No. SX-DSV02473 TECHNICAL REFFERNCE - EtherCAT Communication Specifications MOD E L Product name: AC servo amplifier Product No.: MINAS-A5B series (EtherCAT communication/rotation type) Issued on May.08, 2013 Revised on Jan.08, 2016 Motor Business Unit, Smart Factory Solutions Business Division Automotive & Industrial Systems Company, Panasonic Corporation 7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan Phone: +81-72-871-1212 Fax : +81-72-870-3151 R4.00 No.SX-DSV02473 この英文仕様書は、原本である和文仕様書を元にパナソニック株式会社オートモーテ ィブ＆インダストリアルシステムズ社モータビジネスユニットが翻訳・発行するもの です。翻訳は，原本の利用に際して一応の参考となるように便宜的に仮訳したもので あり、公的な校閲を受けたものではありません。英語訳のみを使用して生じた不都合 な事態に関しては，当社は一切責任を負うものではありません。和文仕様書のみが有 効です。 パナソニック株式会社 オートモーティブ＆インダストリアルシステムズ社 モータビジネスユニット This English specification is made and published by Motor Business Unit Automotive & Industrial Systems Company of Panasonic Corporation based on the original Japanese specification. Translation is provided unofficially only for the sake of convenience of utilizing the original Japanese specification as a measure of reference. It is not officially reviewed. Motor Business Division Appliances Company of Panasonic Corporation is not liable for any disadvantages caused by utilizing only English specification. Only the Japanese specification is effective. Motor Business Unit, Automotive & Industrial Systems Company, Panasonic Corporation R4.00 Motor Business Unit, Panasonic Corporation No.SX-DSV02473 REVISIONS Date Page Rev. May.08, 2013 - 1.00 First edition May.24,2013 - 1.01 Clerical errors are corrected and Supplementary explanations are added. Nov. 29, 2013 - 1.02 Functions are added. - Description - pv, tq, polarity and others are supported. Clerical errors are corrected and Supplementary explanations are added. Functions are added. Jan. 14, 2014 Signed 1.03 - The EtherCAT communication monitor of the positioning completion (INP) is supported. Clerical errors are corrected and Supplementary explanations are added. Feb. 10, 2014 - 1.04 Clerical errors are corrected and Supplementary explanations are added. Sep. 17, 2014 - 1.05 Clerical errors are corrected. May.29,2015 2 2.00 Software upgrade Ver1.01 -> Ver3.01 * Added a function of the following 1)-6) 85, 252, 273 2.00 1) Function addition “Mode of 2 degrees of freedom control (Standard type, Synchronization type)” 231, 264 2) Function addition “Single-turn absolute function” 86, 87, 111, 112, 119-120,150, 171,277 3) Function addition “Max motor speed of csp mode” (Amount of change saturation function of command position) 88,150,171,272, 273 4) Function addition “Fall prevention function in the event of alarms / Servo-ON” 132,232 5) Function addition “Err94.3 (Home position return error protection 2)” 112,114,116, 164,165,167, 182,183,185 6) Function addition “Drive follows command value Setting conditions switching” Other 27 Added the description of unsupported Mailbox type of Mailbox frame structure 29 Added the description of Emergency Message. 87,150,171 Added the description of 60B2h(Torque offset(TFF)) . (During slowdown in over-travel inhibition, the torque feedforward level becomes 0) 131,134-145 Added the description of hm mode of Switch signal(HOME、POT、NOT). 187 Added the Notes of the touch probe. 27 Clerical errors are corrected and Correction the description of Mailbox time out. 79 Correction the description of 6041h(Statusword) bit11(internal limit active). 84 Clerical errors are corrected and Correction of Position control block diagram. 84,148,169 Clerical errors are corrected and Correction the Notes of block diagram. Note: The page number (Page) is the current page number at the time of revision. R4.00 Motor Business Unit, Panasonic Corporation No.SX-DSV02473 REVISIONS Date Page Rev. May.29,2015 - 2.00 96 (Continued from previous page) Clerical errors are corrected and Correction the description of Electronic gear related objects(608Fh,6091h,6092h). 111 Clerical errors are corrected and Correction of csp mode block diagram. 122 Clerical errors are corrected and Correction of hm mode block diagram. 153 Clerical errors are corrected and Correction of pv mode block diagram. 163 Clerical errors are corrected and Correction of csv mode block diagram. 174 Clerical errors are corrected and Correction of tq mode block diagram. 181 Clerical errors are corrected and Correction of cst mode block diagram. 162,168, 180,186 Clerical errors are corrected and Correction the description of “servo ON”. “servo ON” ->” servo ON(Operation enabled command)” 187 Clerical errors are corrected and Correction the description of “Touch Probe Function”. 198 Clerical errors are corrected and Correction the description of 3507h 211 Clerical errors are corrected and Correction the description of Digital outputs (60FEh) 212 Clerical errors are corrected and Correction of state the output transistor of set brake. 215 Clerical errors are corrected and Correction the description of Electronic gear setting example. 218 Clerical errors are corrected and Correction the description of Polarity(607Eh). 242 Clerical errors are corrected and Correction the description in causes of Err81.1. 246 Clerical errors are corrected and Correction the description in causes of Err81.7. 250 Clerical errors are corrected and Correction the description in causes of Err85.3. 259 Clerical errors are corrected and Correction the description of the Object Dictionary List of H. 171,276 2 3.00 2 Clerical errors are corrected and Correction the description of 6071h of EEPROM attribute. “No” ->”Yes” Software upgrade Ver1.01 -> Ver3.01 * Added a function of the following 1) 4.00 Software upgrade Ver3.02 -> Ver3.04 * Added a function of the following 1)-5) 4.00 131, 232 1) Function addition “Home position reference trigger(HOME, POT, NOT, EXT1, EXT2) b-contact setting function” 129,222, 223,277 2) Function addition “Clearing multi-turn data via EtherCAT ” 30,256 3) Function addition “Read warning code via EtherCAT” 132,275 4) Function addition “Homing return speed limit function” 91,92,151,152, 172,173,277 3.00 1) Function addition “Selecting Invalid/Valid of 6080h(Max motor speed) on csp mode” 112,119 Jan.08, 2016 Signed Clerical errors are corrected and Correction of pp mode block diagram. 98,113,124, 155,164,175, 182,217,277 Jun.23, 2015 Description 5) Function addition “Over load factor Monitor ” Other 2 Added the description of driver of size M Note: The page number (Page) is the current page number at the time of revision. R4.00 Motor Business Unit, Panasonic Corporation No.SX-DSV02473 REVISIONS Date Page Rev. Jan.08, 2016 - 4.00 Description (Continued from previous page) 147 Added the Notes of the hm mode Method 35,37 211 Added the description of set brake 239,240 Signed Added the description of “Err80.6 PLL error protection” and “Err80.7 Synchronization signal error protection” 131 Clerical errors are corrected and Correction the description of Homing Position Mode 242 Clerical errors are corrected and Correction the description of “Err80.7 Synchronization signal error protection” Note: The page number (Page) is the current page number at the time of revision. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 Contents 1 Introduction ..................................................................................................................................................................................... 1 1-1 Start-up guide .................................................................................................................................................. 3 1) Preparation and connection (Mainly refer to Chapter 2 and Chapter 3)....................................................... 3 2) Communication establishment (Mainly refer to Chapter 3 and Chapter 5).................................................. 3 3) Object settings (Mainly refer to Chapter 6) ................................................................................................. 4 4) Motor operation (Mainly refer to Chapter 6) ............................................................................................... 5 5) When the motor does not operate ................................................................................................................. 6 6) About PANATERM ..................................................................................................................................... 6 2 System Overview .......................................................................................................................................................................... 7 2-1 EtherCAT Overview ....................................................................................................................................... 8 2-2 Reference Materials ........................................................................................................................................ 9 2-3 System Configuration (master & slave configuration) .................................................................................. 10 2-4 Specification List .......................................................................................................................................... 11 3 EtherCAT Communication Specification .......................................................................................................................... 12 3-1 EtherCAT Frame Configuration.................................................................................................................... 13 3-2 ESM (EtherCAT State Machine) .................................................................................................................. 15 3-3 ESC Address Space ....................................................................................................................................... 17 3-4 SII (Slave Information Interface) EEPROM ................................................................................................. 19 3-4-1 SII Area (0000h to 003Fh) .................................................................................................................... 20 3-5 Synchronous Communication Mode ............................................................................................................. 22 3-5-1 DC (synchronous with SYNC0 event) .................................................................................................. 23 3-5-2 SM2 (synchronous with SM2 event) .................................................................................................... 24 3-5-3 Free RUN (asynchronous) .................................................................................................................... 25 3-6 SDO (Service Data Object) ........................................................................................................................... 26 1) Mailbox frame configuration ..................................................................................................................... 26 2) Mailbox timeout ......................................................................................................................................... 27 3-6-1 Message at Error Occurrence ................................................................................................................ 28 1) Abort Message ..................................................................................................................................... 28 2) Emergency Message ............................................................................................................................ 29 3-7 PDO (Process Data Object) ........................................................................................................................... 32 3-7-1 PDO Mapping Object ........................................................................................................................... 33 3-7-2 PDO Assign Object ............................................................................................................................... 34 3-8 Front Panel Configuration ............................................................................................................................. 35 3-8-1 EtherCAT Indicators ............................................................................................................................. 35 1) RUN ..................................................................................................................................................... 36 2) ERR...................................................................................................................................................... 36 3) L/A IN .................................................................................................................................................. 36 4) L/A OUT .............................................................................................................................................. 36 3-8-2 Node addressing (Setting Station alias) ................................................................................................ 37 1) Reading the value of SII from Configured Station Alias ..................................................................... 38 2) Reading the value of rotary switch from Configured Station Alias ..................................................... 38 3) Reading the value of rotary switch from AL Status Code (Explicit Device ID) .................................. 39 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 4 Common Object Specification .............................................................................................................................................. 40 4-1 Object Configuration ..................................................................................................................................... 41 5 CoE Communication Area (1000h to 1FFFh) ............................................................................................................................. 42 5-1 Object List ..................................................................................................................................................... 43 5-2 Device Information ....................................................................................................................................... 45 5-3 Sync Manager Communication Type (1C00h).............................................................................................. 47 5-4 PDO (Process Data Object) Mapping ........................................................................................................... 48 5-4-1 PDO Assign Object (1C12h to 1C13h) ................................................................................................. 48 5-4-2 PDO Mapping Object (1600h to 1603h, 1A00h to 1A03h) .................................................................. 49 5-4-3 Default PDO Mapping .......................................................................................................................... 51 5-4-4 PDO Mapping Setting Procedure.......................................................................................................... 53 5-5 Sync Manager 2/3 Synchronization (1C32h, 1C33h).................................................................................... 55 5-5-1 DC (synchronous with SYNC0 event) .................................................................................................. 59 5-5-2 SM2 (synchronous with SM2 event) .................................................................................................... 61 5-5-3 Free RUN (asynchronous) .................................................................................................................... 63 5-5-4 Input shift time ...................................................................................................................................... 65 5-6 Store Parameters (write object in EEPROM) (1010h) .................................................................................. 66 5-7 Diagnosis history (Reading Function of Error (alarm) History) (10F3h)...................................................... 67 6 Drive Profile Area (6000h to 6FFFh) .................................................................................................................................... 69 6-1 Object List ..................................................................................................................................................... 72 6-2 PDS (Power Drive Systems) Specification ................................................................................................... 74 6-2-1 Finite State Automaton (FSA) .............................................................................................................. 74 6-3 Controlword (6040h)..................................................................................................................................... 76 6-4 Statusword (6041h) ....................................................................................................................................... 78 6-5 Operation mode Setting................................................................................................................................. 80 6-5-1 Supported Drive Modes (6502h) .......................................................................................................... 80 6-5-2 Modes of Operation (6060h) ................................................................................................................. 81 6-5-3 Modes of Operation Display (6061h) ................................................................................................... 82 6-5-4 Precautions for Changing Operation mode ........................................................................................... 83 6-6 Position Control Function(pp,csp,ip,hm) ...................................................................................................... 84 6-6-1 Common Position Control Function ..................................................................................................... 84 1) Position control block diagram ............................................................................................................ 84 2) Related objects common in position control (command & setup) ....................................................... 86 - Position system ......................................................................................................................... 87 - Velocity system ........................................................................................................................ 87 - Torque system .......................................................................................................................... 87 - Acceleration and deceleration system ...................................................................................... 88 - Software position limit (607Dh) ............................................................................................... 89 3) Related objects common in position control (monitoring) ................................................................... 91 - Position system ......................................................................................................................... 92 - Velocity system ........................................................................................................................ 92 - Torque system .......................................................................................................................... 92 - Statusword (6041h) <Common functions in position control> ................................................ 93 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 6-6-2 Profile Position mode (pp mode) .......................................................................................................... 96 1) Objects related to pp mode (command & setup) .................................................................................. 97 - Controlword (6040h) <Functions in pp mode> ........................................................................ 99 - Positioning option code (60F2h) ............................................................................................ 101 2) Objects related to pp mode (monitoring) ........................................................................................... 104 - Statusword (6041h) <Functions in pp mode> ........................................................................ 105 3) Operations of pp mode ....................................................................................................................... 106 - Example 1 (basic set-point) .................................................................................................... 106 - Example 2 (Data change in operation, without buffer: Single set-point) ............................... 107 - Example 3 (Data change in operation, with buffer: Set of set-points) .................................... 108 - Example 4 (Buffering of set-points) ....................................................................................... 109 - Example 5 (Temporary stop by halt) ...................................................................................... 110 6-6-3 Cyclic Position Mode (csp mode) ....................................................................................................... 111 1) Objects related to csp mode (command & setup) .............................................................................. 112 - Controlword (6040h) <Functions in csp mode> ..................................................................... 114 - Position system ....................................................................................................................... 114 2) Objects related to csp mode (monitoring) .......................................................................................... 115 - Statusword (6041h) <Functions in csp mode> ....................................................................... 116 3) Operations of csp mode ..................................................................................................................... 117 4) Calibration process on the occurrence of communication error......................................................... 118 5) Amount of change saturation function of command position ............................................................ 119 6-6-4 Interpolating Position Mode (ip mode) (Not supported)..................................................................... 121 6-6-5 Homing Position Mode (hm mode) .................................................................................................... 122 1) Objects related to hm mode (command & setup) ............................................................................... 123 - Controlword (6040h) <Functions in hm mode> ..................................................................... 125 - Homing method (6098h) ........................................................................................................ 126 - Homing speeds (6099h) .......................................................................................................... 127 - Homing acceleration (609Ah) ................................................................................................ 127 2) Objects related to hm mode (monitoring) .......................................................................................... 128 - Statusword (6041h) <Functions in hm mode> ....................................................................... 129 - Supported homing method (60E3h)........................................................................................ 130 3) Operations of hm mode (Homing operation) ..................................................................................... 131 - Homing error occur conditions ............................................................................................... 133 - Method 1................................................................................................................................. 134 - Method 2................................................................................................................................. 135 - Method 3, 4............................................................................................................................. 136 - Method 5, 6............................................................................................................................. 137 - Method 7, 8, 9, 10 ................................................................................................................... 138 - Method 11, 12, 13, 14 ............................................................................................................. 139 - Method 17............................................................................................................................... 140 - Method 18............................................................................................................................... 141 - Method 19, 20......................................................................................................................... 142 - Method 21, 22......................................................................................................................... 143 - Method 23, 24, 25, 26 ............................................................................................................. 144 - Method 27, 28, 29, 30 ............................................................................................................. 145 - Method 33, 34......................................................................................................................... 146 - Method 35, 37......................................................................................................................... 147 6-7 Velocity Control Function........................................................................................................................... 148 6-7-1 Common Velocity Control Function................................................................................................... 148 1) Velocity control block diagram.......................................................................................................... 148 2) Related objects common in velocity control (command & setup) ..................................................... 149 - Velocity system ...................................................................................................................... 150 - Torque system ........................................................................................................................ 150 3) Related objects common in velocity control (monitoring) ................................................................. 151 - Position system ....................................................................................................................... 152 - Velocity system ...................................................................................................................... 152 - Torque system ........................................................................................................................ 152 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 6-7-2 Profile Velocity Mode (pv mode) ....................................................................................................... 153 1) Objects related to pv mode (command & setup) ................................................................................ 154 - Controlword (6040h) <Functions in pv mode> ...................................................................... 156 - Velocity system ...................................................................................................................... 157 - Acceleration and deceleration system .................................................................................... 157 2) Objects related to pv mode (monitoring) ........................................................................................... 158 - Statusword (6041h) <Functions in pv mode> ........................................................................ 159 3) Operations of pv mode ....................................................................................................................... 162 6-7-3 Cyclic Velocity Mode (csv mode) ...................................................................................................... 163 1) Objects related to csv mode (command & setup) .............................................................................. 164 - Controlword (6040h) <Functions in csv mode> ..................................................................... 165 2) Objects related to csv mode (monitoring) .......................................................................................... 166 - Statusword (6041h) <Functions in csv mode> ....................................................................... 167 3) Operations of csv mode ..................................................................................................................... 168 6-8 Torque Control Function ............................................................................................................................. 169 6-8-1 Common Torque Control Function ..................................................................................................... 169 1) Torque control block diagram ............................................................................................................ 169 2) Related objects common in torque control (command & setup) ........................................................ 170 - Velocity system ...................................................................................................................... 171 - Torque system ........................................................................................................................ 171 3) Related objects common in torque control (monitoring) ................................................................... 172 - Position system ....................................................................................................................... 173 - Velocity system ...................................................................................................................... 173 - Torque system ........................................................................................................................ 173 6-8-2 Profile Torque Mode (tq mode) .......................................................................................................... 174 1) Objects related to tq mode (command & setup) ................................................................................. 175 - Controlword (6040h) <Functions in tq mode> ....................................................................... 176 - Torque system ........................................................................................................................ 177 2) Related objects (monitoring).............................................................................................................. 178 - Statusword (6041h) <Functions in tq mode> ......................................................................... 179 - Torque system ........................................................................................................................ 179 3) Operations of tq mode........................................................................................................................ 180 6-8-3 Cyclic Torque Mode (cst mode) ......................................................................................................... 181 1) Objects related to cst mode (command & setup) ............................................................................... 182 - Controlword (6040h) <Functions in cst mode> ...................................................................... 183 2) Objects related to cst mode (monitoring) ........................................................................................... 184 - Statusword (6041h) <Functions in cst mode> ........................................................................ 185 3) Operations of cst mode ...................................................................................................................... 186 6-9 Common Motion Function .......................................................................................................................... 187 6-9-1 Touch Probe Function (position latch request/release) ....................................................................... 187 1) Configuration of touch probe function ............................................................................................... 188 2) Touch probe relevant object............................................................................................................... 189 3) Touch probe function (60B8h)........................................................................................................... 190 4) Touch probe status (60B9h) ............................................................................................................... 191 5) Touch probe position 1/2 positive value (60BAh - 60BDh) .............................................................. 192 6) Starting touch probe operation ........................................................................................................... 193 7) Event mode of touch probe ................................................................................................................ 194 6-9-2 Option Code (deceleration stop sequence) .......................................................................................... 196 1) Abort connection opition code(6007h) .............................................................................................. 198 2) Quick stop option code(605Ah) ......................................................................................................... 201 3) Shutdown option code(605Bh) .......................................................................................................... 203 4) Disable operation option code (605Ch) ............................................................................................. 205 5) Halt option code (605Dh) .................................................................................................................. 206 6) Fault reaction option code (605Eh) .................................................................................................... 207 7) Sequence at drive inhibition input (POT, NOT) ................................................................................ 208 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 6-9-3 Digital Inputs/Digital Outputs............................................................................................................. 209 1) Digital inputs (60FDh) ....................................................................................................................... 210 2) Digital outputs (60FEh) ..................................................................................................................... 211 6-9-4 Position information ........................................................................................................................... 213 1) Initialization timing of position information ...................................................................................... 213 2) Electronic Gear Function ................................................................................................................... 214 3) Polarity(607Eh) .................................................................................................................................. 218 4) Initialization of the absolute encoder ................................................................................................. 220 5) Position range limit (607Bh) .............................................................................................................. 224 6) Home offset (607Ch) ......................................................................................................................... 225 6-9-5 Jerk...................................................................................................................................................... 226 6-9-6 Interpolation time period (60C2h) ...................................................................................................... 227 7 Servo Parameter Area (3000h to 3FFFh) ......................................................................................................................... 228 7-1 Object Overview ......................................................................................................................................... 229 8 EtherCAT Relevant Protection Functions ...................................................................................................................... 230 8-1 Error (alarm) List (attribute and LED display)............................................................................................ 231 1) EtherCAT communication-related error(alarm) ....................................................................................... 231 2) Error unrelated to EtherCAT communication(alarm) .............................................................................. 232 8-2 EtherCAT-related details of error(alarm) .................................................................................................... 234 1) Inaccurate ESM demand error protection (Err80.0) ................................................................................. 234 2) ESM undefined request error protection (Err80.1)................................................................................... 235 3) Bootstrap requests error protection (Err80.2)........................................................................................... 236 4) Incomplete PLL error protection (Err80.3) .............................................................................................. 237 5) PDO watchdog error protection (Err80.4)................................................................................................ 238 6) PLL error protection (Err80.6) ................................................................................................................. 239 7) Synchronization signal error protection (Err80.7).................................................................................... 240 8) Synchronization cycle error protection (Err81.0) ..................................................................................... 242 9) Mailbox error protection (Err81.1)........................................................................................................... 243 10) PDO watchdog error protection (Err81.4) .............................................................................................. 244 11) DC error protection (Err81.5)................................................................................................................. 245 12) SM event mode error protection (Err81.6) ............................................................................................. 246 13) SyncManager2/3 error protection (Err81.7) ........................................................................................... 247 14) TxPDO assignment error protection (Err85.0) ....................................................................................... 248 15) RxPDO assignment error protection (Err85.1) ....................................................................................... 249 16) Lost link detection error protection (Err85.2) ........................................................................................ 250 17) SII EEPROM error protection (Err85.3) ................................................................................................ 251 18) Main power undervoltage protection (AC insulation detection 2) (Err88.0) ......................................... 252 19) Control mode setting error protection (Err88.1)..................................................................................... 253 20) ESM requirements during operation error protection (Err88.2) ............................................................. 254 21) Improper operation error protection (Err88.3) ....................................................................................... 255 8-3 Reading Error (alarm) ................................................................................................................................. 256 8-4 Clear error (alarm)/Clear warning ............................................................................................................... 257 8-5 Other, error(alarm) / warning ralated function ............................................................................................ 258 9 Object Dictionary List.............................................................................................................................................................. 259 10 Glossary of Terms .................................................................................................................................................................. 282 10-1 Glossary of Terms ..................................................................................................................................... 283 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 1 - 1 1 Introduction 1-1 Start-up guide .................................................................................................................................................. 3 1) Preparation and connection (Mainly refer to Chapter 2 and Chapter 3)....................................................... 3 2) Communication establishment (Mainly refer to Chapter 3 and Chapter 5).................................................. 3 3) Object settings (Mainly refer to Chapter 6) ................................................................................................. 4 4) Motor operation (Mainly refer to Chapter 6) ............................................................................................... 5 5) When the motor does not operate ................................................................................................................. 6 6) About PANATERM ..................................................................................................................................... 6 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 2 - This document is intended to describe the specification of the network interface EtherCAT to connect between the servo amplifier MINAS-A5B series (slave) and upper controller (master). <Software version> This document is to apply to the servo amplifiers of the software versions below: Version1: Ver.3.04 4.00 Version2: Ver.3.04 Version3: Ver.1.00 * If there is no distinction among the software versions 1, 2, and 3 in this document, “software” indicates all of the three versions. * Check the software versions 1 and 2 by 3744h (Reference to section 5-2) or setup support software PANATERM. * Check the software version 3 by 100Ah (Reference to section 5-2). * In this software version, the following functions are not supported. The descriptions about these functions in the document may be changed without a preliminary announcement when they are supported. Item Device profile Not supported item FoE (File over EtherCAT) ・Semi-closed mode Servo loop position Modes of operation ip Interpolate position mode Modes of Operation ・Full-closed mode All modes of operation. Motion Jerk SDO message Complete Access <Target user> This document is intended for those who design upper controller for the servo amplifier MINAS-A5B series. <Related document> SX-DSV02471: Reference specifications (Hardware relevant specification mainly) SX-DSV02913: Reference specifications (Hardware relevant specification of driver of size M mainly) 4.00 * This document lists the reference specification number based on the drivers other than M size. In the case of size M, Please replace the reference specification number in this document from "SX-DSV02471" to "SX-DSV02913 ". SX-DSV02472: Technical document (Basic function specifications) <Precautions> (1) No part or whole of the contents in this document may be reused or reproduced without our written permission. (2) The contents (specification, software version, etc.) of this document is subject to change without prior notice due to the improvement of the product. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 3 - 1-1 Start-up guide A schematic procedure until it can operate with a motor simple substance by pp control is described. Note: This section is only for reference and does not guarantee the operation. Some descriptions including those for the homing operation are omitted. For details, refer to this document and the specifications issued by ETG. 1) Preparation and connection (Mainly refer to Chapter 2 and Chapter 3) - Connect a master with a slave , and a motor with a slave. - In EtherCAT communication, the ESI file (xml file) which indicated EtherCAT slave information is needed. Please save the ESI file offered from our company at the preservation place of the ESI file specified by the master. - A master generates ENI based on ESI offered from our company (using a configuration tool), and builds an EtherCAT network using ENI.(Refer to the operation manual of a master for details.) - Station alias is set up. As for the value of Configured Station Alias(0004h) of SII, 0 is set up at the time of shipment. When it set up Station Alias by front RSW, once switch on a power supply, write 3741h=0 in EEPROM, and set up Station Alias by RSW after turning off a power supply. (The range of Station Alias which can be set up only by RSW is 0-255. When it set up 256 or more, refer to section 3-8-2.) Alternatively, setting through AL Status Code (Explicit Device ID) is available. For details, refer to section 3-8-2. The master reads the set values of the Configured Station Alias (0012h) of the ESC register and sets them to the Configured Station Address (0010h). Thereby addresses such as FPRD commands used in the mailbox are set. - Switch on a power supply. Switch on both the main power and the control power. Check 7 segment LED in the front after power activation, and check that the error has not occurred. 2) Communication establishment (Mainly refer to Chapter 3 and Chapter 5) - According to an ENI file, a master performs communicative initialization and construction. It is necessary to set up as follows in DC mode as an example of a setup. (When setting is DC mode, the cycles of 2ms and time until it latches data is 250us.) 1C32h-01h=2(DC), 1C32h-02h=2000000(ns) 1C33h-01h=2(DC), 1C33h-03h=250000(ns) - The clearance of ESC each register, The check of VendorID/ ProductCode etc., A setup of Station Alias, An ESC register is set up (SyncManager/FMMU for MailBOX) and an ESM state is made to change from Init to PreOP. - After checking that the ESM state has changed to PreOP, a setup (DC, SyncManager/FMMU for PDO) of an ESC register is carried out, and an ESM state is made to change from PreOP to SafeOP. - After checking that the ESM state has changed to SafeOP, an ESM state is made to change from SafeOP to OP. The change state of the EtherCAT application layer Init (IP) (PI) Pre-Operational (PreOP) (OI) (PS) (OP) (SI) (SP) Safe-Operational (SafeOP) (SO) (OS) Operational (OP) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 4 - 3) Object settings (Mainly refer to Chapter 6) - The example of a setting for carrying out absolute position arrangement operation as shown in the following figure by pp control is described. - In order to operate a motor by pp, operation mode (6060h:Modes of operation) is changed. Set up 6060h=1(pp). - A target position (607Ah:Target Position) is changed. Set up 607Ah=50000000(command). If the setting of 607Dh (Software position limit) is enabled, the operation range is limited. For details, refer to section 2) in 6-6-1. - A target speed (6081h:Profile velocity) is changed. Set up 6081h=2000000(command/s). Speed is limited by the set value of 607Fh(Max profile velocity) and 6080h (Max motor speed). For details, refer to section 2) in 6-6-1. - A acceleration (6083h: Profile acceleration) is changed. Set up 6083h=5000000(command/s2). Speed is limited by the set value of 60C5h (Max acceleration). For details, refer to section 2) in 6-6-1. - A deceleration (6084h: Profile deceleration) is changed. Set up 6084h=2500000(command/s2). Speed is limited by the set value of 60C6h (Max deceleration). For details, refer to section 2) in 6-6-1. Speed (command/s) Target speed 2000000 6081h Profile velocity 6083h Profile acceleration 6084h Profile deceleration Deceleration Acceleration 5000000 (command/s2) 10000000 Current position 2500000 (command/s2) 50000000 Target potion Position (command) 607Ah Target Position R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 5 - 4) Motor operation (Mainly refer to Chapter 6) - There is a PDS (Power Drive Systems) state in EtherCAT communication, the state of the motor is expressed. This PDS can be changed by the object 6040h(Controlword), and reference of a state can be performed at 6041h(Statusword). Be sure to transmit the changes instructions to the following state, after checking that the state had changed at 6041h(Statusword). - A PDS state is changed from "Switch on disabled" to "Ready to switch on". Please set up 6040h=0006h(2:Shutdown), check that 6041h changes from xx40h to xx21h. - A PDS state is changed from "Ready to switch on" to "Switched on". Please set up 6040h=0007h(3:Switch on), check that 6041h changes from xx21h to xx23h. - A PDS state is changed from "Switched on" to "Operation enabled". Please set up 6040h=000Fh(4:Enable operation), check that 6041h changes from xx23h to xx27h. It will be in servo ON state by becoming 6041h=xx27h. - In order to start pp operation, bit4(new set point) of 6040h is changed from 0 to 1. bit5(change set immediately), bit6(absolute/relative) and bit9(change on set-point) remains at 0. Please set up 6040h=001Fh. Motor starts to operate. - A PDS state is changed from "Operation enabled" to "Switched on", servo-off is carried out. Please set up 6040h=0007h(5: Disable operation), check that 6041h changes from xx27h to xx23h. Power off or reset Start 0After control power-on (AUTO SKIP) Not ready to switch on (Not initialized) 1：After initialization completed (AUTO SKIP) Statusword = XX40h Switch on disabled (initialization completed) Shutdown：2 Controlword = 0006h (6) 7：Disable Voltage Statusword = XX21h Ready to switch on (main circuit power OFF) Switch on：3 6：Shutdown Controlword = 0007h (7) Switched on (servo ready or servo off) Disable Voltage：10 Statusword = XX23h 12 Enable operation：4 Quick stop active (immediately stopped) Controlword = 000Fh (15) 5：Disable Statusword = XX27h 16 11 Operation enabled (servo on) 8：Shut down 9：Disable Voltage R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 6 - 5) When the motor does not operate - When servo-on is not performed, before the PDS state inside amplifier changes, there is a possibility of having transmitted the changes commands to the following state. Transmit the changes commands to the following state after checking that the PDS change state has been completed. - Although servo-on is carried out, when the motor does not operate, there may be inaccurate setting object. Check the settings of the object. In particular, make sure that the motor operation is not limited by objects that set a maximum value, such as 6080h (Max motor speed), or objects that set an operation range, such as 607Dh (Software position limit). If bit 11 (internal limit active) of 6041h (Statusword) is 1, internal limitation is imposed. Refer to “6-4. Statusword (6041h)” to eliminate the cause of the internal limitation. - When alarm is occurred, remove the factor of alarm after referring to Chapter 8 “EtherCAT Relevant Protection Functions” of this document or Chapter 7 “Protective function/Alarm function” in technical reference functional specification (SX-DSV02472). After factor of alarm is removed, perform alarm clear after referring to Section 8-4 “Clear error (alarm)/Clear warning” of this document. 6) About PANATERM We will prepare a setup support software "PANATERM" in the MINAS-A5B. The following thing is function in PANATERM. - A reading and writing of a servo parameter. - A reading and writing of a object. *1) - The status monitor of Internal amplifier, an input/output terminal. - The detailed display of alarm, a history display, a clearance. - Graphical display of a motor operation waveform - A test run, frequency characteristic measurement *2) etc. Please refer to the operation manual of PANATERM for details. *1) If writing (editing) an object using the object editor, it is necessary to set the ESM status to Init. *2) To use a test run and a frequency characteristic measurement function, it is necessary to set an ESM state to Init. Also, at this time, Velocity offset, Torque offset, and Torque limit from the EtherCAT communication are cleared. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 7 - 2 2 System Overview 2-1 EtherCAT Overview ....................................................................................................................................... 8 2-2 Reference Materials ........................................................................................................................................ 9 2-3 System Configuration (master & slave configuration) .................................................................................. 10 2-4 Specification List .......................................................................................................................................... 