040), "Profile Velocity" Operating Mode40
Status Word41
Table 12: Status Word (Object 0X6041), "Profile Velocity" Operating Mode41
Perform Speed Ramp42
Figure 12: Speed Ramp42
Relevant Parameters43
Table 13: Speed Ramp Parameter43
Homing (HM)" Operating Mode44
Control Word44
Table 14: Control Word (Object 0X6040), "Homing" Operating Mode44
Status Word45
Table 15: Status Word (Object 0X6041), "Homing" Operating Mode45
Table 16: Definition of the Homing Status Bits 10, 12, 1345
Perform Position Adjustment46
Relevant Parameters46
Cyclic Synchronous Position (CSP)" Operating Mode47
Control Word47
Table 17: Control Word (Object 0X6040), "Cyclic Synchronous Position (CSP)" Operating Mode47
Status Word48
Table 18: Status Word (Object 0X6041), "Cyclic Synchronous Position (CSP)" Operating Mode48
Perform Operating Mode49
Relevant Parameters49
Figure 13: Cyclic Synchronous Position Control Function (CSP)49
Cyclic Synchronous Velocity (CSV)" Operating Mode50
Control Word50
Table 19: Control Word (Object 0X6040), "Cyclic Synchronous Velocity (CSV)" Operating Mode50
Status Word51
Table 20: Status Word (Object 0X6041), "Cyclic Synchronous Velocity (CSV)" Operating Mode51
Perform Operating Mode52
Relevant Parameters52
Figure 14: Cyclic Synchronous Velocity Control Function (CSV)52
Cyclic Synchronous Torque (CST)" Operating Mode53
Control Word53
Table 21: Control Word (Object 0X6040), "Cyclic Synchronous Torque (CST)" Operating Mode53
Status Word54
Table 22: Status Word (Object 0X6041), "Cyclic Synchronous Torque (CST)" Operating Mode54
Perform Operating Mode55
Relevant Parameters55
Figure 15: Cyclic Synchronous Torque Control Function (CST)55
Units56
Object 0X608F: Position Encoder Resolution56
Object 0X6090: Speed Encoder Resolution56
Formula 1: Position Encoder Resolution56
Formula 2: Default Value, Position Encoder Resolution56
Formula 3: Speed Encoder Resolution56
Formula 4: Default Value, Speed Encoder Resolution56
Object 0X6093: Position Factor57
Formula 5: Position Factor57
Formula 6: Gear Ratio57
Formula 7: Default Value, Position Factor57
Object 0X6094: Speed Factor59
Formula 8: Speed Factor59
Formula 9: Default Value, Speed Factor59
Object 0X6097: Acceleration Factor61
Formula 10: Acceleration Factor61
Formula 11: Default for Acceleration Factor61
Installation- / Connection Notes, Pin Assignments66
Optional Holding Brake / Ballast Circuit67
Commissioning67
Device Description File67
Object Directory68
Object Types, Data Types68
Table 23: Object Codes in Encotrive68
Table 24: Attributes68
Table 25: Encotrive Data Types68
Communication-Specific Standard Objects Cia DS-30169
Table 26: Communication Specific Standard Objects69
Object 0X1000: Device Type70
Object 0X1001: Error Register70
Object 0X1003: Pre-Defined Error Field71
Object 0X1008: Manufacturer's Device Name72
Object 0X1009: Manufacturer's Hardware Version72
Object 0X100A: Manufacturer's Software Version72
Object 0X1010: Save Backup Parameters73
Object 0X1011: Reset Backup Parameters74
Object 0X1018: Identity75
Structure of the Mapping Parameter76
Objects 0X1600-0X1601: Receive PDO Mapping77
Objects 0X1A00-0X1A01: Transmit PDO Mapping78
Object 0X1C00: Sync Manager Communication Type79
Object 0X1C12: SM2 PDO Assignment81
Object 0X1C13: SM3 PDO Assignment82
Manufacturer-Specific Objects83
Object 0X2Ef3: Trabedata.mvi1683
Object 0X2F04: DS402M.MPU3285
Object 0X2F0E: DS402M.MPX89
Objects of the DSP 402 Device Profile91
Table 27: Profile Specific Objects92
Object 0X6007: Abort Connection Code93
Object 0X603F: Error Code93
Object 0X6040: Control Word93
Object 0X6041: Status Word94
Object 0X605A: Quick Stop Option Code94
Table 28: Values for Quick Stop Option Code94
Object 0X605B: Shutdown Option Code95
Object 0X605C: Disable Operation Option Code95
Table 29: Values for Shutdown Option Code95
Table 30: Values for Disable Operation Option Code95
Object 0X605D: Stop Option Code96