11 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 8 - 2-1 EtherCAT Overview EtherCAT is an abbreviation of Ethernet for Control Automation Technology. It is an open network communication between master and slaves using real time Ethernet developed by Beckhoff Automation GmbH and is administered by ETG (EtherCAT Technology Group). This product has passed the EtherCAT Conformance Test. EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 9 - 2-2 Reference Materials This document is created with reference to the following article. (Note) About the difference of the written contents of this document and the following reference data, the written contents of this document become effective. It does not guarantee all the description of the reference materials that are not described in this document. Number ETG.1000.2 ETG.1000.3 ETG.1000.4 ETG.1000.5 ETG.1000.6 ETG.1020 ETG.1300 ETG.2000 ETG.6010 Number IEC61800-7-200 (201) IEC61800-7-300 (301) Number ET1815/ET1817 Document EtherCAT Specification - Part2 - Physical Layer service and protocol specification EtherCAT Specification - Part3 - Data Link Layer service definition EtherCAT Specification - Part4 - Data Link Layer protocols specification EtherCAT Specification - Part5 - Application Layer service definition EtherCAT Specification - Part6 - Application Layer protocol specification Protocol Enhancements Indicator and Labeling Slave Information Implementation Directive for CiA402 Drive Profile Type S State R Version V1.0.2 Date 2010.01.07 S R V1.0.2 2010.01.07 S R V1.0.2 2010.01.07 S R V1.0.2 2010.01.07 S R V1.0.2 2010.01.07 S S S D R R D R V1.0.0 V1.1.0 V1.0.2.2 V1.0.0 2011.08.09 2012.01.27 2011.11.14 2012.02.02 Document Adjustable speed electrical power drives systems - Profile type 1 specification Adjustable speed electrical power drives systems - Mapping of profile type 1 to network technologies Type - State - Version Ed.1.0 Date 2007.8.10 - - Ed.1.0 2007.8.10 Document EtherCAT Slave Controller IO core for xilinx FPGAs IP core Release 2.04a Type - State - Version 1.0 Date 2011.3.15 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 10 - 2-3 System Configuration (master & slave configuration) The connection type of EtherCAT is a network system that connects master (FA controller) and multiple slaves with a line (*Note: For other than line connection, send an inquiry to us separately). The number of connectable nodes of slaves depends on the master processing, communication cycle, number of bytes transferred, and so on. Also check the specification of a master together. A master generates EtherCAT Network Information (ENI) (using a configuration tool) based on EtherCAT Slave Information (ESI) offered from our company, and builds an EtherCAT network using ENI. Master RJ45 RJ45 Slave .xml ENI File (EtherCAT Network Information) (MINAS-A5B) Transformer Slave Transformer (MINAS-A5B) PHY PHY EtherCAT Configuration Tool ESC SII (EtherCAT Slave Controller) (EEPROM) : : Slave: (MINAS-A5B) .xml ESI File (EtherCAT Slave Information) Slave CPU object backup (EEPROM) EtherCAT Slave Information (ESI) : It is a file of the XML form offered from our company. The definition of slave peculiar information (Vendor information, product information, a profile, an object, process data, the existence of a synchronization, a SyncManager setup, etc) is indicated. EtherCAT Network Information (ENI) : This is a file created by a master. Information which identifies a slave (Vendor information etc.) and information for initializing each slave is contained in ENI and a master performs network initialization and construction based on information indicated to ENI. Slave Information Interface (SII) : EEPROM which saved SII data is connected to ESC. The information on Initialization information of ESC, Spec value of communication settings of the slave application (Data value size of the mailbox), Mapping of process data, etc. is set up into this EEPROM (SII). Note: - The length of the cable between nodes should be up to 100 m. - Be aware that EtherCAT cannot connect to other than EtherCAT communication type, the MINAS-A4N and MINAS-A5N series for example as the RTEX (Realtime Express) communication type. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 11 2-4 Specification List Item Physical layer Baud rate Topology Connection cable Cable length Number of slaves (shafts) connected Communication port EtherCAT Indicators (LED) Station Alias (ID) Explicit Device ID Device profile SyncManager FMMU Specification 100BASE-TX (IEEE802.3) 100[Mbps] (Full duplex) Line Twist pair CAT5e Between nodes: up to 100 m Up to 65535 2 ports (RJ45 connector) [RUN] RUN Indicator (Green) [ERR] ERROR Indicator (Red) [L/A IN] Port0 Link/Activity Indicator (Green) [L/A OUT] Port1 Link/Activity Indicator (Green) Range: 0 to 65535 <Setting 1>: Lower 8 bits: 2-digit rotary switch (front panel) Upper 8 bits: Object 3740h or <Setting 2>: SII saving value Supported CoE (CANopen over EtherCAT) 4 3 Servo loop Modes of Operation (operation mode) Abbreviation: Op-mode Position Velocity Torque Touch Probe Synchronous mode Cycle time (DC, SM2 communication cycle) Communication object SDO message Free PDO Mapping Maximum number of PDO assigns Maximum PDO data length pp csp ip (Not supported) hm pv csv tq cst Modes of operation Profile position mode Cyclic synchronous position mode Interpolate position mode Homing mode Profile velocity mode Cyclic synchronous velocity mode Torque profile mode Cyclic synchronous torque mode 2ch Positive edge/Negative edge DC (SYNC0 event synchronization) (DC 32bit) SM2 (SM2 event synchronization) Free RUN (asynchronous) 250, 500, 1000, 2000, 4000[µs] SDO (Service Data Object) PDO (Process Data Object) Supported: SDO Request, SDO Response, SDO information, Emergency Message Not supported: Complete Access Supported RxPDO:4 [Table] TxPDO:4 [Table] RxPDO:32 [byte] TxPDO:32 [byte] Diagnosis Object Diagnosis message only Command Object Not supported Shift time It only supports Input(Response) in increments of 250us. Communication error correction of csp Supported Object Monitor Supported (Object values can be monitored using the setup support software PANATERM) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 12 - 33 EtherCAT Communication Specification 3-1 EtherCAT Frame Configuration.................................................................................................................... 13 3-2 ESM (EtherCAT State Machine) .................................................................................................................. 15 3-3 ESC Address Space ....................................................................................................................................... 17 3-4 SII (Slave Information Interface) EEPROM ................................................................................................. 19 3-4-1 SII Area (0000h to 003Fh) .................................................................................................................... 20 3-5 Synchronous Communication Mode ............................................................................................................. 22 3-5-1 DC (synchronous with SYNC0 event) .................................................................................................. 23 3-5-2 SM2 (synchronous with SM2 event) .................................................................................................... 24 3-5-3 Free RUN (asynchronous) .................................................................................................................... 25 3-6 SDO (Service Data Object) ........................................................................................................................... 26 1) Mailbox frame configuration ..................................................................................................................... 26 2) Mailbox timeout ......................................................................................................................................... 27 3-6-1 Message at Error Occurrence ................................................................................................................ 28 1) Abort Message ..................................................................................................................................... 28 2) Emergency Message ............................................................................................................................ 29 3-7 PDO (Process Data Object) ........................................................................................................................... 32 3-7-1 PDO Mapping Object ........................................................................................................................... 33 3-7-2 PDO Assign Object ............................................................................................................................... 34 3-8 Front Panel Configuration ............................................................................................................................. 35 3-8-1 EtherCAT Indicators ............................................................................................................................. 35 1) RUN ..................................................................................................................................................... 36 2) ERR...................................................................................................................................................... 36 3) L/A IN .................................................................................................................................................. 36 4) L/A OUT .............................................................................................................................................. 36 3-8-2 Node addressing (Setting Station alias) ................................................................................................ 37 1) Reading the value of SII from Configured Station Alias ..................................................................... 38 2) Reading the value of rotary switch from Configured Station Alias ..................................................... 38 3) Reading the value of rotary switch from AL Status Code (Explicit Device ID) .................................. 39 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 13 - 3-1 EtherCAT Frame Configuration EtherCAT is an Ethernet based, real-time controllable, communication protocol for industrial use. EtherCAT is an extension of IEEE 802.3 Ethernet standard, allowing you to transfer data in the standard Ethernet frame without changing its basic structure. Set Ether Type in the Ethernet header to 88A4h, and subsequent Ethernet data is handled as the EtherCAT frame. The EtherCAT frame is composed of a header and not less than one datagram. And, the EtherCAT datagram is further divided more pieces. ESC handles only the EtherCAT frame with EtherCAT header type = 1. Ethernet/EtherCAT frame configuration 14byte Ethernet Header Ethernet Header 6byte 2byte Source Datagrams EtherCAT Header 6byte Destination 11bit EtherType Length 1bit 4bit 44(*1)‐1498byte Res. Type Datagrams 88A4h 1 1st EtherCAT Datagram 2nd ･･･ ･･･ 10byte 1byte 1byte 4byte Cmd Idx Address 11 bit Len 3 1 1 bit bit bit 2byte R C M 2byte AP** Position Offset Position Addressing FP** Address Offset Node Addressing Logical Address 2byte WKC Working Counter IRQ 2byte L** nth EtherCAT Datagram Max:1486byte Data Datagram Header (*2) 4byte FCS 46‐1500byte Ethernet Data More EtherCAT Datagrams Logical Addressing *1): If the Ethernet frame length is shorter than 64 bytes, add 1 to 32 bytes. (Ethernet Header + Ethernet Data + FCS) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 14 - *2) Cmd Addressing mode Cmd Abbreviation Name - 00h NOP No oparation 01h APRD Auto increment physical read Each slave increments Address. When a frame whose Address value is 0 is received, the required read operation will be executed. 02h APWR Auto increment physical write Each slave increments Address. When a frame whose Address value is 0 is received, the required write operation will be executed. 03h APRW Auto increment physical read write Each slave increments Address. When a frame whose Address value is 0 is received, the required read & write operation will be executed. 04h FPRD Configured address phsyical read When the value of Address matches with Station Address, each slave executes the required read operation. 05h FPWR Configured address phsyical write When the value of Address matches with Station Address, each slave executes the required write operation. 06h FPRW Configured address phsyical read write When the value of Address matches with Station Address, each slave executes the required read & write operation. 07h BRD Broadcast read All slaves execute the required read operation. 08h BWR Broadcast write All slaves execute the required write operation. 09h BRW Broadcast read write All slaves execute the required read & write operation. 0Ah LRD Logical read When the value of Logical Address matches with the logical memory area designated by the request of FMMU, each slave executes the required read operation. 0Bh LWR Logical write When the value of Logical Address matches with the logical memory area designated by the request of FMMU, each slave executes the required write operation. 0Ch LRW Logical read write Position Addressing 0Dh ARWM Positional physical read / multiple write Node Addressing 0Eh FRMW Configured address physical read / multiple write When the value of Logical Address matches with the logical memory area designated by the request of FMMU, each slave executes the required read & write operation. Each slave increments Address. A slave which received a frame whose Address value is 0 executes the required read operation. Other slaves execute the write operation. Each slave compares the values of Address and Station Address. Matching slaves execute the required read operation. Other slaves execute the write operation. － 0Fh ～ FFh － (Reserved) － Position Addressing Node Addressing － Logical Addressing Explanation No operation is executed. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 15 - 3-2 ESM (EtherCAT State Machine) The figure below shows a transition diagram for the state (ESM state) of EtherCAT application layer: State transition diagram of EtherCAT application layer Init (IP) (PI) Pre-Operational (OI) (PS) (OP) (SP) (SI) Safe-Operational (SO) (OS) Operational Note: The signs including IP are the abbreviations of the state transitions in the state transition diagram. (IP):Init → Pre-Operational (PS):Pre-Operational → Safe-Operational etc. ESM state Possible operation in each state Init The communication part is initializing and the transmission and reception with both SDO (Mailbox) and PDO are impossible Communication operation Send/ Receive Send PDO receive SDO PDO (S to M) (Mailbox) (M to S) FFT test operation - - - Yes Pre-Operational (abbr.: PreOP) Possible to send and receive data through SDO (Mailbox) Yes - - - Safe-Operational (abbr.: SafeOP) The transmission (from slave to master) with PDO as well as the transmission and reception over SDO (Mailbox) are possible Yes Yes - - Possible to send and receive both SDO (Mailbox) and PDO Yes Yes Yes - Operational (abbr.: OP) - It is always possible to access an ESC register from the master regardless of the table above. - When the command update, SYNC0 event, and SM2 event are stopped before the ESM state transition is completed while ESM is changing from Op to other ESM state (Init, PreOP, or SafeOP), a communication error may occur. - A test run is possible in setup support soft PANATERM. To use a frequency characteristic measurement function, it is necessary to set an ESM state to Init. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 16 - The table below lists the relationship between each PDS (Power Drive Systems) and ESM states. For more information on PDS (Power Drive Systems), refer to the section 6-2. ESM state Init PreOP SafeOP Op Not ready to switch on Yes No No Yes Switch on disabled Yes Yes Yes Yes PDS state Ready to switch on *1) No Yes Yes Yes Switched on *1) No Yes Yes Yes Operation enabled *2) *5) No Yes *4) Yes *4) Yes Yes Yes Yes Yes Yes Yes Yes Yes Fault reaction active Fault *3) *1):When the ESM state received a transition command from PreOp, SafeOp and Op to Init, the PDS state changes Switch on disabled. *2):When an ESM state received a transition command to other ESM states with the PDS state at “Operation enabled”, Err.88.2 (ESM requirements during operation error protection) occurs and the PDS state changes to "Fault". *3):An ESM state is held when a PDS state changes to Fault by errors other than EtherCAT communication relation. However, an ESM state follows the specification indicated in Section 8-2 when EtherCAT communication relation error is occurred. *4): Transition to the Operation enable state PDS should be done at the time of the OP is ESM state. *5): It may take time for the state to complete a transition in accordance with an ESM request from the master; pay attention to the timeout setting on the master side and other relevant settings. For example, if the ESM state is changed from “OP” to “PreOP” with the PDS state at “Operation enabled”, Err.88.2 (ESM requirements during operation error protection) occurs, and deceleration is performed in accordance with 605Eh (Fault reaction option code). However, since the ESM state maintains “OP”, the lower the deceleration rate, the longer it takes for the ESM state to transition to “PreOP”. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 17 - 3-3 ESC Address Space MINAS-A5B has the physical address space of 12 Kbyte. The first 4 Kbyte (0000h to 0FFFh) is used as a register space and subsequent 8 Kbyte is used as the process data RAM area. Major resisters are shown below. For details of the resisters and other resisters, refer to the datasheets of the IP cores (ET1815/ET1817). ESC Register Byte Address ESC Information 0000h 0001h 0002h～0003h 0004h 0005h 0006h 0007h 0008h～0009h Station Address 0010h～0011h 0012h～0013h Length (Byte) Description Type Revision Build FMMUs supported SyncManagers supported RAM Size Port Descriptor ESC Features supported 2 2 Configured Station Address Configured Station Alias 4 ESC DL Control 04h 02h 0040h 03h 04h 08h 0Fh 0184h - … 1 1 2 1 1 1 1 2 Initial value *1) Data Link Layer … 0100h～0103h - … 2 0110h～0111h Application Layer 2 0120h～0121h 2 0130h～0131h 2 0134h～0135h ESC DL Status - AL Control AL Status AL Status Code - … PDI 0140h 0141h 0150h 0151h 0152h～0153h 1 1 1 1 2 PDI Control ESC Configuration PDI Configuration SYNC/LATCH PDI Configuration Extended PDI Configuration 08h 0Ch 66h - … R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 18 - ESC Register Byte Address Length (Byte) Initial value *1) Description … 2 2 2 2 1 1 Watchdog Divider Watchdog Time PDI Watchdog Time Process Data Watchdog Status Process Data Watchdog Counter Process Data Watchdog Counter PDI FMMU 0600h～062Fh +0h～3h +4h～5h +6h +7h +8h～9h +Ah +Bh +Ch +Dh～Fh 3x16 4 2 1 1 2 1 1 1 3 FMMU[2:0] Logical Start Address Length Logical Start bit Logical Stop bit Physical Start Address Physical Start bit Type Activate Reserved - … Watchdogs 0400h～0401h 0410h～0411h 0420h～0421h 0440h～0441h 0442h 0443h - … Distributed Clocks (DC) 0981h 1 － SYNC Out Unit Activation - … 1 1 Activation Status SYNC0 Status - 0990h～0993h 4 Start Time Cyclic Operation/Next SYNC0 Pulse 09A0h～09A3h 4 SYNC0 Cycle Time … 0984h 098Eh - … - … *1) The initial value is at the time of start-up ESC. Thereafter, may change such as CPU firmware. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 19 - 3-4 SII (Slave Information Interface) EEPROM MINAS-A5B is equipped with 16 Kbit EEPROM for storing the EtherCAT slave information (ESI). The table below lists the EEPROM structure. ESI uses the word addressing. SII EEPROM Word Address +0h +1h 0000h 0008h 0010h 0018h +2h +3h +4h +5h +6h +7h EtherCAT Slave Controller Configuration Area Vendor ID Product Code Revision Number Hardware Delays Serial Number Bootstrap Mailbox Config Mailbox Sync Man Config 0020h ... Reserved 0038h Size 0040h Additional Information (Subdivided in Categories) ... Category Strings Version Category Generals Category FMMU Category SyncManager Category TxPDO / RxPDO for each PDO R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 20 - 3-4-1 SII Area (0000h to 003Fh) Among the ESC configuration areas (EEPROM word address 0000h to 0007h), Configured Station Alias is automatically read out by ESC and written to the ESC register after the power is turned on. To reflect the value after SII EEPROM change to the ESC register, turn off the power and then on again. Except for this, the initial value of the IP core (ET1815/ET1817) is set. Note: Basically, do not make changes to other addresses than 0004h (Configured Station Alias) and 0007h (Checksum). 0004h and 0007h need to be changed together. For details, refer to the datasheets of the IP cores (ET1815/ET1817). SII EEPROM Name Word Address 0000h PDI Control 0001h 0002h 0003h 0004h 0005h 0006h 0007h Description Initial value for the PDI control register PDI Configuration Initial value for the PDI configuration register Pulse Length of Initial value for the pulse length of SYNC SYNC Signals signal Extended PDI Initial value for the extended PDI Configuration configuration register Configured Station Initial value for the Station Alias (ID) Alias For details, refer to section 3-8-2. Reserved Reserved Checksum Checksum of ESC configuration area ESC Register Word Address 0140h 0141h 0150h 0151h 0982h 0983h 0152h 0153h 0012h 0013h - Data type Initial value Unsigned16 0C08h Unsigned16 6600h Unsigned16 0064h Unsigned16 0002h Unsigned16 0000h BYTE[4] - Unsigned16 - R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 21 - The table below lists the contents of SII EEPROM following the ESC configuration area: SII EEPROM Word Address 0008h 0009h 000Ah 000Bh Name Description ESC Register Word Address - Data type Initial value Unsigned32 066Fh (Depends on the product) (Depends on the product) (Depends on the product) Vendor ID Vendor ID Product Code Product code - Unsigned32 000Ch 000Dh Revision Number Revision No - Unsigned32 000Eh Serial Number Serial No - Unsigned32 Execution Delay Port0 Delay Port1 Delay Reserved Bootstrap Receive Mailbox Offset Bootstrap Receive Mailbox Size Bootstrap Send Mailbox Offset Execution delay Port 0 delay Port 1 delay Reserved Offset (from master to slave) of receiving Mailbox in Bootstrap state (Not supported) Size (from master to slave) of receiving Mailbox in Bootstrap state (Not supported) Offset (from slave to master) of sending Mailbox in Bootstrap state (Not supported) Size (from slave to master) of sending Mailbox in Bootstrap state (Not supported) Offset (from master to slave) of default receiving Mailbox - Unsigned16 Int16 Int16 BYTE[2] Unsigned16 0000h 0000h 0000h 0000h - Unsigned16 0000h - Unsigned16 0000h - Unsigned16 0000h - Unsigned16 1000h Size (from master to slave) of default receiving Mailbox - Unsigned16 0100h Offset (from slave to master) of default sending Mailbox Size (from slave to master) of default sending Mailbox Supported Mailbox protocol Reserved - Unsigned16 1200h - Unsigned16 0100h - Unsigned16 0004h - BYTE[66] - Size of EEPROM (This amplifier is equipped with 16 Kbit EEPROM.) Version (Fixed at 1.) - Unsigned16 000Fh - Unsigned16 0001h 000Fh 0010h 0011h 0012h 0013h 0014h 0015h 0016h 0017h Bootstrap Send Mailbox Size 0018h Standard Receive Mailbox Offset Standard Receive Mailbox Size Standard Send Mailbox Offset Standard Send Mailbox Size Mailbox Protocol Reserved 0019h 001Ah 001Bh 001Ch 001Dh ... 003Dh 003Eh Size 003Fh Version 0040h ... Data for each category R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 22 - 3-5 Synchronous Communication Mode The MINAS-A5B series enables you to select synchronous modes below: Synchronous mode Description DC Synchronous with SYNC0 event SM2 FreeRun Synchronization method Characteristic Synchronize the time information of • High accuracy other slaves based on the time of the • Correction process is required on the first shaft. master side. Synchronous with SM2 event Synchronize it to the reception timing of RxPDO. • There is no transmission delay correction and accuracy is low. • It is necessary to keep the transmission timing constant on the controller side. (dedicated hardware etc.) Asynchronous Asynchronous • Process is simple. • Real-time characteristics are insufficient. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 23 - 3-5-1 DC (synchronous with SYNC0 event) The MINAS-A5B series is equipped with 32 bits DC (Distributed Clock). The synchronization of the EtherCAT communication is based on DC. A slave can be synchronized by sharing the same standard clock (System Time) based on DC. The local cycle of the slave is triggered by the SYNC0 event. The process (servo process) of the slave is triggered by the SYNC0 event cycle, so a slave process is always synchronous with the SYNC0 event. The master needs to perform propagation delay compensation (offset compensation) at the time of communication initialization, and also needs to perform drift compensation periodically. The figure below shows the flow from the control power-on to the synchronization between the SYNC0 event and slave process (servo process): Control power ON OFF About 100 to 300 ms Internal control power Established OFF *2) Max.3s Behavior of microcomputer Reset *1) EtherCAT communication state transition (ESM state transition) Initialization Init Normal behavior Changed at the timing of the ESM state transition command Pre Operational Safe Operational Operational SDO (Mailbox) sendable/receivable Servo amplifier communication PDO sendable PDO receivable SYNC0 signal from ESC Communication cycle Synchronous state between the SYNC0 signal and servo control cycle Time for synchronization: up to 1s Synchronization incomplete Synchronization completed After the "synchronization" between the SYNC0 signal and servo control cycle is completed, PDO is sent in synchronization with servo control cycle. *1) The ESM state of the above figure is an internal state of servo amplifier. Check the completion of changes between each state by the higher rank (master) side. *2) Initialization time can be lengthened at 3618h (Power-up wait time). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 24 - 3-5-2 SM2 (synchronous with SM2 event) Local cycle of the slave is triggered by the SM2 event. The process of the slave is triggered by the SM2 event cycle, so slave process is always synchronous with the SM2 event. Note: Since the SM2 event occurs in sync with the PDO reception, it is necessary to keep the sending timing of the upper (master) side constant. If the jitter (dispersion) of sending timing is large, the synchronization will not be completed or an alarm may occur. If it will cause a problem, use DC (synchronous with SYNC0 event). The figure below shows the flow from the control power-on to the synchronization between the SM2 event and slave process (servo process): Control power ON OFF About 100 to 300 ms Internal control power Established OFF *2) Max.3s Behavior of microcomputer Reset *1) EtherCAT communication state transition (ESM state transition) Initialization Init Normal behavior Changed at the timing of the ESM state transition command Pre Operational Safe Operational Operational SDO (Mailbox) sendable/receivable Servo amplifier communication PDO sendable PDO receivable SM2 (IRQ) signal from ESC Communication cycle Synchronous state between SM2 (IRQ) signal and servo control signal Synchronization incomplete Time for synchronization: up to 1s Synchronization completed After the "synchronization" between the SM2 (IRQ) signal and servo control cycle is completed, PDO is sent in synchronization with servo control cycle. *1) The ESM state of the above figure is an internal state of servo amplifier. Check the completion of changes between each state by the higher rank (master) side. *2) Initialization time can be lengthened at 3618h (Power-up wait time). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 25 - 3-5-3 Free RUN (asynchronous) The Free RUN mode is started by the local timer interrupt of a slave. The local cycle runs independent of the communication cycle and master cycle and is asynchronous from them. The figure below shows the flow during the control power-on: Control power ON OFF About 100 to 300 ms Internal control power Established OFF *2) Max.3s Behavior of microcomputer *1) EtherCAT communication state transition (ESM state transition) Servo amplifier communication Reset Initialization Init Changed at the timing of the ESM state transition command Pre Operational Safe Operational Normal behavior Operational SDO (Mailbox) sendable/receivable PDO sendable PDO receivable *1) The ESM state of the above figure is an internal state of servo amplifier. Check the completion of changes between each state by the higher rank (master) side. *2) Initialization time can be lengthened at 3618h (Power-up wait time). *3) Do not send PDO with a shorter cycle than 250 μs. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 26 - 3-6 SDO (Service Data Object) The MINAS-A5B series supports SDO (Services Data Object). The data exchange of SDO uses the Mailbox communication. Therefore, be aware that the data update timing of the SDO will be indefinite. The object setting and various state monitoring of the slaves are enabled by reading/writing data from/into the entry of the object dictionary in the master. Note) - It may take some time to read and write operations SDO response. - Objects that are updated in the PDO do not update the SDO. They are overwritten with the values of PDO. 1) Mailbox frame configuration The figure below shows the frame configuration of Mailbox/SDO. For more information, refer to ETG standards (ETG1000-5 and ETG1000-6). Ethernet Header 1st EtherCAT Datagram EtherCAT Header 10byte Max:1486byte Mailbox Protocol Datagram Header 6byte Mailbox Header 16bit Length 16bit Address 2nd ･･･ ･･･ nth ･･･ 6bit 2bit Channel Prio 4bit 2byte WK C 2byte CoE Header 4bit Type Cnt FC Max:1478byte Cmd specific 9bit 3bit 4bit Number Res Serv Max.1478byte Cmd specific R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 27 - Frame block Mailbox Header CoE Header Cmd specific Data field Length Address Channel Priority Type Data type WORD WORD Unsigned6 Unsigned2 Unsigned4 Cnt Reserved Number Reserved Service Size indicator Transfer type Dataset size Complete access Unsigned3 Unsigned1 Unsigned9 Unsigned3 Unsigned4 Unsigned1 Unsigned1 Unsigned2 Unsigned1 Command specfier Unsigned3 Index Subindex WORD BYTE Function Data length of mailbox Source station address (Reserved) Priority Mailbox type 2.00 00h : Error 01h : (Reserved) 02h : EoE (Not supported) 03h : CoE 04h : FoE (Not supported) 05h : SoE (Not supported) 06h-0Eh : (Reserved) 0Fh : VoE (Not supported) Mailbox counter (Reserved) (Reserved) (Reserved) Message type Dataset size enabled Select Normal/Expedited transfer Dataset size setting Select how to access object (Not supported) Upload/download Select request, response, etc. Object index Object sub-index Data, abort message, etc. of object [Function varies depending on the combination of the following: Size Indicator, Transfer Type, Data Set Size, Complete Access, Command Specfier] 2) Mailbox timeout With this servo amplifier, the timeout time in Mailbox communication is set as follows: - Timeout time for Mailbox request: 100 ms 2.00 If the master transmits a request to the slave (amplifier) and WKC of transmission data of the request frame is updated, the request is considered to be properly received by the slave. Although retry operation is performed until WKC is updated, timeout occurs at the master side if WKC is not updated until this setting time expires. 2.00 - Timeout time for Mailbox response: 10 seconds If the master receives a response to a request from the slave (amplifier) and WKC is updated, the response is considered to be properly received by the slave. Timeout occurs at the master side if the master does not receive a response where WKC is updated until this setting time expires. The maximum time required for the response creation of the slave (amplifier). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 28 - 3-6-1 Message at Error Occurrence 1) Abort Message When the SDO data exchange (read/write) fails, The error message containing Abort code, called Abort message is returned. The abort message is an error only for the SDO data exchange. There is not any abort message for the PDO data exchange. The contents of abort code can differ according to the access conditions. Abort code Description 05030000h Toggle bit not changed (Not supported) 05040000h SDO protocol timeout (Not supported) 05040001h Client/Server command specifier not valid or unknown 05040005h Out of memory 06010000h Not supported access to an object 06010001h Attempt to read to a write only object 06010002h Attempt to write to a read only object 06010003h Subindex cannot be written, SI0 must be 0 for write access 06020000h The object does not exist in the object directory 06040041h The object can not be mapped into the PDO (Not supported) 06040042h The number and length of the objects to be mapped would exceed the PDO length (Not supported) 06040043h General parameter incompatibility reason (Not supported) 06040047h General internal incompatibility in the device (Not supported) 06060000h Access failed due to a hardware error 06070010h Data type does not match, length of service parameter does not match 06070012h Data type does not match, length of service parameter too high (Not supported) 06070013h Data type does not match, length of service parameter too low (Not supported) 06090011h Subindex does not exist 06090030h Value range of parameter exceeded 06090031h Value of parameter written too high 06090032h Value of parameter written too low 06090036h Maximum value is less than minimum value 08000000h General error 08000020h Data cannot be transferred or stored the application 08000021h Data cannot be transferred or stored to the application because of local control 08000022h Data cannot be transferred or stored to the application because of the present device state 08000023h Object dictionary dynamic generation fails or no object dictionary is present (Not supported) (Not supported) (only for write access) (Not supported) (Not supported) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 29 - 2) Emergency Message A slave notifies the master of the emergency message through the mailbox communication when an error(alarm) occurs in the servo amplifier(Slave). When no error (alarm) occurs and only warning occurs, it is not reported. 2.00 A maximum of 8 Emergency messages generated while the ESM state is Init are buffered in the order of occurrence, these messages are returned if the ESM state is PreOP or higher. However, if the number of Emergency messages exceeds 8, messages are discarded in the order of occurrence. Effective/invalidity of Emergency message transmission can be set up by 10F3h(Diagnosis history)05h(Flags):Bit0. Emergency message transmission of a default is "effective". (10F3h-05h(Flags):Bit0=1) Refer to Section 5-7 for Sub-Index other than Sub-Index:05h. Index SubIndex - 10F3h 05h Name Units Range / Description Diagnosis history Reads an error history and enables/disables an emergency message. Data Type - Access PDO - - Flags U16 See below No - bit 0 RW bit 1 bit 2 bit 3 bit 4 bit 5 R R R R R bit 6-15 - 0 - 65535 Op- EEPRO mode M - ALL Yes Emergency messages execution permission 0：Emergency message Invalid 1：Whenever new abnormality is detected, emergency message is issued. (Some of the anomaly does not remain in the Diagnosis message) Not supported：Fixed at 1 Not supported：Fixed at 1 Not supported：Fixed at 0 Not supported：Fixed at 0 Diagnosis message clearances information 1：Clearance of diagnosis message is completed. (at the time of 10F3h-03h=0 writing) (The value is kept until new error (alarm) occurs) Reservation If an error(alarm) occurrence and clearing are repeated multiple times within a short period of time, only the emergency message for the final status may be noticed. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 30 - The emergency message is composed of 8 bytes data as shown in the figure below: Byte 0 1 2 3 4 5 6 Error code Error Error Field (*3) (*1) register Description (OD:603Fh) (*2) (OD:1001h) (L) (H) (L) 7 (H) *1) Error code The same value as 603Fh(Error code) returns to Error code. The error codes at 0000h to FEFFh are defined in IEC61800-7-201. FF00h to FFFFh is defined peculiar by the maker and serves as the following contents. Index 603Fh SubIndex 00h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M Error code 0 - 65535 U16 ro TxPDO ALL No • Displays an alarm (main number only) / warning occurred in the servo amplifier. 4.00 When both an alarm and warning does not occur, displays 0000h. When an alarm and warning occur at the same time, display the alarm. FF**h Alarm (main) number (00h to 9Fh) warning number(A0h to A9h, C3h) Example: FF0Ch: 0Ch=12d. Err12.0 (over voltage protection) occurred FF55h: 55h=85d. Err85.0 (TxPDO assignment error protection) or Err85.1 (RxPDO assignment error protection) occurred (Note) In the case of Err81.7(SyncManager2/3 error protection) occurs, A000h is displayed as an exception. *2) Error register The same value as the one in 1001h (Error register) is returned. Index SubIndex Name Units Range / Description Error Register 0 - 255 Displays the type (state) of an alarm occurred in the servo amplifier. When an alarm does not occur, displays 0000h. No warning is displayed. bit 1001h 00h 0 1 2 3 4 5 6 7 Data Type U8 Access PDO ro No Op- EEPRO mode M ALL No Description (Not supported) The alarm which is defined in the AL status code *1) (Not supported) (reserved) The alarm which is not defined in AL status code *2) *1) " The alarm which is defined in the AL status code " is which indicate Err80.0-7 and Err81.0-7, Err85.0-7 in the EtherCAT communication related error. *2) " The alarm which is not defined in AL status code " is which indicate Err88.0-7 in the EtherCAT communication related error and other than EhterCAT communication related error. The details of alarm refer to Chapter 8. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 31 - *3) Error Field • When abnormalities other than Err81.7(SyncManager2/3 error protection) occur within servo amplifier: The alarm's subnumber is returned to Data [0]. 00h is returned to Data [1] to [4]. Example: Err.16.1 (Torque saturation protection) occurred: Byte Descri ption 0 Error code 1 2 Error register 3 Data [0] 4 Data [1] 5 Data [2] 6 Data [3] 7 Data [4] Value FF10h 80h 01h 00h 00h 00h 00h Alarm main number Alarm sub number • When an abnormal condition is cleared in the servo amplifier: Data [0] to [4] is 00h cleared. Example: The alarm state is cleared due to the fault reset: Byte Descri ption 0 1 Error code 2 Error register 3 Data [0] 4 Data [1] 5 Data [2] 6 Data [3] 7 Data [4] Value 0000h 00h 00h 00h 00h 00h 00h • The SM2/3 setting check at the time of the changes to SafeOp from PreOp is inaccurate in the communication error, and when Err81.7 “SyncManager2/3 error protection” occurs, Error code is set to A000h, Error register is set to 10h, and it returns regular data. For more information, refer to ETG standards (ETG1000-6). Example: [1] The Length(ESC Register 0812h and 0813h) of SyncManager2 is invalid *1) [2] The Physical Start Address(ESC Register 0810h and 0811h) of SyncManager2 is invalid (other than 1000h to 2FFFh, odd, etc.) [3] The SyncManager2 setting is invalid (set to Inactive, 1buffer, Write, etc.) [4] The Length(ESC Register 081Ah and 081Bh) of SyncManager3 is invalid *1) [5] The Physical Start Address(ESC Register 0818h and 0819h) of SyncManager3 is invalid (other than 1000h to 2FFFh, odd, etc.) [6] The SyncManager3 setting is invalid (set to Inactive, 1buffer, Read, etc.) Byte Descript ion [1] 0 1 Error code A000h 2 Error register 10h 3 Data [0] 08h 4 5 6 7 Data Data Data Data [1] [2] [3] [4] Length *2) Length *2) (L) (H) (L) (H) 00h 10h FEh 2Fh [2] A000h 10h 09h [3] A000h 10h 0Ah [4] A000h 10h 0Ch [5] A000h 10h 0Dh 00h [6] A000h 10h 0Eh 22h 24h (L) *3) 00h Length *2) *3) (H) (L) 10h *3) 03h 01h FEh *3) 01h *3) 00h Length *2) 2Fh *3) 00h *3) (H) *3) *1) It returns, when the setting is different from the PDO mapping size. If the PDO mapping size exceeds 32 bytes, Err85.1(RxPDO assignment error protection) occurs, and 01h (the subnumber of the alarm) is returned to Data [0], and 00h is returned to Data [1] to [4]. *2) An actual set value of the PDO mapping size is returned to Length. For example, when the PDO mapping size is 9, returned values are: Data [1] = 09h, Data [2] = 00h, Data [3] = 09h, and Data [4] = 00h. *3) When the PDO mapping size is 0, 00h is returned to Data [1] to [4]. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 32 - 3-7 PDO (Process Data Object) The MINAS-A5B series supports PDO (Process Data Object). The real time data transfer over EtherCAT is done by the data exchange with PDO (Process Data Object). PDO is composed of RxPDO transferring from master to slave and TxPDO transferring from slave to master. RxPDO TxPDO Sender Master Slave Receiver Slave Master (Note) The object updated by PDO should not carry out updating by SDO. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 33 - 3-7-1 PDO Mapping Object The PDO mapping is the mapping of the application object from the object dictionary to PDO. As the PDO mapping table, MINAS-A5B can use the mapping object from 1600h to 1603h for RxPDO and from 1A00h to 1A03h for TxPDO. The maximum number of application objects to be mapped to a mapping object is as follows: RxPDO:32 [byte] TxPDO:32 [byte] Maximum PDO data length Here, setting example of the PDO mapping is as follows: For more information on setting method, refer to section 5-4. <Setting example> In the case set application object(6040h,6060h,607Ah,60B8h) to 1600h(Receive PDO mapping 1:RxPDO_1). Object dictionary Object contents Sub 1600h 00h 04h 01h 6040 00 10 h 02h 6060 00 08 h 03h 607A 00 20 h 04h 60B8 00 10 h 05h 0000 00 00 h 20h Mapping object on EtherCAT frame 1600h(RxPDO_1) data PDO_Length = 72bit(9byte) ･･･ ･･･ Mapping object Index 0000 00 00 h 6040h 00h 6060h 00h 60A7h 00h 60B8h 00h ･･ 00h Controlword U16 6041h 00h Statusword U16 6060h 00h Modes of Operation 6061h 00h 607Ah 00h Target Position 6080h 00h Max motor speed 60B8h 00h Touch probe function U16 60B9h 00h Touch probe status U16 Modes of operation display I8 I8 ･･ I32 ･･ Application object ･･ 6040h U32 ･･ ･･ R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 34 - 3-7-2 PDO Assign Object To exchange the PDO data, assign a PDO mapping table in Sync Manager. Describe the relationship between PDO mapping table and Sync Manager in the Sync Manager PDO assign object. MINAS-A5B can use 1C12h for RxPDO (SyncManager2) and 1C13h for TxPDO (SyncManager3), as a Sync Manager PDO assign object. The maximum number of mapping objects to be mapped to an assign object is as follows: Maximum number of PDO assigns RxPDO:4 [Table] TxPDO:4 [Table] Normally, only one mapping object is sufficient, so a change from default is not required. The setting example of the Sync Manager PDO assign object is as follows: For more information on setting method, refer to section 5-4. <Setting example> In the case set 1A00h(Transmit PDO mapping 1:TxPDO_1) to assign object 1C13h(Sync manager channel 3). SyncManager PDO Assign object Object dictionary Object contents Index Sub 1C13h 00h 01h 01h 1A00h 02h 0000h 03h 0000h 04h 0000h PDO mapping object entry of the SyncManager3 Mapping object TxPDO_1 1A00h TxPDO_1 1A01h TxPDO_2 1A02h TxPDO_3 1A03h TxPDO_4 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 35 - 3-8 Front Panel Configuration The figure below shows the front panel configuration in the MINAS-A5B series: EtherCAT Indicators (top to bottom) RUN (green) EER (red) L/A IN (green) L/A OUT (green) Rotary switch for setting Station Alias (ID) 7 segment LED 3-8-1 EtherCAT Indicators MINAS-A5B series has four EtherCAT Indicators (LED). There are four patterns below indicating the LED status besides ON and OFF: 50 ms ON Flickering OFF 50 ms ON Blinking 200 ms 200 ms OFF ON Single flash 1000 ms 200 ms OFF ON Double flash 200 ms 200 ms 1000 ms 200 ms OFF R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 36 - EtherCAT Indicators (top to bottom) RUN (green) EER (red) L/A IN (green) L/A OUT (green) 1) RUN RUN Indicator indicates the ESM (EtherCAT State Machine) status. LED lights in green. LED state OFF Blinking Single flash ON Description ESM: INIT state ESM: Pre-operational state ESM: Safe-operational state ESM: Operational state 2) ERR ERR Indicator indicates an alarm state defined in the AL status code *1). LED lights in red. Also, For more information, refer to section 8-1. LED state Description OFF No occurrence of alarms defined in the AL status code *1) Blinking Communication setup error Single flash Synchronous event error Application watchdog timeout Double flash Initialization error Flickering PDI error ON *1) Alarms defined in the AL status code refer to Err80.0 to 7, Err81.0 to 7, and Err85.0 to 7 of the errors related to EtherCAT communication. 3) L/A IN 4) L/A OUT L/A IN, L/A OUT Indicators indicate the LINK state and activity of each port's physical layer. LED lights in green. LED state Description OFF LINK not established Flickering LINK established, There are data transmission and reception. LINK established, There are no data transmission and reception. ON R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 37 - 3-8-2 Node addressing (Setting Station alias) Addressing mode defined by EtherCAT is as follows. Addressing Segment addressing Device addressing Logical addressing Node addressing Position addressing This section describes about the method of Node addressing. This is peculiar node ID (Station alias) for a master to specify a slave. In this servo amplifier, Node addressing has three ways regarding setting means and reading method. 1) Reading the value of SII from Configured Station Alias Reading the value of 0004h(Configured Station Alias) in the SII from 0012h(Configured Station Alias) of ESC register. 2) Reading the value of rotary switch from Configured Station Alias Reading the value made of object 3740h(Station alias setup(high)) and front panel rotary switch from 0012h(Configured Station Alias) of ESC register. 3) Reading the value of rotary switch from AL Status Code (Explicit Device ID) Reading the value made of object 3740h(Station alias setup(high)) and front panel rotary switch from AL Status Code(0134h). The master reads the set values of the Configured Station Alias (0012h) of the ESC register and sets them to the Configured Station Address (0010h). Thereby addresses such as FPRD commands used in the mailbox are set. Master ESC Slave (EtherCAT Slave Controller) SII 0004h (EEPROM) Configured Station Alias 1) 0010h Configured Station Address 0012h Configured Station Alias 0120h bit5 AL Control 2) 0130h bit5 0134h AL Status AL Status Code 3) Explicit Device ID Station Alias (ID)for setting rotary switch(RSW) Slave CPU object backup (EEPROM) 3741h 00h Station alias selection 3740h 00h Station alias setup(high) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 38 - 1) Reading the value of SII from Configured Station Alias This explains the method of reading the value of 0004h(Configured Station Alias) in the SII from 0012h(Configured Station Alias) of ESC register. Servo amplifier reads the value of object 3741h(Station alias selection) from backup EEPROM at the control power-on. If the value is 1, the value saved at 0004h(Configured Station Alias) in the SII into 0012h(Configured Station Alias) of ESC register. Master reads this value. 2) Reading the value of rotary switch from Configured Station Alias This explains the method of reading the value made of object 3740h(Station alias setup(high)) and front panel rotary switch from 0012h(Configured Station Alias) of ESC register. Servo amplifier reads the value of object 3741h(Station alias selection) from backup EEPROM at the control power-on. If the value is 0, the value made of object 3740h(Station alias setup(high)) and front panel rotary switch into 0012h(Configured Station Alias) of ESC register. Master reads this value. • Selection of station alias setting Index 3741h SubIndex 00h Name Units / Description Station Alias selection Designates how to set a Station Alias. * Default configuration is 1. Range Data Type Access PDO 0-2 Int16 rw No Op- EEPRO mode M ALL value Function 0 The value made of object 3740h and front panel rotary switch is set as station alias. 1 The value saved at 0004h in the SII is set as station alias. 2 Used by manufacturer (Can not be set) *1) If setting values for both the rotary switch and 3740h are 0, the value of the SII area (0004h) is regarded as Station Alias. Yes *1) • How to set the parameters with rotary switch and object The Station Alias is set by combining a value (lower 8 bits) set by rotary switch and a value (upper 8 bits) in 3740h (Station Alias setup (high)). Station Alias Upper 8 bits Lower 8 bits Value set by 3740h Value set by rotary switch Index 3740h SubIndex 00h Name Units / Description Station Alias setup(high) Designates upper 8 bits of the Station Alias. Range 0 - 255 Data Type Int16 Access PDO rw No Op- EEPRO mode M ALL Yes Note: Each setting is enabled when the control power is turned on. Therefore, if a value is changed after control power-on, the change is not yet effective. Note that the change will be effective at next control power-on. To avoid unnecessary problem, do not alter each value after control power-on. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 39 - 3) Reading the value of rotary switch from AL Status Code (Explicit Device ID) This explains the method of reading the value made of object 3740h(Station alias setup(high))(upper 8 bits) and front panel rotary switch(lower 8 bits) from AL Status Code(0134h). The Station Alias read by this method is not that of 0012h (Configured Station Alias) of an ESC register. (1) Bit5 (ID Request) of AL Control(0120h) is set to 1. (2) The Station Alias set up by a rotary switch (lower 8 bits) and 3740h(upper 8 bits) returns to AL Status Code(0134h). (3) 1 returns to Bit5 (ID Loaded) of AL Status(0130h). (4) Bit5 (ID Request) of AL Control(0120h) is set to 0. (5) 0 returns to Bit5 (ID Loaded) of AL Status(0130h). (6) AL Status Code(0134h) is cleared. AL Control Bit5 （ID Request） 0 AL Status Bit5 （ID Loaded） 0 AL Status Code 0 0 1 1 0 Station Alias 0 AL Status Code is cleared without the request of AL Control. Station Alias is returned by the request of AL Control. Station alias : It is set up in rotary switch(lower 8 bit) and object 3740h(Station alias setup(high))(upper 8 bit) In the period of returning Station Alias, if a alarm which is defined in the AL status code(Err80.0-7, Err81.0-7 and Err85.0-7 in the EtherCAT communication related errors) occurs, AL status code of the alarm is returned. When the alarm is cleared, Station Alias is returned again. (To clear alarm, refer to Section 8-4) AL Control Bit4 （Error Ind Ack） 0 AL Control Bit5 （ID Request） 1 AL Status Bit4 （Error Ind） 0 AL Status Bit5 （ID Loaded） 1 AL Status Code Station Alias 1 1 0 0 1 AL status code of alarm AL status code of alarm is returned if a alarm which is defined in the AL status code occurs. Station Alias Station Alias will be returned if the alarm is cleared. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 40 - 44 Common Object Specification 4-1 Object Configuration ..................................................................................................................................... 41 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 41 - 4-1 Object Configuration Every object is addressed by 16 bits index which is represented as a 4-digit hexadecimal number and is placed in an object dictionary on an object group basis. The table below lists the CoE (CANopen over EtherCAT) object dictionary defined in CiA402 and the MINAS-A5B series object dictionary. Object dictionary defined in CiA402 Index 0000h to 0FFFh 1000h to 1FFFh 2000h Description Data type area Description Data type area Refer to - 1000h CoE communication area Chapter 5 - to 1FFFh Manufacturer-specific area Profile area to 9FFFh A000h to FFFFh Index 0000h to 0FFFh CoE communication area to 5FFFh 6000h MINAS-A5B object dictionary Reserved 2000h to 2FFFh 3000h to 3FFFh Reserved 4000h to 5FFFh Reserved 6000h to 6FFFh Drive profile area 7000h to 9FFFh Reserved - A000h to FFFFh Reserved - Servo parameter area Chapter 7 Chapter 6 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 42 - 55 CoE Communication Area (1000h to 1FFFh) 5-1 Object List ..................................................................................................................................................... 43 5-2 Device Information ....................................................................................................................................... 45 5-3 Sync Manager Communication Type (1C00h).............................................................................................. 47 5-4 PDO (Process Data Object) Mapping ........................................................................................................... 48 5-4-1 PDO Assign Object (1C12h to 1C13h) ................................................................................................. 48 5-4-2 PDO Mapping Object (1600h to 1603h, 1A00h to 1A03h) .................................................................. 49 5-4-3 Default PDO Mapping .......................................................................................................................... 51 5-4-4 PDO Mapping Setting Procedure.......................................................................................................... 53 5-5 Sync Manager 2/3 Synchronization (1C32h, 1C33h).................................................................................... 55 5-5-1 DC (synchronous with SYNC0 event) .................................................................................................. 59 5-5-2 SM2 (synchronous with SM2 event) .................................................................................................... 61 5-5-3 Free RUN (asynchronous) .................................................................................................................... 63 5-5-4 Input shift time ...................................................................................................................................... 65 5-6 Store Parameters (write object in EEPROM) (1010h) .................................................................................. 66 5-7 Diagnosis history (Reading Function of Error (alarm) History) (10F3h) ...................................................... 67 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 43 - 5-1 Object List 10F3h ... 00h 01h 02h 03h 04h 05h 06h 13h 00h 01h 02h 03h 04h 05h 06h 07h 08h 20h 1601h 00h 01h 02h 03h 04h 05h 06h 07h 08h Diagnosis message 14 20h 1602h ... 00h 01h 02h 03h 04h 05h 06h 07h 08h 20h 1603h 00h 01h 02h 03h 04h 05h 06h 07h 08h 32nd receive PDO mapped Receive PDO mapping 2 Number of entries 1st receive PDO mapped 2nd receive PDO mapped 3rd receive PDO mapped 4th receive PDO mapped 5th receive PDO mapped 6th receive PDO mapped 7th receive PDO mapped 8th receive PDO mapped 32nd receive PDO mapped Receive PDO mapping 3 Number of entries 1st receive PDO mapped 2nd receive PDO mapped 3rd receive PDO mapped 4th receive PDO mapped 5th receive PDO mapped 6th receive PDO mapped 7th receive PDO mapped 8th receive PDO mapped 32nd receive PDO mapped Receive PDO mapping 4 Number of entries 1st receive PDO mapped 2nd receive PDO mapped 3rd receive PDO mapped 4th receive PDO mapped 5th receive PDO mapped 6th receive PDO mapped 7th receive PDO mapped 8th receive PDO mapped ... ... 20h Receive PDO mapping 1 Number of entries 1st receive PDO mapped 2nd receive PDO mapped 3rd receive PDO mapped 4th receive PDO mapped 5th receive PDO mapped 6th receive PDO mapped 7th receive PDO mapped 8th receive PDO mapped ... 1600h Name ... 00h 01h 02h 03h 04h SubIndex ... 1018h Device type Error register Manufacturer device name Manufacturer hardware version Manufacturer software version Store parameters Number of entries Save all parameters Identity object Number of entries Vendor ID Product code Revision number Serial number Diagnosis history Number of entries Maximum messages Newest message Newest acknowledged message New messages available Flags Diagnosis message 1 Index ... 00h 01h Name ... 1000h 1001h 1008h 1009h 100Ah 1010h SubIndex 00h 00h 00h 00h 00h ... Index 32nd receive PDO mapped R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 44 - 1A00h ... 00h 01h 02h 03h 04h 05h 06h 07h 08h 20h 1A01h ... 00h 01h 02h 03h 04h 05h 06h 07h 08h 20h 1A02h 00h 01h 02h 03h 04h 05h 06h 07h 08h 00h 01h 02h 03h 04h 05h 06h 07h 08h 00h 01h 02h 03h 04h 32nd transmit PDO mapped Transmit PDO mapping 2 Number of entries 1st transmit PDO mapped 2nd transmit PDO mapped 3rd transmit PDO mapped 4th transmit PDO mapped 5th transmit PDO mapped 6th transmit PDO mapped 7th transmit PDO mapped 8th transmit PDO mapped 32nd transmit PDO mapped Transmit PDO mapping 4 Number of entries 1st transmit PDO mapped 2nd transmit PDO mapped 3rd transmit PDO mapped 4th transmit PDO mapped 5th transmit PDO mapped 6th transmit PDO mapped 7th transmit PDO mapped 8th transmit PDO mapped 32nd transmit PDO mapped Sync manager communication type Number of used sync manager channels Communication type sync manager 0 Communication type sync manager 1 Communication type sync manager 2 Communication type sync manager 3 SubIndex 1C12h 00h 01h 02h 03h 04h 1C13h 00h 01h 02h 03h 04h 1C32h 00h 01h 02h 03h 04h 05h 06h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 20h 32nd transmit PDO mapped Transmit PDO mapping 3 Number of entries 1st transmit PDO mapped 2nd transmit PDO mapped 3rd transmit PDO mapped 4th transmit PDO mapped 5th transmit PDO mapped 6th transmit PDO mapped 7th transmit PDO mapped 8th transmit PDO mapped ... ... 20h 1C00h Transmit PDO mapping 1 Number of entries 1st transmit PDO mapped 2nd transmit PDO mapped 3rd transmit PDO mapped 4th transmit PDO mapped 5th transmit PDO mapped 6th transmit PDO mapped 7th transmit PDO mapped 8th transmit PDO mapped Index ... ... 20h 1A03h Name ... SubIndex ... Index 1C33h 00h 01h 02h 03h 04h 05h 06h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 20h Name Sync manager channel 2 Number of assigned PDOs PDO mapping object index of assigned RxPDO 1 PDO mapping object index of assigned RxPDO 2 PDO mapping object index of assigned RxPDO 3 PDO mapping object index of assigned RxPDO 4 Sync manager channel 3 Number of assigned PDOs PDO mapping object index of assigned TxPDO 1 PDO mapping object index of assigned TxPDO 2 PDO mapping object index of assigned TxPDO 3 PDO mapping object index of assigned TxPDO 4 Sync manager 2 synchronization Number of sub-objects Sync mode Cycle time Shift time Sync modes supported Minimum cycle time Calc and copy time Command Delay time Sync0 cycle time Cycle time too small SM-event missed Shift time too short RxPDO toggle failed Sync error Sync manager 3 synchronization Number of sub-objects Sync mode Cycle time Shift time Sync modes supported Minimum cycle time Calc and copy time Command Delay time Sync0 cycle time Cycle time too small SM-event missed Shift time too short RxPDO toggle failed Sync error R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 45 - 5-2 Device Information This section describes the objects for the device information of slaves. Index SubIndex Name / Description Device type 1000h 00h Units Range Data Type Access PDO - 0 - 4294967295 U32 ro No ALL No U8 ro No ALL No • Displays a device type. The value of the servo amplifier is fixed at 00020192h. Error register 0 - 255 Displays the type (state) of an alarm occurred in the servo amplifier. When an alarm does not occur, displays 0000h. No warning is displayed. bit 1001h 00h Op- EEPRO mode M 0 1 2 3 4 5 6 7 Description (Not supported) The alarm which is defined in the AL status code *1) (Not supported) (reserved) The alarm which is not defined in AL status code *2) *1) " The alarm which is defined in the AL status code " indicate Err80.0-7 and Err81.0-7, Err85.0-7 in the EtherCAT communication related error. *2) " The alarm which is not defined in AL status code " indicate Err88.0-7 in the EtherCAT communication related error and other than EhterCAT communication related error. 1008h 1009h 100Ah 00h 00h 00h The details of alarm refer to Chapter 8. Manufacture device VS ro No ALL name Displays a product model with 16 characters. If it is less than 16 characters long, add spaces (20h). Example: byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 character M A D H T 1 5 0 5 B A 2 (space) No 15 Manufacture hardware VS ro No ALL No version Displays a product hardware version with 16 characters. If it is less than 16 characters long, add spaces (20h). Example: *Hardware version: 1.23: byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 character V 1 . 2 3 (space) Application (fixed) Hardware version Manufacturer software VS ro No ALL No version Displays a product software version 3 with 16 characters. If it is less than 16 characters long, add spaces (20h). Example: *Software version3: 1.23: byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 character V 1 . 2 3 (space) Application (fixed) Software version3 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 46 - Index SubIndex 00h 01h Name Units Range / Description Identity object Displays device information. Number of entries 0 - 255 Represents the number of sub-indexes for this object. The value is fixed at 04h. Vendor ID 0 - 4294967295 Displays the EtherCAT Vender ID. The value is fixed at 66Fh. Product code 0 - 4294967295 Displays a product code. Example) In case of the MADHT1505BA2 bit value (hex) Application 31-28 5 Series category *1) 27-24 1 23-20 5 19-16 0 Data Type - Op- EEPRO mode M - Access PDO - - U8 ro No ALL No U32 ro No ALL No U32 ro No ALL No 15-12 5 11-8 0 7-4 A 11 figure of product form *2) *3) 6 to 9 figure of product form 3-0 2 12 figure of product form *3) *1) Contents to be displayed in each frame of A5 series is as follows. bit 31-28 A5 series of frames A to G 5 A5 series of frame H D *2) Content to be displayed by the character of the 11 figure of product form will be as follows. 02h 0 1 2 3 4 5 6 7 8 9 1018h bit 11-8 0 0 0 0 0 0 0 0 0 0 bit 7-4 0 1 2 3 4 5 6 7 8 9 A B C D E F G H I J bit 11-8 0 0 0 0 0 0 4 4 4 4 bit 7-4 A B C D E F 0 1 2 3 K L M N O P Q R S T bit 11-8 4 4 4 4 4 4 4 4 4 4 bit 7-4 4 5 6 7 8 9 A B C D U V W X Y Z bit 11-8 4 4 8 8 8 8 bit 7-4 E F 0 1 2 3 *3) The product from which the 12 figure of product form is set to "G"to"Z" in a special article etc. differs in the display method of bit11-0. Revision number 03h - Displays a revision number. Example) In case of 1.23. bit 31-28 27-24 23-20 value (hex) 0 0 0 Application Major revision Serial number 04h 0 - 4294967295 - 19-16 1 U32 15-12 0 0 - 4294967295 ro 11-8 7-4 0 2 Minor revision U32 ro 31-28 1 27-24 3 23-20 0 19-16 4 15-12 0 11-8 0 -2147483648 – I32 2147483647 Displays software version1 and software version2. Example) In case of the Software version1: 1.23 and Software version2: 4.56 － Software version 00h No ALL No 3-0 3 ALL No Displays a product serial number. Example) In case of the 13040001 bit value (hex) 3744h No bit value (hex) 31-28 0 Application (reserved) 27-24 1 23-20 19-16 2 3 Software version 1 (major) (minor) 15-12 0 (reserved) 7-4 0 ro No 3-0 1 ALL Yes 11-8 4 7-4 3-0 5 6 Software version 2 (major) (minor) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 47 - 5-3 Sync Manager Communication Type (1C00h) Sets the object in 1C00h so as to allocate each Sync Manager to an operation mode. This value of object is fixed this servo amplifier. Index SubIndex 00h 01h 1C00h 02h 03h 04h Name Units Range Data Access / Description Type Sync manager communication type Sets the operation mode of each Sync Manager. Number of used sync 0 - 255 U8 ro manager channels Represents the number of sub-indexes for this object. The value is fixed at 4. Communication type U8 ro 0-4 sync manager 0 Sets the application of Sync Manager 0. 0: Not used 1: Reception through Mailbox (master to slave), 3: RxPDO (master to slave) 2: Sending through Mailbox (slave to master), 4: TxPDO (slave to master) Sync Manager 0 is used for receiving data through Mailbox, so the value is fixed at 1. Communication type U8 ro 0-4 sync manager 1 Sets the application of Sync Manager 1. 0: Not used 1: Reception through Mailbox (master to slave), 3: RxPDO (master to slave) 2: Sending through Mailbox (slave to master), 4: TxPDO (slave to master) Sync Manager 1 is used for sending data through Mailbox, so the value is fixed at 2. Communication type U8 ro 0-4 sync manager 2 Sets the application of Sync Manager 2. 0: Not used 1: Reception through Mailbox (master to slave), 3: RxPDO (master to slave) 2: Sending through Mailbox (slave to master), 4: TxPDO (slave to master) Sync Manager 2 is used for process data output (RxPDO), so the value is fixed at 3. Communication type U8 ro 0-4 sync manager 3 Sets the application of Sync Manager 3. 0: Not used 1: Reception through Mailbox (master to slave), 3: RxPDO (master to slave) 2: Sending through Mailbox (slave to master), 4: TxPDO (slave to master) Sync Manager 3 is used for process data input (TxPDO), so the value is fixed at 4. PDO Op- EEPRO mode M - - - No ALL No No ALL No No ALL No No ALL No No ALL No R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 48 - 5-4 PDO (Process Data Object) Mapping For the outline of the PDO mapping, also refer to Section 3-7-1 and Section 3-7-2. 5-4-1 PDO Assign Object (1C12h to 1C13h) Sets the object in 1C12h and 1C13h so as to allocate a PDO mapping table to a Sync Manager. Index SubIndex - 00h 01h 1C12h 02h 03h 04h - 00h 01h 1C13h 02h 03h 04h Name Units Range Data / Description Type Sync manager channel 2 Sets the PDO mapping object entry for Sync Manager 2. Sync Manager 2 is used as the process data output (RxPDO). It is possible to change this object value only when the ESM state is PreOP. Note: If the sub-index 00h is not cleared to 0 once, 01h - 04h cannot be changed. Number of assigned PDOs 0-4 U8 Represents the number of assign object for this object. PDO mapping object index 1600h - 1603h U16 of assigned RxPDO 1 Designate the PDO mapping object to be used. PDO mapping object index 1600h - 1603h U16 of assigned RxPDO 2 Designate the PDO mapping object to be used. PDO mapping object index 1600h - 1603h U16 of assigned RxPDO 3 Designate the PDO mapping object to be used. PDO mapping object index 1600h - 1603h U16 of assigned RxPDO 4 Designate the PDO mapping object to be used. Sync manager channel 3 Sets the PDO mapping object entry for Sync Manager 3. Sync Manager 3 is used as the process data input (TxPDO). It is possible to change this object value only when the ESM state is PreOP. Note: If the sub-index 00h is not cleared to 0 once, 01h - 04h cannot be changed. Number of assigned PDOs 0-4 U8 Represents the number of assign object for this object. PDO mapping object index 1A00h - 1A03h U16 of assigned TxPDO 1 Designate the PDO mapping object to be used. PDO mapping object index 1A00h - 1A03h U16 of assigned TxPDO 2 Designate the PDO mapping object to be used. PDO mapping object index 1A00h - 1A03h U16 of assigned TxPDO 3 Designate the PDO mapping object to be used. PDO mapping object index 1A00h - 1A03h U16 of assigned TxPDO 4 Designate the PDO mapping object to be used. Access PDO Op- EEPRO mode M - - - rw No ALL Yes rw No ALL Yes rw No ALL Yes rw No ALL Yes rw No ALL Yes - - - - rw No ALL Yes rw No ALL Yes rw No ALL Yes rw No ALL Yes rw No ALL Yes NOTE) It is possible to change subindex 01h-04h of 1C12h,1C13h value only when the ESM state is PreOP and subindex00h=0. Abort Code(06010003h) is returned in any other state. After changing the settings, the PDO assign object is reflected when the sub-index 00h is set to number of subindexes to be used and the ESM state transitions to SafeOP. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 49 5-4-2 PDO Mapping Object (1600h to 1603h, 1A00h to 1A03h) As the PDO mapping table, the object from 1600h to 1603h can be used for RxPDO and the object from 1A00h to 1A03h for TxPDO. The subindex 01h or later indicate the information of the application object to be mapped. Index SubIndex - Name Units Range Data / Description Type Receive PDO mapping 1 Indicates an RxPDO object. It is possible to change this object value only when the ESM state is PreOP. Access PDO Op- EEPRO mode M - - - rw No ALL Yes rw No ALL Yes Note: If the sub-index 00h is not cleared to 0 once, 01h - 20h cannot be changed. 00h 01h 02h 03h 1600h 04h 05h 06h 07h 08h 1601h - 1602h - 1603h - 2nd Receive PDO mapped Set an object to be mapped 2nd. The same setting method as the sub-index 01h. 3rd Receive PDO mapped Set an object to be mapped 3rd. The same setting method as the sub-index 01h. 4th Receive PDO mapped Set an object to be mapped 4th. The same setting method as the sub-index 01h. 5th Receive PDO mapped Set an object to be mapped 5th. The same setting method as the sub-index 01h. 6th Receive PDO mapped Set an object to be mapped 6th. The same setting method as the sub-index 01h. 7th Receive PDO mapped Set an object to be mapped 7th. The same setting method as the sub-index 01h. 8th Receive PDO mapped Set an object to be mapped 8th. The same setting method as the sub-index 01h. 07 ... Bit length 01 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes U32 rw No ALL Yes - - - - - - - - - - - - - - - ... ... 20h Number of entries 0 - 32 U8 Set the number of RxPDO objects mapped to this object. 1st Receive PDO 0 - 4294967295 U32 mapped Set an object to be mapped 1st. bit 31 ... 16 15 ... 08 Index number Subindex number 32nd Receive PDO mapped 0 - 4294967295 Set an object to be mapped 32nd. The same setting method as the sub-index 01h. Receive PDO mapping 2 The specification of the subindex, etc. is the same as 1600h. Receive PDO mapping 3 The specification of the subindex, etc. is the same as 1600h. Receive PDO mapping 4 The specification of the subindex, etc. is the same as 1600h. NOTE) - Please do not overlap the same object mapping. The action at the time of carrying out a duplication setup is not guaranteed. - It is possible to change subindex 01h-20h of 1600h-1603h value only when the ESM state is PreOP and subindex00h=0. Abort Code(06010003h) is returned in any other state. After changing the settings, the PDO mapping object is reflected when the sub-index 00h is set to number of subindexes to be used and the ESM state transitions to SafeOP. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 50 Index SubIndex - 00h 01h 02h 03h 1A00h 04h 05h 06h 07h 08h 1A01h - 1A02h - 1A03h - 2nd Transmit PDO mapped Set an object to be mapped 2nd. The same setting method as the sub-index 01h. 3rd Transmit PDO mapped Set an object to be mapped 3rd. The same setting method as the sub-index 01h. 4th Transmit PDO mapped Set an object to be mapped 4th. The same setting method as the sub-index 01h. 5th Transmit PDO mapped Set an object to be mapped 5th. The same setting method as the sub-index 01h. 6th Transmit PDO mapped Set an object to be mapped 6th. The same setting method as the sub-index 01h. 7th Transmit PDO mapped Set an object to be mapped 7th. The same setting method as the sub-index 01h. 8th Transmit PDO mapped Set an object to be mapped 8th. The same setting method as the sub-index 01h. Access PDO - - rw No ALL Yes rw No ALL Yes 07 ... Bit length Op- EEPRO mode M - 01 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes 0 - 4294967295 U32 rw No ALL Yes U32 rw No ALL Yes - - - - - - - - - - - - - - - ... ... 20h Name Units Range Data / Description Type Transmit PDO mapping 1 Indicates the TxPDO object. It is possible to change this object value only when the ESM state is PreOP. Note: If the sub-index 00h is not cleared to 0 once, 01h - 20h cannot be changed. Number of entries 0 - 32 U8 Set the number of TxPDO objects mapped to this object. 1st Transmit PDO mapped 0 - 4294967295 U32 Set an object to be mapped 1st. bit 31 ... 16 15 ... 08 Index number Subindex number 32nd Transmit PDO mapped 0 - 4294967295 Set an object to be mapped 32nd. The same setting method as the sub-index 01h. Transmit PDO mapping 2 The specification of the subindex, etc. is the same as 1A00h. Transmit PDO mapping 3 The specification of the subindex, etc. is the same as 1A00h. Transmit PDO mapping 4 The specification of the subindex, etc. is the same as 1A00h. NOTE) - Please do not overlap the same object mapping. The action at the time of carrying out a duplication setup is not guaranteed. - It is possible to change subindex 01h-20h of 1A00h-1A03h value only when the ESM state is PreOP and subindex00h=0. Abort Code(06010003h) is returned in any other state. After changing the settings, the PDO mapping object is reflected when the sub-index 00h is set to number of subindexes to be used and the ESM state transitions to SafeOP. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 51 - 5-4-3 Default PDO Mapping This section describes the default PDO mapping definition in MINAS-A5B. This default PDO mapping provides the values of the PDO mapping objects at the time of shipment. This mapping is defined in ESI File (.xml format). Moreover, a shipment value is determined in the following formats. bit 31 … Index No. 16 15 … 08 Sub-Index No. 07 … bit size 01 • PDO mapping 1 For position control (Touch probe available) RxPDO (1600h) TxPDO (1A00h) Index Sub-Index 6040h 6060h 607Ah 60B8h 603Fh 6041h 6061h 6064h 60B9h 60BAh 60F4h 60FDh 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Size (bit) 16 8 32 16 16 16 8 32 16 32 32 32 Name Shipment value Controlword Modes of operation Target Position Touch probe function Error code Statusword Modes of operation display Position actual value Touch probe status Touch probe pos1 pos value Following error actual value Digital inputs 60400010h 60600008h 607A0020h 60B80010h 603F0010h 60410010h 60610008h 60640020h 60B90010h 60BA0020h 60F40020h 60FD0020h • PDO mapping 2 For position, velocity, and torque control (Touch probe available) RxPDO (1601h) TxPDO (1A01h) Index Sub-Index 6040h 6060h 6071h 607Ah 6080h 60B8h 60FFh 603Fh 6041h 6061h 6064h 606Ch 6077h 60B9h 60BAh 60FDh 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Size (bit) 16 8 16 32 32 16 32 16 16 8 32 32 16 16 32 32 Name Shipment value Controlword Modes of operation Target Torque Target Position Max motor speed Touch probe function Target Velocity Error code Statusword Modes of operation display Position actual value Velocity actual value Torque actual value Touch probe status Touch probe pos1 pos value Digital inputs 60400010h 60600008h 60710010h 607A0020h 60800020h 60B80010h 60FF0020h 603F0010h 60410010h 60610008h 60640020h 606C0020h 60770010h 60B90010h 60BA0020h 60FD0020h R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 52 - • PDO mapping 3 For position and velocity control (Touch probe and torque limit available) RxPDO (1602h) TxPDO (1A02h) Index Sub-Index 6040h 6060h 6072h 607Ah 60B8h 60FFh 603Fh 6041h 6061h 6064h 606Ch 6077h 60B9h 60BAh 60FDh 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Size (bit) 16 8 16 32 16 32 16 16 8 32 32 16 16 32 32 Name Shipment value Controlword Modes of operation Max torque Target Position Touch probe function Target Velocity Error code Statusword Modes of operation display Position actual value Velocity actual value Torque actual value Touch probe status Touch probe pos1 pos value Digital inputs 60400010h 60600008h 60720010h 607A0020h 60B80010h 60FF0020h 603F0010h 60410010h 60610008h 60640020h 606C0020h 60770010h 60B90010h 60BA0020h 60FD0020h • PDO mapping 4 For position, velocity, and torque control (Touch probe and torque limit available) RxPDO (1603h) TxPDO (1A03h) Index Sub-Index 6040h 6060h 6071h 6072h 607Ah 6080h 60B8h 60FFh 603Fh 6041h 6061h 6064h 606Ch 6077h 60B9h 60BAh 60FDh 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Size (bit) 16 8 16 16 32 32 16 32 16 16 8 32 32 16 16 32 32 Name Shipment value Controlword Modes of operation Target Torque Max torque Target Position Max motor speed Touch probe function Target Velocity Error code Statusword Modes of operation display Position actual value Velocity actual value Torque actual value Touch probe status Touch probe pos1 pos value Digital inputs 60400010h 60600008h 60710010h 60720010h 607A0020h 60800020h 60B80010h 60FF0020h 603F0010h 60410010h 60610008h 60640020h 606C0020h 60770010h 60B90010h 60BA0020h 60FD0020h R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 53 - 5-4-4 PDO Mapping Setting Procedure The procedure for setting the PDO mapping is explained using the case where 6081h-00h (Profile velocity) is added to 1600h (Receive PDO mapping 1) as an example. Before change Index 1600h-01h 1600h-02h 1600h-03h 1600h-04h Set value 60400010h 60600008h 607A0020h 60B80010h 6040h-00h 6060h-00h 607Ah-00h 60B8h-00h Object description Controlword Modes of operation Target Position Touch probe function After change Index 1600h-01h 1600h-02h 1600h-03h 1600h-04h 1600h-05h Set value 60400010h 60600008h 607A0020h 60B80010h 60810020h 6040h-00h 6060h-00h 607Ah-00h 60B8h-00h 6081h-00h Object description Controlword Modes of operation Target Position Touch probe function Profile velocity <Setting method 1> ← Addition In case of setting using SDO message 1) Transition the ESM status from Init to PreOP. It will be possible to transmit the SDO message using the Mailbox protocol. 2) Set the value of 1600h-00h to 0 with the SDO message. To change SubIndex = 01h or later, it is necessary to set it to 0 temporarily. 3) Set the value of 1600h-05h to 60810020h with the SDO message. The meaning of 60810020h of the set value is the following. 6 0 8 Index number 1 0 0 SubIndex number 2 0 h Bit length 4) Set the value of 1600h-00h to 5 with the SDO message. It means that the setting of 1600h is used until SubIndex = 05h. 5) Transition the ESM status from PreOP to SafeOP. TxPDO will be effective. 6) Transition the ESM status from SafeOP to OP. RxPDO will be effective. * If the change description is written into EEPROM by setting the value of 1010-01h to 65766173h with the SDO message after the setting of 4), the setting of 2) to 4) will be unnecessary from the next activation. For the writing method of EEPROM, refer to Section 5-6. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 54 - <Setting method 2> In case of setting using object editor function of PANATERM 1) Transition the ESM status to Init to activate the object editor. If setting an object from the object editor, it is necessary to set the ESM status to Init. 2) Set the value of 1600h-00h to 5 and click the “Change of set value” or press the Enter key. 3) Set the value of 1600h-05h to 60810020h and click the “Change of set value” or press the Enter key. If setting it from the object editor, it is not necessary to set the value of 1600h-00h to 0 temporarily. Also, even if the order of 2) and 3) is changed, there is no problem. 4) Click the “EEP” icon to write it into EEPROM. 5) Turn on the control power again. 6) Transition the ESM status from init to PreOP. 7) Transition the ESM status from PreOP to SafeOP. TxPDO will be effective. 8) Transition the ESM status from SafeOP to OP. RxPDO will be effective. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 55 - 5-5 Sync Manager 2/3 Synchronization (1C32h, 1C33h) Set Sync manager 2 with 1C32h (Sync manager 2 synchronization) and Sync manager 3 with 1C33h (Sync manager 3 synchronization). Sync manager 2 synchronization Index SubIndex - 00h 01h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M Sync manager 2 synchronization Sync manager2 is set up. Number of sub-objects 0 - 255 U8 ro No ALL No Represents the number of sub-indexes for this object. The value is fixed at 20h. Sync mode 0 - 65535 U16 rw No ALL Yes Set the synchronous mode of Sync Manager 2. 00h:Free Run (not synchronized) 01h:SM2 (synchronized with SM 2 Event) 02h:DC SYNC0 (synchronized with Sync0 Event) 03h:Not supported (Can not be set) - In accordance with the combination with the setting of ESC register 0981h (DC-Activation) (following table), set the set value of this object to the transition time from PreOP to SafeOP automatically. ESC register 0981h set status DC enable ON DC enable OFF 1C32h 02h 03h 04h 1C32h-01h set value 00h：FreeRun 01h：SM2 02h：DC SYNC0 00h：FreeRun 01h：SM2 02h：DC SYNC0 ⇒ Value of 1C32h-01h changed at time of transition from PreOP to SafeOP 02h：DC SYNC0 02h：DC SYNC0 02h：DC SYNC0 00h：FreeRun 01h：SM2 00h：FreeRun Cycle time ns 0 - 4294967295 U32 rw No ALL Yes Sets the cycle of Sync Manager. Sync mode (1C32h-01h) Function 00h (FreeRun) Set an event interval with a local timer. 01h (Synchronous with SM2) Set the minimum interval of the SM2 event. 02h (DC SYNC0) Set Sync0 Cycle Time (ESC register: 0x9A0h). Set 250000 (250 μs), 500000 (500 μs), 1000000 (1 ms), 2000000 (2 ms), or 4000000 (4 ms). Setting other values causes Err81.0 (Synchronization cycle error protection). Shift time ns 0 - 4294967295 U32 ro No ALL No Not supported Sync modes supported 0 - 65535 U16 ro No ALL No Sets the synchronous type to be supported. bit 0: Free Run mode support 0: Not supported, 1: FreeRun mode support This servo amplifier will be set to 1 bit 1: SM synchronous mode support 0: Not supported, 1: SM2 event synchronous support This servo amplifier will be set to 1 Bits 4-2: DC synchronous type support 000b: Not supported 001b: DC Sync 0 event support This servo amplifier will be set to 001b Bits 6-5: Output shift support 00b: Not supported 01b: Shift support for a local timer This servo amplifier will be set to 00b BIT7-15:Reserved R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 56 - Index SubIndex 05h 06h 08h 09h 1C32h 0Ah 0Bh 0Ch 0Dh 0Eh 20h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M Minimum cycle time ns 0 - 4294967295 U32 ro No ALL No Minimum value from the SM2 or Sync0 event until the completion to write or to read out to the ESC. It is 17000 for this servo amplifier. *1) Set 250000 (250 μs), 500000 (500 μs), 1000000 (1 ms), 2000000 (2 ms), or 4000000 (4 ms) to 1C32h-02h. Setting other values causes Err81.0 (Synchronization cycle error protection). Calc and copy time ns 0 - 4294967295 U32 ro No ALL No Time from the SM2 or Sync0 event to the generation of the PWM signal. It is 500000 for this servo amplifier. *1) Command 0 - 65535 U16 ro No ALL No Not supported Delay Time ns 0 - 4294967295 U32 ro No ALL No Time from the PWM command output to the turning ON/OFF of power transistor output. It is 0 for this servo amplifier. *1) Sync0 cycle time ns 0 - 4294967295 U32 ro No ALL No In the case of DC SYNC0 (1C32h-01h=02h), the value 09A0h is set to the ESC register. In other cases, 0 is set. Cycle time too small 0 - 65535 U16 ro No ALL No Not supported SM-event missed 0 - 65535 U16 ro No ALL No Not supported Shift time too short 0 - 65535 U16 ro No ALL No Not supported RxPDO toggle failed 0 - 65535 U16 ro No ALL No Not supported Sync error 0-1 BOOL ro No ALL No Not supported *1) These setting values are only for reference and do not guarantee their descriptions. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 57 - Sync manager 3 synchronization Index SubIndex - 00h 01h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M Sync manager3 synchronization Sync manager3 is set up. Number of sub-objects 0 - 255 U8 ro No ALL No Represents the number of sub-indexes for this object. The value is fixed at 20h. Sync mode 0 - 65535 U16 rw No ALL Yes Set the synchronous mode of Sync Manager 3. 00h: Free Run (not synchronized) 01h: Not supported (Can not be set) 02h: DC SYNC0 (synchronized with Sync0 Event) 03h:Not supported (Can not be set) 22h: SM2 (Synchronous with SM2 Event) - In accordance with the combination with the setting of ESC register 0981h (DC-Activation) (following table), set the set value of this object to the transition time from PreOP to SafeOP automatically. ESC register 0981h set status DC enable ON DC enable OFF 1C33h 02h 03h 04h 1C33h-02h set value 00h：FreeRun 22h：SM2 02h：DC SYNC0 00h：FreeRun 22h：SM2 02h：DC SYNC0 ⇒ Value of 1C33h-02h changed at time of transition from PreOP to SafeOP 02h：DC SYNC0 02h：DC SYNC0 02h：DC SYNC0 00h：FreeRun 22h：SM2 00h：FreeRun Cycle time ns 0 - 4294967295 U32 ro No Sets the cycle of Sync Manager. The same value is set as 1C32h:02h. Shift time ns 0 - 4294967295 U32 rw No Set the time from the Sync0 and SM2 events until slave CPU write value of the RxPDO to ESC. Set the value in steps of 250000 and value under the Cycle time. Normally, set 0. Sync modes supported 0 - 65535 U16 ro No Sets the synchronous type to be supported. bit 0: Free Run mode support 0: Not supported, 1: Free run mode support This servo amplifier will be set to 1 bit 1: SM synchronous mode support 0: Not supported, 1: SM2 event synchronous support This servo amplifier will be set to 1 bit 4-2: DC synchronous type support 000b: Not supported 001b: DC Sync0 event support This servo amplifier will be set to 001b bit 6-5: Input shift support 00b: Not supported 01b: Shift support for a local timer This servo amplifier will be set to 01b bit 7-15: Reserved ALL No ALL No ALL No R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 58 - Index SubIndex 05h 06h 08h 09h 1C33h 0Ah 0Bh 0Ch 0Dh 0Eh 20h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M Minimum cycle time ns 0 - 4294967295 U32 ro No ALL No Minimum value from the SM2 or Sync0 event until the completion to write or to read out to the ESC. The same value as 1C32h:05h. Calc and copy time ns 0 - 4294967295 U32 ro No ALL No Time from the data latching in the encoder to the writing of communication data in the ESC register. It is 400000 for this servo amplifier. *1) Command 0 - 65535 U16 ro No ALL No Not supported Delay time ns 0 - 4294967295 U32 ro No ALL No Time from the PWM command output to the turning ON/OFF of power transistor output. The same value as 1C32h:09h. Sync0 cycle time ns 0 - 4294967295 U32 ro No ALL No The same value as 1C32h-0Ah. Cycle time too small 0 - 65535 U16 ro No ALL No Not supported SM-event missed 0 - 65535 U16 ro No ALL No Not supported Shift time too short 0 - 65535 U16 ro No ALL No Not supported RxPDO toggle failed 0 - 65535 U16 ro No ALL No Not supported Sync error 0-1 BOOL ro No ALL No Not supported *1) These setting values are only for reference and do not guarantee their descriptions. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 59 5-5-1 DC (synchronous with SYNC0 event) This section describes the DC synchronous mode specification for this amplifier. Synchronization method Synchronize the time information of other slaves based on the time of the first shaft. Characteristic • High accuracy • Correction process is required on the master side. Sync0 Event Frame Sync0 Event 1C32h: Sub 02h (Cycle Time) [rw] Sync0 Cycle Time [rw] (address:09A0h~09A3h) Frame 1C32h: Sub 05h (Min Cycle Time) [ro] 1C33h: Sub 03h (shift time) [rw] From Sync0 to Input Latch User shift time: Not supported (=0) by this product 1C33h: Sub 06h (calc & copy time) [ro] Input Latch 1C32h: Sub 03h (shift time) [ro] From Sync 0 to OutputValid (fixed in this product) outputValid 1C32h: Sub 09h (Delay Time) [ro] 1C32h: Sub 06h (calc & copy time) [ro] Synchronization setting for Sync manager 2/3 during the DC synchronous mode Index 1C32h SubIndex 00h 01h Access Name ro rw Number of sub-objects Sync mode 02h rw Cycle Time 03h ro Shift Time 04h ro Sync modes supported 05h 06h 09h 0Ah 0Bh 0Ch 0Dh 20h ro ro ro ro ro ro ro ro Minimum Cycle Time Calc And Copy Time Delay Time Sync0 Cycle Time Cycle time too small SM-event missed Shift time too short Sync Error Value 20h 02h:DC SYNC0 (synchronized with Sync0 Event) 250 μs: 250000, 500 μs: 500000, 1 ms: 1000000 2ms:2000000 4ms:4000000 Not supported Bits 4-2: DC synchronous type support 001b: DC Sync 0 event support 17000 *1) 500000 *1) 0 *1) Value of ESC register 0x09A0 Not supported Not supported Not supported Not supported *1) These setting values are only for reference and do not guarantee their descriptions. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 60 - Index SubIndex 00h 01h 02h Access Name ro rw ro Number of sub-objects Sync mode Cycle Time 03h rw Shift Time 04h ro Sync modes supported 05h 06h 09h 0Ah 0Bh 0Ch 0Dh 20h ro ro ro ro ro ro ro ro Minimum Cycle Time Calc And Copy Time Delay Time Sync0 Cycle Time Cycle time too small SM-event missed Shift time too short Sync Error 1C33h Value Same setting as 1C32h:00h. 02h:DC SYNC0 (synchronized with Sync0 Event) Same setting as 1C32h:02h. 0 or 250000 ns to 3750000 ns (Set the writing timing of the RxPDO value from slave CPU to ESC in steps of 250000.) Bits 4-2: DC synchronous type support 001b: DC Sync 0 event support Bits 6-5: Input shift support 00b: Not supported 01b: Shift support for a local timer Same setting as 1C32h:05h. 400000 *1) Same setting as 1C32h:09h. Same setting as 1C32h:0Ah Not supported Not supported Not supported Not supported *1) These setting values are only for reference and do not guarantee their descriptions. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 61 - 5-5-2 SM2 (synchronous with SM2 event) Synchronization method Synchronize it to the reception timing of RxPDO. Characteristic • There is no transmission delay correction and accuracy is low. • It is necessary to keep the transmission timing constant on the controller side. (dedicated hardware etc.) This section describes the SM2 mode specification for this amplifier. SM2 Event SM2 Event Frame Frame 1C32h: Sub 02h (Cycle Time) [rw] 1C32h: Sub 05h (Min Cycle Time) [ro] 1C33h: Sub 03h (shift time) [rw] From SM2 to Input Latch User shift time: Not supported (=0) by this product 1C33h: Sub 06h (calc & copy time) [ro] Input Latch 1C32h: Sub 03h (shift time) [ro] From SM2 to OutputValid (fixed in this product) outputValid 1C32h: Sub 09h (Delay Time) [ro] 1C32h: Sub 06h (calc & copy time) [ro] Synchronization setting for Sync manager 2/3 during the SM2 event synchronous mode Index SubIndex Access Name / Description Value 00h ro Number of sub-objects 20h (fixed) 01h rw Sync mode 01h:Synchronous (synchronized with SM Event) 02h rw Cycle Time 250 μs: 250000, 500 μs: 500000, 1 ms: 1000000 2ms:2000000 4ms:4000000 03h ro Shift Time Not supported 04h ro Sync modes supported bit 1: SM synchronous mode support 1: SM2 event synchronization support 05h ro Minimum Cycle Time 17000 *1) 06h ro Calc And Copy Time 500000 *1) 09h 0Ah 0Bh 0Ch 0Dh 20h ro ro ro ro ro ro Delay Time Sync0 Cycle Time Cycle time too small SM-event missed Shift time too short Sync Error 0 *1) 0 Not supported Not supported Not supported Not supported 1C32h *1) These setting values are only for reference and do not guarantee their descriptions. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 62 - Index 1C33h SubIndex 00h 01h 02h 03h 04h 05h 06h 09h 0Ah 0Bh 0Ch 0Dh 20h Access ro rw ro rw ro ro ro ro ro ro ro ro ro Name / Description Number of sub-objects Sync mode Cycle Time Shift Time Sync modes supported Minimum Cycle Time Calc And Copy Time Delay Time Sync0 Cycle Time Cycle time too small SM-event missed Shift time too short Sync Error Value Same setting as 1C32h:00h. 22h: SM2 (Synchronous with SM2 Event) Same setting as 1C32h:02h. 0 or 250000 ns to 3750000 ns (in steps of 250000 ns) Same setting as 1C32h:04h. Same setting as 1C32h:05h. 400000 *1) Same setting as 1C32h:09h. Same setting as 1C32h:0Ah. Not supported Not supported Not supported Not supported *1) These setting values are only for reference and do not guarantee their descriptions. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 63 - 5-5-3 Free RUN (asynchronous) Synchronization method Characteristic • Process is simple. • Real-time characteristics are insufficient. Asynchronous This section describes the Free Run mode specification for this amplifier. This amplifier control cycle Frame Frame This amplifier Control cycle 1C32h: Sub 02h (Cycle Time) [rw] 1C32h: Sub 05h (Min Cycle Time) [ro] Input Latch Get and Copy Inputs Copy and Prepare Outputs outputValid Synchronization setting for Sync manager 2/3 during the Free Run mode Index SubIndex Access Name Value 00h ro Number of sub-objects 20h (fixed) 01h rw Sync mode 00h:Free Run (not synchronized) 02h rw Cycle Time 250 μs: 250000, 500 μs: 500000, 1 ms: 1000000 2ms:2000000 4ms:4000000 03h ro Shift Time Not supported 04h ro Sync modes supported bit 0: Free Run mode support 1: Free Run mode support 05h ro Minimum Cycle Time 17000 *1) 06h ro Calc And Copy Time Not supported 09h 0Ah 0Bh 0Ch 0Dh 20h ro ro ro ro ro ro Delay Time Sync0 Cycle Time Cycle time too small SM-event missed Shift time too short Sync Error Not supported 0 Not supported Not supported Not supported Not supported 1C32h *1) These setting values are only for reference and do not guarantee their descriptions. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 64 Index 1C33h SubIndex 00h 01h 02h 03h 04h 05h 06h 09h 0Ah 0Bh 0Ch 0Dh 20h Access ro rw ro rw ro ro ro ro ro ro ro ro ro Name Number of sub-objects Sync mode Cycle Time Shift Time Sync modes supported Minimum Cycle Time Calc And Copy Time Delay Time Sync0 Cycle Time Cycle time too small SM-event missed Shift time too short Sync Error Value Same setting as 1C32h:00h. 00h: FreeRun (not synchronized) Same setting as 1C32h:02h. Not supported Same setting as 1C32h:04h. Same setting as 1C32h:05h. Same setting as 1C32h:06h. Same setting as 1C32h:09h. Same setting as 1C32h:0Ah. Not supported Not supported Not supported Not supported *1) These setting values are only for reference and do not guarantee their descriptions. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 65 - 5-5-4 Input shift time To provide the newest slave information to the master, it is supported for the input shift time. By setting 1C33h-03h (Shift time), it is possible to adjust the timing of Input Latch with accuracy of 250 μs and set it to a value most immediately before the TxPDO frame transmission. In particular, it is effective for the case where the communication cycle (cycle time) is extended. <DC Cycle Time = 1ms、Input shift time = 0μs> Sync0 Sync0 Sync0 Cycle time = 1ms Master application task Master application task Master Frame Frame EtherCAT Frame Slave Slave application task Slave application task 250μs Slave application task Input Latch Input Latch Input Latch <DC Cycle Time = 1ms、Input shift time = 750μs> Sync0 Sync0 Sync0 Cycle time = 1ms Master application task Master application task Master Frame Frame EtherCAT Frame Shift time = 750μs Shift time = 750μs Slave 250μs Slave application task Input Latch Slave application task Input Latch R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 66 - 5-6 Store Parameters (write object in EEPROM) (1010h) Send 65766173h(“save”) to a slave with the EtherCAT communication data by using the object 1010h-01h (Save all parameters) to batch write (back up) different object data in EEPROM and RAM into EEPROM. Index SubIndex - 00h 1010h 01h Name Units Range Data Access / Description Type Store parameters Writes (backs up) the object data into EEPROM. Only the objects whose EEPROM field in the object list are "Yes" are backed up. Number of entries 0 - 255 Represents the number of sub-indexes for this object. The value is fixed at 1. U8 ro PDO - No Op- EEPRO mode M - ALL No Save all parameters 0 - 4294967295 U32 rw No ALL No Write 65766173h(“save”) into the EtherCAT communication data to batch back up the whole target objects into EEPROM. When the process is completed, it will be 00000001h regardless of pass or fail. Read-out after power-on is 00000001h. • Only the objects whose EEPROM field in the object list is "Yes" are backed up. *This table is a thing for explanation. Please understand that it differs from an actual object list. Objects whose value of this field is "Yes" are backed up. • When “Control power undervoltage protection” (Err.11.0) occurs, EEPROM cannot be accessed and the objects cannot be saved in EEPROM. • The objects of the attributes C and R in the servo parameter area (object 3000s) will be effective after resetting the control power. For information to Attributes of servo parameter, refer to Basic function specifications of the Technical document(SX-DSV02472). • The writing count into EEPROM is limited. • In writing into EEPROM, about 10 seconds maximum. (when changing all objects) • During writing into EEPROM, other SDO commands are not received. • In cases below, an abort message is returned: Write access to 1010h-00h The data written to 1010h-01h is other than 65766173h(“save”) For other abort messages, refer to Section 3-6-1. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 67 - 5-7 Diagnosis history (Reading Function of Error (alarm) History) (10F3h) Use the object 10F3h (Diagnosis history) to read up to 14 error (alarm) histories. The error (alarm) histories are stored up to 14 limit. They are placed from 10F3h-06h (Diagnosis message 1) to 103Fh-13h (Diagnosis message 14) one by one in the order of occurrence. The subindex number in which the latest error (alarm) history was stored can be checked in 103Fh-02h (Newest Message). At the time of control power on, the error (alarm) history at 10F3h (Diagnosis history) is set by reading the information backed up at EEPROM of this servo amplifier. The error(alarm) history displayed by 10F3h (Diagnosis history) serves as only alarm generated with this servo amplifier. Therefore, warning is not displayed. There is alarm which is not stored and displayed by 10F3h (Diagnosis history). Please refer to "7-1. List of protective function" of Functional Specification (SX-DSV02472) for details. < In the case of for 5 alarm histories. > 10F3h02h 0Ah 06h 07h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh 10h 11h 12h 13h Alarm information of 5 times ago. Alarm information of 4 times ago. Alarm information of 3 times ago. Alarm information of 2 times ago. Alarm information of 1 times ago.(newest) 0 0 0 0 0 0 0 0 0 < In the case of for 14 alarm histories. > 10F3h02h 13h 06h 07h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh 10h 11h 12h 13h Alarm information of 14 times ago. Alarm information of 13 times ago. Alarm information of 12 times ago. Alarm information of 11 times ago. Alarm information of 10 times ago. Alarm information of 9 times ago. Alarm information of 8 times ago. Alarm information of 7 times ago. Alarm information of 6 times ago. Alarm information of 5 times ago. Alarm information of 4 times ago. Alarm information of 3 times ago. Alarm information of 2 times ago. Alarm information of 1 times ago.(newest) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 68 - Index SubIndex 00h 01h 02h 03h 04h 10F3h 05h Name Units Range Data Access PDO / Description Type Diagnosis history Reads an error history and enables/disables an emergency message. Number of entries 0 - 255 U8 ro No Represents the number of sub-indexes for this object. The value is fixed at 13h. Maximum messages 0 - 255 U8 ro No - Represents the number of error messages which this servo amplifier is possible to store. The value is fixed at 0Eh. (14times) Newest message 0 - 255 U8 ro No - Displays the sub-index where the latest error message is stored. - Indicates 0 when there is no alarm history such as immediately after the alarm history is cleared. Newest acknowledged 0 - 255 U8 rw No message Read : always 0 Write : writing of 00h : All the Diagnosis Message clearances writing of other than 00h : Output of SDO Abort (Code 0x06090030) New messages available 0-1 BOOL ro No It does not support with this servo amplifier. The value is fixed at 0. Flags 0 - 65535 U16 rw No bit 0 RW bit 1 bit 2 bit 3 bit 4 bit 5 R R R R R bit 6-15 - ALL No ALL No ALL No ALL No ALL No ALL Yes Emergency messages execution permission 0：Emergency message Invalid 1：Whenever new abnormality is detected, emergency message is issued. (Some of the anomaly does not remain in the Diagnosis message) For the detail of the emergency message, refer to Section 3-6-1. Not supported：Fixed at 1 Not supported：Fixed at 1 Not supported：Fixed at 0 Not supported：Fixed at 0 Diagnosis message clearances information 1：Clearance of diagnosis message is completed. (at the time of 10F3h-03h=0 writing) (The value is kept until new error (alarm) occurs) Reservation Diagnosis message 1 An error history is displayed. Example: 00 E8 10 Application Op- EEPRO mode M - FF 02 00 (L) (H) (L) (H) (L) (H) (Fixed value) Error Code (Fixed value) VS 00 00 00 (L) (H) (L) 00 ro 00 00 No 00 ALL No (*1) 00 00 00 (H) Text ID (Fixed value) Diag Code Flags Text ID Time stamp 06h Diag Code … Diagnostic code which identifies a message The value of 603Fh returns to ErrorCode. Flags … The value is fixed at 00002h. Text ID …Text ID is defined for each error messages(Error code). Main alarm number is set as upper 8 bits, and a sub alarm number is set as lower 8 bits. Time stamp …Time when abnormalities were notified Not supported : The value is fixed at 0000000000000000h. : : Diagnosis message 14 VS ro No ALL No (*1) 13h An error history is displayed. The content is same as the sub-index 06h. (*1) Although not backed up as an object, it is transmitted from the alarm information backed up separately. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 69 - 6 6 Drive Profile Area (6000h to 6FFFh) 6-1 Object List ..................................................................................................................................................... 72 6-2 PDS (Power Drive Systems) Specification ................................................................................................... 74 6-2-1 Finite State Automaton (FSA) .............................................................................................................. 74 6-3 Controlword (6040h)..................................................................................................................................... 76 6-4 Statusword (6041h) ....................................................................................................................................... 78 6-5 Operation mode Setting................................................................................................................................. 80 6-5-1 Supported Drive Modes (6502h) .......................................................................................................... 80 6-5-2 Modes of Operation (6060h) ................................................................................................................. 81 6-5-3 Modes of Operation Display (6061h) ................................................................................................... 82 6-5-4 Precautions for Changing Operation mode ........................................................................................... 83 6-6 Position Control Function(pp,csp,ip,hm) ...................................................................................................... 84 6-6-1 Common Position Control Function ..................................................................................................... 84 1) Position control block diagram ............................................................................................................ 84 2) Related objects common in position control (command & setup) ....................................................... 86 - Position system ......................................................................................................................... 87 - Velocity system ........................................................................................................................ 87 - Torque system .......................................................................................................................... 87 - Acceleration and deceleration system ...................................................................................... 88 - Software position limit (607Dh) ............................................................................................... 89 3) Related objects common in position control (monitoring) ................................................................... 91 - Position system ......................................................................................................................... 92 - Velocity system ........................................................................................................................ 92 - Torque system .......................................................................................................................... 92 - Statusword (6041h) <Common functions in position control> ................................................ 93 6-6-2 Profile Position mode (pp mode) .......................................................................................................... 96 1) Objects related to pp mode (command & setup) .................................................................................. 97 - Controlword (6040h) <Functions in pp mode> ........................................................................ 99 - Positioning option code (60F2h) ............................................................................................ 101 2) Objects related to pp mode (monitoring) ........................................................................................... 104 - Statusword (6041h) <Functions in pp mode> ........................................................................ 105 3) Operations of pp mode ....................................................................................................................... 106 - Example 1 (basic set-point) .................................................................................................... 106 - Example 2 (Data change in operation, without buffer: Single set-point) ............................... 107 - Example 3 (Data change in operation, with buffer: Set of set-points) .................................... 108 - Example 4 (Buffering of set-points) ....................................................................................... 109 - Example 5 (Temporary stop by halt) ...................................................................................... 110 6-6-3 Cyclic Position Mode (csp mode) ....................................................................................................... 111 1) Objects related to csp mode (command & setup) .............................................................................. 112 - Controlword (6040h) <Functions in csp mode> ..................................................................... 114 - Position system ....................................................................................................................... 114 2) Objects related to csp mode (monitoring) .......................................................................................... 115 - Statusword (6041h) <Functions in csp mode> ....................................................................... 116 3) Operations of csp mode ..................................................................................................................... 117 4) Calibration process on the occurrence of communication error......................................................... 118 5) Amount of change saturation function of command position ............................................................ 119 6-6-4 Interpolating Position Mode (ip mode) (Not supported)..................................................................... 121 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 70 - 6-6-5 Homing Position Mode (hm mode) .................................................................................................... 122 1) Objects related to hm mode (command & setup) ............................................................................... 123 - Controlword (6040h) <Functions in hm mode> ..................................................................... 125 - Homing method (6098h) ........................................................................................................ 126 - Homing speeds (6099h) .......................................................................................................... 127 - Homing acceleration (609Ah) ................................................................................................ 127 2) Objects related to hm mode (monitoring) .......................................................................................... 128 - Statusword (6041h) <Functions in hm mode> ....................................................................... 129 - Supported homing method (60E3h)........................................................................................ 130 3) Operations of hm mode (Homing operation) ..................................................................................... 131 - Homing error occur conditions ............................................................................................... 133 - Method 1................................................................................................................................. 134 - Method 2................................................................................................................................. 135 - Method 3, 4............................................................................................................................. 136 - Method 5, 6............................................................................................................................. 137 - Method 7, 8, 9, 10................................................................................................................... 138 - Method 11, 12, 13, 14 ............................................................................................................. 139 - Method 17............................................................................................................................... 140 - Method 18............................................................................................................................... 141 - Method 19, 20......................................................................................................................... 142 - Method 21, 22......................................................................................................................... 143 - Method 23, 24, 25, 26 ............................................................................................................. 144 - Method 27, 28, 29, 30 ............................................................................................................. 145 - Method 33, 34......................................................................................................................... 146 - Method 35, 37......................................................................................................................... 147 6-7 Velocity Control Function........................................................................................................................... 148 6-7-1 Common Velocity Control Function................................................................................................... 148 1) Velocity control block diagram.......................................................................................................... 148 2) Related objects common in velocity control (command & setup) ..................................................... 149 - Velocity system ...................................................................................................................... 150 - Torque system ........................................................................................................................ 150 3) Related objects common in velocity control (monitoring) ................................................................. 151 - Position system ....................................................................................................................... 152 - Velocity system ...................................................................................................................... 152 - Torque system ........................................................................................................................ 152 6-7-2 Profile Velocity Mode (pv mode) ....................................................................................................... 153 1) Objects related to pv mode (command & setup) ................................................................................ 154 - Controlword (6040h) <Functions in pv mode> ...................................................................... 156 - Velocity system ...................................................................................................................... 157 - Acceleration and deceleration system .................................................................................... 157 2) Objects related to pv mode (monitoring) ........................................................................................... 158 - Statusword (6041h) <Functions in pv mode> ........................................................................ 159 3) Operations of pv mode ....................................................................................................................... 162 6-7-3 Cyclic Velocity Mode (csv mode) ...................................................................................................... 163 1) Objects related to csv mode (command & setup) .............................................................................. 164 - Controlword (6040h) <Functions in csv mode> ..................................................................... 165 2) Objects related to csv mode (monitoring) .......................................................................................... 166 - Statusword (6041h) <Functions in csv mode> ....................................................................... 