Object 0X605E: Fault Reaction Option Code96
Table 31: Values for Halt Option Code96
Table 32: Values for Fault Reaction Option Code96
Object 0X6060: Operation Mode97
Object 0X6061: Operation Mode Display97
Object 0X6062: Required Position97
Table 33: Values for Operating Mode97
Object 0X6064: Actual Position98
Object 0X6065: Following Error Window98
Object 0X6066: Following Error Timeout98
Object 0X6067: In-Position Window99
Object 0X6068: In-Position Timeout99
Object 0X6069: Sensor Velocity99
Object 0X606B: Required Velocity100
Object 0X606C: Actual Velocity100
Object 0X606D: Velocity Window100
Object 0X606E: Velocity Window Timeout101
Object 0X606F: Velocity Threshold101
Object 0X6070: Velocity Threshold Timeout101
Object 0X6071: Target Torque102
Object 0X6072: Torque Limit102
Object 0X6073: Limit for Torque Generating Current102
Object 0X6074: Required Torque103
Object 0X6075: Motor Rated Current/Ma103
Object 0X6076: Motor Rated Torque/Mnm103
Object 0X6077: Actual Torque104
Object 0X6078: Actual Current104
Object 0X6079: Actual DC Link Circuit Voltage/MV104
Object 0X607A: Target Position105
Object 0X607B: Position Range Limits105
Object 0X607C: Home Offset106
Object 0X607D: Software Position Limits106
Object 0X607E: Polarity107
Object 0X607F: Max Profile Velocity107
Object 0X6080: Max Motor Speed107
Table 34: Direction Reversal107
Object 0X6081: Profile Velocity108
Object 0X6083: Profile Acceleration108
Object 0X6084: Profile Deceleration108
Object 0X6085: Quick Stop Deceleration109
Object 0X608F: Position Encoder Resolution109
Object 0X6090: Velocity Encoder Resolution110
Object 0X6093: Position Factor111
Object 0X6094: Velocity Encoder Factor112
Object 0X6097: Acceleration Factor113
Object 0X6098: Homing Method113
Object 0X6099: Homing Speeds114
Object 0X609A: Homing Acceleration114
Object 0X60B0: Position Offset115
Object 0X60B1: Velocity Offset115
Object 0X60B2: Torque Offset115
Object 0X60C5: Max Acceleration116
Object 0X60C6: Max Deceleration116
Object 0X60F4: Following Error116
Object 0X60Fd: Digital Inputs117
Object 0X60Fe: Digital Outputs117
Object 0X60Ff: Target Velocity118
Object 0X6402: Motor Type118
Object 0X6502: Supported Drive Modes118
Object 0X6508: Runtime in 0.1 Hours119
Object 0X6510: Measuring Range in Revolutions119
Projecting with Twincat System Manager V2.10120
Installation of the ESI File120
Connection of the Encotrive Device120
Creation of a Twincat Project for an Encotrive Device121
Changing Data Objects122
Storing and Resetting Backup Parameters123
Stop Conditions, Digital Inputs and Hardware Limit Switches124
Turning on the Drive124
Stop Conditions: Priorities, Behavior124
Control of the Digital Inputs127
Operation of the Digital Inputs as Limit Switches128
Control Word and Status Word131
General131
Status Bit 2 - Warning131
Status Bit 2 - Remote131
Status Bit 2 10 - Target Reached131
Status Bit 2 11 - Internal Limit Active132
Profile Position Mode (Operating Mode 1)133
Profile Velocity Mode (Operating Mode 3)136
Cyclic Synchronous Modes (Operating Modes 8, 9, 10)137
Backup-EEPROM, Runtime137
Position Adjustment by Homing (Operating Mode 6)138
Manual Tuning of the Position and Speed Regulation141
Gear Backlash Cancellation (Opmodes -48=0Xd0)143
Twincat System Manager - Example Program (Download)144
Troubleshooting and Diagnosis Options145
SDO Error Codes145
Table 35: SDO Abort Codes145
EMCY Error Information146
Encotrive RE - Emergencies146
Error Register, Object 0X1001146
Table 36: EMCY Error Register, Object 0X1001146
Error Code, Object 0X1003 (Bit 0-15)147
General147
Table 37: EMCY Error Code, Object 0X1003150
Encotrive RE - Accessories, Test Setup151
Power Supply Cables with Solenoid Valve or M23 Connectors151
Test Parameters for "Encotrive RELC151
Ethercat Conformance Test Tool 1.20.80.0152

TR-Electronic MP-200 - Table 2: Abbreviations Used; Terminology

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