167 3) Operations of csv mode ..................................................................................................................... 168 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 71 - 6-8 Torque Control Function ............................................................................................................................. 169 6-8-1 Common Torque Control Function ..................................................................................................... 169 1) Torque control block diagram ............................................................................................................ 169 2) Related objects common in torque control (command & setup) ........................................................ 170 - Velocity system ...................................................................................................................... 171 - Torque system ........................................................................................................................ 171 3) Related objects common in torque control (monitoring) ................................................................... 172 - Position system ....................................................................................................................... 173 - Velocity system ...................................................................................................................... 173 - Torque system ........................................................................................................................ 173 6-8-2 Profile Torque Mode (tq mode) .......................................................................................................... 174 1) Objects related to tq mode (command & setup) ................................................................................. 175 - Controlword (6040h) <Functions in tq mode> ....................................................................... 176 - Torque system ........................................................................................................................ 177 2) Related objects (monitoring).............................................................................................................. 178 - Statusword (6041h) <Functions in tq mode> ......................................................................... 179 - Torque system ........................................................................................................................ 179 3) Operations of tq mode........................................................................................................................ 180 6-8-3 Cyclic Torque Mode (cst mode) ......................................................................................................... 181 1) Objects related to cst mode (command & setup) ............................................................................... 182 - Controlword (6040h) <Functions in cst mode> ...................................................................... 183 2) Objects related to cst mode (monitoring) ........................................................................................... 184 - Statusword (6041h) <Functions in cst mode> ........................................................................ 185 3) Operations of cst mode ...................................................................................................................... 186 6-9 Common Motion Function .......................................................................................................................... 187 6-9-1 Touch Probe Function (position latch request/release) ....................................................................... 187 1) Configuration of touch probe function ............................................................................................... 188 2) Touch probe relevant object............................................................................................................... 189 3) Touch probe function (60B8h)........................................................................................................... 190 4) Touch probe status (60B9h) ............................................................................................................... 191 5) Touch probe position 1/2 positive value (60BAh - 60BDh) .............................................................. 192 6) Starting touch probe operation ........................................................................................................... 193 7) Event mode of touch probe ................................................................................................................ 194 6-9-2 Option Code (deceleration stop sequence) .......................................................................................... 196 1) Abort connection opition code(6007h) .............................................................................................. 198 2) Quick stop option code(605Ah) ......................................................................................................... 201 3) Shutdown option code(605Bh) .......................................................................................................... 203 4) Disable operation option code (605Ch) ............................................................................................. 205 5) Halt option code (605Dh) .................................................................................................................. 206 6) Fault reaction option code (605Eh) .................................................................................................... 207 7) Sequence at drive inhibition input (POT, NOT) ................................................................................ 208 6-9-3 Digital Inputs/Digital Outputs............................................................................................................. 209 1) Digital inputs (60FDh) ....................................................................................................................... 210 2) Digital outputs (60FEh) ..................................................................................................................... 211 6-9-4 Position information ........................................................................................................................... 213 1) Initialization timing of position information ...................................................................................... 213 2) Electronic Gear Function ................................................................................................................... 214 3) Polarity(607Eh) .................................................................................................................................. 218 4) Initialization of the absolute encoder ................................................................................................. 220 5) Position range limit (607Bh) .............................................................................................................. 224 6) Home offset (607Ch) ......................................................................................................................... 225 6-9-5 Jerk...................................................................................................................................................... 226 6-9-6 Interpolation time period (60C2h) ...................................................................................................... 227 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 72 - 6-1 Object List Index 6007h 603Fh 6040h 6041h 605Ah 605Bh 605Ch 605Dh 605Eh 6060h 6061h 6062h 6063h 6064h 6065h 6066h 6067h 6068h 6069h 606Ah 606Bh 606Ch 606Dh 606Eh 606Fh 6070h 6071h 6072h 6073h 6074h 6075h SubIndex 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Name Abort connection option code Error code Controlword Statusword Quick stop option code Shutdown option code Disable operation option code Halt option code Fault reaction option code Modes of operation Modes of operation display Position demand value Position actual internal value Position actual value Following error window Following error time out Position window Position window time Velocity sensor actual value Sensor selection code Velocity demand value Velocity actual value Velocity window Velocity window time Velocity threshold Velocity threshold time Target torque Max torque Max current Torque demand Motor rated current Index 6076h 6077h 6078h 6079h 607Ah 607Bh 607Ch 607Dh 607Eh 607Fh 6080h 6081h 6082h 6083h 6084h SubIndex 00h 00h 00h 00h 00h 00h 01h 02h 00h 00h 01h 02h 00h 00h 00h 00h 00h 00h 00h Name Motor rated torque Torque actual value Current actual value DC link circuit voltage Target position Position range limit Highest sub-index supported Min position range limit Max position range limit Home offset Software position limit Number of entries Min position limit Max position limit Polarity Max profile velocity Max motor speed Profile velocity End velocity Profile acceleration Profile deceleration R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 73 - Index 6085h 6086h 6087h 6088h 608Fh 6091h 6092h 6098h 6099h 609Ah 60A3h 60A4h 60B0h 60B1h 60B2h 60B8h 60B9h 60BAh 60BBh 60BCh 60BDh 60C0h SubIndex 00h 00h 00h 00h 00h 01h 02h 00h 01h 02h 00h 01h 02h 00h 00h 01h 02h 00h 00h 00h 01h 02h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Name Quick stop deceleration Motion profile type Torque slope Torque profile type Position encoder resolution Highest sub-index supported Encoder increments Motor revolutions Gear ratio Number of entries Motor revolutions Shaft revolutions Feed constant Highest sub-index supported Feed Shaft revolutions Homing method Homing speeds Number of entries Speed during search for switch Speed during search for zero Homing acceleration Profile jerk use Profile jerk Highest sub-index supported Profile jerk 1 Profile jerk 2 Position offset Velocity offset Torque offset Touch probe function Touch probe status Touch probe pos1 pos value Touch probe pos1 neg value Touch probe pos2 pos value Touch probe pos2 neg value Interpolation sub mode select Index 60C1h 60C2h 60C4h 60C5h 60C6h 60E3h 60F2h 60F4h 60FAh 60FCh 60FDh 60FEh 60FFh 6502h SubIndex 00h 01h to FEh 00h 01h 02h 00h 01h 02h 03h 04h 05h 06h 00h 00h 00h 01h to FEh 00h 00h 00h 00h 00h 00h 01h 02h 00h 00h Name Interpolated data record Highest sub-index supported 1st set-point 254th set-point Interpolation time period Highest sub-index supported Interpolation time period value Interpolation time index Interpolation data configuration Highest sub-index supported Maximum buffer size Actual buffer size Buffer organisation Buffer position Size of data record Buffer clear Max acceleration Max deceleration Supported homing method Number of entries 1st supported homing method 254th supported homing method Positioning option code Following error actual value Control effort Position demand internal value Digital inputs Digital outputs Number of entries Physical outputs Bit mask Target velocity Supported drive modes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 74 - 6-2 PDS (Power Drive Systems) Specification 6-2-1 Finite State Automaton (FSA) The figure below defines state transition(FSA) of PDS related to the power control triggered by the user command or error detection etc..(After that, describe “PDS state” in this document.) Power off or reset Lowlevel power Highlevel power Drive function Yes No No Yes Yes No Yes Yes Yes Start 0: After control power-on (Auto skip 0) Not ready to switch on (Not initialized) 1: After initialization completed (Auto skip 1) Switch on disabled (initialization completed) 15:Fault reset Fault (alarm) Shutdown:2 7:Disable Voltage Ready to switch on (main circuit power OFF) Switch on:3 6:Shutdown Disable voltage:12 Disable Voltage:10 Quick stop active (Deceleration processing) 14: Deceleration process is completed (Auto skip 2) Switched on (servo ready or servo off) Fault reaction active (Deceleration processing) Enable operation:4 16: Enable operation 11: Quick stop 5:Disable operation Operation enabled (servo on) 8:Shut down 13:Error occurs 9:Disable Voltage Low-level power: control power supply High-level power: main power supply Drive function: servo-on The conditions of a servo ready state are that High-level power(main power supply) is in the state of ON. When High-level power (main power supply) is in the state of OFF, it does not become servo ready and can not transition to the state Switched on. After transition to Operation enabled(servo on), perform an operation command after time for 100ms or more. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 75 - PDS state transition events(transition condition) and actions are listed in the table below. PDS transition must be performed while handshaking with transition status. (Next transition command must be sent after checking at 6041h:statusword that transition has completed.) PDS Event(s) Action(s) Transition - Automatically changes after control - The drive functions are self-diagnosed and 0 Auto skip 0 1 Auto skip 1 2 3 Shutdown Switch on 4 Enable operation Disable operation Shutdown 5 6 7 Disable voltage 8 Shutdown 9 Disable voltage 10 Disable voltage 11 Quick stop 12 Disable voltage 13 Error occurs 14 Auto skip 2 15 Fault reset 16 Enable operation power-on or after resetting application - Automatic transition after the completion of initialization. - The Shutdown command is received - In the state of ON of High-level power, The Switch-on command is received - The Enable operation command is received - The Disable operation command is received initialized. - The communication is established. - In the state of ON of High-level power, The Shutdown command is received - When High-level power detects the state of OFF. - The Disable voltage command is received. - The Quick stop command is received. - The state transitions to Init when the ESM state is PreOP, SafeOP, or OP - In the state of ON of High-level power, The Shutdown command is received - The Disable voltage command is received - The OFF state of High-level power is detected when the value of Abort connection option code is 2 - The Disable voltage command is received. - The Quick stop command is received. - The state transitions to Init when the ESM state is PreOP, SafeOP, or OP - The Quick stop command is received - The OFF state of High-level power is detected when the value of Abort connection option code is 3 - Quick stop function is completed and quick stop option code is 1, 2 or 3. - After Quick stop function is completed, received Disable voltage command quick stop option code is 5, 6, or 7. - High-level power OFF is detected. - An error is detected - The OFF state of High-level power is detected when the value of Abort connection option code is 1 - After completing the deceleration process due to an error detection, the state transitions automatically - After releasing factor error, The Fault reset command is received - When the Quick stop option code is 5, 6, 7, or 8 and when the Enable operation command is received - Nothing in particular - Nothing in particular - Nothing in particular - The drive functions are validated. Also, all the set point data is cleared. - The drive functions are disabled. - Nothing in particular - The drive functions are disabled. - The drive functions are disabled. - Nothing in particular - The Quick stop function starts. - The drive functions are disabled. - Performs the established Fault reaction function. - The drive functions are disabled. - Resets the Fault state when there is no Fault factor. - The drive functions are validated. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 76 - 6-3 Controlword (6040h) Use the object 6040h (Control word) to set the commands to control a slave (servo amplifier) including the PDS state transition. (SAFTY PRECAUTIONS) When using this object, be sure to use the PDO and enable the PDO watchdog. SDO cannot judge communication cut-off, therefore an electricity state of the motor might be continued and becomes non-safe.. Index 6040h SubIndex 00h Name Units Range Data / Description Type Controlword 0 - 65535 U16 • Set a command to a servo amplifier including the PDS state transition. Access rw PDO Op- EEPRO mode M RxPDO ALL No bit information details 15 14 13 12 11 10 9 oms r r oms h = reserved (not supported), = operation mode specific (operation mode dependent bit), = halt 8 h 7 fr fr eo qs ev so 6 5 oms 4 3 eo 2 qs 1 ev 0 so = fault reset = enable operation = quick stop = enable voltage = switch on bit7,3-0 (fault reset / enable operation / quick stop / enable voltage / switch on): Indicates the PDS command. Here, describes the combination of bits corresponding to the command: -: Indefinite Bits of the controlword bit 7 bit 3 bit 2 bit 1 bit 0 fault reset enable operation quick stop enable voltage switch on Shutdown 0 - 1 1 0 2,6,8 Switch on 0 0 1 1 1 3 Switch on + enable operation 0 1 1 1 1 3+4 (*1) Enable operation 0 1 1 1 1 4, 16 Disable voltage 0 - - 0 - 7, 9, 10, 12 1 - 7,10, 11 1 1 5 - - 15 Command Quick stop 0 - Disable operation 0 0 0 (*2) 1 - - Fault reset Transitions (*1) Automatic transition to Enable operation state after executing “switch on” state functionality. (*2) "Quick stop" command is enabled if the bit is '0'. Please keep in mind that the bit performs reverse operation compared to other bits. bit8(halt): If 1, the motor is decelerated and stopped temporarily according to 605Dh (Halt option code). After the motor stops, restoring the bit to 0 resumes the operation. In the hm control mode, however, operation is not restarted even if the bit is restored to 0 after the stop by 1. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 77 - bit9,6-4 (operation mode specific): Below table shows the behavior of the operation mode(Op-mode) specific bits. (For details, refer to the relevant object's section of each operation mode.) -: not used(Set to 0) bit4 Op-mode bit9 bit6 pp change on set-point absolute / relative pv tq hm - - bit5 change set immediately - ip - - - enable interpolation csp csv cst - - - - new set-point start homing R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 78 - 6-4 Statusword (6041h) Use the object 6041h (Status word) to check a slave (servo amplifier) state. Index 6041h SubIndex 00h Name Units / Description Statusword • Displays the servo amplifier state. Range Data Type U16 0 - 65535 Access ro PDO Op- EEPRO mode M RxPDO ALL No bit information details 15 14 13 r 12 oms 11 ila 10 oms r = reserved (not supported), oms ila = operation mode specific (operation mode dependent bit), = internal limit active rm = remote 9 rm 8 r 7 w w sod qs ve f oe so rtso 6 sod 5 qs 4 ve 3 f 2 oe 1 so 0 rtso = warning = switch on disabled = quick stop = voltage enabled = fault = operation enabled = switched on = ready to switch on bit6,5,3-0 ( switch on disabled / quick stop / fault / operation enable / switched on / ready to switch on ): This bit enables to confirm the PDS state. The table below lists the states and corresponding bits: Statusword PDS state xxxx xxxx x0xx 0000 b Not ready to switch on Initialization non-completed xxxx xxxx x1xx 0000 b xxxx xxxx x01x 0001 b xxxx xxxx x01x 0011 b xxxx xxxx x01x 0111 b xxxx xxxx x00x 0111 b xxxx xxxx x0xx 1111 b Switch on disabled Ready to switch on Switched on Operation enabled Quick stop active Fault reaction active Initialization completed Main circuit power OFF Servo-off/servo ready Servo-on Immediate stop Error (alarm) discriminated xxxx xxxx x0xx 1000 b Fault Error (alarm) state bit4 (voltage enabled): If 1, the main circuit power voltage is applied to PDS. bit5 (quick stop): If 0, it indicates PDS responds to quick stop request. Quick stop enabled if the bit is '0'. Please keep in mind that the bit performs reverse operation compared to other bits. bit7 (warning): If 1, it is indicating a warning. The PDS state does not change during the warning, Also, continues the motor operation. bit8 (reserved): This bit is not used (fixed at 0). bit9 (remote): If 0 (local), 6040h (Control word) indicates the state of impossible processing. If 1 (remote), 6040h (Control word) indicates the state of possible processing. It will be set to 1 if ESM state transitions to over Pre-OP or more. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 79 - bit13, 12, 10 (operation mode specific) : Below table shows the behavior of the operation mode(Op-mode) specific bits. (For details, refer to the relevant object's section of each operation mode.) Op-mode pp pv tq hm ip csp csv cst 2.00 -: not used(Indefinite) bit10 bit13 bit12 following error max slippage error (Not supported) homing error following error - set-point acknowledge target reached speed target reached homing attained ip mode active drive follows command value drive follows command value drive follows command value target reached target reached target reached - bit11(internal limit active)： Bit11(internal limit active) of the 6041h(Statusword) is set to 1 when the internal limit factor occurs. The following indicates the factors at which bit11(internal limit active) of the 6041h(Statusword) is set to 1. Bit11(internal limit active) of the 6041h(Statusword) is indicate conditions for which be 1 below. Control mode Internal limiting factor Servo on / off state Emergncy stop *1) on Torque limit on *2) pp,csp Over-travel inhibition input on / off Position (POT/NOT) control Software limit on / off Emergncy stop *1) on hm Torque limit on *2) Emergncy stop *1) on Velocity Torque limit on *2) pv,csv control Over-travel inhibition input on / off (POT/NOT) Emergncy stop *1) on Torque limit *3) on *2) Torque tq,cst Over-travel inhibition input control cstca on / off (POT/NOT) Rotational direction setup on *1) Excluding a case where torque is not limited even during emergency stop. *2) The minimum value of the following is the torque limit. - The sum of 6071h (Target torque) and 60B2h (Torque offset) (Only during torque control (tq, cst)) - 6072h (Max torque) - 3013h (1st torq ue limit) - 3522h (2nd torque limit) (only when 3521h = 2 or 4) *3) By setting the 3703h(Output setup during torque limit), it is possible to switch the torque limit judgment conditions at the time of torque control. Index 3703h SubIndex 00h Name Units Range Data Access PDO / Description Type Output setup during 0 -1 I16 rw No torque limit Set up judgment condition of output whiletorque is limited by torque control. 0 : Turn ON at torque limit including torque command value 1 : Turn ON at torque limit excluding torque command value Op- EEPRO mode M cst Yes tq bit15, 14(reserved): This bit is not used (fixed to 0). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 80 - 6-5 Operation mode Setting 6-5-1 Supported Drive Modes (6502h) The 6502h (Supported drive modes) enables to confirm the operation modes (Modes of operation) supported by this servo amplifier. Index 6502h SubIndex 00h Name Units Range / Description Supported drive modes 0 - 4294967295 • Displays the supported operation mode(Mode of operation). When the value is 1, the mode is supported. bit 31 - 16 Op-mode ms Value 0･･･0 ms : manufacturer-specific r : reserved 15 - 10 r 0･･･0 9 cst 1 8 csv 1 7 csp 1 Data Type U32 6 ip (0) 5 hm 1 Abbre viation 0 Profile position mode pp 1 Velocity mode vl 2 Profile velocity mode pv 3 Torque profile mode tq 5 Homing mode hm 6 Interpolated position mode ip 7 Cyclic synchronous position mode csp 8 Cyclic synchronous velocity mode csv 9 Cyclic synchronous torque mode cst *1) Response status is different depending on the software version. bit Modes of operation Access ro 4 r 0 3 tq 1 PDO Opmode TxPDO ALL 2 pv 1 1 vl 0 EEPROM No 0 pp 1 Support *1) Yes No Yes Yes Yes No Yes Yes Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 81 - 6-5-2 Modes of Operation (6060h) The operation mode is set by 6060h (Modes of operation). Index 6060h SubIndex 00h Name Units Range / Description Modes of operation -128 - 127 • Set the operation mode of the servo amplifier. The not supported operation mode cannot be set. Value Modes of operation Data Type I8 Abbre viation - -128 Reserved -1 0 No mode change / no mode assigned 1 Profile position mode pp 2 Velocity mode vl 3 Profile velocity mode pv 4 Torque profile mode tq 6 Homing mode hm 7 Interpolated position mode ip 8 Cyclic synchronous position mode csp 9 Cyclic synchronous velocity mode csv 10 Cyclic synchronous torque mode cst 11 Reserved 127 *1) Response status is different depending on the software version. Access rw PDO Opmode RxPDO ALL EEPROM Yes Support *1) No Yes Yes No Yes Yes Yes (No) Yes Yes Yes No • Since 6060h (Modes of operation) is default = 0 (No mode change/no mode assigned), make sure to set the operation mode value after the power-on. If the setting value of 6060h changes PDS state to Operation enabled when it is 0, occur Err88.1” Operation mode setting error protection”. • If not supported operation mode is set by SDO, an Abort message is returned as out of range. • The change of operation mode using 6060h is as follows: The initial state 6060h=0 (No mode assigned) changes to the supported operation mode (pp, hm, csp, csv, cst, etc.) Then, if 6060h is set to 0, the operation mode is not changed as "No mode changed." (The operation mode last time is held. For information, refer to section 6-5-4.) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 82 - 6-5-3 Modes of Operation Display (6061h) The 6061h (Modes of operation display) enables to confirm the internal operation mode of this servo amplifier. After setting 6060h (Modes of operation), monitor this object to confirm that the system operation is set as expected. Index 6061h SubIndex 00h Name Units Range / Description Modes of operation -128 - 127 display • Displays the operation mode at present. The definition is the same as 6060h (Modes of operation). Value Modes of operation Data Type I8 Abbre viation - -128 Reserved -1 0 No mode change / no mode assigned 1 Profile position mode pp 2 Velocity mode vl 3 Profile velocity mode pv 4 Torque profile mode tq 6 Homing mode hm 7 Interpolated position mode ip 8 Cyclic synchronous position mode csp 9 Cyclic synchronous velocity mode csv 10 Cyclic synchronous torque mode cst 11 Reserved 127 *1) Response status is different depending on the software version. Access ro PDO OpMode TxPDO ALL EEPROM No Support *1) No Yes Yes No Yes Yes Yes (No) Yes Yes Yes No R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 83 - 6-5-4 Precautions for Changing Operation mode • The operation mode can be switched by changing the value of 6060h (Modes of operation). • The 6061h (Modes of operation display) enables to confirm the operation mode of the servo amplifier at present. • The values of objects that are not supported by the operation mode after a operation mode change are irregular. • 2 ms is required from the time when the operation mode is changed until the completion of the change. During this time, the value of 6061h and the value of the object of TxPDO related to the operation mode are irregular. • When selecting another operation mode, wait for at least 2 ms. When several operation modes are repeatedly switched within 2 ms, Err91.1 (command error protection) will occur. • When switching the operation mode, make sure that the motor is stopped. If the control mode is changed during a motor operation (including during an origin return operation and deceleration stop), the operation cannot be guaranteed. The mode may not be changed immediately or Err27.4 (command error protection 1) etc. may occur. • When 6060h and 6061h are 0 and a PDS state is made to change to "Operation enabled", Err88.1(Operation mode setting error protection) occurs. • Set the values other than zero to 6060h(Modes of operation) once, when set as 6060h=0 after that, the last operation mode is held. • If a not supported operation mode is set to 6060h, Err88.1 (Operation mode setting error protection) occurs. • During the full-closed control, only the position controls are supported. Therefore, during the full-closed control, if 6060h (Modes of operation) is set to 3 (pv), 4(tq), 9 (csv), or 10 (cst), Err88.1 (Operation mode setting error protection) occurs. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 84 - 6-6 Position Control Function(pp,csp,ip,hm) 6-6-1 Common Position Control Function 1) Position control block diagram Monitor data of PANATERM Monitor data of CiA402 object *csp only 6062h Position demand value [command] 60B0h Position offset [command] ＋ Positional command speed [r/min] Damping control Switching selection ＋ Smoothing filter Trajectory generator Electronic gear positive conversion FIR Primary delay 607Ah Target position [command] 60FCh Position demand internal value [pulse] 6064h Position actual value [command] 60BAh～60BDh Touch probe position value [command] 3223h 3222h Filter Depth 1st 3214h 3215h 3641h 2nd 3216h 3217h 3rd 3218h 3219h 4th 3220h 3221h command position [pulse] － 60F4h Following error actual value [command] Command positional deviation *4 [pulse] Torque feed forward Velocity feed forward 60B2h Torque offset [0.1%] Gain 3110h Filter 3111h ＋ Gain 3112h Filter 3113h ＋ ＋ ＋ Velocity FF unit conversion ＋ － Position control 1st 3100h 2nd 3105h ＋ ＋ － ＋ Mode 3115h Scale factor 3606h Delay time 3116h Level 3117h Hysteresis 3118h Switching time 3119h 3607h Positive direction 3608h Negative direction 3609h Notch filter Positional deviation [pulse] Velocity unit conversion 1st 3101h 3102h 2nd 3106h 3107h 3004h Inertia ratio Velocity control command [r/min] 1st 3103h 2nd 3108h Instantaneous speed 3610h Depth ＋ 1st 3201h 3202h 3203h 2nd 3204h 3205h 3206h ＋ ＋ 3rd 3207h 3208h 3209h 4th 3210h 3211h Frequency 3212h 3200h Adaptive mo de Torque filter Disturbance observer Motor velocity [r/min] 6063h Position actual internal value [pulse] Width ＋ ＋ Gain Sum of feedback pulses [pulse] 3605h Friction compensation Additional value Velocity detection filter Command positional deviation *4 [pulse] 606Ch Velocity actual value [command/s] 2.00 3114h 3rd setup Velocity control Proportion Integration 60B1h Velocity offset [command/s] 2nd setup Internal positional command speed [r/min] ＋ － Gain switching Internal command position [pulse] ＋ Electronic gear reverse conversion 3213h Frequency Filter 3623h 1st 3104h 2nd 3109h At tenuation 2 stages 3642h 3643h term 3624h Velocity detection Torque limit Current control Encoder エンコーダ Motor モータ Response setup Selection 3521h 1st 3013h 2nd 3522h MAX 6072h 3611h Main power External load 外部スケール supply Torque instruction [0.1%] 6074h Torque demand [0.1％] Position control block diagram 2.00 *1) A slanting number (ex.:607Ah) shows the object number of EtherCAT. *2) A bold letter number (ex.:3100h) shows a parameter number. *3) Polarity was omitted. *4) The method to calculate the positional deviation on PANATERM and Analog monitor (standard) varies depending on the setting of the command positional deviation output change (bit 14) of 3723h(Communication function extended setup 2). For details, refer to the technical document, basic function specifications (SX-DSV02472), paragraph 3-4. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 85 2.00 In the mode of 2 degrees of freedom control, the structure in the following block diagram is adopted. Monitor data of PANATERM Monitor data of CiA402 object *csp only 6062h Position demand value [command] 60B0h Position offset [command] ＋ Positional command speed [r/min] Damping control ＋ Trajectory generator Switching selection Smoothing filter Electronic gear positive conversion FIR 3223h 607Ah Target position [command] 60FCh Position demand internal value [pulse] 6064h Position actual value [command] 60BAh～60BDh Touch probe position value [command] － Electronic gear reverse conversion 3215h 3641h 2nd 3216h 3217h Internal command position [pulse] Tuning filter Damping 3649h Damping 3649h Filter 3111h Velocity FF unit conversion 60B1h Velocity offset [command/s] ＋ Gain 3112h Filter 3113h ＋ ＋ ＋ － Position control 1st 3100h 2nd 3105h Sum of feedback pulses [pulse] Delay time 3116h Level 3117h Hysteresis 3118h Switching time 3119h 3605h Friction compensation Positive direction Negative direction Gain 3607h 3608h 3609h 3650h Notch filter ＋ ＋ ＋ － Proportion Integration Velocity detection filter Command positional deviation *4 [pulse] Positional deviation [pulse] 3115h Scale factor 3606h ＋ Velocity control command [r/min] 1st 3103h 2nd 3108h Instantaneous speed 3610h 1st 3101h 3102h 2nd 3106h 3107h 1st 3201h 3202h 3203h 2nd 3204h 3205h 3206h ＋ ＋ 3rd 3207h 3208h 3209h 4th 3210h 3211h 3212h 3200h Adaptive mode Torque filter Attenuation term Disturbance observer Motor velocity [r/min] 6063h Position actual internal value [pulse] Depth ＋ ＋ Frequency 3004h Inertia ratio Width ＋ Velocity control 606Ch Velocity actual value [command/s] Velocity unit conversion Torque feed forward Velocity feed forward 3110h Mode Command filter 3648h constant 3222h Additional value Gain 3114h 3rd setup Time Time constant Torque FF unit conversion 60B2h Torque offset [0.1%] 2nd setup Internal positional command speed [r/min] ＋ － Gain switching Depth 3214h Command positional deviation *4 [pulse] 60F4h Following error actual value [command] Filter 1st Command position [pulse] ＋ 3213h Frequency Gain 3623h Filter 3624h 1st 3104h 2nd 3109h 2 stages 3642h 3643h Velocity detection Torque limit Current control Encoder エンコーダ Motor モータ Response setup Selection 3521h 1st 3013h 2nd 3522h MAX 6072h 3611h Main power External load 外部スケール Torque instruction [0.1%] supply 6074h Torque demand [0.1％] Block diagram of the 2 degrees of freedom control mode *1) A slanting number (ex.:607Ah) shows the object number of EtherCAT. *2) A bold letter number (ex.:3100h) shows a parameter number. *3) Polarity was omitted. *4) The method to calculate the positional deviation on PANATERM and Analog monitor (standard) varies depending on the setting of the command positional deviation output change (bit 14) of 3723h(Communication function extended setup 2). For details, refer to the technical document, basic function specifications (SX-DSV02472), paragraph 3-4. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 86 - 2) Related objects common in position control (command & setup) Index SubIndex 6040h 6072h 607Ah 00h 00h 00h 00h 01h 02h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 607Dh 607Fh 6080h 6081h 6082h 6083h 6084h 60B1h 60B2h 60C5h 60C6h 60F2h Name Controlword Max torque Target position Software position limit Number of entries Min position limit Max position limit Max profile velocity Max motor speed Profile velocity End velocity Profile acceleration Profile deceleration Velocity offset Torque offset Max acceleration Max deceleration Positioning option code Units Range Data Access Type 0.1% Command Command Command Command/s r/min Command/s Command/s Command/s2 Command/s2 Command/s 0.1% Command/s2 Command/s2 - 0 - 65535 0 - 65535 -2147483648 - 2147483647 2 -2147483648 – 2147483647 -2147483648 – 2147483647 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 -2147483648 - 2147483647 -32768 - 32767 0 - 4294967295 0 - 4294967295 0 - 32767 U16 U16 I32 U8 I32 I32 U32 U32 U32 U32 U32 U32 I32 I16 U32 U32 U16 rw rw rw ro rw rw rw rw rw rw rw rw rw rw rw rw rw PDO Supported mode pp csp ip hm RxPDO RxPDO RxPDO No RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes － Yes - Yes Yes Yes Yes Yes Yes Yes - Yes Yes - Yes Yes - Yes Yes - Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes - Yes Yes Yes - Yes Yes Yes - 2.00 • Besides, there are related objects for each operation mode. Refer to the section "Related objects" of each operation mode. • The function of 6040h (Control word) can differ according to the operation mode. Refer to the section "Related objects" of each operation mode. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 87 - Position system Index 607Ah SubIndex 00h Name / Description Target position Units Range Command -2147483648 2147483647 Units Range Command/s 0 - 4294967295 Data Type I32 Access Data Type U32 Access PDO rw RxPDO rw PDO Op- EEPRO mode M RxPDO pp No csp Set the target position. - Velocity system Index 607Fh SubIndex 00h 6080h 00h 6081h 00h 6082h 00h 60B1h 00h Name / Description Max profile velocity Op- EEPRO mode M pp Yes hm ip pv • Set the velocity limit. • The maximum value is limited by the internal processing at 6080h(Max motor speed). Max motor speed r/min 0 - 4294967295 U32 rw RxPDO ALL 2.00 • Set the maximum velocity of motor. Since this servo amplifier automatically sets the value based on the motor information, the setup is not necessary. • The initial value of this servo motor is automatically set from the information. • It is tq and cst and restricts speed with the preset value of this object. Profile velocity Command/s 0 - 4294967295 U32 rw RxPDO pp ip • Set the target velocity. • The maximum value is limited by the internal processing at either the smaller 607Fh(Max profile velocity) and 6080h(Max motor speed). End velocity Command/s 0 - 4294967295 U32 rw RxPDO pp ip • Set the end velocity. Because this servo amplifier does not support it, always returns 0. Velocity offset Command/s -2147483648 I32 rw RxPDO pp 2147483647 hm ip pv csp csv • Set the offset of the velocity command (velocity feedforward). • The maximum value is limited by the internal processing at 6080h(Max motor speed). Yes Yes Yes Yes - Torque system Index 6072h SubIndex 00h 60B2h 00h Name Units Range Data Access PDO / Description Type Max torque 0.1% 0 - 65535 U16 rw RxPDO • Set the maximum torque of the motor. • The maximum value is limited by the maximum torque of the motor in the internal processing. • The maximum torque of the motor varies depending on the motor applied. Torque offset 0.1% -32768 - 32767 I16 rw RxPDO • Set the offset of the torque command (torque feedforward). • During slowdown in over-travel inhibition(in emergncy stop), the torque feedforward level becomes 0. 2.00 Op- EEPRO mode M ALL Yes ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 88 - Acceleration and deceleration system Index 6083h 6084h 60C5h 60C6h SubIndex 00h Name / Description Units Range Access 0 – 4294967295 Data Type U32 Profile acceleration Command/s2 PDO rw Opmode RxPDO pp ip pv EEPROM 00h • Set the profile acceleration. • If it is set to 0, internal processing is treated as 1. Profile deceleration Command/s2 0 – 4294967295 U32 rw RxPDO pp ip pv Yes 00h • Set the profile deceleration. • If it is set to 0, internal processing is treated as 1. Max acceleration Command/s2 0 – 4294967295 U32 rw RxPDO pp hm pv ip Yes 00h • Set the maximum acceleration. • If it is set to 0, internal processing is treated as 1. Max deceleration Command/s2 0 – 4294967295 U32 rw RxPDO pp hm pv ip Yes Yes • Set the maximum deceleration. • If it is set to 0, internal processing is treated as 1. 2.00 - Other Index 3724h SubIndex 00h Name / Description Units Range Data Type Communication -32768 - 32767 I16 － function extended setup 3 bit10 : Internal value state selection of objects 60B2h(Torque offset) in servo-off (Fall prevention function in the event of Servo-ON) 0: Clear 1: Updated with the set value of 60B2h Access PDO rw No Op- EEPRO mode M ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 89 - Software position limit (607Dh) Set to operation range of positioning command value by 607Dh(Software position limit). Index 607Dh SubIndex - Access PDO - Data Type - - - 2 U8 ro No pp ip csp No 01h • Displays the number of sub-indexes for 607Dh (Software position limit). Min position limit Command -2147483648 I32 2147483647 rw RxPDO pp ip csp Yes 02h • Set the software limit value in negative direction. Max position limit Command -2147483648 2147483647 rw RxPDO pp ip csp Yes 00h Name / Description Software position limit • Set the software limit value. Number of entries Units Range - I32 Op- EEPRO mode M - • Set the software limit value in positive direction. - Setting unit 607Dh (Software position limit) is set in units of command. Set a value including 607Ch (Home offset) in the same way as 6062h (Position demand value). For information on Home offset, refer to 6) in Section 6-9-4. - Activation To enable the software limit, must satisfy the following conditions. - That it is the position operation mode (pp, ip, csp). - That it is position coordinate is finalized. If the absolute : ESM state is transitioning to more than PreOP. If the incremental : The return to home position operation has been completed normally. - That the relationship between the object configuration meets the 607Dh-01h < 607Dh-02h. Software limit setting is performed at the timing when the ESM status changes from Init to PreOP and at the completion of the return to home position operation. Note that the setting is not reflected as is even if the setting values for the related objects have been changed. If it is used in the incremental mode, the software limit function will be ineffective when the ESM status transitions from Init to PreOP, so execute the origin return operation again. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 90 - (Note) At the time of position information initialization, make a setting so that the actual position is within the range of 607Dh-01h to 607Dh-02h (normal operating range). Except when the actual position is outside of the normal operating range, the actual position can be moved only in the direction in which it falls within the normal operating range. (It cannot be moved in the opposite direction.) Bit 11 (internal limit active) of 6041h (Statusword) remains 1 until the actual position falls within the normal operating range. 607Dh-01h B0000000h 80000000h 6064h (Position actual value) 607Dh-02h 00000000h 40000000h 7FFFFFFFh Only this direction is movable. Software limit range 6041h (Statusword) bit11 (internal limit active) 1 Normal operating range 0 Software limit range 1 - Invalidation If disable the software limit function, make the preset value of each object into the following conditions. 607Dh-01h ≧ 607Dh-02h Exsample) 607Dh-01h = 0 607Dh-02h = 0 - Workings of wrap around If want to perform the operation wraparound, please disable software limit function. If the actual position or command position is wrapped around when the software limit function is effective, Err88.3 (improper operation error protection) will occur. Also bit 11 (internal limit active) of 6041h (Statusword) will be indefinite. - Workings of limit detection Upon detection of the actual position or command position reaching the software limit during motor operation, deceleration is started according to quick stop ramp *1). For the csp control mode, however, deceleration may be started in a delayed fashion depending on the command division timing. *1) quick stop ramp: 605Ah (Quick option code) set to 2 or 6 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 91 - 3) Related objects common in position control (monitoring) 4.00 Index SubIndex 4D29h 6041h 6062h 6063h 6064h 6065h 6066h 6067h 6068h 6069h 606Ch 6074h 6076h 6077h 60F4h 60FAh 60FCh 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Name Over load factor Statusword Position demand value Position actual internal value Position actual value Following error window Following error time out Position window Position window time Velocity sensor actual value Velocity actual value Torque demand Motor rated torque Torque actual value Following error actual value Control effort Position demand internal value Units Range 0.1% Command pulse Command Command 1 ms Command 1 ms Command/s 0.1% mNm 0.1% Command Command/s pulse 0 - 65535 0 - 65535 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 0 - 4294967295 0 - 65535 0 - 4294967295 0 - 65535 -2147483648 - 2147483647 -2147483648 - 2147483647 -32768 - 32767 0 - 4294967295 -32768 - 32767 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 Data Access PDO Type pp csp ip hm U16 U16 I32 I32 I32 U32 U16 U32 U16 I32 I32 I16 U32 I16 I32 I32 I32 Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes ro ro ro ro ro rw rw rw rw ro ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO RxPDO RxPDO RxPDO RxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO Supported mode • Besides, there are related objects for each operation mode. Refer to the section "Related objects" of each operation mode. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 92 - - Position system Index 6062h SubIndex 00h 6063h 00h 6064h 00h 60F4h 00h 60FCh 00h Name / Description Position demand value Units Range Command -2147483648 2147483647 Data Type I32 Access ro PDO Op- EEPRO mode M TxPDO pp No hm ip csp • Indicates a command position (= IPOS). TxPDO ALL Position actual pulse -2147483648 – I32 ro internal value 2147483647 • Indicate the motor of actual position. If full-close control or encoder unit other than full-closed control, is external scale unit. TxPDO ALL Position actual value Command -2147483648 – I32 ro 2147483647 • Indicate the motor of actual position(= APOS). TxPDO pp Following error Command -2147483648 – I32 ro actual value 2147483647 ip hm csp • Indicate internal deviation(= PERR). TxPDO pp Position demand pulse -2147483648 – I32 ro internal value 2147483647 ip hm csp • Indicates an internal command position. No No No No - Velocity system Index 6069h SubIndex 00h 606Ch 00h 60FAh 00h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M TxPDO ALL Velocity sensor -2147483648 – I32 ro No － actual value 2147483647 • Indicate sensor value of actual velocity. Return 0 always because this servo amplifier not supported. TxPDO ALL Velocity actual value Command/s -2147483648 – I32 ro No 2147483647 • Indicate the motor of actual velocity(= FSPD). Note: The maximum value is limited by the 6080h(Max motor speed) in internal processing. TxPDO pp Control effort Command/s -2147483648 – I32 ro No 2147483647 ip hm csp • Indicate command value of internal velocity( output position loop). - Torque system Index 4.00 4D29h SubIndex 00h 6074h 00h 6076h 00h 6077h 00h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M TxPDO ALL Over load factor 0.1% 0 – 65536 U16 ro No • The ratio [0.1%] to the rated load is displayed. TxPDO ALL Torque demand 0.1% -32768 – 32767 I16 ro No • Indicates an internal command torque. TxPDO ALL Motor rated torque mNm 0 – 4294967295 U32 ro No • Reads out the rated torque from the motor and automatically sets it. TxPDO ALL Torque actual value 0.1% -32768 – 32767 I16 ro No • Indicates actual torque. • It becomes a value equivalent to actual current value. • This output value is a reference value and does not guarantee an actual value. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 93 - Statusword (6041h) <Common functions in position control> This section describes the following functions of 6041h (Status word). bit 10: Target reached (completed positioning detected) bit 13: Following error (position over-deviation detected) For other functions, refer to the section "Related objects" of each operation mode. Index 6041h SubIndex 00h Name Units / Description Statusword • Displays the servo amplifier state. Range Data Type U16 0 - 65535 Access ro PDO Op- EEPRO mode M TxPDO ALL No bit information details 15 - 14 13 12 11 (differ in operation mode) ila oms r following error (only pp,csp) r = reserved (not supported), oms ila = operation mode specific (operation mode dependent bit), = internal limit active rm = remote 10 oms target reached (except csp) w sod qs ve f oe so rtso 9 8 7 6 5 4 3 2 1 0 rm r w sod qs ve f oe so rtso = warning = switch on disabled = quick stop = voltage enabled = fault = operation enabled = switched on = ready to switch on R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 94 - bit10：target reached (Position reached) When the servo is on (Operation enable state), all set-points have been released with the command generation completed, the difference between 6062h (Position demand value) and 6064h (Position actual value) is within the range set in 6067h (Position window), and the time set in 6068h (Position window time) elapses, bit 10 (target reached) of 6041h (Statusword) is set to 1. bit 10 Name target reached Value halt=0 (during normal operation) : halt=1 (during stop by halt) : halt=0 (during normal operation) : halt=1 (during stop by halt) : 0 1 Definition Positioning not yet completed During axis deceleration Positioning completed Axis stop (Axis speed is 0.) Position window time (6068h) Positioning window (6067h) Position demand value (6062h) ＋ Following error actual value (60F4h) Window comparator timer Target reached in statusword (6041h) － Position actual value (6064h) <Position reached (functional overview)> Index 6067h SubIndex 00h 6068h 00h Name / Description Position window Units Range Data Type U32 Access PDO Op- EEPRO mode M RxPDO pp Command 0 - 4294967295 rw Yes ip • Set the threshold where bit 10 (Target reached) of 6041h (Statusword) becomes 1 when the difference between 6062h (Position demand value) and 6064h (Position actual value) is within the range set by this parameter and the time set in 6068h (Position window time) elapses. If the position deviation is out of the values set by this parameter, the bit 10 of 6041h will be 0. RxPDO pp Position window time 1 ms 0 - 65535 U16 rw Yes ip • Set the time until bit 10 of 6041h (Statusword) is turned ON when the difference between 6062h (Position demand value) and 6064h (Position actual value) is within the range set by 6067h (Position window). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 95 - bit13 : Following error When the value of 60F4h(Following error actual value) goes beyond the range set by 6065h (Following error window) for the time set by 6066h (Following error time out), the bit 13(Following error) of 6041h (Status word) is set to 1. bit Name 13 following error Value 0 1 Definition When 60F4h (Following error actual value) (= 6062h (Position demand value) 6064h (Position actual value)) does not go beyond the range set by 6065h (Following error window). Or, 60F4h goes beyond the value set by 6065h but the time set by 6066h does not elapse. 60F4h (Following error actual value) goes beyond the range set by 6065h (Following error window) for the time or more set by 6066h (Following error time out) Following error time out (6066h) Following error window (6065h) Position demand value (6062h) ＋ Following error actual value (60F4h) Window comparator timer Following error in statusword (6041h) － Position actual value (6064h) <Following error (functional overview)> Index 6065h SubIndex 00h 6066h 00h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M RxPDO pp Following error Command 0 - 4294967295 U32 rw Yes window csp • Set the threshold where the bit 13 (Following error) of 6041h (Status word) will be 1 when the value of 604Fh(Following error actual value) is out of the values set by this parameter. RxPDO pp Following error 1 ms U16 rw Yes 0 - 65535 time out csp • If the state which the value of 604Fh(Following error actual value) is exceeded setting range of the 6065h(Following error window) is continued more than setting value of this parameters, bit13(following error) of 6041h(Statusword) set the threshold value is 1. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 96 6-6-2 Profile Position mode (pp mode) It is a position control mode to operate by designating the target position, target velocity, addition-subtraction velocity, etc. and creating a position command in the servo amplifier. Target position (607Ah) (Internal value) Target position [command] Position range limit (607Bh) Home offset (607Ch) Limit Function 2.00 Software position limit (607Dh) - (Internal value) Profile velocity End velocity [command/s] Profile velocity (6081h) Limit Function End velocity (6082h) Trajectory generator Max profile velocity (607Fh) Max motor speed (6080h) Position demand value (6062h) Minimum Comparator Velocity limit (Internal value) Profile acceleration Profile deceleration Quick stop deceleration Profile acceleration (6083h) Profile deceleration (6084h) 2 [command/s ] Quick stop deceleration (6085h) Limit Function Max acceleration (60C5h) Max deceleration (60C6h) electronic gear Quick stop option code (605Ah) Multiplier Position demand internal value(60FCh) 1 Motion profile type (6086h) Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) Polarity (607Eh) 1st torque limit (3013h) 2nd torque limit (3522h) Limit Function Max torque (6072h) Torque offset (60B2h) Limit Function Multiplier Limit Function Multiplier Max motor speed (6080h) Velocity offset (60B1h) Position control function 1 + Velocity control function + Torque control function M Polarity (607Eh) E Torque actual value (6077h) Multiplier Velocity actual value (606Ch) Multiplier Position actual internal value (6063h) Position actual value (6064h) Multiplier Inverse electronic gear Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 97 - 1) Objects related to pp mode (command & setup) Index 6040h 60F2h • SubIndex 00h 00h Name Controlword Positioning option code Units Range - 0 - 65535 0 - 32767 Data Type U16 U16 Access PDO rw rw RxPDO RxPDO Data Type U16 I32 U8 I32 I32 U32 U32 U32 U32 U32 U32 I32 I16 U32 U32 Access PDO rw rw ro rw rw rw rw rw rw rw rw rw rw rw rw RxPDO RxPDO Besides, there are related objects common to the position control. For more information, refer to section 6-6-1. Index 6072h 607Ah 607Dh 607Fh 6080h 6081h 6082h 6083h 6084h 60B1h 60B2h 60C5h 60C6h SubIndex 00h 00h 00h 01h 02h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Name Max torque Target position Software position limit Number of entries Min position limit Max position limit Max profile velocity Max motor speed Profile velocity End velocity Profile acceleration Profile deceleration Velocity offset Torque offset Max acceleration Max deceleration Units Range 0.1% Command Command Command Command/s r/min Command/s Command/s Command/s2 Command/s2 Command/s 0.1% Command/s2 Command/s2 0 - 65535 -2147483648 - 2147483647 2 -2147483648 – 2147483647 -2147483648 – 2147483647 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 -2147483648 - 2147483647 -32768 - 32767 0 - 4294967295 0 - 4294967295 No RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 98 - - There is a related object of common motion as well. For more information, refer to section 6-9. Index SubIndex 6007h 605Ah 605Bh 605Ch 605Dh 605Eh 00h 00h 00h 00h 00h 00h 00h 01h 02h 00h 00h 607Bh 607Ch 607Eh Name Abort connection option code Quick stop option code Shutdown option code Disable operation option code Halt option code Fault reaction option code Position range limit Highest sub-index supported Min position range limit Max position range limit Home offset Polarity Units Range Data Type Access PDO － － － － － － Command Command Command - 0-3 0-7 0-1 0-1 1-3 0-2 2 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 – 255 I16 I16 I16 I16 I16 I16 U8 I32 I32 I32 U8 rw rw rw rw rw rw ro rw rw rw rw No 2 6085h 00h Quick stop deceleration Command/s 0 – 4294967295 U32 rw 6086h 00h 00h 01h 02h 00h 01h 02h 00h 01h 02h 00h 00h 01h Motion profile type Position encoder resolution Highest sub-index supported Encoder increments Motor revolutions Gear ratio Number of entries Motor revolutions Shaft revolutions Feed constant Highest sub-index supported Feed Shaft revolutions Profile jerk use Profile jerk Highest sub-index supported Profile jerk 1 Profile jerk 2 Touch probe function Digital outputs Number of entries Physical outputs Bit mask pulse r (motor) r (motor) r (shaft) Command r (shaft) 3 Command/s -32768 – 32767 2 1 – 4294967295 1 – 4294967295 2 1 – 4294967295 1 – 4294967295 2 1 – 4294967295 1 – 4294967295 1-2 1-2 0 – 4294967295 0 – 4294967295 0 - 65535 2 0 - 4294967295 0 - 4294967295 I16 U8 U32 U32 U8 U32 U32 U8 U32 U32 U8 U8 U32 rw ro ro ro ro rw rw ro rw rw rw ro rw U32 U16 U8 U32 U32 rw rw ro rw rw 608Fh 6091h 6092h 60A3h 60A4h 60B8h 60FEh 02h 00h 00h 01h 02h 3 Command/s - 2.00 2.00 2.00 No No No No No No RxPDO RxPDO RxPDO No RxPDO RxPDO No No No No No No No No No No No No No RxPDO No RxPDO RxPDO R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 99 - - Controlword (6040h) <Functions in pp mode> Index SubName / Description Units Range Data Index Type 00h Controlword 0 - 65535 U16 • Set a command to a servo amplifier including the PDS state transition. 6040h Bit information details 15 – 10 9 oms r change on set-point r oms h rw PDO Op- EEPROM mode RxPDO ALL No 8 7 6 5 oms 4 3 2 1 0 h fr absolute/ relative change set immediately new set-point eo qs ev so = reserved (not supported), = operation mode specific (control mode dependent bit) = halt bit9, 6-4(operation mode specific): Bit Name Value Access fr eo qs ev so = fault reset = enable operation = quick stop = enable voltage = switch on Definition It is a trigger to activate a positioning operation and update a set value. 4 new set-point 0->1 0 5 change set immediately 6 absolute/ relative 9 change on set-point 1 Imports new positioning tasks (607Ah (Target position) and 6081h (Profile velocity) etc.). After the positioning operation at present is completed, next positioning operation starts. Suspends the positioning operation at present and starts next positioning operation at once. The additional option of the operation change timing is set with the cio bit (bit3-2) of 60F2h (Positioning option code). 0 Handles 607Ah (Target position) as an absolute position Handles 607Ah (Target position) as a relative position. 1 The additional option in relative positioning is set with the relative option (bit1-0) of 60F2h (Positioning option code). - Refer to the table below This is not supported by this software version. The table below lists the difference of an operation according to the combination of bits 9, 5 and 4. Bit 9 Bit 5 Bit 4 Definition change on change set new set-point immediately set-point The next positioning operation starts after the positioning operation at 0 0 0->1 present is completed (refer to example 1 or 3) The next positioning operation is performed immediately X 1 0->1 (refer to example 1 or 2) After the positioning operation is performed to the target position at present with the present profile velocity, the next positioning 1 0 0->1 operation starts (refer to example 1 or 3) This is not supported by this software version. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 100 (NOTE) Do not change the acceleration and deceleration(*) during motor operation. If change the acceleration and deceleration, change Bit4(new set-point) from 0 to 1 after the motor stops. (*) 6083h (Profile acceleration) 6084h (Profile deceleration) 60C5h (Max acceleration) 60C6h (Max deceleration) - Note that when the set point is executed (bit 4 (new set-point) is changed from 0 to 1 in the following conditions, that positioning task will be discarded. - Set-point when 6081h (Profile velocity) = 0 - Set-point to the direction with which the position will not get out of the limited state by the software limit - Set-point to the direction with which the position will not get out of the limited state by the drive prohibition - If the following status occurs, all the positioning tasks will be discarded, so care should be taken. - If run-inhibition is detected during deceleration due to halt = 1 - If run-inhibition is detected with positioning task operating to opposite direction of positioning task being executed buffered - Allow 2 ms from the time when pp operation is started until the next pp operation is started (the new set-point is changed from 0 to 1). - If it is stopped with halt, the setting of 6040h: bit5, 9 and 60F2h in the positioning task being executed (during a halt stop) will be cleared inside (set value 0). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 101 - - Positioning option code (60F2h) This object is an additional option to determine the operational specifications for positioning operation in the pp mode. Index 60F2h SubIndex 00h Name / Description Positioning option code Units Range Data Type Access - 0 - 65535 U16 rw PDO Op- EEPROM mode RxPDO pp Yes • Set the specification of positioning operation. 15 14 13 ms 12 11 10 9 8 7 6 reserved 5 4 rro 3 2 cio 1 0 relative option ms = manufacturer-specific, rro = request-response option, cio = change immediately option - bit1-0(relative option): The abs/rel bit(bit6) of 6040h(Controlword) is set to 1, determine the operation specification of relative positioning when performing the operation. Normally it is used in mode 0. bit 1 bit 0 Relative positioning mode 0 0 mode 0 0 1 mode 1 1 0 mode 2 Definition The operation is relative to the target position (absolute coordinate value) in the last operation. When there is no target position in the last operation or the operation has been executed in other control modes, the operation is relative to the absolute coordinate value 0. When the operation has been executed in other control modes, the previous target position is discarded. The positioning is relative to the 6062h(Position demand value) (= value output by trajectory generator). *1) The positioning is relative to the 6064h (Position actual value). *1) 1 1 mode 3 reserved *1) A propagation delay or other factors may prevent the position from reaching the expected position. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 102 - bit3-2(cio (change immediately option)): The change set immediately bit(bit5) of 6040h(Controlword) is set 1, determine the operation specification if start the next positioning operation immediately. This software version supports this specification only when bits 3 and 2 are both 0. Do not set it to a value other than 0. bit 3 bit 2 Definition Update the operate (including changes of Profile velocity and acceleration, etc. ) new 0 0 positioning tasks immediately. A new positioning task (including the changes of profile velocity, acceleration, etc.) operate continuously to the positioning task running at present arrives(continue operation without 0 1 stopping on the target position of the positioning task that is currently performed.). This software version does not support this specification. 1 0 reserved 1 1 reserved The following indicate the operation pattern by a combination of change set immediately bit(Bit5) of 6040h(Controlword) and cio(change immediately option) bit(bit3-2) of 60F2h(Positioning option code). 6040h:00h(Bit5) change set immediately 60F2h:00h(Bit3-2) cio(change immediately option) 0 00 00 01 v A B C t v v When a target position is updated to a counter direction. 01 v When the target position was updated in the same direction and speed is accelerated. When the target position was updated in the same direction and speed is decelerated. 1 v A B t C v A A B B C C t v t A B C A B C t v A B t C t v C A t A B C t * It does not arrive at the last target position. A : Timing which changed the command B : Target position (last time) arrival timing C : Target position (after updating) arrival timing Thick line : It operates on condition of before changing a command. Thin line : It operates on condition of after changing a command. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 103 - - bit5-4(rro (request-response option)): After the positioning operation is started, the master is supposed to set the new_set-point (bit 4) of 6040h (Control word) to 0; however this option allows the slave to automatically set it to 0. Slave transmits to the master by setting to 0 setpoint_acknowledgement bit(bit12) of 6041h(Statusword) after releasing the new_setpoint. Bit 5 0 Bit 4 0 0 1 1 0 1 1 Definition The handshake is necessary, as shown in the examples 1 to 3. The slave releases the New setpoint bit automatically as soon as the drive arrives at the target position. (It is set as 0.) The slave releases the new setpoint bit automatically as soon as the slave accepts a new target position. (It is set as 0.) Reserved R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 104 - 2) Objects related to pp mode (monitoring) Index SubIndex 00h 6041h • Name Statusword Units Range - 0 - 65535 Data Type U16 Access PDO ro TxPDO Besides, there are related objects common to the position control. For more information, refer to section 6-6-1. Index SubIndex 6062h 6063h 6064h 6065h 6066h 6067h 6068h 6069h 606Ch 6074h 6076h 6077h 60F4h 60FAh 60FCh 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Name Position demand value Position actual internal value Position actual value Following error window Following error time out Position window Position window time Velocity sensor actual value Velocity actual value Torque demand Motor rated torque Torque actual value Following error actual value Control effort Position demand internal value Units Range Data Type Access PDO Command pulse Command Command 1ms Command 1ms Command/s 0.1% mN•m 0.1% Command Command/s pulse -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 0 - 4294967295 0 - 65535 0 - 4294967295 0 - 65535 -2147483648 - 2147483647 -2147483648 - 2147483647 -32768 – 32767 0 – 4294967295 -32768 - 32767 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 I32 I32 I32 U32 U16 U32 U16 I32 I32 I16 U32 I16 I32 I32 I32 ro ro ro rw rw rw rw ro ro ro ro ro ro ro ro TxPDO TxPDO TxPDO RxPDO RxPDO RxPDO RxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO Units Range Data Type Access PDO Command Command Command Command - 0 - 65535 0 - 65535 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 - 4294967295 U16 U16 I32 I32 I32 I32 U32 ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO - There is a related object of common motion as well. For information, refer to section 6-9. Index SubIndex 603Fh 60B9h 60BAh 60BBh 60BCh 60BDh 60FDh 00h 00h 00h 00h 00h 00h 00h Name Error code Touch probe status Touch probe pos1 pos value Touch probe pos1 neg value Touch probe pos2 pos value Touch probe pos2 neg value Digital inputs R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 105 - Statusword (6041h) <Functions in pp mode> Index 6041h SubName / Description Units Index 00h Statusword • Displays the servo amplifier state. Range Data Type U16 0 - 65535 Access PDO Op- EEPROM mode TxPDO ALL No ro Bit information details 15 - 14 13 12 11 set-point acknowledge ila oms r following error r = reserved (not supported), oms ila = operation mode specific (control mode dependent bit) = internal limit active rm = remote 10 oms target reached 9 8 7 6 5 4 3 2 1 0 rm r w sod qs ve f oe so rtso w sod qs ve f oe so rtso = warning = switch on disabled = quick stop = voltage enabled = fault = operation enabled = switched on = ready to switch on bit13,12,10(operation mode specific): Bit Name Value Definition target reached 10 Refer to 3) of Section 6-6-1. The new set-point is 0, the motion is done (in process) for the last target position, 0 and the buffer is empty set-point 12 acknowledge Data for a new positioning task has been imported into the buffer and it is not 1 empty Refer to 3) of Section 6-6-1. 13 following error R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 106 - 3) Operations of pp mode - Example 1 (basic set-point) [1] [2] [3] [4] [5] The master sets the value of 607Ah (Target position) and then changes the value of the bit 4 (New setpoint) of 6040h (Control word) from 0 to 1. In that case, also set 6081h (Profile velocity). If the value of 6081h (Profile velocity) is 0, the motor does not work. The slave confirms the rising edge (from 0 to 1) of the bit 4 (New setpoint) of 6040h (Control word) and starts the positioning motion toward the target position, 607Ah (Target position). Here, the slave changes the value of the bit 12 (Setpoint acknowledge) of 6041h (Status word) from 0 to 1. The master confirms that the value of the bit12 (Setpoint acknowledge) of 6041h (Status word) is changed from 0 to 1 and puts the bit 4 (New setpoint) of 6040h (Control word) back to 0. The slave confirms that the bit 4 (New setpoint) of 6040h (Control word) is set to 0 and sets the bit 12 (Setpoint acknowledge) of 6041h (Status word) to 0. When the motion arrives at the target position, the slave changes the value of the bit 10 (Target reached) of 6041h (Status word) from 0 to 1. Actual speed [5] [1][2] [3][4] t New set-point (bit 4) t Master Target position (set-point) t Set-point acknowledge (bit 12) t Target reached (bit 10) t Slave <Set-point example> *1) 6081h (Profile velocity) is limited by the smaller of 607Fh (Max profile velocity) or 6080h (Max motor speed). A change that is made to the preset value of 607Fh (Max profile velocity) or 6080h (Max motor speed) during operation will not be reflected in that operation. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 107 - Example 2 (Data change in operation, without buffer: Single set-point) When bit5(change set immediately) of 6040h(controlword) is 1, if it made changes to the data for the positioning operation during operation, interrupting the current positioning operation, is started the next positioning operation immediately. [1] [2] [3] [4] The master confirms that the bit 12 (Set-point acknowledge) of 6041h (Status word) is 0, changes the value of 607Ah (Target position), and then changes the value of the bit 4 (New setpoint) of 6040h (Control word) from 0 to 1. (Note) acceleration and deceleration must not change at this time. The slave confirms the rising edge (from 0 to 1) of the bit 4 (New setpoint) of 6040h (Control word) and updates 607Ah (Target position) with a new target position. Here, the slave changes the value of the bit 12 (Setpoint acknowledge) of 6041h (Status word) from 0 to 1. The master confirms that the value of the bit 12 (Setpoint acknowledge) of 6041h (Status word) is changed from 0 to 1 and puts the bit 4 (New setpoint) of 6040h (Control word) back to 0. The slave confirms that the bit 4 (New setpoint) of 6040h (Control word) is set to 0 and sets the bit 12 (Setpoint acknowledge) of 6041h (Status word) to 0. Note: - Similar steps 1 to 4 enable to change 6081h (Profile velocity). - Also, after changing 607Ah (Target position) and 6081h (Profile velocity), perform the steps 1 to 4 mentioned above to update 607Ah (Target position) and 6081h (Profile velocity) at the same time. Actual speed [1][2] [3][4] t New set-point (bit 4) t Master Slave Target position (set-point) t Current target position processed t Set-point acknowledge (bit 12) t Target reached (bit 10) t <Handshaking procedure for the single set-point method> R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 108 - - Example 3 (Data change in operation, with buffer: Set of set-points) When bit5(change set immediately) of 6040h(controlword) is 0, if it made changes to the data for the positioning operation during operation, completing the current positioning operation, is started the next positioning operation immediately. [1] [2] [3] [4] The master confirms that the bit 12 (Set-point acknowledge) of 6041h (Status word) is 0, changes the value of 607Ah (Target position), and then changes the value of the bit 4 (New setpoint) of 6040h (Control word) from 0 to 1. (Note) acceleration and deceleration must not change at this time. The slave confirms the rising edge (0 to 1) of the bit 4 (New set-point) of 6040h (Control word) and buffers 607Ah (Target position) as a new target position. Here, the slave changes the value of the bit 12 (Setpoint acknowledge) of 6041h (Status word) from 0 to 1. At this stage, the positioning operation is continued for the target position before the change. The master confirms that the value of the bit 12 (Set-point acknowledge) of 6041h (Status word) is changed from 0 to 1 and puts the bit 4 (New set-point) of 6040h (Control word) back to 0. The slave confirms that bit 4 (New set-point) of 6040h (Controlword) is set to 0 and that the current positioning operation is completed, and starts a positioning operation for the new target position. At this point, the buffer becomes empty, bit 12 (Set-point acknowledge) of 6041h (Statusword) is set to 0. Note: - Similar steps 1 to 4 enable to change 6081h (Profile velocity). - After changing 607Ah (Target position) and 6081h (Profile velocity), perform the steps 1 to 4 mentioned above to update 607Ah (Target position) and 6081h (Profile velocity) at the same time. - The dashed line as shown in the figure below indicates actual velocity when the bit9(Change of setpoint) of 6040h (Control word) is set to 1. However, if the new target position is the opposite of the operating direction, the position stops at the previous target position, and a reverse operation is performed. Actual speed [1][2] [3] [4] t New set-point (bit 4) t Master Target position (set-point) t Current target position processed Slave t Set-point acknowledge (bit 12) t Target reached (bit 10) t <Handshaking procedure for the set of set-point method> R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 109 - - Example 4 (Buffering of set-points) There are two set-point for the buffering set-point and the execution set-point. The following figure indicates the handling of these set-point. (1) (2)' (2) (3) (3)' (4) new set-point (Controlword bit 4) Master change set immediately (Controlword bit 5) set-point buffered set-point processed set-point Slave t t A B empty B A D C C empty C B E C empty E set-point acknowledge (Statusword bit 12) t target reached (Statusword bit 10) t <Set-point handling for two set-points> (1) When the set-point is not in progress, a new set-point(A) will be effective immediately. (2) When the set-point is in progress, a new setpoint(B or C) is stored each time the first set-point buffer becomes empty. (3) When all set-point buffers are in use (if the bit12(Setpoint acknowledge) of 6041h(Statusword) is 1), the update of the set-point buffer is dependent on the bit5(Change set immediately) of 6040h(Controlword). If the bit5(Change set immediately) of 6040h(Controlword) is not set to 1, new set-points(D) are not processed but suspended. If the bit5(Change set immediately) of 6040h(Controlword) is set to 1, new set-points(E) are processed immediately as a single set-point. In this case, all set-points(B,C and D) loaded before the bit5(Change set immediately) of 6040h(Controlword) is set to 1 are discarded. (4) Until all set-points are processed, the bit10(Target reached) of 6041h(Statusword) remains to be 0. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 110 - - Example 5 (Temporary stop by halt) When bit 8 (halt) of 6040h (Controlword) changes to 1 during pp operation, the positioning operation is stopped temporarily. When bit 8 (halt) returns to 0, a positioning operation to the set-point for execution is resumed. The following figure indicates the handling of these set-points. [1] [2] [3] [4] [5] [6] new set-point (Controlword bit 4) Master t change set immediately (Controlword bit 5) t halt (Controlword bit 8) set-point buffered set-point processed set-point Slave set-point acknowledge (Statusword bit 12) Target reached (Statusword bit 10) t A B Empty B A Empty B t t [1] When the set-point is not in process, the new set-point(A) takes effect immediately. [2] When the set-point is in process, the new set-point(B) is stored if the set-point buffer is empty. [3] If 1 is set to bit 8 (halt) of 6040h (Controlword) while the first set-point(A) is in process, the first set-point(A) is suspended. At this time, if deceleration stop is executed and speed reaches 0, bit10 (target reached) for 6041h (Statusword) becomes 1. [4] After that, when 0 is set to bit 8 (halt) of 6040h (Controlword), the operation for the first set-point is resumed. At this time, bit10 (target reached) for 6041h (Statusword) becomes 0. [5] When the operation for the first set-point(A) is completed, the new set-point(B) is processed. [6] Bit 10 (target reached) of 6041h (Statusword) remains 0 until all set-points are processed. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 111 - 6-6-3 Cyclic Position Mode (csp mode) It is a position control mode to operate by creating a command position in the upper system (master) and updating (transmitting) the command position in an interpolation cycle. Use it in the DC or SM2 synchronization mode. Position offset (60B0h) Target position (607Ah) Position range limit (607Bh) ＋ Position demand value (6062h) Limit function - Home offset (607Ch) 2.00 Software position limit (607Dh) 2.00 Drive control function Max motor speed (6080h) Quick stop deceleration (6085h) electronic gear Quick stop option code (605Ah) 2.00 2.00 Profile deceleration (6084h) Position demand internal value(60FCh) Max deceleration (60C6h) Multiplier 1 Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) Polarity(607Eh) 1st torque limit (3013h) 2nd torque limit (3522h) Limit function Max torque (6072h) Torque offset (60B2h) Limit function Multiplier Max motor speed (6080h) Velocity offset (60B1h) Limit function Multiplier Position control function 1 + Velocity control function + Torque control function M Polarity (607Eh) E Torque actual value (6077h) Multiplier Velocity actual value (606Ch) Multiplier Position actual value (6064h) Multiplier Inverse electronic gear Position actual internal value (6063h) Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 112 - 1) Objects related to csp mode (command & setup) Index 6040h 60B0h 3.00 2.00 3722h 3724h • Units Range Access PDO 0 - 65535 -2147483648 – 2147483647 Data Type U16 I32 Command rw rw RxPDO RxPDO - -32768 - 32767 I16 rw No - -32768 - 32767 I16 rw No Units Range Access PDO 0.1% Command Command Command r/min Command/s 0.1% 0 - 65535 -2147483648 – 2147483647 2 -2147483648 – 2147483647 -2147483648 – 2147483647 0 – 4294967295 -2147483648 - 2147483647 -32768 - 32767 Data Type U16 I32 U8 I32 I32 U32 I32 I16 Besides, there are related objects common to the position control. For more information, refer to section 6-6-1. Index 6072h 607Ah 607Dh 2.00 SubName Index 00h Controlword 00h Position offset Communication function extended 00h setup 1 Communication function extended 00h setup 3 6080h 60B1h 60B2h SubIndex 00h 00h 00h 01h 02h 00h 00h 00h Name Max torque Target position Software position limit Number of entries Min position limit Max position limit Max motor speed Velocity offset Torque offset rw rw ro rw rw rw rw rw RxPDO RxPDO No RxPDO RxPDO RxPDO RxPDO RxPDO R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 113 - - There is a related object of common motion as well. For information, refer to section 6-9. Index SubIndex 6007h 605Ah 605Bh 605Ch 605Dh 605Eh 00h 00h 00h 00h 00h 00h 00h 01h 02h 00h 00h 00h Abort connection option code Quick stop option code Shutdown option code Disable operation option code Halt option code Fault reaction option code Position range limit Highest sub-index supported Min position range limit Max position range limit Home offset Polarity Quick stop deceleration 00h 01h 02h 00h 01h 02h 00h 01h 02h 00h 00h 01h 02h 00h 01h 02h Position encoder resolution Highest sub-index supported Encoder increments Motor revolutions Gear ratio Number of entries Motor revolutions Shaft revolutions Feed constant Highest sub-index supported Feed Shaft revolutions Touch probe function Interpolation time period Highest sub-index supported Interpolation time period value Interpolation time index Digital outputs Number of entries Physical outputs Bit mask 607Bh 607Ch 607Eh 6085h 608Fh 6091h 6092h 60B8h 60C2h 60FEh Name Units Range Data Type Access PDO － － － － － － Command Command Command - 0-3 0-7 0-1 0-1 1-3 0-2 2 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 – 255 0 – 4294967295 I16 I16 I16 I16 I16 I16 U8 I32 I32 I32 U8 U32 rw rw rw rw rw rw ro rw rw rw rw rw No 2 1 – 4294967295 1 – 4294967295 2 1 – 4294967295 1 – 4294967295 2 1 – 4294967295 1 – 4294967295 0 - 65535 2 0 - 255 -128 – 63 2 0 - 4294967295 0 - 4294967295 U8 U32 U32 U8 U32 U32 U8 U32 U32 U16 U8 U8 I8 U8 U32 U32 ro ro ro ro rw rw ro rw rw rw ro rw rw ro rw rw 2 Command/s pulse r (motor) r (motor) r (shaft) Command r (shaft) - 2.00 2.00 2.00 No No No No No No RxPDO RxPDO RxPDO No RxPDO No No No No No No No No No RxPDO No No No No RxPDO RxPDO R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 114 - - Controlword (6040h) <Functions in csp mode> Index 6040h SubName / Description Units Range Data Index Type 00h Controlword 0 - 65535 U16 • Set a command to a servo amplifier including the PDS state transition. Access PDO Op- EEPROM mode RxPDO ALL No rw Bit information details 15 - 10 r r oms h 9 oms r 8 7 h fr = reserved (not supported), = operation mode specific (control mode dependent bit), = halt 6 5 oms r r fr eo qs ev so 4 r 3 2 1 0 eo qs ev so = fault reset = enable operation = quick stop = enable voltage = switch on * Note: The csp mode does not use the oms bit. - Position system Index 60B0h SubIndex 00h Name / Description Position offset Units Range Command -2147483648 2147483647 Data Type I32 Access Data Type Access rw PDO Op- EEPRO mode M RxPDO csp Yes • Set the offset of the position command. 2.00 - Other Index 3724h SubIndex 00h Name / Description Units Range PDO Communication -32768 - 32767 I16 rw No － function extended setup 3 3724h bit11: The setting condition that 6041h bit12 (drive follows command value) will be 0 is changed. 0 : Limiting torque and speed limit (only cst) is included. 1 : Limiting torque and speed limit (only cst) is not included. Op- EEPRO mode M ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 115 - 2) Objects related to csp mode (monitoring) Index SubIndex 00h 6041h • Name Statusword Units Range - 0 - 65535 Data Type U16 Access PDO ro TxPDO Data Type I32 I32 I32 U32 U16 I32 I32 I16 U32 I16 I32 I32 I32 Access PDO Besides, there are related objects common to the position control. For more information, refer to section 6-6-1. Index Sub- Index 6062h 6063h 6064h 6065h 6066h 6069h 606Ch 6074h 6076h 6077h 60F4h 60FAh 60FCh 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Name Position demand value Position actual internal value Position actual value Following error window Following error time out Velocity sensor actual value Velocity actual value Torque demand Motor rated torque Torque actual value Following error actual value Control effort Position demand internal value Units Range Command pulse Command Command 1ms Command/s 0.1% mNm 0.1% Command Command/s pulse -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 0 - 4294967295 0 - 65535 -2147483648 - 2147483647 -2147483648 - 2147483647 -32768 – 32767 0 – 4294967295 -32768 - 32767 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 ro ro ro rw rw ro ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO RxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO - There is a related object of common motion as well. For information, refer to section 6-9. Index SubIndex 603Fh 60B9h 60BAh 60BBh 60BCh 60BDh 60FDh 00h 00h 00h 00h 00h 00h 00h Name Error code Touch probe status Touch probe pos1 pos value Touch probe pos1 neg value Touch probe pos2 pos value Touch probe pos2 neg value Digital inputs Units Range Data Type Access PDO Command Command Command Command - 0 - 65535 0 - 65535 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 0 - 4294967295 U16 U16 I32 I32 I32 I32 U32 ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 116 - - Statusword (6041h) <Functions in csp mode> Index 6041h SubName / Description Units Index 00h Statusword • Displays the servo amplifier state. Bit information details 15 - 14 13 12 oms drive r following follows error command value 11 ila r = reserved (not supported), oms ila = operation mode specific (control mode dependent bit) = internal limit active rm = remote Range Data Type U16 0-65535 10 oms r Access ro PDO Op- EEPROM mode TxPDO ALL No 9 8 7 6 5 4 3 2 1 0 rm r w sod qs ve f oe so rtso w sod qs ve f oe so rtso = warning = switch on disabled = quick stop = voltage enabled = fault = operation enabled = switched on = ready to switch on bit13,12,10(operation mode specific): Bit Name Value Definition 10 reserved Not used 0 Operation is not performed according to the target position. *1) Drive follows 12 command value 1 Operation is performed according to the target position. *1) 13 following error Please refer to 3) of Section 6-6-1. *1) “Operation is performed according to the target position” refers to cases where the following conditions are all satisfied - PDS state is Operation enabled 2.00 - POT not detected when a positive direction operation command is in process or NOT not detected when a negative direction operation command is in process - While not in Halt status 2.00 - POT not detected when a positive direction operation command is in process or NOT is not detected when a negative direction operation command is in process. 2.00 - Torque limit has not occurred(Valid only when this condition 3724h-bit11 is 0) 2.00 - When a positive direction operation command is in process, the actual position or the commanded position is within the range set by 607Dh-02h. - When a negative direction operation command is in process, the actual position or the commanded position is within the range set by 607Dh-01h. 2.00 Index 3724h SubIndex 00h Name / Description Units Range Data Type Access PDO Communication -32768 - 32767 I16 rw No － function extended setup 3 3724h bit11: The setting condition that 6041h bit12 (drive follows command value) will be 0 is changed. 0 : Limiting torque and speed limit (only cst) is included. 1 : Limiting torque and speed limit (only cst) is not included. Op- EEPRO mode M ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 117 - 3) Operations of csp mode • Motion profile (trajectory) generation is done in the master rather than the slave in cyclic position control mode. • Target position is the sum of 60B0h (Position offset) and 607Ah (Target position), and is interpreted as an absolute position. • For the operation command update (transmission), do input when approx. 100 ms has elapsed after the servo ON(Operation enabled). • 60C2h (Interpolation time period) indicates the cycle update two objects 607Ah (Target Position) and 60B0h (Position offset).This value is set to the same period 1C32h-02h (Cycle time). As for the upper system (master), be sure to update the target position in the cycle of 60C2h (Interpolation time period). • In the servo-off state, configure the master process so as to follow 6064h (Position actual value) the additional value of 60B0h (Position offset) and 607Ah (Target Position). When it did not follow, because if the motor is moving, such as external force during servo-off, the operation is trying to return to the target position that was inputted at the time of servo-on next time, it is very dangerous. Configure the similar following process when switching to csp control mode from other control modes than csp control mode as well. Bad example: Command position at servo-off (Command position is not set with actual position) Command position (Command) Servo-on Response Servo_Active=1 Actual position Command position (Command) Equipment is moved by external force Servo-off Actual position Response Servo_Active=0 Command position (Command) Danger: Equipment returns to command position rapidly. Servo-on Response Servo_Active=1 Actual position R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 118 - 4) Calibration process on the occurrence of communication error If a communication error occurred during operation and 607Ah (Target Position) could not be restored properly, the target position is presumed and calibration is performed. X X X Communic ation cycle Command position Command velocity 0 Solid line: After command calibration, dashed line: Before command calibration O: Communication successful, X: Communication error R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 119 2.00 5) Amount of change saturation function of command position This is to prevent the occurrence of Err27.4 by an unusual command position value and the ability to saturate the amount of change in the command position converted from 6080h (Max motor speed) for the purpose of stabilizing the behavior of motor. • Scope This function following control mode only supports. Conditions that command position saturation function to operate Control mode Position control(csp) 3.00 • Related objects Index SubName Units Range Data Access PDO Op- EEPRO Index / Description Type mode M 3722h 00h Communication function -32768 - 32767 I16 rw No ALL Yes － extended setup 1 bit5:6080h(Max motor speed) on csp mode(Amount of change saturation function of command position) 0: Invalid on csp 1: Valid on csp 6080h 00h Max motor speed r/min 0 – 4294967295 U32 rw RxPDO ALL Yes • Set the maximum velocity of motor. • Since this servo amplifier automatically sets the value based on the motor information, the setup is not necessary. • The maximum value is limited by the maximum speed read out from the motor in internal processing. • It is tq and cst and restricts speed with the preset value of this object. 3.00 Note) ・ When this function is valid(3722h bit5=1), it suppress Err27.4 by dividing a command position even if the command position is unusual. ・ When this function is valid(3722h bit5=1) and 6080h=0, the amount of change in the command position is limited to 0 and the motor does not move. And bit11(internal limit active) of 6041h(Statusword) does not become 1. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 120 - • Example(Interpolation cycle=250us) If the change amount of the target position exceeds the command limit value from the host device saturated with limit values obtained by converting the command position change per interpolation cycle from 6080h. This prevents the occurrence of Err27.4 even if the host device sends an unusual command position, the operation is stabilized. <During invalid amount of change saturation function of command position> Interpolation cycle EtherCAT Target (607Ah + 60B0h) Time Command position change amount per interpolation cycle Command limit value Time If the amount of change exceeds the threshold, Err27.4 occurs <During valid amount of change saturation function of command position> Interpolation cycle EtherCAT Target (607Ah + 60B0h) Time Command position change amount per interpolation cycle Command limit value Time It is saturated with limits which is converted than 6080h (Max motor speed). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 121 - 6-6-4 Interpolating Position Mode (ip mode) (Not supported) This mode is not supported by this software version. Do not set 6060h (Modes of operation) to 7. It is a position control mode to operate by creating a command position in the upper system (master) and updating the command position buffered by buffering it to the servo amplifier inside in the communication cycle in an interpolation time. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 122 - 6-6-5 Homing Position Mode (hm mode) It is a position control mode to execute an origin return operation by designating the origin return method, operation speed, etc. and creating a position command in the servo amplifier. If it is used in the incremental mode, it is necessary to execute the origin return operation before executing the positioning operation after the power is turned on. Homing method (6098h) Homing speeds (6099h) 2.00 Max profile velocity (607Fh) Max motor speed (6080h) Position demand value (6062h) Homing method (trajectory generator) Limit function Limit function Quick stop deceleration (6085h) Homing acceleration (609Ah) Limit function Max acceleration (60C5h) electronic gear Max deceleration (60C6h) 2.00 Position demand internal value(60FCh) Multiplier 1 Quick stop option code (605Ah) Homing offset (607Ch) Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) Polarity(607Eh) 1st torque limit (3013h) 2nd torque limit (3522h) Max torque (6072h) Torque offset (60B2h) Limit function Limit function Multiplier Max motor speed (6080h) Velocity offset (60B1h) Limit function Multiplier Position control function 1 + Velocity control function + Torque control function M Polarity (607Eh) E Torque actual value (6077h) Multiplier Velocity actual value (606Ch) Multiplier Position actual value (6064h) Multiplier Inverse electronic gear Position actual internal value (6063h) Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 123 - 1) Objects related to hm mode (command & setup) Index 6040h 6098h 6099h 609Ah • SubIndex 00h 00h 00h 01h 02h 00h Name Controlword Homing method Homing speeds Number of entries Speed during search for switch Speed during search for zero Homing acceleration Units Range Command/s Command/s Command/s2 0 - 65535 -128 - 127 2 0 - 4294967295 0 - 4294967295 0 - 4294967295 Data Type U16 I8 U8 U32 U32 U32 Access PDO rw rw ro rw rw rw RxPDO RxPDO No RxPDO RxPDO RxPDO Besides, there are related objects common to the position control. For more information, refer to section 6-6-1. Index SubIndex 6072h 607Fh 6080h 60B1h 60B2h 60C5h 60C6h 00h 00h 00h 00h 00h 00h 00h Name Max torque Max profile velocity Max motor speed Velocity offset Torque offset Max acceleration Max deceleration Units Range Data Type Access PDO 0.1% Command/s r/min Command/s 0.1% Command/s2 Command/s2 0 - 65535 0 - 4294967295 0 - 4294967295 -2147483648 - 2147483647 -32768 - 32767 0 - 4294967295 0 - 4294967295 U16 U32 U32 I32 I16 U32 U32 rw rw rw rw rw rw rw RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 124 - - There is a related object of common motion as well. For information, refer to section 6-9. Index SubIndex 6007h 605Ah 605Bh 605Ch 605Dh 605Eh 00h 00h 00h 00h 00h 00h 00h 01h 02h 00h 00h 00h Abort connection option code Quick stop option code Shutdown option code Disable operation option code Halt option code Fault reaction option code Position range limit Highest sub-index supported Min position range limit Max position range limit Home offset Polarity Quick stop deceleration 00h 01h 02h 00h 01h 02h 00h 01h 02h 00h 00h 01h 02h Position encoder resolution Highest sub-index supported Encoder increments Motor revolutions Gear ratio Number of entries Motor revolutions Shaft revolutions Feed constant Highest sub-index supported Feed Shaft revolutions Touch probe function Digital outputs Number of entries Physical outputs Bit mask 607Bh 607Ch 607Eh 6085h 608Fh 6091h 6092h 60B8h 60FEh Name Units Command Command Command 2 Command/s pulse r (motor) r (motor) r (shaft) Command r (shaft) - Range Data Type Access PDO 0-3 0-7 0-1 0-1 1-3 0-2 2 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 – 255 0 – 4294967295 I16 I16 I16 I16 I16 I16 U8 I32 I32 I32 U8 U32 rw rw rw rw rw rw ro rw rw rw rw rw No No No No No No No RxPDO RxPDO RxPDO No RxPDO 2 1 – 4294967295 1 – 4294967295 2 1 – 4294967295 1 – 4294967295 2 1 – 4294967295 1 – 4294967295 0 - 65535 2 0 - 4294967295 0 - 4294967295 U8 U32 U32 U8 U32 U32 U8 U32 U32 U16 U8 U32 U32 ro ro ro ro rw rw ro rw rw rw ro rw rw No No No No No No No No No RxPDO No RxPDO RxPDO 2.00 2.00 2.00 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 125 - - Controlword (6040h) <Functions in hm mode> Index 6040h SubName / Description Units Range Data Type Access PDO Op- EEPROM Index mode 00h Controlword 0 - 65535 U16 rw RxPDO ALL No • Set a command to a servo amplifier including the PDS state transition. Bit information details 15 - 10 9 8 oms r h r r oms h 7 fr 6 r = reserved (not supported) = operation mode specific (control mode dependent bit) = halt bit9,6-4(operation mode specific): Bit Name Value 4 Start homing 0 -> 1 The homing operation starts. 5 (reserved) Not used 6 (reserved) Not used (reserved) Not used 9 5 oms r fr eo qs ev so 4 start homing 3 2 1 0 eo qs ev so = fault reset = enable operation = quick stop = enable voltage = switch on Definition When bit 4 (start homing) of 6040h (Controlword) is started, parameters related to the homing position control mode (hm) (homing method, velocity, acceleration, deceleration, etc.) are stored, and the operation is started. Even if a new return to home position operation is started during the return to home position operation (bit4 for 6040h is started up again), the new return to home position operation will be ignored. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 126 - Homing method (6098h) Index 6098h SubName / Description Index 00h Homing method • Set the homing method. Value 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 33 34 35 37 Units Range - -128 - 127 Data Type Access PDO Op- EEPROM mode I8 rw No hm Yes Definition No homing method assigned -Ve LS & Index Pulse +Ve LS & Index Pulse +Ve HS & Index Pulse direction reversal +Ve HS & Index Pulse no direction change -Ve HS & Index Pulse direction reversal -Ve HS & Index Pulse no direction change on +Ve HS -Index Pulse on +Ve HS +Index Pulse After +ve HS reverse +Index Pulse After +ve HS +Index Pulse on -Ve HS -Index Pulse on -Ve HS +Index Pulse After -ve HS reverse +Index Pulse After -ve HS +Index Pulse Reserved Reserved Same as 1 without Index Pulse Same as 2 without Index Pulse Same as 3 without Index Pulse Same as 4 without Index Pulse Same as 5 without Index Pulse Same as 6 without Index Pulse Same as 7 without Index Pulse Same as 8 without Index Pulse Same as 9 without Index Pulse Same as 10 without Index Pulse Same as 11 without Index Pulse Same as 12 without Index Pulse Same as 13 without Index Pulse Same as 14 without Index Pulse On Index Pulse +Ve direction On Index Pulse -Ve direction Current position = home Current position = home +Ve : positive direction - Ve : negative direction LS : Limit switch HS: Home switch Note: - When the Homing operation starts with other than setting values supported by 6098h (Homing method), an Homing error occurs (bits13 of 6041h(Status word) is 1). - The Homing method cannot be changed while the homing position control mode (hm) is in process. To change the Homing method, stop the motor (stop the hm mode). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 127 - Homing speeds (6099h) Index SubIndex 6099h 00h 01h 02h Name / Description Units Range Data Type Access PDO Op- EEPROM mode - Homing speeds • Set the velocity during the Homing mode (hm). Number of entries 2 U8 ro No hm • Displays the number of sub-indexes for 6099h (Homing speeds). Speed during search for Command/s 0 - 4294967295 U32 rw RxPDO hm switch • Set the operation velocity until the Switch signal is detected. • The maximum value is limited by the internal processing at 6080h(Max motor speed). Speed during search for Command/s 0 - 4294967295 U32 rw RxPDO hm zero • Set the operation velocity until the position is detected homing. If the home detection position is the edge of the Switch signal, set this value as small as possible. • The maximum value is limited by the internal processing at 6080h(Max motor speed). No Yes Yes Note: For more information about applying for each speed, refer to the example of the operation of each Homing method. - Homing acceleration (609Ah) Index 609Ah SubName / Description Units Range Data Type Access PDO Op- EEPROM Index mode 00h Homing acceleration Command/s2 0 - 4294967295 U32 rw RxPDO hm Yes • Set the acceleration and deceleration during the Homing mode (hm). • The deceleration of homing operation are common in this object. • At the final stop of each Homing method (when the homing position is detected), the servo lock is carried out for the stopping, instead of using the preset value of this object. • If it is set to 0, internal processing is treated as 1. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 128 - 2) Objects related to hm mode (monitoring) Index 6041h 60E3h • SubIndex 00h 00h 01h to FEh Name Units Range - 0 - 65535 1 - 254 0 - 32767 0 - 32767 U16 U8 U16 U16 ro ro ro ro TxPDO No No No Units Range Data Type Access PDO Command pulse Command Command/s 0.1% mNm 0.1% Command Command/s pulse -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -32768 – 32767 0 – 4294967295 -32768 - 32767 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 I32 I32 I32 I32 I32 I16 U32 I16 I32 I32 I32 ro ro ro ro ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO Units Range Data Type Access PDO Command Command Command Command - 0 - 65535 0 - 65535 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 - 4294967295 U16 U16 I32 I32 I32 I32 U32 ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO Statusword Supported homing method Number of entries 1st supported homing method 254th supported homing method Data Type Access PDO Besides, there are related objects common to the position control. For more information, refer to section 6-6-1. Index SubIndex 6062h 6063h 6064h 6069h 606Ch 6074h 6076h 6077h 60F4h 60FAh 60FCh 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Name Position demand value Position actual internal value Position actual value Velocity sensor actual value Velocity actual value Torque demand Motor rated torque Torque actual value Following error actual value Control effort Position demand internal value - There is a related object of common motion as well. For information, refer to section 6-9. Index SubIndex 603Fh 60B9h 60BAh 60BBh 60BCh 60BDh 60FDh 00h 00h 00h 00h 00h 00h 00h Name Error code Touch probe status Touch probe pos1 pos value Touch probe pos1 neg value Touch probe pos2 pos value Touch probe pos2 neg value Digital inputs R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 129 - - Statusword (6041h) <Functions in hm mode> Index 6041h SubName / Description Units Index 00h Statusword • Displays the servo amplifier state. Bit information details 15 - 14 13 12 oms r homing homing error attained 11 ila r = reserved (not supported) oms ila = operation mode specific (control mode dependent bit) = internal limit active rm = remote Range Data Type Access PDO 0 - 65535 10 oms target reached U16 ro Op- EEPROM mode TxPDO ALL No 9 8 7 6 5 4 3 2 1 0 rm r w sod qs ve f oe so rtso w sod qs ve f oe so rtso = warning = switch on disabled = quick stop = voltage enabled = fault = operation enabled = switched on = ready to switch on bit13,12,10(operation mode specific): bit Name Value Definition 0 In operation target 10 reached 1 Stopped state 0 The homing operation is incomplete *1) homing 12 attained 1 The homing operation complete to be performed successfully 0 A homing error does not occur (normal) homing error 13 1 A homing error occurs (The homing operation is not performed successfully) *2) The combination of the bits 13, 12 and 10 is as follows: Bit 13 Bit 12 Bit 10 Definition *2) 0 0 0 Homing 0 0 1 The homing operation is suspended or not started 0 1 0 The homing operation is completed, but the operation does not arrive at the target position 0 1 1 The homing operation is completed successfully 1 0 0 The homing error is detected but still working 1 0 1 The homing error is detected and stopped *1) bit 12 (homing attained) becomes 0 in the following cases. - When power is turned on - When the ESM status has changed from Init to PreOp - When the return to home position operation is started *2) In the absolute mode, bit 12 (homing attained) is always 1. In hm mode, bit 12(homing attained) become 0 when the multi-turn data clear run. 4.00 After the multi-turn data clear completion, bit 12 (homing attained) will return to 1. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 130 - - Supported homing method (60E3h) Index SubIndex 60E3h 00h 01h to FEh Name Units Range Data Type Access / Description Supported homing method • Displays the homing methods supported. Number of entries 01h to FEh U8 ro • Displays the number of homing method that it supports for 60E3h (Supported homing method). 1st supported homing method 0 - 32767 U16 ro • Displays the first homing method supported. 0 - 32767 U16 ro 254th supported homing method • Displays the 254th homing method supported. Index Sub-Index bit 15 to 8 Reserved 60E3h 01h 02h 03h 04h 05h 06h 07h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh 10h 11h 12h 13h 14h 15h 16h 17h 18h 19h 1Ah 1Bh 1Ch 1Dh 1Eh 1Fh 20h 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 32767 U16 ro PDO - Op- EEPROM mode - No hm No No hm No No hm No No hm No bit 7 to 0 Supported Homing method *1) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 17 18 19 20 21 22 23 24 25 26 27 28 29 30 33 34 35 37 *1) The relation between Homing method and values refer to 6098h(Homing method). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 131 - 3) Operations of hm mode (Homing operation) When using incremental mode, perform the homing operation because it is necessary to initialize position information before starting normal operation. - After the detection of the home position, initialize(Preset) the following object on the basis of its position. 6062h(Position demand value) = 6064h(Position actual value) = 607Ch(Home offset) 6063h(Position actual internal value) = 60FCh(Position demand internal value) = 0 - If a zero return is performed, position information will be initialized(preset). Therefore, it is necessary to reacquire the data (Touch probe position etc.) acquired to bass the old position informations. - A change that is made to 607Ch (Home offset) during a homing operation will not be reflected in that homing operation. It is reflected from the next homing operation (initialization of position information at completion). 4.00 - If the home detection position is the edge of Switch signal(HOME, POT and NOT), assign to SI5, SI6 and SI7 to be each latch correction pin. If allocation is incorrect, Homing error will occur. For more information, refer to Basic function specifications of the Technical document (SX-DSV02472). 4.00 Connections to use edge of the sensor signal as home position. Latch correction terminal Logic HOME or EXT1 SI5 a-contact or b-contact POT or EXT2 SI6 a-contact or b-contact SI7 a-contact or b-contact NOT Internal process - The following terms that indicates in the figure each Method described below indicates the following content. Index pulse Z-phase signal of encoder(Set at full-closed control is external scale) Home switch Logic signal state of Origin proximity input(HOME) Positive limit Logic signal state of Positive direction over-travel inhibition input(POT) Negative limit Logic signal state of Negative direction over-travel inhibition input(NOT) - For the operation command update (transmission), do input when approx. 100 ms has elapsed after the servo ON(Operation enabled). - The sequence of the hm control mode is shown below. start homing (6040h:bit4) Target reached (6041h:bit10) Homing attained (6041h:bit12) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 132 - 2.00 4.00 - If you perform a homing operation using the Indexpulse, it is recommended that you set the 3722h(Communication function extended setup 1) bit7(In Z phase homing Over-travel inhibit input setup) to 1. The setting and, 3504h(Over-travel inhibit input setup) is set to 0 or 1, Index pulse movement amount becomes abnormal operation to the detection position, and to generate Err94.3 the (Home position return error protection 2) detects the inhibit input you can do the protection. It should be noted that, if the 3504h (Over-travel inhibit input setup) is set to 2, detected in Err38.0(Over-travel inhibit input protection 1) of drive inhibit input occurs. - Homing return speed limit function When the home position detection, the motor returns overshoot distance (Homing return). At this time, in the case of high response setting to position command and high speed (mode of 2 degree of freedom control, etc), if run homing return, the sound may occur when the homing is completed. When the 3722h bit6(Homing return speed limit function enabled) is set to "1", homing return speed limit function is enabled. If this function is enabled, homing return speed is limited by the 3793h(Homing return speed limit value). The effect of reducing the occurrence of sound is expected. Setting of 3722h bit6 and 3793h is reflected after changing tha value and the driver control power reset. If this function is enabled, there is a possibility that the time to homing completion extending. If this function is disabled, homing return speed is limited by the maximum motor speed that the driver have internally. When homing return speed exceeds the 3513h(Over-speed level setup), Err26.0(Over-speed protection) occurs. When homing return speed exceeds the 3615h(2nd over-speed level setup), Err26.1(2nd over-speed protection) occurs. 【Example of performing homing(Positive direction) with Index pulse】 Positional command speed [r/min] Index pulse (home position) detection timing Deceleration section after the Index pulse detection Homing return section in the case of 3722h bit6=1 Time -(3793h) -(maximum motor speed) Homing return section in the case of 3722h bit6=0 Index pulse Index 3722h SubIndex 00h 3793h 00h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M Communication function -32768 – 32767 I16 rw No ALL Yes － extended setup 1 bit6：Homing return speed limit function enabled 0：Invalid 1：Valid Homing return speed r/min 0 – 20000 I16 rw No hm Yes limit value Sets the Homing return limit speed. When the set value is less than the internal minimum speed, it is limited by the internal minimum speed. When setting value is greater than the maximum motor speed, it will be limited by the maximum motor speed. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 133 - - Homing error occur conditions In case of Homing operation, it becomes abnormalities (Homing error = 1) on condition of the following. Homing Error Conditions Detail Started in absolute mode Homing was started in absolute mode. *2) Started when operation is not enabled Homing was started when the PDS status is not in Operation enabled. *2) (excluding method 35, 37) Started when target speed is 0 Homing was started when setting values for 6099h-01h and 6099h-02h were 0. *2) (Except for time when 6099h-02h of method 33 and 34 and 6099h-01h and 6099h-02h of method 35 and 37 are 0) In a Homing start-up or during Homing operation, Both Limit switch of Positive/Negative was detected. *3) Limit switch detects both Penetrate the Limit switch In the case of a method to reverse Limit switch During deceleration operation after detection for reversal of the rise of the Limit switch, detected a falling edge of the Limit switch Penetrate the Home switch In the case of a method to reverse Home switch During deceleration operation after detection for reversal of the rise of the Home switch, detected a falling edge of the Home switch Installation relation between Home switch and Limit switch is unsuitable. In the case of a method to reverse Home switch During deceleration operation after detection for reversal of the rise of the Home switch, detected a rising edge of the Limit switch In the case of a method to not reverse Limit switch Limit switch is detected during the Home switch search. *1) Installation relation between Index pulse and Limit switch is unsuitable. In the case of a method to detect the Index pulse Rising edge of Limit switch is detected during an Index pulse search. In the case of a method to not reverse Limit switch Limit switch is detected during the Index pulse search. *1) Home switch and Limit switch have not been allocated. HOME, POT and NOT have not been allocated to SI5, SI6, and SI7 respectively. *1) Homing error is not detected when an operation to get out of the limitation by the limit switch (an operation in the opposite direction of the limited direction) is performed with the limit switch detected at the homing start-up *2). *2) A homing start-up indicate a timing to change Bit4(start homing) of 6040h(Controlword) to 1 from 0. *3) When 3504h (Over-travel inhibit input setup) = 0, Err38.0 (Over-travel inhibit input protection 1) occurs, instead of a homing error. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 134 - - Method 1 - This Method, if Negative limit switch is inactive, the initial operation direction turns into he negative direction.(An inactive state is shown in the state of low level by a figure) - Home detection position is the first Index pulse detection position in the Positive side position of after a Negative limit signal becomes inactive. (See figure) - When NOT is not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 1 Index Pulse Negative Limit Switch ← negative direction positive direction → Homing on negative limit switch and index pulse R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 135 - - Method 2 - This Method, if Positive limit switch is inactive, the initial operation direction turns into he positive direction.(An inactive state is shown in the state of low level by a figure) - Home detection position is the first Index pulse detection position in the Negative side position of after a Positive limit signal becomes inactive. (See figure) - When POT is not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 2 Index Pulse Positive Limit Switch ← negative direction positive direction → Homing on positive limit switch and index pulse R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 136 - - Method 3, 4 - These Methods, the initial operation direction changes in the state of Home switch at startup - Home detection position is the first Index pulse detection position in the Negative side or Positive side after the change of state of Home switch. (See figure) - When HOME is not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 3 3 4 4 Index Pulse Home Switch ← negative direction positive direction → Homing on positive home switch and index pulse R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 137 - - Method 5, 6 - These Methods, the initial operation direction changes in the state of Home switch at startup - Home detection position is the first Index pulse detection position in the Negative side or Positive side after the change of state of Home switch. (See figure) - When HOME is not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 5 5 6 6 Index Pulse Home Switch ← negative direction positive direction → Homing on negative home switch and index pulse R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 138 - - Method 7, 8, 9, 10 - These Methods, use Home switch and Index pulse. - Method 7 and 8 initial operation directions, when Home switch is active at the time of a start of operation, becomes the Negative direction. - Method 9 and 10 initial operation directions, when Home switch is active at the time of a start of operation, becomes the Positive direction. - Home detection position is the near Index pulse in the rising or falling edge of Home switch. (See figure) - When HOME and POT are not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 7 9 8 8 10 9 7 10 8 7 10 9 Index Pulse Home Switch Positive Limit Switch ← negative direction positive direction → Homing on home switch and index pulse - positive initial motion R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 139 - - Method 11, 12, 13, 14 - These Methods, use Home switch and Index pulse. - Method 11 and 12 initial operation directions, when Home switch is active at the time of a start of operation, becomes the Positive direction. - Method 13 and 14 initial operation directions, when Home switch is active at the time of a start of operation, becomes the Negative direction. - Home detection position is the near Index pulse in the rising or falling edge of Home switch. (See figure) - When HOME and NOT are not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 13 14 11 12 13 12 14 11 12 14 13 11 Index Pulse Home Switch Negative Limit Switch ← negative direction positive direction → Homing on home switch and index pulse - negative initial motion R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 140 - - Method 17 - This Method resembles Method1. The difference is home detection position is not Index pulse. It is becoming the position where Limit switch changed. (See figure) - When NOT is not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 17 Negative Limit Switch ← negative direction positive direction → Homing on negative limit switch R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 141 - - Method 18 - This Method resembles Method2. The difference is home detection position is not Index pulse. It is becoming the position where Limit switch changed. (See figure) - When NOT is not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 18 Positive Limit Switch ← negative direction positive direction → Homing on positive limit switch R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 142 - - Method 19, 20 - These Methods resembles Method3 and 4. The difference is home detection position is not Index pulse. It is becoming the position where Home switch changed. (See figure) - When HOME is not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 19 19 20 20 Home Switch ← negative direction positive direction → Homing on positive home switch R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 143 - - Method 21, 22 - These Methods resembles Method5 and 6. The difference is home detection position is not Index pulse. It is becoming the position where Home switch changed. (See figure) - When HOME is not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 22 21 21 22 Home Switch ← negative direction positive direction → Homing on negative home switch and index pulse R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 144 - - Method 23, 24, 25, 26 - These Methods resembles Method7,8,9 and 10. The difference is home detection position is not Index pulse. It is becoming the position where Home switch changed. (See figure) - When HOME and POT are not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 23 25 24 26 24 25 23 26 24 26 23 25 Home Switch Positive Limit Switch ← negative direction positive direction → Homing on home switch and index pulse - positive initial motion R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 145 - - Method 27, 28, 29, 30 - These Methods resembles Method11,12,13 and 14. The difference is home detection position is not Index pulse. It is becoming the position where Home switch changed. (See figure) - When HOME and NOT are not assigned, Homing error will occur(Homing error = 1). 2.00 6099h-01h 6099h-02h 29 27 30 28 29 28 30 27 30 28 29 27 Home Switch Negative Limit Switch ← negative direction positive direction → Homing on home switch and index pulse - negative initial motion R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 146 - - Method 33, 34 - These Methods, use only Index pulse. - Index pulse detected in operates in the direction shown in a figure is home detection position. (See figure) 6099h-01h 6099h-02h 33 34 Index Pulse ← negative direction positive direction → Homing on index pulse R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 147 - - Method 35, 37 - Used to set the coordinate system (position information) of the servo amplifier. The following objects is initialized(Preset) on the basis of that position on homing startup. 6062h(Position demand value) = 6064h(Position actual value) = 607Ch(Home offset) 6063h(Position actual internal value) = 60FCh(Position demand internal value) = 0 (NOTE) 607Ch(Home offset) is added to 6062h and 6064h. - Practicable even if the PDS state is not Operation enabled. 4.00 - After 100ms or more expiration from stopping the command position, run Method 35 or 37. - Although Method35 and 37 are the same functions, use Method37 according to the ETG standard at the time of a new design. 35 37 start homing 0->1 (Controlword bit4) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 148 - 6-7 Velocity Control Function 6-7-1 Common Velocity Control Function 1) Velocity control block diagram Monitor data of PANATERM Monitor data of CiA402 object 60B2h Torque offset [0.1%] Gain switching 60B1h Velocity offset [command/s] Torque feed forward Speed unit conversion Velocity control command [r/min] ＋ Gain 3112h Filter 3113h 60FFh Target velocity [command/s] 3114h Mode 3120h Delay time 3121h Level 3122h Hysteresis 3123h Friction compensation Additional 3607h value ＋ Notch filter Velocity control Acceleration/ Deceleration limit ＋ ＋ Accelera tion 3312h Decelera tion 3313h Sigmoid 3314h ＋ － Proportional Integral 1st 3101h 3102h 2nd 3106h 3107h 3004h Inertia ratio ＋ ＋ ＋ ＋ ＋ Frequency Velocity detection filter 606Ch Velocity actual value [command/s] 6064h Position actual value [command] 2nd setup 6063h Position actual internal value [pulse] Sum of feedback pulses [pulse] 1st 3103h 2nd 3108h 3202h 3203h 2nd 3204h 3205h 3206h 3rd 3207h 3208h 3209h 4th 3210h 3211h 3212h 3200h Torque filter Disturbance observer Motor velocity [r/min] Electronic gear reverse conversion Depth 3201h Adaptive mode setup Instantaneous 3610h speed Width 1st Gain 3623h Filter 3624h 3104h 1st 2nd 3109h 2 stages 3642h 3643h At tenuation term Velocity detection Torque limit 60BAh or 60BCh Touch probe position value [command] Current control Encoder エンコーダ Motor モータ Response setup Selection 3521h 1st 3013h 2nd 3522h MAX 6072h 3611h Main Torque command [0.1%] power Load 外部スケール supply 6074h Torque demand [0.1％] Velocity control block diagram 2.00 *1) A slanting number (ex.:607Ah) shows the object number of EtherCAT. *2) A bold letter number (ex.:3100h) shows a parameter number. *3) Polarity was omitted. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 149 - 2) Related objects common in velocity control (command & setup) Index SubIndex 6040h 6072h 6080h 60B1h 60B2h 60FFh 00h 00h 00h 00h 00h 00h Name Controlword Max torque Max motor speed Velocity offset Torque offset Target velocity Units Range 0.1% r/min Command/s 0.1% Command/s 0 - 65535 0 - 65535 0 - 4294967295 -2147483648 - 2147483647 -32768 - 32767 -2147483648 - 2147483647 Data Access Type U16 U16 U32 I32 I16 I32 rw rw rw rw rw rw PDO RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO Supported mode pv csv Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes • Besides, there are related objects for each control mode. Refer to the section "Related objects" of each control mode. • The function of 6040h (Control word) can differ according to the control mode. Refer to the section "Related objects" of each control mode. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 150 - - Velocity system Index 6080h SubIndex 00h 60B1h 00h 60FFh 00h Name Units Range Data Access PDO Opmode EEPRO / Description Type M Max motor speed r/min 0 - 4294967295 U32 rw RxPDO ALL Yes 2.00 • Set the maximum velocity of motor. • Since this servo amplifier automatically sets the value based on the motor information, the setup is not necessary. • The maximum value is limited by the maximum speed read out from the motor in internal processing. • It is tq and cst and restricts speed with the preset value of this object. Velocity offset Command/s -2147483648 I32 rw RxPDO pp Yes 2147483647 ip pv hm csp csv • Used as the velocity feed forward in the cyclic synchronous position mode (csp). • Set the offset of the velocity command in the cyclic synchronous velocity mode (csv). (Note) The maximum value is limited by the 6080h (Max motor speed) in internal processing. Target velocity Command/s -2147483648 I32 rw RxPDO pv No 2147483647 csv • Set the target velocity. • The internal target velocity is the sum of the preset value of this object and 60B1h (Velocity offset). • The maximum value of the internal target velocity is limited by 6080h (Max motor speed) in internal processing. - Torque system Index 6072h SubIndex 00h 60B2h 00h Name Units Range Data Access PDO Opmode EEPRO / Description Type M Max torque 0.1% 0 - 65535 U16 rw RxPDO ALL Yes • Sets the maximum torque of the motor. • The maximum value is limited by the maximum torque read out from the motor in internal processing. • The maximum torque of the motor varies with the motor used. Torque offset 0.1% 0 - 4294967295 U32 rw RxPDO ALL No • Sets the offset of the torque command (torque feedforward). • During slowdown in over-travel inhibition(in emergncy stop), the torque feedforward level becomes 0. 2.00 2.00 - Other Index 3724h SubIndex 00h Name / Description Units Range Data Type Communication -32768 - 32767 I16 － function extended setup 3 bit10 : Internal value state selection of objects 60B2h(Torque offset) in servo-off (Fall prevention function in the event of Servo-ON) 0: Clear 1: Updated with the set value of 60B2h Access PDO rw No Op- EEPRO mode M ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 151 - 3) Related objects common in velocity control (monitoring) Index Sub-I ndex 4.00 4D29h 6041h 6063h 6064h 606Bh 6069h 606Ch 6074h 6076h 6077h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Name Units Range Over load factor Statusword Position actual internal value Position actual value Velocity demand value Velocity sensor actual value Velocity actual value Torque demand Motor rated torque Torque actual value 0.1% pulse Command Command/s Command/s 0.1% mNm 0.1% 0 - 65535 0 - 65535 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -32768 - 32767 0 – 4294967295 -32768 - 32767 Data Access Type U16 U16 I32 I32 I32 I32 I32 I16 U32 I16 ro ro ro ro ro ro ro ro ro ro PDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO Supported mode pv csv Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes • Besides, there are related objects for each control mode. Refer to the section "Related objects" of each control mode. • The function of 6041h (Status word) can differ according to each control mode. Refer to the section "Related objects" of each control mode. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 152 - - Position system Index 6063h SubIndex 00h 6064h 00h Name Units Range Data Access PDO Opmod EEPRO / Description Type e M Position actual pulse -2147483648 I32 ro TxPDO ALL No internal value 2147483647 • Displays the actual position of the motor. The value is on an encoder basis during other than full-closed control, and on an external scale basis during full-closed control. Position actual value Command -2147483648 I32 ro TxPDO ALL No 2147483647 • Displays the actual position of the motor. - Velocity system Index 6069h SubIndex 00h 606Bh 00h 606Ch 00h Name Units Range / Description Velocity sensor -2147483648 – － actual value 2147483647 • Indicate sensor value of actual velocity. Return 0 always because this servo amplifier not supported. Velocity demand value Command/s -2147483648 2147483647 • Displays internal command velocity. Velocity actual value Command/s -2147483648 2147483647 • Displays the actual velocity of the motor. Data Type I32 Access PDO Opmod EEPRO e M TxPDO ALL ro No I32 ro TxPDO pv csv I32 ro TxPDO ALL No No - Torque system Index 4.00 4D29h SubIndex 00h 6074h 00h 6076h 00h 6077h 00h Name Units Range Data / Description Type Over load factor 0.1% 0 – 65536 U16 • The ratio [0.1%] to the rated load is displayed. Torque demand 0.1% -32768 - 32767 I16 • Displays internal command torque. Motor rated torque mNm 0 – 4294967295 U32 • Automatically set the rated torque of the motor. Torque actual value 0.1% -32768 - 32767 I16 • Displays the actual torque. • It becomes a value equivalent to actual current value. • This output value is a reference value and does not guarantee an actual value. Access PDO Opmod EEPRO e M ro TxPDO ALL No ro TxPDO ALL No ro TxPDO ALL No ro TxPDO ALL No R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 153 - 6-7-2 Profile Velocity Mode (pv mode) It is a velocity control mode to operate by designating the target velocity, addition-subtraction velocity, etc. and creating a position command in the servo amplifier. 1st torque limit (3013h) 2nd torque limit (3522h) Limit function Max torque (6072h) Limit function Torque offset (60B2h) Multiplier Polarity (607Eh) Target velocity (60FFh) ＋ Limit function Velocity offset (60B1h) Velocity limit Max profile velocity (607Fh) Max motor speed (6080h) Minimum comparator Trajectory generator Velocity demand value (606Bh) Profile acceleration (6083h) Profile deceleration (6084h) Quick stop deceleration (6085h) Max acceleration (60C5h) Limit function Multiplier Torque control function M electronic gear Max deceleration (60C6h) 2.00 + Velocity control function Quick stop option code (605Ah) E Motion profile type (6086h) Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) Torque actual value (6077h) Multiplier Polarity (607Eh) Velocity actual value (606Ch) d/dt Multiplier Inverse electronic gear Position actual value (6064h) Multiplier Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 154 - 1) Objects related to pv mode (command & setup) Index 6040h 606Ah 607Fh 6083h 6084h 60C5h 60C6h SubIndex 00h 00h 00h 00h 00h 00h 00h Name Controlword Sensor selection code Max profile velocity Profile acceleration Profile deceleration Max acceleration Max deceleration Units Range Command/s Command/s2 Command/s2 Command/s2 Command/s2 0 - 65535 -32768 - 32767 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 Data Type U16 I16 U32 U32 U32 U32 U32 Access PDO rw ro rw rw rw rw rw RxPDO TxPDO RxPDO RxPDO RxPDO RxPDO RxPDO • Besides, there are related objects common to the velocity control. For more information, refer to section 6-7-1. Index SubIndex 6072h 6080h 60B1h 60B2h 60FFh 00h 00h 00h 00h 00h Name Max torque Max motor speed Velocity offset Torque offset Target velocity Units Range Data Type Access PDO 0.1% r/min Command/s 0.1% Command/s 0 - 65535 0 - 4294967295 -2147483648 - 2147483647 -32768 - 32767 -2147483648 - 2147483647 U16 U32 I32 I16 I32 rw rw rw rw rw RxPDO RxPDO RxPDO RxPDO RxPDO R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 155 - There is a related object of common motion as well. For more information, refer to section 6-9. Index SubIndex 6007h 605Ah 605Bh 605Ch 605Dh 605Eh 00h 00h 00h 00h 00h 00h 00h 01h 02h 00h 00h 00h Abort connection option code Quick stop option code Shutdown option code Disable operation option code Halt option code Fault reaction option code Position range limit Highest sub-index supported Min position range limit Max position range limit Home offset Polarity Quick stop deceleration 00h 00h 01h 02h 00h 01h 02h 00h 01h 02h 00h 00h 01h 02h Motion profile type Position encoder resolution Highest sub-index supported Encoder increments Motor revolutions Gear ratio Number of entries Motor revolutions Shaft revolutions Feed constant Highest sub-index supported Feed Shaft revolutions Profile jerk use Profile jerk Highest sub-index supported Profile jerk 1 607Bh 607Ch 607Eh 6085h 6086h 608Fh 6091h 6092h 60A3h 60A4h 60B8h 60FEh 00h 00h 01h 02h Name Profile jerk 2 Touch probe function Digital outputs Number of entries Physical outputs Bit mask Units Range Data Type Access PDO － － － － － － Command Command Command 2 Command/s pulse r (motor) r (motor) r (shaft) Command r (shaft) 3 Command/s 3 Command/s - 0-3 0-7 0-1 0-1 1-3 0-2 2 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 – 255 0 – 4294967295 I16 I16 I16 I16 I16 I16 U8 I32 I32 I32 U8 U32 rw rw rw rw rw rw ro rw rw rw rw rw No No No No No No No RxPDO RxPDO RxPDO No RxPDO -32768 – 32767 2 1 – 4294967295 1 – 4294967295 2 1 – 4294967295 1 – 4294967295 2 1 – 4294967295 1 – 4294967295 1-2 1-2 0 – 4294967295 I16 U8 U32 U32 U8 U32 U32 U8 U32 U32 U8 U8 U32 U32 rw ro ro ro ro rw rw ro rw rw rw ro rw rw RxPDO No No No No No No No No No No No No No U16 U8 U32 U32 rw ro rw rw RxPDO No RxPDO RxPDO 2.00 2.00 2.00 0 – 4294967295 0 - 65535 2 0 - 4294967295 0 - 4294967295 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 156 - Controlword (6040h) <Functions in pv mode> Index 6040h SubIndex 00h Name Units Range Data Access PDO Opmode EEPROM / Description Type Controlword 0 - 65535 U16 rw RxPDO ALL No • Set a command to a servo amplifier including the PDS state transition. Bit information details 15 - 10 r r oms h 9 oms r 8 7 h fr = reserved (not supported) = operation mode specific (control mode dependent bit) = halt 6 r 5 oms r fr eo qs ev so 4 r 3 2 1 0 eo qs ev so = fault reset = enable operation = quick stop = enable voltage = switch on * Note: The pv mode does not use the oms bit. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 157 - Velocity system Index 606Ah 607Fh SubIndex 00h 00h Name Units Range Data Access PDO Op- EEPROM / Description Type mode Sensor selection code -32768 - 32767 I16 ro TxPDO pv No • Set the sensor selection code. Since this servo amplifier does not support velocity sensor, always 0 is set. 0: Actual position from the position sensor 1: Actual velocity from the velocity sensor (not supported) Max profile velocity Command/s 0 - 4294967295 U32 rw RxPDO pp Yes hm ip pv • Set the velocity limit in the profile position mode (pp) , homing position mode (hm), interpolating position mode (ip), and profile velocity mode (pv). • The maximum value is limited by the (Max motor speed) 6080h in internal processing. Access PDO rw Op- EEPROM mode RxPDO pp Yes ip pv - Acceleration and deceleration system Index 6083h 6084h 60C5h 60C6h SubIndex 00h Name / Description Profile acceleration Units Range Command/s2 0 - 4294967295 Data Type U32 00h • Set the profile acceleration. • If it is set to 0, internal processing is treated as 1. Profile deceleration Command/s2 0 - 4294967295 U32 rw RxPDO pp ip pv Yes 00h • Set the profile deceleration. • If it is set to 0, internal processing is treated as 1. Max acceleration Command/s2 0 - 4294967295 U32 rw RxPDO pp hm ip pv Yes 00h • Set the maximum acceleration. • If it is set to 0, internal processing is treated as 1. Max deceleration Command/s2 0 - 4294967295 U32 rw RxPDO pp hm ip pv Yes • Set the maximum deceleration. • If it is set to 0, internal processing is treated as 1. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 158 2) Objects related to pv mode (monitoring) Index 6041h 606Dh 606Eh 606Fh 6070h SubIndex 00h 00h 00h 00h 00h Name Statusword Velocity window Velocity window time Velocity threshold Velocity threshold time Units Range Command/s 1 ms Command/s 1ms 0 - 65535 0 - 65535 0 - 65535 0 - 65535 0 - 65535 Data Type U16 U16 U16 U16 U16 Access PDO ro rw rw rw rw TxPDO RxPDO RxPDO RxPDO RxPDO • Besides, there are related objects common to the velocity control. For more information, refer to section 6-7-1. Index SubIndex Name 6063h 6064h 00h 00h Position actual internal value Position actual value 6069h 00h Velocity sensor actual value 606Bh 606Ch 6074h 6076h 6077h 00h 00h 00h 00h 00h Velocity demand value Velocity actual value Torque demand Motor rated torque Torque actual value Units Range Data Type Access PDO pulse Command -2147483648 - 2147483647 -2147483648 - 2147483647 I32 I32 ro ro TxPDO TxPDO - -2147483648 - 2147483647 I32 ro TxPDO Command/s Command/s 0.1% mNm 0.1% -2147483648 - 2147483647 -2147483648 - 2147483647 -32768 – 32767 0 – 4294967295 -32768 - 32767 I32 I32 I16 U32 I16 ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO Units Range Data Type Access PDO Command Command Command Command - 0 - 65535 0 - 65535 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 - 4294967295 U16 U16 I32 I32 I32 I32 U32 ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO - There is a related object of common motion as well. For more information, refer to section 6-9. Index SubIndex 603Fh 60B9h 60BAh 60BBh 60BCh 60BDh 60FDh 00h 00h 00h 00h 00h 00h 00h Name Error code Touch probe status Touch probe pos1 pos value Touch probe pos1 neg value Touch probe pos2 pos value Touch probe pos2 neg value Digital inputs R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 159 - - Statusword (6041h) <Functions in pv mode> Index 6041h SubIndex 00h Name Units / Description Statusword • Displays the servo amplifier state. Bit information details 15 - 14 13 12 oms r max slippage speed error r oms ila rm 11 ila = reserved (not supported) = operation mode specific (control mode dependent bit) = internal limit active = remote bit13 (operation mode specific): Bit Name Value 13 max slippage error 10 oms target reached - Range Data Type U16 0 - 65535 Access ro PDO Opmode EEPROM TxPDO ALL No 9 8 7 6 5 4 3 2 1 0 rm r w sod qs ve f oe so rtso w sod qs ve f oe so rtso = warning = switch on disabled = quick stop = voltage enabled = fault = operation enabled = switched on = ready to switch on Definition (not supported) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 160 - bit10 (target reached(Velocity reached)): When the difference between 60FFh (Target velocity) and 60B1h (Velocity offset) is in the range set by 606Dh (Velocity window) and the time set by 606Eh (Velocity window time) has elapsed, bit 10 of 6041h (Statusword) is set to 1. Bit 10 Name target reached Value 0 1 halt=0 (during normal operation) halt=1 (during stop by halt) halt=0 (during normal operation) halt=1 (during stop by halt) Definition : Speed control not yet completed : During axis deceleration : Speed control completed : Axis stop (Axis speed is 0.) Velocity window time (606Eh) Velocity window (606Dh) Velocity offset (60B1h) Target velocity (60FFh) Velocity actual value (606Ch) Window comparator ＋ timer Target reached in statusword (6041h) <Velocity reached (functional overview)> Index 606Dh SubIndex 00h 606Eh 00h Name Units Range Data Access PDO Opmod EEPRO / Description Type e M Velocity window Command/s 0 - 65535 U16 rw RxPDO pv Yes • Set the threshold where bit 10 (Target reached) of 6041h (Statusword) will be 1 when the difference between the sum of 60FFh (Target velocity) and 60B1h (Velocity offset), and 606Ch (Velocity actual value), on the other hand, is within the range set by this parameter and the time set by 606Eh (Velocity window time) has elapsed. If the velocity deviation is out of the values set by this parameter, the bit 10 of 6041h will be 0. Velocity window time 1 ms 0 - 65535 U16 rw RxPDO pv Yes • Set the time from the point when the difference between the sum of 60FFh (Target velocity) and 60B1h (Velocity offset), and 606Ch (Velocity actual value), on the other hand, falls within the range set by 606Dh (Velocity window) until bit 10 (target reached) of 6041h (Statusword) becomes 1. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 161 - bit12 (speed): When 606Ch (Velocity actual value) exceeds the value set in 606Fh (Velocity threshold) and the time set by 6070h (Velocity threshold time) has elapsed, bit 12 of 6041h (Statusword) changes to 0. When 606Ch (Velocity actual value) becomes lower than the value set in 606Fh (Velocity threshold), bit 12 of 6041h (Statusword) changes to 1, which indicates that the motor has stopped. Bit 12 Name speed Value 0 1 Definition Motor is operating Motor is not operating velocity thresold time (6070h) Velocity actual value (606Ch) velocity threshold (606Fh) Window comparator timer speed in statusword (6041h) <Speed (functional overview)> Index 606Fh SubIndex 00h 6070h 00h Name Units Range Data Access PDO Opmode EEPRO / Description Type M Velocity threshold Command/s 0 - 65535 U16 rw RxPDO pv Yes • Set the threshold where bit 12 (speed) of 6041h (Statusword) becomes 0 when 606Ch (Velocity actual value) exceeds the value set to this parameter and the time set in 6070h (Velocity threshold time) has elapsed. When the velocity becomes lower than the value set in this parameter, bit 12 of 6041 (Statusword) changes to 1. Velocity threshold time 1ms 0 - 65535 U16 rw RxPDO pv Yes • Set the time from the point when 606Ch (Velocity actual value) exceeds the value set to 606Fh (Velocity threshold) until the point when bit 12 of 6041h (Statusword) changes to 0. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 162 - 3) Operations of pv mode Profile velocity control mode generates a speed command value according to the following parameters. • Target velocity (60FFh) • Velocity offset (60B1h) • Profile acceleration (6083h) • Profile deceleration (6084h) Target velocity is additional value of the 60FFh (Target velocity) and 60B1h(Velocity offset). For the operation command update (transmission), do input when approx. 100 ms has elapsed after the servo ON(Operation enabled command). 2.00 There are various sensors for velocity detection. The MINAS-A5B series detects the position and velocity by using an encoder (position sensor). As the monitoring function, the Velocity actual value (606Ch) provides the information to upper system. Speed (Command/s) 60FFh Target velocity + 60B1h (Velocity offset) 6083h Profile acceleration 6084h Profile deceleration Time Note) - The sum of 60FFh (Target velocity) and 60B1h (Velocity offset) is limited by 607Fh(Max profile velocity) and 6080h (Max motor speed). However, a change that is made to the value of 607Fh(Max profile velocity) and 6080h (Max motor speed) during operation will not be reflected in that operation. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 163 - 6-7-3 Cyclic Velocity Mode (csv mode) It is a velocity control mode to operate by creating a command velocity in the upper system (master) and updating (transmitting) the command velocity in an interpolation cycle. Use it in the DC or SM2 synchronization mode. 1st torque limit (3013h) 2nd torque limit (3522h) Limit function Max torque (6072h) Limit function Torque offset (60B2h) Multiplier Polarity(607Eh) Velocity offset (60B1h) Target Velocity (60FFh) ＋ Max motor speed (6080h) 2.00 Limit function Profile deceleration (6084h) Quick stop deceleration (6085h) Limit function Drive control function Multiplier Max deceleration (60C6h) electronic gear Velocity control function + Torque control function M Quick stop option code (605Ah) E Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) Torque actual value (6077h) Polarity (607Eh) Multiplier Velocity actual value (606Ch) Multiplier Position actual value (6064h) Multiplier Inverse electronic gear Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 164 - 1) Objects related to csv mode (command & setup) Index 2.00 6040h 3724h SubIndex 00h 00h Name Units Range Access PDO 0 - 65535 Data Type U16 Controlword Communication function extended setup 3 - rw RxPDO -32768 - 32767 I16 rw No Units Range Data Type Access PDO 0.1% r/min Command/s 0.1% Command/s 0 - 65535 0 - 4294967295 -2147483648 - 2147483647 -32768 - 32767 -2147483648 - 2147483647 U16 U32 I32 I16 I32 rw rw rw rw rw RxPDO RxPDO RxPDO RxPDO No Units Range Data Type Access PDO － － － － － － Command Command Command Command/s2 pulse r (motor) r (motor) r (shaft) Command r (shaft) - 0-3 0-7 0-1 0-1 1-3 0-2 2 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 – 255 0 – 4294967295 2 1 – 4294967295 2.00 1 – 4294967295 2 1 – 4294967295 2.00 1 – 4294967295 2 1 – 4294967295 2.00 1 – 4294967295 0 - 65535 2 0 - 255 -128 – 63 2 0 - 4294967295 0 - 4294967295 I16 I16 I16 I16 I16 I16 U8 I32 I32 I32 U8 U32 U8 U32 U32 U8 U32 U32 U8 U32 U32 U16 U8 U8 I8 U8 U32 U32 rw rw rw rw rw rw ro rw rw rw rw rw ro ro ro ro rw rw ro rw rw rw ro rw rw ro rw rw No No No No No No No RxPDO RxPDO RxPDO No RxPDO No No No No No No No No No RxPDO No No No No RxPDO RxPDO - • Besides, there are related objects common to the velocity control. For more information, refer to the section 6-7-1. Index SubIndex 6072h 6080h 60B1h 60B2h 60FFh 00h 00h 00h 00h 00h Name Max torque Max motor speed Velocity offset Torque offset Target velocity - There is a related object of common motion as well. For more information, refer to the section 6-9. Index SubIndex 6007h 605Ah 605Bh 605Ch 605Dh 605Eh 00h 00h 00h 00h 00h 00h 00h 01h 02h 00h 00h 00h 00h 01h 02h 00h 01h 02h 00h 01h 02h 00h 00h 01h 02h 00h 01h 02h 607Bh 607Ch 607Eh 6085h 608Fh 6091h 6092h 60B8h 60C2h 60FEh Name Abort connection option code Quick stop option code Shutdown option code Disable operation option code Halt option code Fault reaction option code Position range limit Highest sub-index supported Min position range limit Max position range limit Home offset Polarity Quick stop deceleration Position encoder resolution Highest sub-index supported Encoder increments Motor revolutions Gear ratio Number of entries Motor revolutions Shaft revolutions Feed constant Highest sub-index supported Feed Shaft revolutions Touch probe function Interpolation time period Highest sub-index supported Interpolation time period value Interpolation time index Digital outputs Number of entries Physical outputs Bit mask R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 165 - - Controlword (6040h) <Functions in csv mode> Index 6040h SubIndex 00h Name Units Range / Description Controlword 0 - 65535 • Set a command to a servo amplifier including the PDS state transition. Bit information details 15 - 10 9 oms r r r oms h 8 7 h fr =reserved (not supported), = operation mode specific (control mode dependent bit), = halt 6 5 oms r r fr eo qs ev so Data Type U16 4 r Access rw PDO Opmode EEPRO M No RxPDO ALL 3 2 1 0 eo qs ev so Access PDO = fault reset = enable operation = quick stop = enable voltage = switch on Note: The csv mode does not use the oms bit. 2.00 - Other Index 3724h SubIndex 00h Name / Description Units Range Data Type Communication -32768 - 32767 I16 rw No － function extended setup 3 3724h bit11: The setting condition that 6041h bit12 (drive follows command value) will be 0 is changed. 0 : Limiting torque and speed limit (only cst) is included. 1 : Limiting torque and speed limit (only cst) is not included. Op- EEPRO mode M ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 166 - 2) Objects related to csv mode (monitoring) Index 6041h SubIndex 00h Name Statusword Units Range - 0 - 65535 Data Type U16 Access PDO ro TxPDO • Besides, there are related objects common to the velocity control. For more information, refer to section 6-7-1. Index SubIndex 6063h 6064h 6069h 606Bh 606Ch 6074h 6076h 6077h 00h 00h 00h 00h 00h 00h 00h 00h Name Position actual internal value Position actual value Velocity sensor actual value Velocity demand value Velocity actual value Torque demand Motor rated torque Torque actual value Units Range Data Type Access PDO pulse Command Command/s Command/s 0.1% mNm 0.1% -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -32768 – 32767 0 – 4294967295 -32768 - 32767 I32 I32 I32 I32 I32 I16 U32 I16 ro ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO Units Range Data Type Access PDO Command Command Command Command - 0 - 65535 0 - 65535 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 - 4294967295 U16 U16 I32 I32 I32 I32 U32 ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO - There is a related object of common motion as well. For more information, refer to section 6-9. Index SubIndex 603Fh 60B9h 60BAh 60BBh 60BCh 60BDh 60FDh 00h 00h 00h 00h 00h 00h 00h Name Error code Touch probe status Touch probe pos1 pos value Touch probe pos1 neg value Touch probe pos2 pos value Touch probe pos2 neg value Digital inputs R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 167 - - Statusword (6041h) <Functions in csv mode> Index SubIndex 00h 6041h Name Units / Description Statusword • Displays the servo amplifier state. Bit information details 15 - 14 13 12 oms r drive follows r command value 11 ila Range Data Type U16 0000h - FFFFh 10 oms r r = reserved(not supported) oms ila = operation mode specific (control mode dependent bit) = internal limit active rm r = remote = reserved(not supported) Access PDO ro TxPDO Opmode EEPROM ALL No 9 8 7 6 5 4 3 2 1 0 rm r w sod qs ve f oe so rtso w sod qs ve f oe so rtso = warning = switch on disabled = quick stop = voltage enabled = fault = operation enabled = switched on = ready to switch on bit13,12,10(operation mode specific): Bit 10 12 13 Name reserved Drive follows command value reserved Value - Definition Not used 0 Operation is not performed according to the target velocity. *1) 1 - Operation is performed according to the target velocity. *1) Not used *1) “Operation is performed according to the target velocity” refers to cases where the following conditions are all satisfied: 2.00 - PDS state is Operation enabled 2.00 - While not in deceleration (Halt, POT/NOT, Quickstop, Shutdown, Disable operation and Fault) 2.00 - While not in Halt status - POT not detected when a positive direction operation command is in process, or NOT not detected when a negative direction operation command is in process - Torque limit has not occurred(Valid only when this condition 3724h-bit11 is 0) 2.00 Index 2.00 3724h SubIndex 00h Name / Description Units Range Data Type Access PDO Communication -32768 - 32767 I16 rw No － function extended setup 3 3724h bit11: The setting condition that 6041h bit12 (drive follows command value) will be 0 is changed. 0 : Limiting torque and speed limit (only cst) is included. 1 : Limiting torque and speed limit (only cst) is not included. Op- EEPRO mode M ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 168 3) Operations of csv mode • Motion profile (trajectory) generation is done in the master rather than the slave in the cyclic velocity control mode. • Target velocity is additional value of 60FFh(Target velocity) and 60B1h(Velocity offset). • For the operation command update (transmission), do input when approx. 100 ms has elapsed after the servo ON(Operation enabled command). 2.00 • 60C2h (Interpolation time period) indicates the cycle to update the two object for 60FFh(Target velocity) and 60B1h(Velocity offset).This value is set to the cycle which is the same as 1C32-02h(Cycle time). • As monitoring information, to provide the 606Ch(Velocity actual value). Note) - The sum of 60FFh (Target velocity) and 60B1h (Velocity offset) is limited by 6080h (Max motor speed). However, a change that is made to the value of 6080h (Max motor speed) during operation will not be reflected in that operation. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 169 - 6-8 Torque Control Function 6-8-1 Common Torque Control Function 1) Torque control block diagram Monitor data of PANATERM Monitor data of CiA402 object 60B2h Torque offset [0.1%] Gain switching 6071h Target torque [0.1%] 2nd setup 3114h Mode 3124h Delay time 3125h Level 3126h Hysteresis 3127h ＋ Absolute value ＋ Sign Velocity limit [r/min] 6080h Max motor speed [r/min] Velocity control Notch filter Proportion Integration ＋ Velocity unit conversion Absolute value Multiplication － Frequency Width Depth 1st 3101h 3102h 1st 3201h 3202h 3203h 2nd 3106h 3107h 2nd 3204h 3205h 3206h 3004h 3rd 3207h 3208h 3209h 4th 3210h 3211h 3212h Inertia ratio Velocity detection filter 6063h Position actual internal value [pulse] Sum of feedback pulses [pulse] 606Ch Velocity actual value [commad/s] 1st 3103h 2nd 3108h Instantaneous 3610h speed Torque filter 1st Motor speed [r/min] Electronic gear reverse conversion 3104h 2nd 3109h 2nd 3642h 3643h At tenuation term Command detection Torque limit 60BAh or 60BCh Touch probe position value [command] Selection 3521h 1st 3013h 2nd 3522h MAX 6072h Current control エンコーダ Encoder モータ Motor Response setup 3611h 6064h Position actual value [command] Main Load 外部スケール Power Torque command [0.1%] 6074h Torque demand [0.1％] supply Torque control block diagram 2.00 *1) A slanting number (ex.:607Ah) shows the object number of EtherCAT. *2) A bold letter number (ex.:3100h) shows a parameter number. *3) Polarity was omitted. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 170 - 2) Related objects common in torque control (command & setup) Index SubIndex 6040h 6071h 6072h 6080h 6087h 60B2h 00h 00h 00h 00h 00h 00h Name Controlword Target torque Max torque Max motor speed Target slope Torque offset Units Range Data Type Access PDO 0.1% 0.1% r/min 0.1%/s 0.1% 0 - 65535 -32768 - 32767 0 - 65535 0 - 4294967295 0 - 4294967295 -32768 - 32767 U16 I16 U16 U32 U32 I16 rw rw rw rw rw rw RxPDO RxPDO RxPDO RxPDO RxPDO RxPDO Supported mode tq cst Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes • Besides, there are related objects for each control mode. Refer to the section "Related objects" of each control mode. • The function of 6040h (Control word) can differ according to the control mode. Refer to the section "Related objects" of each control mode. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 171 - - Velocity system Index 6080h SubIndex 00h Units Range Data Access PDO Opmod EEPROM Name Type e / Description 0 - 4294967295 U32 rw Yes Max motor speed r/min RxPDO ALL 2.00 • Set the maximum velocity of motor. • The maximum value is limited by the maximum speed read out from the motor in internal processing. • Tq and cst and restricts speed with the preset value of this object. - Torque system Index 6071h SubIndex 00h 6072h 00h 6087h 00h 60B2h 00h Name / Description Target torque Units Range Data Type Access PDO Opmod EEPROM e 0.1% rw tq Yes -32768 - 32767 I16 RxPDO cst 2.00 • Set the torque command in the torque profile mode (tq) and cyclic synchronous torque mode (cst). When the value exceeds 6072h (Max torque), the value is limited by 6072h. Max torque 0.1% 0 - 65535 U16 rw Yes RxPDO ALL • Set the maximum torque of the motor. • The maximum value is limited by the maximum torque read out from the motor in internal processing. • The maximum torque of the motor varies with the motor applied. Torque slope 0.1%/s 0 - 4294967295 U32 rw RxPDO tq Yes cst • Set a parameter value for giving slope to a torque command. • In the cyclic synchronous torque mode (cst), torque slope is effective only during the deceleration stop sequence. • When 0 has been set, the setting is regarded as 1 internally. Torque offset 0.1% -32768 - 32767 I16 rw csp Yes RxPDO csv cst • Set the offset of a torque command (torque feedforward). • During slowdown in over-travel inhibition(in emergncy stop), the torque feedforward level becomes 0. 2.00 2.00 - Other Index 3724h SubIndex 00h Name / Description Units Range Data Type Communication -32768 - 32767 I16 － function extended setup 3 bit10 : Internal value state selection of objects 60B2h(Torque offset) in servo-off (Fall prevention function in the event of Servo-ON) 0: Clear 1: Updated with the set value of 60B2h Access PDO rw No Op- EEPRO mode M ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 172 - 3) Related objects common in torque control (monitoring) 4.00 Index SubIndex 4D29h 6041h 00h 00h 6063h 00h 6064h 00h 6069h 00h 606Ch 00h 6074h 6075h 6076h 6077h 6078h 6079h 00h 00h 00h 00h 00h 00h Name Over load factor Statusword Position actual internal value Position actual value Velocity sensor actual value Velocity actual value Torque demand Motor rated current Motor rated torque Torque actual value Current actual value DC link circuit voltage Units Range Data Type Access PDO 0.1% - 0 - 65535 0 - 65535 -2147483648 2147483647 -2147483648 – 2147483647 -2147483648 2147483647 -2147483648 2147483647 -32768 - 32767 0 – 4294967295 0 – 4294967295 -32768 - 32767 -32768 - 32767 0 - 4294967295 U16 U16 ro ro TxPDO TxPDO Supported mode tq cst Yes Yes Yes Yes I32 ro TxPDO Yes Yes I32 ro TxPDO Yes Yes I32 ro TxPDO Yes Yes I32 ro TxPDO Yes Yes I16 U32 U32 I16 I16 U32 ro ro ro ro ro ro TxPDO No No TxPDO TxPDO TxPDO Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes pulse Command Command/s 0.1% mA mNm 0.1% 0.1% mV • Besides, there are related objects for each control mode. Refer to the section "Related objects" of each control mode. • The function of 6041h (Status word) can differ according to each control mode. Refer to the section "Related objects" of each control mode. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 173 - - Position system Index 6063h SubIndex 00h 6064h 00h Name Units Range Data Access PDO Opmod EEPRO / Description Type e M Position actual pulse -2147483648 I32 ro TxPDO ALL No internal value 2147483647 • Displays the actual position of the motor. The value is on an encoder basis during other than full-closed control, and on an external scale basis during full-closed control. TxPDO ALL Position actual value Command -2147483648 – I32 ro No 2147483647 • Indicate the motor of actual position. - Velocity system Index 6069h SubIndex 00h 606Ch 00h Name Units Range / Description Velocity sensor -2147483648 – － actual value 2147483647 • Indicate sensor value of actual velocity. Return 0 always because this servo amplifier not supported. Velocity actual value Command/s -2147483648 2147483647 • Displays the actual velocity of the motor. Data Type I32 Access ro PDO Opmod EEPRO e M TxPDO ALL No I32 ro TxPDO ALL No - Torque system Index 4.00 4D29h SubIndex 00h 6074h 00h 6075h 00h 6076h 00h 6077h 00h 6078h 00h 6079h 00h Name Units Range Data Access PDO Opmod EEPRO / Description Type e M Over load factor 0.1% 0 – 65536 U16 ro TxPDO ALL No • The ratio [0.1%] to the rated load is displayed. Torque demand 0.1% -32768 - 32767 I16 ro TxPDO ALL No • Displays internal command torque. Motor rated current mA 0 – 4294967295 U32 ro No ALL No • Automatically set the rated current of motor. Motor rated torque mNm 0 – 4294967295 U32 ro No ALL No • Automatically set the rated torque of motor. Torque actual value 0.1% -32768 - 32767 I16 ro TxPDO ALL No • Displays the actual torque. • It becomes a value equivalent to actual current value. • This output value is a reference value and does not guarantee an actual value. Current actual value 0.1% -32768 - 32767 I16 ro TxPDO ALL No • Displays actual current value. DC link circuit mV 0 - 4294967295 U32 ro TxPDO ALL No voltage • Displays the PN voltage in the main circuit power. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 174 - 6-8-2 Profile Torque Mode (tq mode) It is a torque control mode to operate by designating the target torque, addition-subtraction velocity, etc. and creating a position command in the servo amplifier. Polarity (607Eh) 1st torque limit (3013h) 2nd torque limit (3522h) Limit function Target torque (6071h) ＋ Torque demand (6074h) Multiplier Torque offset (60B2h) Limit function Max torque (6072h) Multiplier Trajectory generator Torque control function Torque slope (6087h) M 2.00 Quick stop option code (605Ah) Torque profile type (6088h) E Polarity (607Eh) Motor rated torque (6076h) Motor rated current (6075h) Polarity (607Eh) Torque actual value (6077h) Multiplier Velocity actual value (606Ch) Multiplier Position actual value (6064h) Multiplier Inverse electronic gear Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 175 - 1) Objects related to tq mode (command & setup) Index 6040h 6088h SubIndex 00h 00h Name Units Range - 0 - 65535 -32768 - 32767 Controlword Torque profile type Data Type U16 I16 Access PDO rw rw RxPDO RxPDO • Besides, there are related objects common to the torque control. For more information, refer to section 6-8-1. Index SubIndex 6071h 6072h 6080h 6087h 60B2h 00h 00h 00h 00h 00h Name Target torque Max torque Max motor speed Target slope Torque offset Units Range Data Type Access PDO 0.1% 0.1% r/min 0.1%/s 0.1% -32768 - 32767 0 - 65535 0 - 4294967295 0 - 4294967295 -32768 - 32767 I16 U16 U32 U32 I16 rw rw rw rw rw RxPDO RxPDO RxPDO RxPDO RxPDO Units Range Data Type Access PDO Command Command Command pulse r (motor) r (motor) r (shaft) Command r (shaft) - 0-3 0-7 0-1 0-1 1-3 0-2 2 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 – 255 2 1 – 4294967295 2.00 1 – 4294967295 2 1 – 4294967295 2.00 1 – 4294967295 2 1 – 4294967295 2.00 1 – 4294967295 0 - 65535 2 0 - 4294967295 0 - 4294967295 I16 I16 I16 I16 I16 I16 U8 I32 I32 I32 U8 U8 U32 U32 U8 U32 U32 U8 U32 U32 U16 U8 U32 U32 rw rw rw rw rw rw ro rw rw rw rw ro ro ro ro rw rw ro rw rw rw ro rw rw No No No No No No No RxPDO RxPDO RxPDO No No No No No No No No No No RxPDO No RxPDO RxPDO - There is a related object of common motion as well. For more information, refer to section 6-9. Index SubIndex 6007h 605Ah 605Bh 605Ch 605Dh 605Eh 00h 00h 00h 00h 00h 00h 00h 01h 02h 00h 00h 00h 01h 02h 00h 01h 02h 00h 01h 02h 00h 00h 01h 02h 607Bh 607Ch 607Eh 608Fh 6091h 6092h 60B8h 60FEh Name Abort connection option code Quick stop option code Shutdown option code Disable operation option code Halt option code Fault reaction option code Position range limit Highest sub-index supported Min position range limit Max position range limit Home offset Polarity Position encoder resolution Highest sub-index supported Encoder increments Motor revolutions Gear ratio Number of entries Motor revolutions Shaft revolutions Feed constant Highest sub-index supported Feed Shaft revolutions Touch probe function Digital outputs Number of entries Physical outputs Bit mask R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 176 - - Controlword (6040h) <Functions in tq mode> Index 6040h SubIndex 00h Name Units Range / Description Controlword 0 - 65535 • Set a command to a servo amplifier including the PDS state transition. Bit information details 15 - 10 9 oms r r r oms h 8 7 h fr = reserved (not supported) = operation mode specific (control mode dependent bit) = halt 6 Data Type U16 5 oms r r fr eo qs ev so 4 r Access rw PDO Opmode EEPROM RxPDO ALL No 3 2 1 0 eo qs ev so = fault reset = enable operation = quick stop = enable voltage = switch on * Note: The tq mode does not use the oms bit. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 177 - - Torque system Index 6087h 6088h SubIndex 00h 00h Name / Description Torque slope Units Range 0.1%/s 0 - 4294967295 Data Type U32 Access PDO Rw RxPDO Op- EEPROM mode tq Yes cst • Set a parameter value for giving slope to a torque command. • In the cyclic synchronous torque mode (cst), torque slope is effective only during the deceleration stop sequence. • When 0 has been set, the setting is regarded as 1 internally. Torque profile type -32768 - 32767 I16 rw RxPDO tq • Set the torque profile type used for changing the torque. Yes 0: Linear slope 1: Not supported (sin2 slope) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 178 - 2) Related objects (monitoring) Index 6041h 6073h SubIndex 00h 00h Name Statusword Max current Units Range 0.1% 0 - 65535 0 – 65535 Data Type U16 U16 Access PDO ro ro TxPDO No • Besides, there are related objects common to the torque control. For more information, refer to section 6-8-1. Index SubIndex 6063h 6064h 6069h 606Ch 6074h 6075h 6076h 6077h 6078h 6079h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h Name Position actual internal value Position actual value Velocity sensor actual value Velocity actual value Torque demand Motor rated current Motor rated torque Torque actual value Current actual value DC link circuit voltage Units Range Data Type Access PDO pulse Command Command/s 0.1% mA mNm 0.1% 0.1% mV -2147483648 - 2147483647 -2147483648 – 2147483647 -2147483648 - 2147483647 -2147483648 – 2147483647 -32768 - 32767 0 – 4294967295 0 – 4294967295 -32768 - 32767 -32768 - 32767 0 - 4294967295 I32 I32 I32 I32 I16 U32 U32 I16 I16 U32 ro ro ro ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO No No TxPDO TxPDO TxPDO Units Range Data Type Access PDO Command Command Command Command - 0 - 65535 0 - 65535 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 - 4294967295 U16 U16 I32 I32 I32 I32 U32 ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO - There is a related object of common motion as well. For more information, refer to section 6-9. Index SubIndex 603Fh 60B9h 60BAh 60BBh 60BCh 60BDh 60FDh 00h 00h 00h 00h 00h 00h 00h Name Error code Touch probe status Touch probe pos1 pos value Touch probe pos1 neg value Touch probe pos2 pos value Touch probe pos2 neg value Digital inputs R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 179 - - Statusword (6041h) <Functions in tq mode> Index 6041h SubIndex 00h Name Units / Description Statusword • Displays the servo amplifier state. Bit information details 15 - 14 13 12 11 oms r ila r r 12 13 5 4 3 2 1 0 rm r w sod qs ve f oe so rtso rm = remote (reserved) (reserved) - No 6 ila 1 TxPDO ALL 7 = operation mode specific (control mode dependent bit) = internal limit active 0 ro PDO Opmode EEPROM 8 oms target reached Access 9 = reserved(not supported) Value Data Type U16 0 - 65535 r oms bit details (tq) Bit Name 10 10 oms target reached Range w sod qs ve f oe so rtso = warning = switch on disabled = quick stop = voltage enabled = fault = operation enabled = switched on = ready to switch on Definition halt=0 (during normal operation) : 6074h (Torque demand) has not yet reached target torque. halt=1 (during stop by halt) : During axis deceleration halt=0 (during normal operation) : 6074h (Torque demand) has reached target torque. halt=1 (during stop by halt) : Axis stop (Axis speed is 0.) Not used Not used - Torque system Index 6073h SubIndex 00h Name / Description Max current • Set the maximum current. Units Range 0.1% 0 - 65535 Data Type U16 Access PDO rw No Op- EEPROM mode tq Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 180 - 3) Operations of tq mode Profile torque control mode generates a torque command value according to the following parameters. • Target torque(6071h） • Torque slope(6087h) Target torque is additional value of 6071h(Target torque) and 60B2h(Torque offset). For the operation command update (transmission), do input when approx. 100 ms has elapsed after the servo ON(Operation enabled command). 2.00 As monitoring information to provide 6077h (Torque actual value). Torque (0.1%) 6071h Target torque + 60B2h (Torque offset) 6087h Torque slope Time Note) - The sum of 6071h (Target torque) and 60B2h (Torque offset) is limited by the lowest value among 6072h (Max torque), and 3013h (1st torque limit). - The velocity is limited by 6080h (Max motor speed). - Even if these setting values are changed during operation, they are not reflected during the operation. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 181 - 6-8-3 Cyclic Torque Mode (cst mode) It is a torque control mode to operate by creating a command torque in the upper system (master) and updating (transmitting) the command torque in an interpolation cycle. Use it in the DC or SM2 synchronization mode. Polarity(607Eh) 1st torque limit (3013h) 2nd torque limit (3522h) Limit function Torque offset (60B2h) Multiplier Target torque (6071h) ＋ Limit function Torque demand (6074h) Multiplier Max torque (6072h) Drive control function Polarity(607Eh) Torque control function M Max motor speed (6080h) 2.00 Torque slope (6087h) E Quick stop option code (605Ah) 2.00 Torque actual value (6077h) Polarity (607Eh) Multiplier Velocity actual value (606Ch) Multiplier Position actual value (6064h) Multiplier Inverse electronic gear Position encoder resolution (608Fh) Gear ratio(6091h) Feed constant(6092h) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 182 - 1) Objects related to cst mode (command & setup) Index 2.00 6040h SubIndex 00h 3724h 00h Name Controlword Communication function extended setup 3 Units Range Access PDO 0 - 65535 Data Type U16 - rw Yes - -32768 - 32767 I16 rw No Units Range Data Type Access PDO 0.1% 0.1% r/min 0.1%/s 0.1% -32768 - 32767 0 - 65535 0 - 4294967295 0 - 4294967295 -32768 - 32767 I16 U16 U32 U32 I16 rw rw rw rw rw RxPDO RxPDO RxPDO RxPDO RxPDO Units Range Data Type Access PDO Command Command Command pulse r (motor) r (motor) r (shaft) Command r (shaft) - 0-3 0-7 0-1 0-1 1-3 0-2 2 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 – 255 2 1 – 4294967295 2.00 1 – 4294967295 2 1 – 4294967295 2.00 1 – 4294967295 2 1 – 4294967295 2.00 1 – 4294967295 0 - 65535 2 0 - 255 -128 – 63 2 0 - 4294967295 0 - 4294967295 I16 I16 I16 I16 I16 I16 U8 I32 I32 I32 U8 U8 U32 U32 U8 U32 U32 U8 U32 U32 U16 U8 U8 I8 U8 U32 U32 rw rw rw rw rw rw ro rw rw rw rw ro ro ro ro rw rw ro rw rw rw ro rw rw ro rw rw No No No No No No No RxPDO RxPDO RxPDO No No No No No No No No No No Yes No No No No RxPDO RxPDO • Besides, there are related objects common to the torque control. For more information, refer to section 6-8-1. Index SubIndex 6071h 6072h 6080h 6087h 60B2h 00h 00h 00h 00h 00h Name Target torque Max torque Max motor speed Target slope Torque offset - There is a related object of common motion as well. For more information, refer to section 6-9. Index SubIndex 6007h 605Ah 605Bh 605Ch 605Dh 605Eh 00h 00h 00h 00h 00h 00h 00h 01h 02h 00h 00h 00h 01h 02h 00h 01h 02h 00h 01h 02h 00h 00h 01h 02h 00h 01h 02h 607Bh 607Ch 607Eh 608Fh 6091h 6092h 60B8h 60C2h 60FEh Name Abort connection option code Quick stop option code Shutdown option code Disable operation option code Halt option code Fault reaction option code Position range limit Highest sub-index supported Min position range limit Max position range limit Home offset Polarity Position encoder resolution Highest sub-index supported Encoder increments Motor revolutions Gear ratio Number of entries Motor revolutions Shaft revolutions Feed constant Highest sub-index supported Feed Shaft revolutions Touch probe function Interpolation time period Highest sub-index supported Interpolation time period value Interpolation time index Digital outputs Number of entries Physical outputs Bit mask R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 183 - - Controlword (6040h) <Functions in cst mode> Index 6040h SubIndex 00h Name Units Range / Description Controlword 0 - 65535 • Set a command to a servo amplifier including the PDS state transition. Bit information details 15 - 10 9 oms r r r oms h 8 7 h fr = reserved (Not supported) = operation mode specific (control mode dependent bit) = halt 6 Data Type U16 Access 4 3 2 1 0 eo qs ev so Access PDO 5 oms r r fr eo qs ev so r rw PDO Opmode EEPROM RxPDO ALL No = fault reset = enable operation = quick stop = enable voltage = switch on *Note: The cst mode does not use the oms bit. 2.00 - Other Index 3724h SubIndex 00h Name / Description Units Range Data Type Communication -32768 - 32767 I16 rw No － function extended setup 3 3724h bit11: The setting condition that 6041h bit12 (drive follows command value) will be 0 is changed. 0 : Limiting torque and speed limit (only cst) is included. 1 : Limiting torque and speed limit (only cst) is not included. Op- EEPRO mode M ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 184 - 2) Objects related to cst mode (monitoring) Index 6041h 6064h 606Ch SubIndex 00h 00h 00h Name Statusword Position actual value Velocity actual value Units Range Command Command/s 0 - 65535 -2147483648 - 2147483647 -2147483648 - 2147483647 Data Type U16 I32 I32 Access PDO ro ro ro TxPDO TxPDO TxPDO • Besides, there are related objects common to the torque control. For more information, refer to section 6-8-1. Index SubIndex 6063h 6064h 606Ch 6074h 6075h 6076h 6077h 6078h 6079h 00h 00h 00h 00h 00h 00h 00h 00h 00h Name Position actual internal value Position actual value Velocity actual value Torque demand Motor rated current Motor rated torque Torque actual value Current actual value DC link circuit voltage Units Range Data Type Access PDO pulse Command Command/s 0.1% mA mN･m 0.1% 0.1% mV -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -32768 - 32767 0 – 4294967295 0 – 4294967295 -32768 - 32767 -32768 - 32767 0 - 4294967295 I32 I32 I32 I16 U32 U32 I16 I16 U32 ro ro ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO No No TxPDO TxPDO TxPDO Units Range Data Type Access PDO Command Command Command Command - 0 - 65535 0 - 65535 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 - 4294967295 U16 U16 I32 I32 I32 I32 U32 ro ro ro ro ro ro ro TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO TxPDO - There is a related object of common motion as well. For more information, refer to section 6-9. Index SubIndex 603Fh 60B9h 60BAh 60BBh 60BCh 60BDh 60FDh 00h 00h 00h 00h 00h 00h 00h Name Error code Touch probe status Touch probe pos1 pos value Touch probe pos1 neg value Touch probe pos2 pos value Touch probe pos2 neg value Digital inputs R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 185 - - Statusword (6041h) <Functions in cst mode> Index 6041h SubIndex 00h Name Units / Description Statusword • Displays the servo amplifier state. Range Data Type U16 0 - 65535 Access PDO Opmode EEPROM ro TxPDO ALL No Bit information details 15 - 14 r 13 r 12 oms drive follows command value 11 ila r = reserved(Not supported) oms ila = operation mode specific (control mode dependent bit) = internal limit active rm = remote 10 oms r 9 8 7 6 5 4 3 2 1 0 rm r w sod qs ve f oe so rtso w sod qs ve f oe so rtso = warning = switch on disabled = quick stop = voltage enabled = fault = operation enabled = switched on = ready to switch on bit13,12,10(operation mode specific): bit Name Value Definition 10 reserved Not used Drive follows 0 Operation is not performed according to the target torque. *1) command 12 1 Operation is performed according to the target torque. *1) value 13 reserved Not used *1) “Operation is performed according to the target torque” refers to cases where the following conditions are all satisfied: - PDS state is Operation enabled 2.00 - While not in deceleration (Halt, POT/NOT, Quickstop, Shutdown, Disable operation and Fault) 2.00 - While not in Halt status 2.00 - POT not detected when a positive direction operation command is in process, or NOT not detected when a negative direction operation command is in process - Torque limit has not occurred(Valid only when this condition 3724h-bit11 is 0) 2.00 - Velocity limit has not occurred(Valid only when this condition 3724h-bit11 is 0) 2.00 Index 2.00 3724h SubIndex 00h Name / Description Units Range Data Type Access PDO Communication -32768 - 32767 I16 rw No － function extended setup 3 3724h bit11: The setting condition that 6041h bit12 (drive follows command value) will be 0 is changed. 0 : Limiting torque and speed limit (only cst) is included. 1 : Limiting torque and speed limit (only cst) is not included. Op- EEPRO mode M ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 186 - 3) Operations of cst mode • Motion • Target profile (trajectory) generation is done by the master, not the slave in cyclic torque control mode. torque is additional value of 6071h(Target torque) and 60B2h(Torque offset). • For the operation command update (transmission), do input when approx. 100 ms has elapsed after the servo ON(Operation enabled command). 2.00 • 60C2h (Interpolation time period) indicates the cycle to update the two object for 6071h (Target torque) and 60B2h (Torque offset).This value is set to the cycle which is the same as 1C32-02h(Cycle time). • As monitoring information to provide 6077h (Torque actual value). Note) - The sum of 6071h (Target torque) and 60B2h (Torque offset) is limited by the minimum value of either 6072h (Max torque) or 3013h (1st torque limit). - The velocity is limited by 6080h (Max motor speed). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 187 - 6-9 Common Motion Function 6-9-1 Touch Probe Function (position latch request/release) This function selects a latch trigger signal from external input (EXT 1/EXT 2) or Z-phase (one rotation data of rotary encoder is 0 position during semi-closed control, and Z-phase position of external incremental scale during full-closed control) and latches the feedback position. • When it uses a external input (EXT1/EXT2) by the signal of latch trigger, assign EXT1 to SI5 and assign EXT2 to SI6, respectively. When Homing operation is carried out without assigning, Err88.5 (Latch input allocation error protection) occurs. • If the latch trigger signal is external input(EXT1/EXT2), the import difference occurs. Reduce the velocity around the latch trigger signal input as much as possible. • Set the input ON width and OFF width of the latch trigger signal to 2 ms or more. • If the Z-phase is selected by the trigger while using absolute scale during full-closed control, Err88.5 (Latch input allocation error protection) occurs. • If the setting chooses the Z-phase selection at the trigger, please do not select edge falling. The operation can not be guaranteed if it set to the above setting. • The touch probe function is disabled in the cases below: 1) The ESM state becomes Init 2) The mode changed into the hm mode • Please do not set at the same time the rising and falling edges of the same TouchProbe. Behavior when set at the same time can not be guaranteed. 2.00 • Do not execute Touch probe 1 and Touch probe 1 and Touch probe 2 simultaneously at 250us of communication interval of in the mode of 2 degrees of freedom control. Behavior when Touch probe 1 and Touch probe 2 are simultaneously executed with the above setting cannot be guaranteed. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 188 - 1) Configuration of touch probe function FB SI5 EXT1 (1) EXT1 (2) Latch trigger LT1 Z-phase 3404h Latch data 60BAh/60BBh (Touch probe 1) Latch data 60BCh/60BDh (Touch probe 2) 60B8h(bit2) FB SI6 EXT2 (1) EXT2 Z-phase 3405h (2) Latch trigger LT2 60B8h(bit10) 60B8h：Touch probe function 60BAh：Touch probe pos1 pos value 60BBh：Touch probe pos1 neg value 60BCh：Touch probe pos2 pos value 60BDh：Touch probe pos2 neg value (1) Allocating general-purpose input Parameter Allocation Setup value 3404h Selects EXT 1 00202020h 3405h Selects EXT 2 00212121h Signal SI5 SI6 (2) 60B8h (Touch probe function) Bit10 0 1 LT2 EXT2 Z-phase Bit2 0 1 LT1 EXT1 Z-phase R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 189 - 2) Touch probe relevant object Index 60B8h 60B9h 60BAh 60BBh 60BCh 60BDh SubIndex 00h 00h 00h 00h 00h 00h Name Touch probe function Touch probe status Touch probe pos1 pos value Touch probe pos1 neg value Touch probe pos2 pos value Touch probe pos2 neg value Units Range Command Command Command Command 0 - 65535 0 - 65535 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 -2147483648 - 2147483647 Data Type U16 U16 I32 I32 I32 I32 Access PDO rw ro ro ro ro ro RxPDO TxPDO TxPDO TxPDO TxPDO TxPDO R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 190 - 3) Touch probe function (60B8h) The basic object used for starting touch probe operation and configuring various setting. Index 60B8h SubIndex 00h Name / Description Touch probe function • Set the Touch probe function. Units Range - 0 - 65535 Data Type U16 Access rw PDO Opmode EEPROM RxPDO ALL No Bit description bit 0 1 2 3 4 5 6-7 bit 8 9 10 11 12 13 14-15 value 0 1 0 1 0 1 0 1 0 1 value 0 1 0 Note Switch off touch probe 1 Enable touch probe 1 Trigger first event Continuous Trigger with touch probe 1 input Trigger with 0 impulse signal of position encoder Reserved Switch off sampling at positive edge of touch probe 1 Enable sampling at positive edge of touch probe 1 Switch off sampling at negative edge of touch probe 1 Enable sampling at negative edge of touch probe 1 Not Supported Touch Probe 1 Start/stop Touch Probe 1 Select event mode Touch Probe 1 Select trigger (external input/Z-phase) Not used Touch Probe 1 Select rising edge Touch Probe 1 Select falling edge Not used Note Switch off touch probe 2 Enable touch probe 2 Trigger first event 1 Continuous 0 Trigger with touch probe 2 input 1 Trigger with 0 impulse signal of position encoder 0 1 0 1 - Reserved Switch off sampling at positive edge of touch probe 2 Enable sampling at positive edge of touch probe 2 Switch off sampling at negative edge of touch probe 2 Enable sampling at negative edge of touch probe 2 Not Supported Touch Probe 2 Start/stop Touch Probe 2 Select event mode (single/continuous) Touch Probe 2 Select trigger (external input/Z-phase) Not used Touch Probe 2 Select rising edge Touch Probe 2 Select falling edge Not used • Please do not set at the same time the rising and falling edges of the same TouchProbe. Behavior when set at the same time can not be guaranteed. • When choose the Z-phase selection at the trigger, please do not select edge falling. The action at the time of performing the above-mentioned setup cannot be guaranteed. • Indicates that the logical state changes from OFF to ON and the rising edge of the signal of interest. Also, indicate the timing of changes from ON to OFF logic state of the signal of interest is falling edge. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 191 - 4) Touch probe status (60B9h) Displays the state of the touch probe operation. Index 60B9h SubIndex 00h Name Units / Description Touch probe status • Displays the state of the Touch probe function. Range 0 - 65535 Data Type U16 Access ro PDO Opmode EEPROM TxPDO ALL No Bit description bit 0 1 value 0 1 0 Note Touch probe 1 is switch off Touch probe 1 is enabled Touch probe 1 no positive edge value stored 1 Touch probe 1 positive edge value stored 0 Touch probe 1 no negative edge value stored 1 Touch probe 1 negative edge value stored 3-5 6-7 - Reserved Not Supported bit 8 value 0 1 0 2 9 10 11-13 14-15 Note Touch probe 2 is switch off Touch probe 2 is enabled Touch probe 2 no positive edge value stored 1 Touch probe 2 positive edge value stored 0 Touch probe 2 no negative edge value stored 1 Touch probe 2 negative edge value stored - Reserved Not Supported Touch probe 1 operation stop Touch probe 1 is in operation Rising edge Touch probe 1 is incomplete status Rising edge Touch probe 1 is completion status Falling edge Touch probe 1 is incomplete status Falling edge Touch probe 1 is completion status Not used Not used Touch probe 2 operation stop Touch probe 2 is in operation Rising edge Touch probe 2 is incomplete status Rising edge Touch probe 2 is completion status Falling edge Touch probe 2 is incomplete status Falling edge Touch probe 2 is completion status Not used Not used R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 192 5) Touch probe position 1/2 positive value (60BAh - 60BDh) Displays the latch position imported. Index 60BAh SubIndex 00h 60BBh 00h 60BCh 00h 60BDh 00h Name / Description Touch probe pos1 pos value Units Command Range -2147483648 2147483647 • Displays the position latched at the rising edge of Touch probe 1. Touch probe pos1 neg value Command -2147483648 2147483647 • Displays the position latched at the falling edge of Touch probe 1. Touch probe pos2 pos value Command -2147483648 2147483647 • Displays the position latched at the rising edge of Touch probe 2. Touch probe pos2 neg value Command -2147483648 2147483647 • Displays the position latched at the falling edge of Touch probe 2. Data Type I32 Access PDO Opmode EEPROM ro TxPDO ALL No I32 ro TxPDO ALL No I32 ro TxPDO ALL No I32 ro TxPDO ALL No R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 193 - 6) Starting touch probe operation When the bits 0/8 (Touch probe start/stop) of 60B8h(Touch probe function) is changed from 0 (Stop) to 1 (Start), imports various setting conditions (60B8h: Bits 1 - 7/Bits 9 - 15) and starts the Touch probe operation. To enable the change of various setting conditions, put back the Bit 0/Bit 8 to 0 (Stop) once and then set the Bit 0/Bit 8 to 1 (Start) again. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 194 - 7) Event mode of touch probe The Bit 1/Bit 9 (Select event mode) of 60B8h (Touch probe function) enable to select 0 (Trigger first event)/ 1 (Continuous) mode. <Trigger first event mode> (60B8h: Bit 1 = 0/Bit 9 = 0) After the startup, this mode is latched only by the first trigger signal. To import the signal again, restart the touch probe function. 60B8h Bit0/Bit8 start start 60B9h Bit0/Bit8 60B9h Bit1/Bit9 Value stored position 3 Value stored position 1 60BAh/60BC Probe signal 1 2 3 Positive edge: 60B8h Bit0/Bit8 start start 60B9h Bit0/Bit8 60B9h Bit2/Bit10 Value stored position 3 Value stored position 1 60BBh/60BD Probe signal 1 2 3 Negative edge: R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 195 - <Continuous mode> (60B8h: Bit 1 = 1/Bit 9 = 1) After the startup, this mode is latched each time the trigger signal is detected. A stored value is retained until the next probe signal. 60B8h Bit0/Bit8 start 60B9h Bit0/Bit8 60B9h Bit1/Bit9 Value stored position 1 60BAh/60BC position 2 position 3 Probe signal 1 2 3 Positive edge: 60B8h Bit0/Bit8 start 60B9h Bit0/Bit8 60B9h Bit2/Bit10 Value stored position 1 60BBh/60BD position 2 position 3 Probe signal 1 2 3 Negative edge: R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 196 - 6-9-2 Option Code (deceleration stop sequence) Sets how to decelerate and stop the motor if main power is shut down or an alarm occurs while PDS is Operation enabled state (servo-on state). Combine the deceleration function (option code) defined by CoE(CiA402) and the deceleration function on the servo (MINAS-A5) side (dynamic brake stop, free-run stop, immediate stop). • PDS option code list Index 6007h 605Ah 605Bh 605Ch 605Dh 605Eh • SubIndex 00h 00h 00h 00h 00h 00h Name Units Range - 0-3 0-7 0-1 0-1 1-3 0-2 Abort connection option code Quick stop option code Shutdown option code Disable operation option code Halt option code Fault reaction option code Data Type I16 I16 I16 I16 I16 I16 Access PDO rw rw rw rw rw rw No No No No No No Related option code list Index 6084h SubIndex 00h 6085h 00h 6087h 00h 609Ah 00h 60C6h 00h Name / Description Profile deceleration Units Range Command/s2 0 – 4294967295 • Set the profile deceleration. • If it is set to 0, internal processing is treated as 1. Quick stop Command/s2 0 – 4294967295 deceleration Data Type U32 Access PDO rw Op- EEPRO mode M RxPDO pp Yes ip pv U32 rw RxPDO pp Yes ip pv hm csp csv - If 605Ah(Quick stop option code) is “2” or “6”, is set to value of deceleration parameter to be used deceleration stopping at the time of Quick stop or disable voltage. - It is used when 605Dh(Halt option code) and 605Eh(Fault reaction option code) is “2”. - If it is set to 0, internal processing is treated as 1. Torque slope 0.1%/s 0 - 4294967295 U32 Rw RxPDO tq Yes cst • Set a parameter value for giving slope to a torque command. • In the cyclic synchronous torque mode (cst), torque slope is effective only during the deceleration stop sequence. • When 0 has been set, the setting is regarded as 1 internally. RxPDO hm Homing acceleration Command/s2 0 - 4294967295 U32 rw Yes • Set the acceleration and deceleration during the Homing mode (hm). • The deceleration of homing operation are common in this object. • At the final stop of each Homing method (when the homing position is detected), the servo lock is carried out for the stopping, instead of using the preset value of this object. • If it is set to 0, internal processing is treated as 1. RxPDO pp Max deceleration Command/s2 0 – 4294967295 U32 rw Yes hm pv ip • Set the maximum deceleration. • If it is set to 0, internal processing is treated as 1. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 197 - Index 3506h SubIndex 00h 3510h 00h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M 0-9 I16 rw No ALL Yes Sequence at Servo-Off － - Set the state after stop and during deceleration in the following cases: when 605Ah (Quick stop option code) is "0" and Quick stop is accepted; when 605Bh (Shutdown option code) is "0" and Shutdown or Disable voltage is accepted; when 605Ch (Disable operation option code) is "0" and Disable operation is accepted; when 6007h (Abort connection option code) is "2", 605Bh is “0”, and power is shut off; or when 6007h (Abort connection option code) is "3", 605Ah is “0”, and power is shut off. For more information, refer to Section 6-3-2”Sequence at Servo-Off” of the Specification for basic functions(SX-DSV02472). 0-7 I16 rw No ALL Yes Sequence at alarm － - Set to state after the stop during deceleration at the time of alarm occurrence. For more information, refer to Section 6-3-2”Sequence at Servo-Off” of the Specification for basic functions(SX-DSV02472). If other deceleration factors (such as an alarm) occur during deceleration, the deceleration is performed according to the following priority. Basically, the deceleration function on the servo (MINAS-A5) side has a higher priority. Servo (MINAS-A5) side deceleration > Fault deceleration > CoE (CiA402) side deceleration (*1) > Limit system deceleration (*2) > Halt deceleration > Normal deceleration (*1) It means deceleration by the quick stop, shutdown and disable operation. (*2) The deceleration by the drive prohibition (POT/NOT) and software limit If a deceleration factor with a higher priority occurs, the process is switched to that deceleration process even if a preceding deceleration operation is in process. If a deceleration factor of the lower level of priority occurs, the deceleration operation accepted first will be retained. Example) When an alarm occurs during deceleration by 605Ah (Quick stop option code), the deceleration level switches to that of 605Eh (Fault reaction option code) from the point where the alarm occurred. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 198 - 1) Abort connection opition code(6007h) Sets how to decelerate and stop the motor when main power off physically. The operation sequence of main power-off state changes by combination of 6007h(Abort connection option code), 3508h(L/V trip selection upon main power off), 3509h(Detection time of main power off) etc. The following table indicates the operation sequence by a combination of these. Index 6007h SubIndex 00h Name Units Range Data Access PDO Op- EEPROM / Description Type mode Abort connection 0-3 I16 rw No ALL Yes option code • When physical main power supply interception occurs, The sequence of deceleration stop to be executed between the Up to the power supply interception detection time set up at 3509h(Detection time of main power off) from after power supply interception 70ms(*1) is set up. In the case of 3509h=2000, only the sequence of deceleration stop set up by this object is performed. It is prohibition of a setup except the following value. 0: 1: 2: 3: 3507h 3508h 3509h No action Fault signal Disable voltage command Quick stop command (Deceleration according to 605Eh(Fault reaction option code)) (Deceleration according to 605Bh(Shutdown option code)) (Deceleration according to 605Ah(Quick stop option code)) Sequence upon main 0-9 I16 rw No ALL Yes － power off - Set the deceleration mode on the servo (MINAS-A5) side (sequence when main power is off). - Set status during deceleration and status after stop when bit0 of 3508h (L/V trip selection upon main power 2.00 off) is set to "0" and a value other than "2000" is set for 3509h (Detection time of main power off) with main power off. For more information, refer to Section 6-3-3”Sequence at main power off” of the Specification for basic functions(SX-DSV02472). 00h L/V trip selection 0-3 I16 rw No ALL Yes － upon main power off - Select to perform servo off or LV trip at time of main power alarm. bit0 0:perform servo off according to setting of 6007h(Abort connection option code) or 3507h(Sequence upon main power off). 1:Detected Err13.1”Main power supply undervoltage protection ” bit1 0:The main power off warning only detected servo state 1:The main power off warning always detected 00h Detection time of main 1ms 70 - 2000 I16 rw No ALL Yes power off - Set the time of the main power supply alarm detection. The main power off detection is invalid in the case of 2000 setting. (Note: Even if 2000 is set, the deceleration process on the CoE (CiA402) side will not be ineffective.) Resolution setting is 2ms. For example, if the setting value is 99, is processed in 100ms. 00h There is a related object also to others. For more information, refer to beginning of section 6-9-2. Index 6084h 6085h 6087h 609Ah 60C6h 3506h 3510h SubIndex 00h 00h 00h 00h 00h 00h 00h Name Profile deceleration Quick stop deceleration Torque slope Homing acceleration Max deceleration Sequence at Servo-Off Sequence at alarm Units Range Command/s2 command/s2 0.1%/s Command/s2 Command/s2 － － 0 – 4294967295 0 – 4294967295 0 – 4294967295 0 - 4294967295 0 – 4294967295 0-9 0-7 Data Type U32 U32 U32 U32 U32 I16 I16 Access PDO rw rw rw rw rw rw rw RxPDO RxPDO RxPDO RxPDO RxPDO No No R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 199 - The following table shows the operation sequence for each combination of objects. Basically, the deceleration function defined in CoE(CiA402) is effective until the deceleration function on the servo (MINAS-A5) side is activated by detection of the insulation of the main power AC (between L1 and L3). - When “No action” is set by 6007h = 0, the CoE(CiA402) deceleration function does not operate, and the deceleration function on the servo (MINAS-A5) side operates. - When the voltage between P and N decreases, Err13.0 (Main power undervoltage protection (PN)) occurs with the highest priority, causing the operation in accordance with 3510h (Sequence at alarm). Refer to Section 6-3-3 “Sequence at main power off” in Basic function specifications of the Technical document (SX-DSV02472) as well. a) In case of 3509h = 2000 (When detection of the insulation of the main power AC is invalid) State At the time of undervoltage between P and N At the time of insulating main power AC (between L1-L3) Setting value of target option code Setting value of 6007h Deceleration method - - Decelerate according to 3510h after Err13.0 occurrence 0 (No action) 1 (Fault signal) 605Eh=0 Hold the operation state Decelerate according to 3510h after Err88.0 occurrence Err88.0 occurrence after deceleration according to 605Eh Decelerate according to 3506h Decelerate according to 605Bh 2 (Disable voltage command) 3 (Quick stop command) Except 605Eh=0 605Bh=0 Except 605Bh=0 605Ah=0 Except 605Ah=0 Decelerate according to 3506h Decelerate according to 605Ah b) In case of 3509h ≠ 2000 (When detection of the insulation of the main power AC is valid) - - Deceleration method Before elapse of time After elapse of time set in 3509h set in 3509h 3508h (bit0) Decelerate according to 3510h after Err13.0 occurrence 0 (No action) - Hold the operation state 1 (Fault signal) 605Eh=0 State At the time of undervoltage between P and N At the time of insulating main power AC (between L1-L3) Setting value of target option code Setting value of 6007h Except 605Eh=0 Decelerate according to 3507h Decelerate according to 1 3510h after Err13.1 occurrence Decelerate according to 3510h after Err88.0 occurrence 0 Err88.0 occurrence after deceleration according to 605Eh 0 1 2 (Disable voltage command) 605Bh=0 Decelerate according to 3506h 0 1 Except 605Bh=0 Decelerate according to 605Bh 0 1 3 (Quick stop command) 605Ah=0 Decelerate according to 3506h 0 1 Except 605Ah=0 Decelerate according to 605Ah 0 1 Decelerate according to 3507h Err88.0 occurrence after deceleration Decelerate according to 3510h after Err13.1 occurrence (Err88.0 occurrence after deceleration) Decelerate according to 3507h Decelerate according to 3507h Decelerate according to 3507h Decelerate according to 3510h after Err13.1 occurrence Decelerate according to 3507h Decelerate according to 3507h Decelerate according to 3507h Decelerate according to 3510h after Err13.1 occurrence *1) Deceleration is not executed if the actual speed has reached 30 r/min or below before the time set for 3509h elapses. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 200 - Example of the deceleration and stop due to physical main power shut-down A: The slowdown stop by 6007h is started 70ms after main power OFF. B: If the time set up at 3509h after the main power supply OFF passes, it will change to the slowdown stop by 3507h. C: After detecting actual velocity 30 r/min or less, the motor stops. D: If the main power is turned ON, 6041h:bit4 (Status word: voltage enabled) changes to 1. B A ON Main power state D OFF ON 70ms 3509h *2 setting value Actual velocity C 30r/min 6007h Sequence 3507h Operation enabled PDS state 6041h:bit4 (voltage enabled) *1 "1" "0" "1" *1 The PDS state under slowdown and after a stop changes with this object and preset values 3508h(bit0) and 3509h. Refer to the following page table. *2 If actual velocity becomes 30 or less r/min when 3509h = 2000 (detection of main power AC insulation invalid) and before the time set up at 3509h passed, deceleration and stop processing by 3507h is not carried out. PDS state during deceleration and stop - Before the time progress set up at 3509 h, or 3509h = 2000 (detection of main power AC insulation invalid) 6007h's Value PDS state during deceleration *1) 0 Hold the current state 1 2 3 Fault reaction active Hold the current state Quick stop Active PDS state after stop (about 30 r/min or less) When PDS state is Operation enabled at the time of main power-off: Operation enabled When PDS state is Quick stop active at the time of main power-off: Switch on disabled Fault Switch on disabled Switch on disabled *1) It is not dependent on the preset value of 3508h(bit0). - After the time progress set up at 3509h 6007h’s Value Target Option code value 3508h’s (bit 0) Value PDS state during deceleration Current state is maintained. 0 - 1 605Bh=0 Other than 605Bh=0 605Ah=0 Other than 605Ah=0 2 3 0 1 0 1 0 1 Fault reaction active Fault reaction active Current state is maintained. Current state is maintained. Fault reaction active Quick stop active Quick stop active Fault reaction active PDS state after stop (approx. 30 r/min or less) When PDS state is Operation enabled at the time of main power-off:: Ready to switch on When PDS state is Quick stop active at the time of main power-off: Switch on disabled Fault Fault Ready to switch on Ready to switch on Fault Switch on disabled Switch on disabled Fault R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 201 - 2) Quick stop option code(605Ah) Sets how to decelerate and stop the motor when the PDS command "Quick Stop" is accepted. Index 605Ah SubIndex 00h Name Units Range Data Access PDO Op- EEPROM / Description Type mode Quick stop option code 0-7 I16 rw No ALL Yes • Set the sequence during "Quick Stop" or "Disable voltage". The definition can differ according to the operation mode. Other than the values below are disabled. ■ pp, csp, ip, csv, pv 0: After the motor stops due to 3506h (Sequence during servo-off), moves to Switch on disabled. 1: After the motor stops due to 6084h (Profile linear deceleration constant), moves to Switch on disabled. 2: After the motor stops due to 6085h (Quick stop deceleration), moves to Switch on disabled. 3: After the motor stops due to 60C6h(Max deceleration), moves to Switch on disabled. 5: After the motor stops due to 6084h (Profile linear deceleration constant), moves to Quick stop active. 6: After the motor stops due to 6085h (Quick stop deceleration), moves to Quick stop active. 7: After the motor stops due to 60C6h(Max deceleration), moves to Quick stop active. ■ hm 0: After the motor stops due to 3506h (Sequence during servo-off), moves to Switch on disabled. 1: After the motor stops due to 609Ah (Homing acceleration constant), moves to Switch on disabled. 2: After the motor stops due to 6085h(Quick stop deceleration), moves to Switch on disabled. 3: After the motor stops due to 60C6h(Max deceleration), moves to Switch on disabled. 5: After the motor stops due to 609Ah (Homing acceleration constant), moves to Quick stop active. 6: After the motor stops due to 6085h(Quick stop deceleration), moves to Quick stop active. 7: After the motor stops due to 60C6h(Max deceleration), moves to Quick stop active. ■ cst, tq 0: After the motor stops due to 3506h (Sequence during servo-off), moves to Switch on disabled. 1, 2: After the motor stops due to 6087h (Torque slope), moves to Switch on disabled. 3: After the motor stops due to 0 torque, moves to Switch on disabled. 5, 6: After the motor stops due to 6087h (Torque slope), moves to Quick stop active. 7: After the motor stops due to 0 torque, moves to Quick stop active. (*1) Status is changed to Switch on disabled if main power is shut off at 6007h=3. There is a related object also to others. For more information, refer to beginning of section 6-9-2. Index 6084h 6085h 6087h 609Ah 60C6h 3506h SubIndex 00h 00h 00h 00h 00h 00h Name Profile deceleration Quick stop deceleration Torque slope Homing acceleration Max deceleration Sequence at Servo-Off Units Range Command/s2 command/s2 0.1%/s Command/s2 Command/s2 － 0 – 4294967295 0 – 4294967295 0 – 4294967295 0 - 4294967295 0 – 4294967295 0-9 Data Type U32 U32 U32 U32 U32 I16 Access PDO rw rw rw rw rw rw RxPDO RxPDO RxPDO RxPDO RxPDO No R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 202 - Example of deceleration and stop due to Quick Stop A: When 6040h: bit 2 (Control word: quick stop) changes from 1 to 0, the deceleration and stop start. The PDS state during the deceleration is Quick stop active. B: After detecting actual velocity 30 r/min or less, the motor stops. The PDS state after the stop is Switch on disable or Quick stop active. A Quick stop not done Quick stop done Actual velocity B 30r/min 6040h Enable operation PDS state Operation enabled 6041h:bit5 (quick stop) "1" Quick stop Quick stop active Switch on disable/Quick stop active "0" R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 203 - 3) Shutdown option code(605Bh) Sets how to decelerate and stop the motor when the PDS command "Shutdown" or "Disable voltage" is accepted. Index 605Bh SubIndex 00h Name Units Range Data Access PDO Op- EEPROM / Description Type mode Shutdown option code 0-1 I16 rw No ALL Yes • Set the sequence when the PDS command "Shutdown" is accepted. The definition can differ according to the operation mode. Other than the values below are disabled. (1) The PDS command "Shutdown" is accepted ■ pp, csp, ip, csv, pv 0: After the motor stops due to 3506h (Sequence during servo-off), changes to Ready to switch on. 1: After the motor stops due to 6084h (Profile linear deceleration constant), changes to Ready to switch on. ■ hm 0: After the motor stops due to 3506h (Sequence during servo-off), changes to Ready to switch on. 1: After the motor stops due to 609Ah (Homing acceleration constant), changes to Ready to switch on. ■ cst, tq 0: After the motor stops due to 3506h (Sequence during servo-off), changes to Ready to switch on. 1: After the motor stops due to 6087h (Torque slope), changes to Ready to switch on. (2) The PDS command "Disable voltage" is accepted. ■ pp, csp, ip, csv, pv 0: After the motor stops due to 3506h(Sequence at Servo-off), changes Switch on disabled. 1: After the motor stops due to 6084h(Profile deceleration), changes Switch on disabled. ■ hm 0: After the motor stops due to 3506h(Sequence at Servo-off), changes Switch on disabled. 1: After the motor stops due to 609Ah(Homing acceleration), changes Switch on disabled. ■ cst, tq 0: After the motor stops due to 3506h(Sequence at Servo-off), changes Switch on disabled. 1: After the motor stops due to 6087h(Torque slope), changes Switch on disabled. There is a related object also to others. For more information, refer to beginning of section 6-9-2. Index 6084h 6087h 609Ah 3506h SubIndex 00h 00h 00h 00h Name Profile deceleration Torque slope Homing acceleration Sequence at Servo-Off Units Range Command/s2 0.1%/s Command/s2 － 0 – 4294967295 0 – 4294967295 0 - 4294967295 0-9 Data Type U32 U32 U32 I16 Access PDO rw rw rw rw RxPDO RxPDO RxPDO No R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 204 - Example of deceleration and stop due to Shutdown command A: When the PDS command "Shutdown" is accepted, the deceleration and stop start. The PDS state keeps Operation enabled during the deceleration. B: After detecting actual velocity 30 r/min or less, the motor stops. The PDS state will be Ready to switch on after the stop. A Actual velocity B 30r/min 6040h PDS state Enable operation Shutdown Operation enabled 6041h:bit4 (voltage enabled) Ready to switch on "1" *1 *1): 6041h: bit 4 (Status word: voltage enabled) remains 1. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 205 - 4) Disable operation option code (605Ch) Sets how to decelerate and stop the motor when the PDS command "Disable operation" is accepted. Index 605Ch SubIndex 00h Name Units Range Data Access PDO Op- EEPROM / Description Type mode Disable operation 0-1 I16 rw No ALL Yes option code • Set the sequence during Disable Operation. The definition can differ according to the operation mode. Other than the values below are disabled. ■ pp, csp, ip, csv, pv 0: After the motor stops due to 3506h (Sequence during servo-off), moves to Switched on. 1: After the motor stops due to 6084h (Profile linear deceleration constant), moves to Switched on. ■ hm 0: After the motor stops due to 3506h (Sequence during servo-off), moves to Switched on. 1: After the motor stops due to 609Ah (Homing acceleration constant), moves to Switched on. ■ cst, tq 0: After the motor stops due to 3506h (Sequence during servo-off), moves to Switched on. 1: After the motor stops due to 6087h (Torque slope), moves to Switched on. There is a related object also to others. For more information, refer to beginning of section 6-9-2. Index 6084h 6087h 609Ah 3506h SubIndex 00h 00h 00h 00h Name Profile deceleration Torque slope Homing acceleration Sequence at Servo-Off Units Range Command/s2 0.1%/s Command/s2 － 0 – 4294967295 0 – 4294967295 0 - 4294967295 0-9 Data Type U32 U32 U32 I16 Access PDO rw rw rw rw RxPDO RxPDO RxPDO No Example of deceleration and stop due to servo-off A: If the servo amolifier accepts to PDS command “Disable operation”, the deceleration and stop start. The PDS state keeps Operation enabled during the deceleration. B: After detecting actual velocity 30 r/min or less, the motor stops. The PDS state will be Switched on after the stop. A Actual velocity B 30r/min 6040h PDS state Enable operation Operation enabled Disable operation Switched on R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 206 - 5) Halt option code (605Dh) Sets how to decelerate and stop the motor when the halt bit of 6040h (Control word) is set to 1. Index 605Dh SubIndex 00h Name / Description Units Range Data Access PDO Op- EEPROM Type mode 1-3 I16 rw No ALL Yes Halt option code • Set how to stop the motor during the Halt operation. The definition can differ according to the operation mode. Other than the values below are disabled. ■ pp, csp, ip, csv, pv 1: After the motor stops due to 6084h (Profile linear deceleration constant), keeps Operation enabled. 2: After the motor stops due to 6085h (Quick stop deceleration), keeps Operation enabled. 3: After the motor stops due to 6072h (Max torque),60C6h (Max deceleration), keeps Operation enabled. ■ hm 1: After the motor stops due to 609Ah (Homing acceleration constant), keeps Operation enabled. 2: After the motor stops due to 6085h (Quick stop deceleration), keeps Operation enabled. 3: After the motor stops due to 6072h (Max torque),60C6h (Max deceleration), keeps Operation enabled. ■ cst, tq 1, 2: After the motor stops due to 6087h (Torque slope), keeps Operation enabled. 3: After the motor stops due to the 0 torque, keeps Operation enabled. There is a related object also to others. For more information, refer to beginning of section 6-9-2. Index SubName Index 6084h 00h Profile deceleration 6087h 00h Torque slope 609Ah 00h Homing acceleration Units Range Command/s2 0.1%/s Command/s2 0 – 4294967295 0 – 4294967295 0 - 4294967295 Data Type U32 U32 U32 Access PDO rw rw rw RxPDO RxPDO RxPDO Example of deceleration and stop due to the Halt function A: When 6040h: bit 8 (Control word: halt) changes from 0 to 1, the deceleration and stop start. The PDS state keeps Operation enabled during the deceleration. B: After detecting actual velocity 30 r/min or less, the motor stops. The PDS state keeps Operation enabled after the stop. A Halt not done Halt done Actual velocity B 30r/min 6040h PDS state Enable operation Halt Operation enabled R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 207 - 6) Fault reaction option code (605Eh) Sets how to decelerate and stop the motor when an alarm occurs. Index 605Eh SubIndex 00h Name Units Range Data Access PDO Op- EEPROM / Description Type mode Fault reaction option 0-2 I16 rw No ALL Yes code • Set the sequence during the Fault reaction. The definition can differ according to the operation mode. Other than the values below are disabled. (1) On occurrence of Err80.0-80.7, 81.0-81.7, 85.0-85.7, and 88.0-88.7 ■ pp, csp, ip, csv, pv 0: After the motor stops due to 3510h (Sequence at alarm), moves to Fault. 1: After the motor stops due to 6084h (Profile linear deceleration constant), moves to Fault. 2: After the motor stops due to 6085h (Quick stop deceleration), moves to Fault. ■ hm 0: After the motor stops due to 3510h (Sequence at alarm), moves to Fault. 1: After the motor stops due to 609Ah (Homing acceleration constant), moves to Fault. 2: After the motor stops due to 6085h (Quick stop deceleration), moves to Fault. ■ cst, tq 0: After the motor stops due to 3510h (Sequence at alarm), moves to Fault. 1, 2: After the motor stops due to 6087h (Torque slope), moves to Fault. (2) On occurrence of other than alarms specified by the term above (1) 0, 1, 2: After the motor stops due to 3510h (Sequence at alarm), moves to Fault. There is a related object also to others. For more information, refer to beginning of section 6-9-2. Index 6084h 6085h 6087h 609Ah 3510h SubIndex 00h 00h 00h 00h 00h Name Profile deceleration Quick stop deceleration Torque slope Homing acceleration Sequence at alarm Units Range Command/s2 command/s2 0.1%/s Command/s2 － 0 – 4294967295 0 – 4294967295 0 – 4294967295 0 - 4294967295 0-7 Data Type U32 U32 U32 U32 I16 Access PDO rw rw rw rw rw RxPDO RxPDO RxPDO RxPDO No Example of deceleration and stop due to alarm occurrence A: When an alarm occurs, the deceleration and stop start. The PDS state during the deceleration is Fault reaction active. B: After detecting actual velocity 30 r/min or less, the motor stops. The PDS state will be Fault after the stop. A No error Error Actual velocity B 30r/min 6040h Enable operation PDS state Operation enabled Disable operation Fault reaction active Fault R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 208 - 7) Sequence at drive inhibition input (POT, NOT) Sets the operation sequence after the input of drive inhibition input (POT, NOT). For more information, see Section 6-3-1 in Basic function specifications of the Technical document (SX-DSV02472). - Related object Index 3504h SubIndex 00h 3505h 00h Name Units Range Data Access PDO Op- EEPROM / Description Type mode Over-travel inhibit input 0-2 I16 rw No ALL Yes － setup - Sets the operation after input of drive inhibition input (POT, NOT). 0: Functions as POT; inhibition of positive direction drive and NOT; inhibition of negative direction drive. When POT is input during positive direction operation, or NOT is input during negative direction operation, the operation stops in accordance with 3505h (Sequence at over-travel inhibit). 1: Functions as POT, inhibition of positive direction drive and NOT, inhibition of negative direction drive. When POT is input during positive direction operation, or NOT is input during negative direction operation, the operation stops according to the following. ■ pp, csp, ip, csv, pv, hm Motor is stopped by 6085h (Quick stop deceleration). ■ cst, tq Motor is stopped by 6087h (Torque slope). 2: Err38.0 (Over-travel inhibit input protection 1) occurs when either POT or NOT is input. For more information, refer to Section 6-3-1 “Sequence upon inputting of over-travel inhibition (POT, NOT)” in Basic function specifications of the Technical document (SX-DSV02472). Sequence at over-travel 0–2 I16 rw No ALL Yes － inhibit - Sets the state after stop during deceleration after input of drive inhibition input (POT, NOT) when 3504h (Over-travel inhibit input setup) is "0". For more information, refer to Section 6-3-1 “Sequence upon inputting of over-travel inhibition (POT, NOT)” in Basic function specifications of the Technical document (SX-DSV02472). There is a related object also to others. For more information, refer to beginning of section 6-9-2. Index SubName Index 6085h 00h Quick stop deceleration 6087h 00h Torque slope Units Range command/s2 0.1%/s 0 – 4294967295 0 – 4294967295 Data Type U32 U32 Access PDO rw rw RxPDO RxPDO (Note) If NOT is set for positive operation direction or POT is set for negative operation direction, operations cannot be guaranteed when a sensor has been installed incorrectly. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 209 - 6-9-3 Digital Inputs/Digital Outputs The bits of Digital inputs/Digital outputs represent the input state of positive limit switch(POT), negative limit switch(NOT), and home switch(HOME), each logical input state of EXT1-EXT2, E-STOP and SI-MON1-SI-MON5 and logical output state of EX-OUT1 and set_brake of all the function signals allocated by the servo parameters 3400h to 3407h, 3410h, and 3411h. Here, for information on the signal allocation and logical setting, refer to the technical document "Basic function specifications"(SX-DSV02472). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 210 - 1) Digital inputs (60FDh) Index 60FDh SubIndex 00h Name Units Range / Description Digital inputs 0 - 4294967295 • Indicate the logical input state of external input signal. Bit 31 30 29 Function Bit Bit 22 21 20 14 13 26 PDO Op- EEPRO mode M TxPDO ALL No 25 24 [INP] 19 12 Function 18 17 16 (reserved) 11 10 9 8 3 2 (Not Supported) home switch [HOME] 1 positive limit switch [POT] 0 negative limit switch [NOT] (reserved) 7 Function ro [SI-MON5] [SI-MON2] [SI-MON1] [SI-MON4] [SI-MON3] /[E-STOP] /[EXT2] /[EXT1] 15 Bit 27 Access (Not Supported) 23 Function 28 Data Type U32 6 5 (reserved) 4 * In the brackets, the code names of the I/O connector input signal and output signal are shown. The details of each bit are as follows: Value 0 1 Definition Switched off (logical input state is OFF) Switched on (logical input state is ON) The Bit 2 (Home switch), Bit 1 (Positive limit switch), and Bit 0 (Negative limit switch) of 60FDh (Digital Inputs) represent the home input signal (HOME), positive overtravel input signal (POT), and negative overtravel input signal (NOT) of parallel I/O connector. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 211 - 2) Digital outputs (60FEh) (SAFETY PRECAUTIONS) When performing set brake signal control using this object, be sure to use the PDO and enable the PDO watchdog. SDO cannot judge communication cut-off, therefore brakes may not work and becomes non-safe. 4.00 When use set brake signal, please set the output signal assignment(Setting of 3410h, 3411h, and 3412h). Also, when use the brake release signal(BRK-OFF) without using the set brake, please set the output signal assignment(Setting of 3410h, 3411h, and 3412h). For details, refer to Technical document (Basic function specifications) SX-DSV02472, 2-4-2 “Assignment of output signal” and 9-2 ”Timing Chart“. Index 60FEh SubIndex - Name Units Range Data Access PDO / Description Type Digital outputs • Used to manipulate the output transistor of the external output signal. bit 31 30 29 28 27 26 25 function bit 22 21 function 20 14 13 12 function 01h 02h 2.00 18 17 16 EX-OUT1 11 10 9 8 2 1 0 (reserved) 7 6 function 00h 19 (Not Supported) 15 bit 24 (Not Supported) 23 bit Op- EEPRO mode M - 5 4 3 (reserved) set brake Number of entries 2 U8 ro No ALL • Displays the number of sub-indexes of 60FEh. RxPDO ALL Physical outputs 0 - 4294967295 U32 rw • manipulate the output of the external output signal. RxPDO ALL Bit mask 0 - 4294967295 U32 rw • Set the output operation of external output signal mask function for digital output. No Yes Yes Following are details of each bit. Subindex 01h : Physical outputs Bit Name 0 set brake 16 EX-OUT1 value 0 1 0 1 Note don't set brake(brake does not operate) set brake(brake operates) Switched off (output transistor OFF) Switched off (output transistor ON) Subindex 02h : Bit mask Bit 0 16 Name set brake Bit mask EX-OUT1 Bit mask value 0 1 0 1 Note Disable output (Set brakeoutput disabled) Enable output (Set brakeoutput enabled) Disable output (EX-OUT 1 output disabled) Enable output (EX-OUT 1 output enabled) *Note: When the Bit mask is disabled, each physical output other than set break are processed as the default value (= 0) in the amplifier. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 212 - The output state changes as follows in each communication state: Sign Setting value of 3724h Setting value of 60FEh 01h 02h (Physical (Bit mask) outputs) 0 0 1 set brake - Reset set brake = 1 (brake on) State of output Communication Communication established intercepterd *1) *1) set brake = 1 (brake on) set brake = 1 (brake on) 2.00 0 set brake = 1 (brake on) set brake = 0 set brake = 1 (brake on) set brake = 1 (brake on) 1 set brake = 1 (brake on) 2.00 set brake = 0 1 Communication re-established *1) set brake = 1 (brake on) 0 0 bit0 = 0 (hold) EX-OUT1 = 0 0 EX-OUT1 = 0 1 EX-OUT1 = 0 1 EX-OUT 1 EX-OUT1 = 0 EX-OUT1 = 0 EX-OUT1 = 0 1 EX-OUT1 = 1 EX-OUT1 = 0 (hold) EX-OUT1 = 1 (hold) EX-OUT1 = 0 EX-OUT1 = 1 0 bit0 = 1 (initializat ion) 0 EX-OUT1 = 0 1 EX-OUT1 = 0 EX-OUT1 = 0 EX-OUT1 = 0 EX-OUT1 = 0 1 0 EX-OUT1 = 0 1 EX-OUT1 = 0 EX-OUT1 = 0 EX-OUT1 = 1 EX-OUT1 = 1 *1) “Communication established”, “Communication intercepted”, and “Communication re-established” refer to the following cases. Communication established Communication When 60FEh is mapped to intercepted RxPDO (Note) When 60FEh is not mapped to RxPDO Communication re-established ESM state is PreOP or higher PDO communication is disabled (ESM state transitioned to other states than OP) SDO communication is disabled (ESM state transitioned to Init) Until 60FEh-01h or 60FEh-02h is successfully written (Note) When using 60FEh (Digital output), map it to RxPDO. Index 3724h • Related objects SubName Units Range Data Access PDO Op- EEPRO Index / Description Type mode M 00h Communication -32768 - 32767 I16 rw No ALL Yes － function extended setup 3 • bit0: The state setting of EX-OUT1 output at the time of communication interception after communication established of the EtherCAT (ESM state is more than PreOP) 0 : hold 1 : Initialization(output at EX-OUT1=0) • bit1: Used by the manufacturer Fix it to 0. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 213 - 6-9-4 Position information 1) Initialization timing of position information This servo amplifier initializes (presets) the position information related object shown below at the time of communication establishment (ESM state is at the transition from Init to PreOP). - 6062h (Position demand value) - 6063h (Position actual internal value) - 6064h (Position actual value) - 60FCh (Position demand internal value) These objects are based on 6063h (Position actual internal value) which shows the feedback position of a motor, the code translation by the electronic gear function, Polarity, and Home offset which are mentioned later are considered, and it is initialized (preset) at the time of communication establishment. Hence, the changes of preset values of the code translation by an electronic gear function, Polarity, and Home offset are performed at the time of initialization (presetting) when communication is established. Please confirm "4) Initialization of the absolute encoder" mentioned later about notes at the time of using an absolute encoder. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 214 - 2) Electronic Gear Function The electronic gear is a function which makes the value which multiplies by the electronic gear ratio defined by the object to the position command from host controller as the position command to a position control section. By using this function, the number of revolutions and travel of the motor per command can be set to the desired value. In MINAS-A5B series, a setup of an electronic gear ratio with a parameter Pr0.08(Number of command pulses per motor revolution), Pr0.09(Numerator of electronic gear) and Pr0.10(Denominator of electronic gear) has not corresponded, an electronic gear ratio is set up by the object 608Fh(Position encoder resolution), 6091h(Gear ratio) and 6092h(Feed constant) specified to CoE(CiA402). The equation below calculates the relationship between the unit (command) defined by the user and internal unit (pulse): Electronic gear ratio = Position encoder resolution × Gear ratio Feed constant Position demand value × Electronic gear ratio ＝ Position demand internal value (Note) - Electronic gear ratio is valid only within the range of 1000 times to 1/1000 times. When the range is exceeded, the value is saturated in the range, and Err88.3 (Improper operation error protection) occurs. - When the denominator or numerator exceeds the unsigned 64-bit size in the calculation process of electronic gear ratio, Err88.3 (Improper operation error protection) occurs. - When the denominator or numerator exceeds the unsigned 32-bit size in the final calculation result of electronic gear ratio, Err88.3 (Improper operation error protection) occurs. - Set the electronic gear ratio with several objects. An error may become large depending on the combination of settings. - 608Fh-01h (Encoder increments) is automatically set according to encoder resolution. The default value of 6092h-01h (Feed) is set so that the electronic gear ratio is 1:1 when a 20-bit/r encoder is used. When using other encoders than a 20-bit/r encoder, pay attention to the electronic gear ratio settings. - Electronic gear ratio setting is performed at the timing when the status changes from Init to PreOP and at the completion of the return to home position operation. Note that the setting is not reflected as is even if the setting values for the related objects have been changed. - In the position information initialization when Init changes to PreOp in the absolute mode, make a setting so that the value of "Absolute encoder position [pulse/unit]/Electronic gear ratio" is in the range from -231 (-2147483648) to +231-1 (2147483647). Operations out of this range are not guaranteed. Check the operation range of the absolute encoder position and the electronic gear ratio. - The unit of the movement amount setting of the test run function by the setup support tool PANATERM is [pulse], not [command unit], so care should be taken. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 215 - <Electronic gear setting example> In the MINAS-A5B series, it is impossible to set the electronic gear using the “number of command pulses per motor revolution (Pr0.08)” and “electronic gear numerator (Pr0.09)/denominator (Pr0.10)” in contrast to the MINAS-A5N series. 2.00 When setting the electronic gear like the MINAS-A5N, refer to the following. - When setting the electronic gear ratio by setting the number of command pulses per motor revolution Set it to 1/1. (shipment condition) A value is set automatically by the encoder resolution. Set it to 1. (shipment condition) Encoder increments (608Fh-01h) Motor revolutions (608Fh-02h) Motor shaft revolutions (6091h-01h) × Driving shaft revolutions (6091h-02h) Electronic gear ratio = Feed (6092h-01h) Driving shaft revolutions (6092h-02h) Set it to 1. (shipment condition) Encoder resolution ＝ It can be set as the number of pulses per revolution. Feed (6092h-01h) 608Fh-01h (Encoder increments) is set automatically from the connected encoder resolution. By setting 608Fh-02h (Motor revolutions), 6091h-01h (Motor shaft revolutions), 6091h-02h (Driving shaft revolutions) and 6092h-02h (Driving shaft revolutions) to 1 (shipment condition), it is possible to set 6092h-01h (Feed) as the “number of command pulses per motor revolution”. - When setting the electronic gear ratio by setting the electronic gear numerator/denominator A value is set automatically by the encoder resolution. Set it to 1. (shipment condition) Encoder increments (608Fh-01h) Motor revolutions (608Fh-02h) Motor shaft revolutions (6091h-01h) × Driving shaft revolutions (6091h-02h) Electronic gear ratio = Feed (6092h-01h) Set the value depending on the encoder resolution. (Set the same value as 608Fh-01h.) Driving shaft revolutions (6092h-02h) Set it to 1. (shipment condition) Motor shaft revolutions (6091h-01h) ＝ It can be set as an electronic gear numerator. It can be set as an electronic gear denominator. Driving shaft revolutions (6091h-02h) 608Fh-01h (Encoder increments) is set automatically from the connected encoder resolution. By setting 6092h-01h (Feed) to the encoder resolution (the same value as 608F-01h (Encoder increments), and in the case of the 20bit/r encoder, the shipment condition) and setting 608Fh-02h (Motor revolutions) and 6092h-02h (Driving shaft revolutions) to 1 (shipment condition), it is possible to set 6091h-01h (Motor shaft revolutions) to the “electronic gear numerator” and 6091h-02h (Driving shaft revolutions) to the “electronic gear denominator”. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 216 - <Backup of electronic gear set value> The electronic-gear-related objects (6091h-01h, 6091h-02h, 6092h-01h and 6092h-02h) are backup target objects. It is recommended to execute a backup (writing into EEPROM) after a change. By executing a backup, it will be unnecessary to change setting each time when the control power is turned on. As for the backup method, refer to Section 5-6 “Store parameters (EEPROM writing of objects) (1010h)”. <Electronic gear setting and backup by object editor> It is possible to set and back up objects using the object editor of PANATERM. (2) After the setting, write it into EEPROM. (1) Set a value ①値を設定 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 217 - (a) Position encoder resolution(608Fh) Index SubIndex 608Fh 00h 01h 02h Name Units Range Data Access PDO Op- EEPROM / Description Type mode Position encoder resolution • Encoder resolution is set automatically. Highest sub-index supported 2 U8 ro No ALL No • Displays the number of sub-indexes of 608Fh. 2.00 Encoder increments pulse 1 - 4294967295 U32 ro No ALL No • Indicate the moving amount of the encoder. Encoder resolution is set automatically as the value. Motor revolutions r (motor) 1 - 4294967295 2.00 U32 ro No ALL No • Indicate the rotating speed of motor. The value fixs 1. This object defines the resolution of the encoder per motor revolution. Position encoder resolution = Encoder increments(608Fh - 01h) Motor revolutions(608Fh - 02h) This object is set up automatically according to the information read out from a motor connected to the servo amplifier. Example 1) When a 20bit/r encoder is connected. 608Fh-01h(Encoder increments) = 1048576h 608Fh-02h(Motor revolutions) = 1h Position encoder resolution = 1048576h / 1h = 1048576h Example 2) When a 17bit/r encoder is connected. 608Fh-01h(Encoder increments) = 131072h 608Fh-02h(Motor revolutions) = 1h Position encoder resolution = 131072h / 1h = 131072h (b) Gear ratio(6091h) Index SubIndex 6091h 00h 01h 02h Name Units Range / Description Gear ratio • Set the gear ratio. Number of entries 2 • Displays the number of sub-indexes of 6091h. Motor revolutions r (motor) 1 - 4294967295 • Set the rotating speed of motor. Shaft revolutions r (shaft) 1 - 4294967295 • Set the rotating speed of the shaft. Data Type - Access U8 ro No ALL No U32 rw No ALL Yes U32 rw No ALL Yes - PDO Op- EEPROM mode - 2.00 2.00 This object defines the relationship between the rotating speeds of motor and shaft after the gearbox output. Gear ratio = Motor shaft revolutions(6091h - 01h) Driving shaft revolutions(6091h - 02h) (c) Feed constant(6092h) Index SubIndex 6092h 00h 01h 02h Name Units Range / Description Feed constant • Set the feed constant. feed constant = feed / Shaft revolutions Highest sub-index 2 supported • Displays the number of sub-indexes of 6092h. Feed command 1 - 4294967295 2.00 • Set the feed amount. 2.00 Shaft revolutions r (shaft) 1 - 4294967295 • Set the rotating speed of the shaft. Data Type - Access PDO Op- EEPROM mode - U8 ro No ALL No U32 rw No ALL Yes U32 rw No ALL Yes This object indicates the operating quantity per rotation of the shaft after the gearbox output. Feed constant = Feed(6092h - 01h) Driving shaft revolutions(6092h - 02h) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 218 - 3) Polarity(607Eh) It is possible to set the polarity (rotation direction of motor) for the position command, velocity command, and torque command, and their offset. In MINAS-A5B series, a setup of the hand of cut by parameter Pr0.00 (Rotational direction) has not corresponded, the hand of cut is set up by object 607Eh (Polarity) specified to CoE (CiA402). In addition, object 607Eh (Polarity) is not what replaced parameter Pr0.00 (hand-of-cut setup) as it was, It becomes effective when performing the target object of the following table data transfer between a CoE (CiA402) process division and a motor control process division. Index 607Eh SubIndex 00h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M Polarity 0 - 255 U8 rw No ALL Yes • Select the combination of the command polarities for the position command, velocity command, torque command input, position offset, velocity offset (adding velocity), torque offset (adding torque), position feedback, velocity feedback, and torque feedback from the followings: Note: Setting value of this object set 0(the value of bit7-5 is 0) set so that position, velocity, torque polarity is all the same. Also, set to 224(the value of bit 7-5 is 1). Certified in other settings is not possible. Setting value Description 0 No reverse of sign of torque, velocity, position 224 Reverse of sign of torque, velocity, and position possible Other than above Not supported (Do not set) bit 7: Position polarity 0: no sign inversion 1: sign inversion occurs bit 6: Velocity polarity 0: no sign inversion 1: sign inversion occurs bit 5: Torque polarity 0: no sign inversion 1: sign inversion occurs bit4-0 ：Reserved - Set to 0. Target object < Instructions / setting > <Monitor > < External input > - 607Ah(Target position) - 60B0h(Position offset) - 60FFh(Target velocity) - 60B1h(Velocity offset) - 6071h(Target torque) - 60B2h(Torque offset) - 6062h(Position demand value) - 6064h(Position actual value) - 606Bh(Velocity demand value) - 606Ch(Velocity actual value) - 6074h(Torque demand) - 6077h(Torque actual value) - 60FDh-00h(Digital input) is bit1(positive limit switch(POT)) - 60FDh-00h(Digital input) is bit0(negative limit switch(NOT)) - POT and NOT of external input signal 2.00 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 219 - Data other than the object in the table of a front page, for example, the data of setup support software PANATERM is fixed to CCW direction is positive regardless of 607Eh(Polarity). But, since POT becomes effective at the time of CCW when it operates from PANATERM in test run function, frequency characteristic analysis function, Z phase search function, etc. When 607Eh(Polarity) is setting to reverse of sign, When you perform a test run etc., please be careful of the logic of the ban on a drive. PANATERM External input (POT/NOT) 60FDh(POT/NOT) 607Eh-00h Polarity Instructions / setting such as 607Ah Monitor such as 6064h Pr0.00 (Not supported) = not reversed Instructions / setting other than 607Ah etc. Monitor other than 6064h etc. The direction of CCW is positive. CoE(CiA402) Processing no sign inversion sign inversion occurs : : Motor control Processing Motor turns CCW in response to positive direction command. Motor turns CW in response to positive direction command. *) The direction of motor rotation, it sees from the poll end of a load side, a clockwise rotation is defined as CW, and a counterclockwise rotation is defined as CCW. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 220 - 4) Initialization of the absolute encoder Homing operation is not necessary with the absolute encoder at the position control mode (except when using the absolute encoder as the incremental mode). However, it is necessary to clear “Multi-turn data” at the first start up of the machine after installing the battery. a) Absolute data There are 2 types of data which are read out from the absolute encoder (17 bits/r), “Single-turn data” which shows the position of motor’s rotation within a single turn, and “Multi-turn data” which counts each single turn. This Multi-turn data will be backed up by a battery since this is an electrical counter. Both data have a polarity to increase in the direction of CCW which seen from the motor shaft end. Be able to select whether Err. 41.0, “Absolute encoder counter overflow” will be generated or not when Multi-turn data has overflowed, with the parameter, 3015h “Absolute encoder setup”. Back up at power off Data width +/- Sign Data range Single-turn data Not necessary 17 bit Unsigned 0-131071 Multi-turn data Backed up by battery 16 bit Signed -32768-32767 The servo driver set up position information based on the following formulas at ESM state is at the transition from Init to PreOP. Since Single-turn data is 17-bit width and Multi-turn data is 16-bit width, the width of the synthetic data will be 33-bit width. However, the servo driver will set the lower 32 bits to the object as position information. Hence, the highest-order bit of 16 bits of the Multi-turn data disappears, making the effective bit length 15 bits. 607Eh (Polarity) position information 17 When set to 1 (CCW is positive direction) 6063h = M×2 + S When set to 224 (CCW is positive direction) 6063h = -(M×217 + S) 6064h = ( 6063h ×Electronic gear conversion value ) + 607Ch 6064h = ( 6063h ×Electronic gear conversion value ) - 607Ch 6063h：Position actual internal value 6064h：Position actual value 607Ch：Home offset M ：Multi-turn_Data S ：Single-turn_Data R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 221 - CCW direction position information (in cases where CCW is positive direction)=6063h Single-turn_Data 217-1 Position 0 Multi-turn_Data 3 2 1 0 Position -1 -2 -3 Zone where Multi-turn data is cleared R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 222 - b) Clearing multi-turn data When clearing multi-turn data, zero position will be multi-turn transition point at CW side in the zone where cleared. In order to avoid the setting difference, execute the clearing operation at the position where single-turn data is 216 which is the farthest from the transition point of multi-turn data. < Notes to avoid a trouble > Execute this process (clear multi-turn data) in Servo-OFF (and fixing the moving parts by brake etc. if necessary) and confirming safety. Keep Servo-OFF until data clearing completes. After that, turn off control power once without fail, and turn on the power again. It is done to clear multi-turn data using the setup support software “PANATERM” (USB communication). Err. 27.1, “Motion command error” will occur. However, this is not a problem because of a step for safety. 4.00 In via EtherCAT communication, multi-turn data clearing operation is possible to run using the 4D00h-01h(Special function start flag 1) and 4D01h-00h(Special function setting 9). Set the 4D01h-00h(Special function setting 9) to 0031h, and change the bit9 of 4D00h-01h from 0 to 1, the multi-turn data clearing operation will run. In hm mode, bit 12(homing attained) become 0 when the multi-turn data clear run. After the multi-turn data clear completion, bit 12 (homing attained) will return to 1. Index 4D00h SubName Units Range Data Index / Description Type Special function start Run a special function in accordance with the set value of 4D01h-00h. 00h Number of entries 2 U8 Access PDO - - ro No Op- EEPRO mode M ALL No Special function start flag 1 0 – 4294967295 U32 rw No ALL bit0-8 : For manufacturer’s use (Please do not change from the default value(0).) bit9 : At the rising edge(0->1) detection of this bit, run the special function in accordance with the set value of 4D01h-00h. After setting this bit to 1, please return to 0 at any time. If return this bit to 0 during running the special function, the special function will continue. bit10-31: For manufacturer’s use (Please do not change from the default value(0).) Special function start flag 2 0 – 4294967295 U32 rw No ALL No Displays the number of sub-indexes for 4D00h. 01h 02h 4D01h 00h For manufacturer’s use (Please do not change from the default value(0).) Special function setting 9 0 – 65535 U16 rw No ALL Set value of the following table to this object, and rise(0->1) the bit9 of 4D00h-01h, run the special function in accordance with the set value of 4D01h-00h. After the special function performed, the value of this object will return to 0000h. In the state that it can not multi-turn data clear, the abort message occurs when rise bit9 of 4D00h-01h . In this case, the object does not return to 0000h. Value 0000h 0031h Other than the above No No Function do nothing. Absolute encoder multi-turn data clear Action indefinite. Please do not set. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 223 - < Precautions for multi-turn data clear via EtherCAT communication> ･Execute in servo-off. ･Do not execute the multi-turn data clear during running the touch probe function. ･Do not execute the ESM transition during running the multi-turn data clear. ･Do not do not change the control mode during running the multi-turn data clear. ･If run multi-turn data clear via EtherCAT communication in the following state, the driver returns the Abort Message “08000022h”. After confirming that the driver is not in the following state, run the multi-turn data clear via EtherCAT communication. ･servo-on state. ･During running the multi-turn data clear ･When the full closed control setting(3001h=6) ･When using incremental encoder ･During running the touch probe function ※When an Abort Message occurs, 4D01h-00h(Special function setting 9) does not return to 0000h. ･When execute the multi-turn data clear via EtherCAT communication, Err27.1(Absolute clear protection) does not occur. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 224 - 5) Position range limit (607Bh) If the value of 607Ah(Target position) exceeds 607Bh(Position range limit), operated wraparound processing. Note in the absolute system, because the same wraparound process operates. In addition, the operation of the guarantee if they have been changed from the default setting set value of 607Bh (Position range limit) is not possible. Index SubIndex 607Bh 00h 01h 02h Name Units Range Data Access PDO Op- EEPRO / Description Type mode M Position range limit • Set the boundary position coordinates wrap around. Highest sub-index 2 U8 ro No ALL No supported • Displays the number of sub-indexes for 607Bh (Position range limit). Min position range Command -2147483648 I32 rw RxPDO ALL Yes limit 2147483647 • If the setting value is 0, the setting value wraps around from the minimum value to the other range (maximum value). Do not change the value 80000000h (factory default). Max position range Command -2147483648 I32 rw RxPDO ALL Yes limit 2147483647 • If the setting value is 0, the setting value wraps around from the maximum value to the other range (minimum number). Do not change the value 7FFFFFFFh (factory default). [Example of wraparound process] 607Bh-01h(Min position range limit) = 80000000h 607Bh-02h(Max position range limit) = 7FFFFFFFh In the above case, when 607Ah changes from 7FFFFFFFh to 80000000h. (absolute value movement) 607Ah(Target position) [command] In negative direction 4294967295 (command unit) no movement 80000000h 7FFFFFFFh In positive direction 1 (command unit) movement (wraparound process) 80000000h Physical position R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 225 - 6) Home offset (607Ch) It can always be updated of this object, the position control mode upon completion of homing (hm), to reflect the actual location of the coordinate system information is only in the timing of the (preset) initialization when communication is established (PreOP transition from Init) It does not. After detect home position(except Method 36), the following object is initialized (preset) to base on the position at the time of communication established(change from Init to PreOP). - After detection of home position 6062h(Position demand value) = 6064h(Position actual value) = 607Ch(Home offset) 6063h(Position actual internal value) = 60FCh(Position demand internal value) = 0 - When communication is established 6063h(Position actual internal value) = 60FCh(Position demand internal value) 6062h(Position demand value) = 6064h(Position actual value) = 6063h(Position actual internal value) + 607Ch(Home offset) Note: The above descriptions are for cases where the electronic gear ratio is 1:1 and polarity is not reversed. Index 607Ch SubName / Description Index 00h Home offset • Units Range Data Type Access Command PDO Op- EEPRO mode M RxPDO ALL Yes -2147483648 I32 rw 2147483647 After the homing position control mode (hm), position information is set so that the detected index pulse position becomes equal to the value of this object. Also, it is added to position information at the timing of initialization (preset) of position information when communication is established (change from Init to PreOP). Note: If you do homing, the coordinate system information is reset. Therefore, it is necessary is re-acquired data acquired by the old coordinate system (for example, position Touch probe). Home position: Position of the Index pulse (home position) Zero position: In the case of an incremental system = 0 (position which subtracted Home offset from the position at the time of power activation, or the position of Index pulse detected by hm) In absolute system, zero position of absolute encoder Zero position Home position Home offset <Home offset definition> R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 226 - 6-9-5 Jerk This function is not supported by this software version. Set 6086h (Motion profile type) to 0. velocity By setting up Jerk, the change rate of the degree of acceleration and deceleration can be smoothed. time <Velocity/time diagram with jerk positions> This function cannot be used because it is not supported. Also, can smooth using 3222h(Positional command smoothing filter) and 3223h(Positional command FIR filter). For more information, refer to Basic function specifications of the Technical document(SX-DSV02472). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 227 6-9-6 Interpolation time period (60C2h) 60C2h(Interpolation time period) is set up automatically as follows with a communication cycle. communication cycle 250us 500us 1ms 2ms 4ms Index 60C2h SubIndex - 60C2h-01h 60C2h-02h 25 5 1 2 4 -5 -4 -3 -3 -3 Name / Description Interpolation time period Units Range Access PDO - Data Type - - - Op- EEPRO mode M - - - 2 U8 ro No ip csp csv cst No U8 rw No ip csp csv cst Yes I8 rw No ip csp csv cst Yes • Set the interpolation time cycle. 00h Highest sub-index supported • Displays the number of sub-indexes for 60C2h (Interpolation time period). 01h Interpolation time period value - 0 - 255 • Set the interpolation time cycle value. 02h Set up automatically with a communication cycle. Interpolation time -128 – 63 index • Set the interpolation time index. Set up automatically with a communication cycle. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 228 - 77 Servo Parameter Area (3000h to 3FFFh) 7-1 Object Overview ......................................................................................................................................... 229 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 229 - 7-1 Object Overview The 3000hs objects are allocated to the servo parameters. (Excluding Class 15) For more information on the servo parameters, refer to Specification for basic functions (SX-DSV02472). The correspondence between the servo parameter numbers and object numbers is as follows: [Servo parameter No] Class 4 Example: No. 10 Decimal number Binary-coded decimal [Object No] Example: 3 4 1 0 h R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 230 - 88 EtherCAT Relevant Protection Functions 8-1 Error (alarm) List (attribute and LED display)............................................................................................ 231 1) EtherCAT communication-related error(alarm) ....................................................................................... 231 2) Error unrelated to EtherCAT communication(alarm) .............................................................................. 232 8-2 EtherCAT-related details of error(alarm) .................................................................................................... 234 1) Inaccurate ESM demand error protection (Err80.0) ................................................................................. 234 2) ESM undefined request error protection (Err80.1)................................................................................... 235 3) Bootstrap requests error protection (Err80.2)........................................................................................... 236 4) Incomplete PLL error protection (Err80.3) .............................................................................................. 237 5) PDO watchdog error protection (Err80.4)................................................................................................ 238 6) PLL error protection (Err80.6) ................................................................................................................. 239 7) Synchronization signal error protection (Err80.7).................................................................................... 240 8) Synchronization cycle error protection (Err81.0) ..................................................................................... 242 9) Mailbox error protection (Err81.1)........................................................................................................... 243 10) PDO watchdog error protection (Err81.4) .............................................................................................. 244 11) DC error protection (Err81.5)................................................................................................................. 245 12) SM event mode error protection (Err81.6) ............................................................................................. 246 13) SyncManager2/3 error protection (Err81.7) ........................................................................................... 247 14) TxPDO assignment error protection (Err85.0) ....................................................................................... 248 15) RxPDO assignment error protection (Err85.1) ....................................................................................... 249 16) Lost link detection error protection (Err85.2) ........................................................................................ 250 17) SII EEPROM error protection (Err85.3) ................................................................................................ 251 18) Main power undervoltage protection (AC insulation detection 2) (Err88.0) ......................................... 252 19) Control mode setting error protection (Err88.1)..................................................................................... 253 20) ESM requirements during operation error protection (Err88.2) ............................................................. 254 21) Improper operation error protection (Err88.3) ....................................................................................... 255 8-3 Reading Error (alarm) ................................................................................................................................. 256 8-4 Clear error (alarm)/Clear warning ............................................................................................................... 257 8-5 Other, error(alarm) / warning ralated function ............................................................................................ 258 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 231 - 8-1 Error (alarm) List (attribute and LED display) The table below lists the LED display and alarm attribute when an error (alarm) occurs: 1) EtherCAT communication-related error(alarm) Err No Main Sub 80 0 1 2 3 4 6 7 0 1 4 5 6 7 0 1 2 3 0 81 85 88 1 2 3 Alarm name Clearable ESM unauthorized request error protection ESM undefined request error protection Bootstrap requests error protection Incomplete PLL error protection PDO watchdog error protection PLL error protection Synchronization signal error protection Synchronization cycle error protection Mailbox error protection PDO watchdog error protection DC error protection SM event mode error protection SyncManager2/3 error protection TxPDO assignment error protection RxPDO assignment error protection Lost link error protection SII EEPROM error protection Main power undervoltage protection (AC insulation detection 2) Control mode setting error protection ESM requirements during operation error protection Improper operation error protection Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes No Yes Immediate stop *1) No No No No No No No No No No No No No No No Yes No Yes Yes Yes No History *2) ERR Indicator display Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes No Blinking Blinking Blinking Single flash Double flash Single flash Single flash Blinking Blinking Blinking Blinking Blinking Blinking Blinking Blinking Double flash Flickering OFF Yes Yes Yes Yes OFF OFF Yes Yes OFF R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 232 - 2) Error unrelated to EtherCAT communication(alarm) Err No Main Sub 11 12 13 0 0 0 1 14 15 16 18 21 23 24 25 26 28 0 1 1 4 6 7 0 29 30 2 0 33 40 41 0 1 2 3 4 5 8 0 1 0-2 0-2 0 1 0 0 42 43 44 0 0 0 45 0 27 2.00 34 4.00 0 1 0 0 1 0 1 0 1 0 0 1 0 36 37 38 Alarm name Clearable Control power supply undervoltage protection Over-voltage protection Main power supply undervoltage protection (between P to N) Main power supply undervoltage protection (AC interception detection) Over-current protection IPM error protection Over-heat protection Over-load protection Torque saturation error protection Over-regeneration load protection Over-regeneration Tr error protection Encoder communication disconnect error protection Encoder communication error protection Encoder communication data error protection Position deviation excess protection Speed deviation excess protection Hybrid deviation excess error protection (Not supported) Over-speed protection 2nd over-speed protection Absolute clear protection directive error protection Operation command contention protection Position information initialization error protection Limit of pulse replay error protection (Not supported) Deviation counter overflow protection 2 Safety detection [Only special product supports this feature.] Overlaps allocation error 1 protection Overlaps allocation error 2 protection Input function number error 1 protection Input function number error 2 protection Output function number error 1 protection Output function number error 2 protection Latch input allocation error protection Software limit protection One revolution absolute working range error EEPROM parameter error protection EEPROM check code error protection Over-travel inhibit input protection 1 Over-travel inhibit input protection 2 Absolute counter over error protection Safety detection [Only special product supports this feature] Absolute over-speed error protection Incremental encoder initialization error protection Absolute single turn counter error protection / Incremental signal turn counter error protection Absolute multi-turn counter error protection / Incremental multi-turn counter error protection Yes Yes Immediate stop *1) No No Yes History *2) ERR Indicator display No Yes OFF OFF Yes No OFF Yes Yes No OFF No No No Yes *3) Yes No No No No No Yes Yes No No Yes No No Yes No No No No Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF No Yes Yes OFF Yes Yes No No Yes No Yes No No Yes No No Yes Yes Yes Yes Yes Yes OFF OFF OFF OFF OFF OFF Yes Yes Yes OFF No No Yes OFF Yes No No OFF No No No No No No No Yes Yes No No Yes Yes Yes *4) No No No No No No No No No No No No No No Yes Yes Yes Yes Yes Yes Yes Yes Yes No No No No Yes OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF No No Yes OFF Yes *4) No No No Yes Yes OFF OFF No No Yes OFF No No Yes OFF R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 233 - Err No Main Sub 47 48 49 50 0 0 0 0 1 51 0 1 2 3 4 5 55 84 87 91 92 93 2.00 94 95 98 0 1 2 3 0 1 0 1 0 2 3 7 3 0-4 4 Other Alarm name Absolute status error protection Incremental encoder Z-phase error protection Incremental encoder CS signal error protection External scale connection error protection (Not supported) External scale communication error protection (Not supported) External scale status 0 error protection (Not supported) External scale status 1 error protection (Not supported) External scale status 2 error protection (Not supported) External scale status 3 error protection (Not supported) External scale status 4 error protection (Not supported) External scale status 5 error protection (Not supported) A-phase connection error protection B-phase connection error protection Z-phase connection error protection Synchronous establishment initialization error protection Compulsory alarm input protection Command error protection Encoder data recovery error protection External scale data recovery error protection (Not supported) Parameter setting error protection 1 Parameter setting error protection 2 External scale connection error protection (Not supported) Parameter setting error protection 5 Home position return error protection 2 Motor automatic recognition error protection Unusual communication IC initialization Other error protection No No No Immediate stop *1) No No No No No Yes OFF No No Yes OFF No No Yes OFF No No Yes OFF No No Yes OFF No No Yes OFF No No Yes OFF No No Yes OFF No No No No No No Yes Yes Yes OFF OFF OFF No No Yes OFF Yes Yes No Yes No No No Yes Yes OFF OFF OFF No No Yes OFF No No No No Yes Yes OFF OFF No No Yes OFF No Yes No No - No No No No - Yes Yes No Yes - OFF OFF OFF OFF - Clearable History *2) ERR Indicator display Yes Yes Yes OFF OFF OFF *1): The immediate stop indicates the alarm that immediately stops the operation when Object 3510h (Sequence at alarm) is set to 4 - 7. For more information, refer to Specification for basic functions (SX-DSV02472). *2): A "history" shows whether it leaves error(alarm) generating as a history at error(alarm) developmental time, or it does not leave. The error(alarm) from which the "history" serves as Yes are saved as a generating history from Subindex06h -13h(Diagnosis message 1 - 14) of 10F3h(Diagnosis history) at developmental time. *3): When Err16.0” Over-load protection” operates, after generating, it becomes clearable in about 10 seconds. It receives as an alarm clear command, and clear processing is started after being in a clearable state. *4): When Err40.0” Absolute counter over error protection” and Err42.0” Absolute over-speed error protection” occur, an error clearance cannot be carried out until it performs an absolute clearance. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 234 - 8-2 EtherCAT-related details of error(alarm) Only EtherCAT communication-related error(alarm) are published in this chapter. Please refer to the volume on Functional Specification (SX-DSV02472) for other alarms. The AL Status Code and ESM status are updated to the latest error status related to the EtherCAT every time an EtherCAT related error is detected. For the display of PANATERM or 7-segment LED and Abort messages, the Err number detected first is displayed and maintained until the alarm is cleared. 1) Inaccurate ESM demand error protection (Err80.0) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator The change state demand which cannot change from the present state was received. Init to SafeOP Init to OP PreOP to OP OP to Bootstrap PreOP to Bootstrap SafeOP to Bootstrap All the ESM states DC, FreeRun, SM2 - When the present state is Init, PreOP, or SafeOP: It remains in the present ESM state. - When the present state is OP: SafeOP 0011h The change state request of higher rank equipment is checked. Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 235 - 2) ESM undefined request error protection (Err80.1) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator The change state request which does not have a definition (except the following) was received. 1 : Request Init State 2 : Request Pre-Operational State 3 : Request Bootstrap State 4 : Request Safe-Operational State 8 : Request Operational State All the ESM states DC, FreeRun, SM2 - When the present state is Init, PreOP, or SafeOP: It remains in the present ESM state. - When the present state is OP: SafeOP 0012h The change state request of higher rank equipment is checked. Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 236 - 3) Bootstrap requests error protection (Err80.2) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator The following change state request was received. 3 : Request Bootstrap State form Init to Bootstrap DC, FreeRun, SM2 Init 0013h The change state request of higher rank equipment is checked. Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 237 - 4) Incomplete PLL error protection (Err80.3) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator Phasing servo and communication(PLL lock) could not be completed even after the lapse of 1s after the start of the synchronization process. Refer to Appendix 1. from PreOP to SafeOP DC, SM2 PreOP 002Dh <In case of DC> - Check setting of DC mode. - It is checked whether propagation delay compensation or drift compensation is correct. <In case of SM2> - It is checked whether the transmitting timing of PDO from higher rank equipment is constant. - Check whether there is any problem in wiring of an EtherCAT communication cable. - Check whether the excessive noise has started the EtherCAT communication cable. Clearance is possible. Single flash R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 238 - 5) PDO watchdog error protection (Err80.4) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator bit10 of AL Event Request(0220h) did not turn on the conditions by which an increment is carried out at the time set up in the ESC register addresses 0400h and 0420h. Refer to Appendix 1. SafeOP*1), OP DC, FreeRun, SM2 SafeOP 001Bh - It is checked whether the transmitting timing of PDO from higher rank equipment is constant(not stop). - Increase the timeout value of the PDO watchdog detection. - Check whether there is any problem in wiring of an EtherCAT telecommunication cable. - Check whether the excessive noise has started the EtherCAT communication cable. Clearance is possible. Double flash *1) For this servo amplifier, the watchdog at SM3 (TxPDO) is disabled, and only the watchdog at SM2 (RxPDO) is detected. Hence, the alarm is detected only in the OP state. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 239 - 6) PLL error protection (Err80.6) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition In the ESM state, phasing servo and communication(PLL lock) separated during operation in the state of SafeOP or OP. Refer to Appendix 1. SafeOP, OP DC, SM2 SafeOP 0032h <In case of DC> - Check setting of DC mode. - It is checked whether propagation delay compensation or drift compensation is correct. <In case of SM2> - It is checked whether the transmitting timing of PDO from higher rank equipment is constant. - Check whether there is any problem in wiring of an EtherCAT communication cable. - Check whether the excessive noise has started the EtherCAT communication cable. - If the error cannot be resolved, shut off and reset the control power. Clearance is possible. Single flash 4.00 Alarm clear attribute Display of ERR Indicator R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 240 - 7) Synchronization signal error protection (Err80.7) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition More than the threshold value that the omission of the interruption processing by SYNC0 or IRQ set up by bit0-3 of 3742h(Maximum continuation communication error) in after the completion of synchronous processing generated. Refer to Appendix 1. SafeOP, OP DC, SM2 SafeOP 002Ch <In case of DC> - Check setting of DC mode. - It is checked whether propagation delay compensation or drift compensation is correct. <In case of SM2> - It is checked whether the transmitting timing of PDO from higher rank equipment is constant. - Check whether there is any problem in wiring of an EtherCAT communication cable. - Check whether the excessive noise has started the EtherCAT communication cable. - The preset value of 3742h(Maximum continuation communication error) bit0-3 is enlarged. - If the error cannot be resolved, shut off and reset the control power. Clearance is possible. Single flash 4.00 Alarm clear attribute Display of ERR Indicator R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 241 - (Appendix 1.) About the generating conditions of Err80.3 to Err80.7 The example in DC synchronous is shown in the following figure. (In a case SM2 synchronous, SYNC0 signal replaces an IRQ signal.) Err80.7 In more than the number of times (it counts for every communication cycle) of setting up by bit0 to bit3 of 3742h, the omission occurred after SM2 event effective and after SafeOP shift. 4.00 SYNC0 Error is made when there is the number of times of an omission beyond in the preset value of bit0-3 of 3742h. SYNC0 signal from ESC AL Event Request(0220h,0223h) bit10 Communication cycle ESM state OP Synchronous incomplete SYNC0 signal and the synchronous state of a servo control cycle (PLL lock state) Err80.3 SafeOP PreOP Synchronous complete Even if 1 s passed after the synchronous processing start of SYNC0 signal and a servo control cycle, when the completion of synchronous is not carried out Synchronous incomplete Err80.4 At the time of Sync0 normal After the time set in ESC register address 0420h and 0400h, the bit10 of AL Event Request(0220h, 0223h) did not turn on. Err80.6 After synchronization of the period when the servo control signal and SYNC0, synchronization is out to change the cycle SYNC0. SYNC0 1s Synchronized state Loss of synchronization AL Event Request(bit10) Synchronous processing start Error is made in time for bit10 not to turn on in more than an ESC register(0400h,0420h). - Related objects Index 3742h SubIndex 00h Name Units Range Data Access / Description Type Maximum continuation -32768 - 32767 I16 rw － communication error • Set an upper limit on the number of consecutive occurrences communication error. Bit 0 to 3 : Detection threshold of Err 80.7 (0 to 15 times. When 0 is set, the detection of Err80.7 is disabled.) Bit 4 to 7 : Reserved Bit 8 to 11 : Reserved Bit 12 to 15 : Reserved PDO No Op- EEPRO mode M ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 242 - 8) Synchronization cycle error protection (Err81.0) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator If set to cycle synchronization(SYNC0 cycle) is not supported. - It sets except 250000, 500000, 1 million, 2 million, and 4 million [ns] to ESC register SYNC0 Cycle Time (09A0h) and object 1C32h:sub 02h (Cycle time). - The setup of an ESC register and an object is not in agreement. from PreOP to SafeOP DC PreOP 0035h Please set up a synchronous period correctly. Clearance is possible. Blinking If set to cycle synchronization(IRQ cycle) is not supported. - It sets except 250000, 500000, 1 million, 2 million, and 4 million [ns] to object 1C32h:sub 02h (Cycle time). from PreOP to SafeOP SM2 PreOP 0035h Please set up a synchronous period correctly. Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 243 - 9) Mailbox error protection (Err81.1) Primary factor SM setup of Mailbox is wrong. 2.00 A setup of SM0/1 was set as the unjust value. - A Physical Start Address:ESC register (0800h and 0801h/0808h,0809h) setup of SyncManager0/1 is inaccurate. - The area for reception of Mailbox overlaps the area for transmission. - The area for transmission/reception of Mailbox overlaps the area for transmission/reception of SyncManager2/3 - Address specification of the area for transmission/reception of Mailbox is odd number. - The start address of Mailbox is out of range from SyncManager0: 1000h to 10FFh and SyncManager1: 1200h to 12FFh. - A Length:ESC register (0802h,0803h/080Ah, 080Bh) setup of SyncManager0/1 is inaccurate. - Out of range of SyncManager0:32～256byte - Out of range of SyncManager1:40～256byte - A Control Register:ESC register (0804h/080Ch) setup of SyncManager0/1 is inaccurate. - Set code other than 100110b in 0804h:bit5-0 - Set code other than 100010b in 080Ch:bit5-0 ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition from Init to PreOP,PreOP,SafeOP,OP DC, FreeRun, SM2 Init 0016h Set the Sync manager correctly in accordance with the ESI file descriptions. Clearance is possible. Blinking Alarm clear attribute Display of ERR Indicator 2.00 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 244 - 10) PDO watchdog error protection (Err81.4) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator A setup of the watchdog timer of PDO is wrong. <In case of DC, SM2 mode> Although PDO watch dog trigger is effective (SyncManager: Bit6 which is the register 0804h set to 1), When the detection timeout value of PDO watchdog timer cycle setup (registers 0400h and 0420h) was the "communication cycle x2". <In case of FreeRun mode> Although PDO watch dog trigger is effective (SyncManager: Bit6 which is the register 0804h set to 1), When the detection timeout value of PDO watchdog timer cycle setup (registers 0400h and 0420h) was the following was set as less than 2 ms. from PreOP to SafeOP DC, FreeRun, SM2 PreOP 001Fh Set up detection timeout value of watchdog timer correctly. Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 245 - 11) DC error protection (Err81.5) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator DC setting setup is wrong. - A value other than the following was set to bit 2-0 of 0981h (Activation) of the ESC register: Bit 2-0 = 000b Bit 2-0 = 011b from PreOP to SafeOP DC, FreeRun, SM2 PreOP 0030h Check setting of DC mode. Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 246 - 12) SM event mode error protection (Err81.6) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator SM event mode which is not supported was set up. - It was set to 1C32h-01h(Sync mode) at values other than 00h(FreeRun), 01h(SM2), and 02h(DC SYNC0). - A value other than 00h (FreeRun), 02h (DC SYNC0), or 22h (SM2) was set to 1C33h-01h (Sync mode). - 000b was set to bit 2-0 of 0981h of the ESC register and SM2 was set to only either 1C32h-01h or 1C33h-01h. from PreOP to SafeOP DC, FreeRun, SM2 PreOP 0028h - 1C32h-01h(Sync mode) should set up 00h(FreeRun), 01h(SM2), or 02h(DC SYNC0). - 1C33h-01h(Sync mode) should set up 00h (FreeRun), 02h (DC SYNC0), or 22h (SM2). - The setting of 1C32h-01h should be equal to that of 1C33h-01h. Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 247 - 13) SyncManager2/3 error protection (Err81.7) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator A setup of SyncManager2 was set as the unjust value. 2.00 - A Physical Start Address (ESC register 0810h) setup of SyncManager2 is inaccurate. - Receiving area overlaps with the area for the transmission. - The area for transmission/reception of Mailbox overlaps the area for transmission/reception of SyncManager2/3 - Addressing transmission and reception area is an odd number. - Start addresses is out of range. - A Length (ESC register 0812h) setup of SyncManager2 is inaccurate. - Different from RxPDO size. - A Control Register:ESC register (0814h) setup of SyncManager2 is inaccurate. - Other than 100100b is set for bit5-0. from PreOp to SafeOP, SafeOp, Op DC, FreeRun, SM2 PreOp 001Dh 2.00 According to ESI file description, correctly set the Sync Manager 2. Clearance is possible. Blinking A setup of SyncManager3 was set as the unjust value. 2.00 - A Physical Start Address (ESC register 0818h) setup of SyncManager3 is inaccurate. - Receiving area overlaps with the area for the transmission. - The area for transmission/reception of Mailbox overlaps the area for transmission/reception of SyncManager2/3 - Addressing transmission and reception area is an odd number. - Start addresses is out of range. - A Length (ESC register 081Ah) setup of SyncManager3 is inaccurate. - Different from TxPDO size. - A Control Register:ESC register (081Ch) setup of SyncManager3 is inaccurate. - Other than 100000b is set for bit5-0. from PreOp to SafeOP, SafeOp, Op DC, FreeRun, SM2 PreOp 001Eh According to ESI file description, correctly set the Sync Manager 3. 2.00 Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 248 - 14) TxPDO assignment error protection (Err85.0) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator - When the data size of the TxPDO map is set up exceeding 32 bytes. from PreOP to SafeOP DC, FreeRun, SM2 PreOP 0024h - TxPDO data size is set up within 32 bytes. Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 249 - 15) RxPDO assignment error protection (Err85.1) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator - When the data size of the RxPDO map is set up exceeding 32 bytes. from PreOP to SafeOP DC, FreeRun, SM2 PreOP 0025h - RxPDO data size is set up within 32 bytes. Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 250 - 16) Lost link detection error protection (Err85.2) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator The time set in 3743h (Lost link detection time) elapsed when either Port 0 or Port 1 fell and remains in the lost link state after the ESM state transitioned from Init to PreOP (not including a port that had been in the lost link state at the time of transition from Init to PreOP). PreOP, SafeOP, OP DC, FreeRun, SM2 Init 0000h - Check whether there is any problem in wiring of an EtherCAT communication cable. - checked whether there is any problem in the communication from higher rank equipment. Clearance is possible. Double flash • Related object Index SubName Units Range Data Access PDO Op- EEPRO Index / Description Type mode M 3722h 00h Communication function ms 0 - 32767 I16 rw No ALL Yes extended setup 1 - When the time set in this parameter elapsed when either Port 0 or Port 1 fell and remains in the lost link state after the ESM state transitioned from Init to PreOP (not including a port that had been in the lost link state at the time of transition from Init to PreOP), Err85.2 (EtherCAT communication interception error) occurs. - When 0 is set, the detection of Err85.2 (Lost link detection error protection) is disabled. Note: This alarm is generated only by the slave that detected a lost link. A subsequent slave that has not detected a lost link does not detect this alarm. To enable the detection of the alarm by a subsequent slave, assign PDO and enable the PDO watchdog. Note that the default value of 3743h (Lost link detection time) is set to 0 (invalid). R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 251 - 17) SII EEPROM error protection (Err85.3) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator - VendorID, Product code, and Revision number do not agree between SII (EEPROM) and the object values. - Reading out from and writing to SII (EEPROM) are improper. - If any of bit11 to14 of ESC register 0502h is set to 1. 2.00 All ESM states DC, FreeRun, SM2 Init 0051h Check the data of SII. Retry reading out from and writing to SII. Clearance is not possible. Flickering R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 252 - 18) Main power undervoltage protection (AC insulation detection 2) (Err88.0) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator Main circuit power supply OFF was detected when the preset value of 6007h (Abort connection option code) is 1 and the PDS state is “Operation Enabled” or “Quick stop active”. OP, SafeOP, PreOP DC, FreeRun, SM2 It remains in the present ESM state. 0000h - The capacity rise of power supply voltage. A power supply is changed. The cause by which the magnetic contactor of the main power supply fell is removed, and a power supply is switched on again. - Each phase (L1, L2, L3) of a power supply is connected correctly. The single phase 100V and the single phase 200V should use L1 and L3. - It replaces with new servo amplifier. Clearance is possible. OFF R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 253 - 19) Control mode setting error protection (Err88.1) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator - The PDS state was changed to “Operation enabled” when the value set to 6060h (Modes of operation) is 0 and the value set to 6061h (Modes of operation display) is 0. - A control not supported by 6060h (Modes of operation) was set. - A mode other than position control was set to 6060h (Modes of operation) in full-closed control. - A mode other than position control was set to 6060h (Modes of 2.00 operation) in 2 degrees of freedom control. All the ESM states DC, FreeRun, SM2 It remains in the present ESM state. 0000h Check preset value of 6060h(Modes of operation). Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 254 - 20) ESM requirements during operation error protection (Err88.2) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator When a PDS state was "Operation enabled" or "Quick stop active", the ESM state received the changes command to other ESM states. OP, SafeOP, PreOP DC, FreeRun, SM2 A state transition request from higher rank equipment is followed. 0000h Check the state transition request from higher rank equipment. Clearance is possible. Blinking R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 255 - 21) Improper operation error protection (Err88.3) Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator Primary factor ESM state to detect Synchronous mode to detect ESM state after detection ESC register AL Status Code Disposition Alarm clear attribute Display of ERR Indicator - When EXT1/EXT2 is not assigned to input signal, EXT1/EXT2 was selected in trigger selection of a touch probe (60B8h (Touch probe function)). - When Z-phase is chosen by trigger selection of a touch probe (60B8h(Touch probe function)) at the time of absolute mode of full-colse. - When the software limit function is enabled, a wraparound occurred to the actual position or command position. OP, SafeOP, PreOP DC, FreeRun, SM2 It remains in the present ESM state. 0000h - Set up the functional allotment for input signal correctly. - Set up trigger selection correctly. - Check the relation between the operation range setting and the software limit setting. Clearance is impossible. OFF - The calculation result of electronic gear ratio fell outside the range of 1000 times to 1/1000 times. - In the calculation process of electronic gear ratio, the denominator or numerator exceeds an unsigned 64-bit size. - In the final calculation result of electronic gear ratio, the denominator or numerator exceeds an unsigned 32-bit size. Init to PreOP DC, FreeRun, SM2 A state transition request from the master is followed. 0000h - Review the electronic gear settings and turn ON the power again. Clearance is impossible. OFF R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 256 - 8-3 Reading Error (alarm) Error code is defined by IEC61800-7-201 until 0000h from FEFFh. Error code can define peculiar until 0000h from FEFFh by manufacturer, is indicated by the following contents. Reads the value (FF00h to FFFFh) defined by 603Fh (Error code) in the manufacturer-specific area. The lower 8 bits of the value (FF00h to FFFFh) defined indicates the main alarm number of the servo error (alarm), as listed in the table below. (The sub alarm number cannot be read.) Note that the main alarm number is hexadecimal. Index 603Fh SubIndex 00h Name Units Range Data Access PDO Op- EEPROM / Description Type mode Error code 0 - 65535 U16 ro Yes ALL No • Displays an alarm (main number only) / warning occurred in the servo amplifier. 4.00 When both an alarm and warning does not occur, displays 0000h. When an alarm and warning occur at the same time, display the alarm. FF**h Alarm (main) number (00h to 9Fh) warning number(A0h to A9h, C3h) Example: FF0Ch: 0Ch=12d. Err12.0 (over voltage protection) occurred FF55h: 55h=85d. Err85.0 (TxPDO assignment error protection) or Err85.1 (RxPDO assignment error protection) occurred (Note) When the exception of Err81.7(SyncManager2/3 error protection) occurs, display A000h. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 257 - 8-4 Clear error (alarm)/Clear warning How to reset the protection function in the context of EtherCAT error(alarm) can be cleared. • Both the method 1, 2 below enable to recover from error (alarm). Also, for information on other than the EtherCAT relevant protection functions, refer to Chapter 7 in Technical document Basic function specifications (SX-DSV02472). method 1 - Set the bit 4 (Error Ind Ack) to "1" in AL Control to clear the communication error state in ESC to hold . - After that, the controller changes the ESM communication state to Operational and sets the bit 7 of 6040h (Control word) to from 0 to 1 (sends the Fault reset command) to complete the error (alarm) clear. - After the error (alarm) clear is completed, the PDS state changes from Fault to Switch on disabled. Master Slave AL Status Code register (0x0134:0x0135) PDS 00xxh Fault AL Status Code register (0x0134:0x0135)=00xxh Error Ind Ack fiag (0x0120.4)=1 AL Status Code register (0x0134:0x0135)=0000h Fault reset =1 0000h ● Switch on disabled method 2 -Perform clear error(alarm) by Panaterm. - After the error (alarm) clear is completed, the PDS state changes from Fault to Switch on disabled. *Note: - There is a delay of time between the notice and error (alarm) or between the warning and notice in AL Status, so the notice is not synchronous - The LED display (RUN, ERR), ESM state, and AL Status in the front panel are updated to the latest communication error status each time a communication error is detected. However, the Err number detected first time is displayed in the segment 7 LED and held until the Fault is reset. (The unclearable error (alarm) are kept even after the Fault is reset.) -If the alarm is occurring at the same time more than one, may not be able to clear even the cause of the alarm has been released If not release the cause of all alarms. - An alarm is not successfully cleared even when alarm clearance is executed from PANATERM and the Fault reset command is sent with external alarm clear input (A-CLR) ON. In this case, turn OFF external alarm clear input (A-CLR) temporarily, send the Fault reset command, and execute alarm clearance from PANATERM. - When the PDS status is Fault reaction active, the error (alarm) cannot be cleared. • How to clear warning - After an warning occurred, the warning will not be cleared even if the cause is released. In this case, set the bit 7 of 6040h (Control word) from 0 to 1 (send the Fault reset command) to clear the warning at present. It is possible to clear warning through the SDO communication. R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 258 - 8-5 Other, error(alarm) / warning ralated function Function related error(alarm) and warning have been described in addition to this section, refer to the section below. - Abort message - Emergency message - 1001h(Error register) - 10F3h(Diagnosis history) - 603Fh(Error code) … … … … … Section 3-6-1 Section 3-6-1 Section 3-6-1, 5-2 Section 3-6-1, 5-7 Section 3-6-1 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 259 - 9 9 Object Dictionary List R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 260 - The attribute indicates the time when the object change description becomes effective. A : Always effective B : A change during a motor operation and command discharge is inhibited. * The reflection timing in the case where it is changed during a motor operation and command discharge is indefinite. C : Effective after control power reset R : Effective after control power reset * There is no difference in attributes C and R in this amplifier. P : Effective at time of transition from Init to PreOP S : Effective at time of transition from PreOP to SafeOP 2.00 H : Effective after the position information determined X : Object which cannot be changed such as read only or not-supported object CoE communication profile area (1000h to 1FFFh) Index 1000h 1001h 1008h 1009h 100Ah 1010h 1018h 10F3h SubIndex 00h 00h 00h 00h 00h 00h 01h 00h 01h 02h 03h 04h 00h 01h 02h 03h 04h 05h 06h Name Device type Error register Manufacturer device name Manufacturer hardware version Manufacturer software version Store parameters Number of entries Save all parameters Identity object Number of entries Vendor ID Product code Revision number Serial number Diagnosis history Number of entries Maximum messages Newest message Newest acknowledged message New messages available Flags Diagnosis message 1 Units Range － － － － － － － － － － － － － － － － － － － － － － 0 - 4294967295 0 - 255 － － － － 0 - 255 0 - 4294967295 － 0 - 255 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 － 0 - 255 0 - 255 0 - 255 0 - 255 0-1 0 - 65535 － Data Acc Type ess U32 ro U8 ro VS ro VS ro VS ro － － U8 ro U32 rw － － U8 ro U32 ro U32 ro U32 ro U32 ro － － U8 ro U8 ro U8 ro U8 rw BOOL ro U16 rw OS ro PDO No No No No No － No No － No No No No No － No No No No No No No Op- EEPRO Attribu mode M te ALL No X ALL No X ALL No X ALL No X ALL No X － － － ALL No X ALL No A － － － ALL No X ALL No X ALL No X ALL No X ALL No X － － － ALL No X ALL No X ALL No X ALL No A ALL No X ALL Yes A ALL No X No ALL : 13h Diagnosis message 14 － － OS ro No X R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 261 - CoE communication profile area (1000h to 1FFFh) Index SubIndex 00h 01h 02h 03h 04h 1600h 05h 06h 07h 08h Name Receive PDO mapping 1 Number of entries 1st receive PDO mapped 2nd receive PDO mapped 3rd receive PDO mapped 4th receive PDO mapped 5th receive PDO mapped 6th receive PDO mapped 7th receive PDO mapped 8th receive PDO mapped Units Range Acc ess － rw rw rw rw rw rw rw rw rw PDO － 0 - 32 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 Data Type － U8 U32 U32 U32 U32 U32 U32 U32 U32 － No No No No No No No No No Op- EEPRO Attribu mode M te － － － ALL Yes S ALL Yes S ALL Yes S ALL Yes S ALL Yes S ALL Yes S ALL Yes S ALL Yes S ALL Yes S － － － － － － － － － － 0 - 4294967295 － 0 - 32 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 U32 － U8 U32 U32 U32 U32 U32 U32 U32 U32 rw － rw rw rw rw rw rw rw rw rw No － No No No No No No No No No ALL － ALL ALL ALL ALL ALL ALL ALL ALL ALL Yes － Yes Yes Yes Yes Yes Yes Yes Yes Yes S － S S S S S S S S S 0 - 4294967295 － 0 - 32 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 U32 － U8 U32 U32 U32 U32 U32 U32 U32 U32 rw － rw rw rw rw rw rw rw rw rw No － No No No No No No No No No ALL － ALL ALL ALL ALL ALL ALL ALL ALL ALL Yes － Yes Yes Yes Yes Yes Yes Yes Yes Yes S － S S S S S S S S S 0 - 4294967295 － 0 - 32 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 U32 － U8 U32 U32 U32 U32 U32 U32 U32 U32 rw － rw rw rw rw rw rw rw rw rw No － No No No No No No No No No ALL － ALL ALL ALL ALL ALL ALL ALL ALL ALL Yes － Yes Yes Yes Yes Yes Yes Yes Yes Yes S － S S S S S S S S S 0 - 4294967295 U32 rw No ALL Yes S : 1601h 20h 00h 01h 02h 03h 04h 05h 06h 07h 08h 32nd receive PDO mapped Receive PDO mapping 2 Number of entries 1st receive PDO mapped 2nd receive PDO mapped 3rd receive PDO mapped 4th receive PDO mapped 5th receive PDO mapped 6th receive PDO mapped 7th receive PDO mapped 8th receive PDO mapped － － － － － － － － － － － 20h 00h 01h 02h 03h 04h 05h 06h 07h 08h 32nd receive PDO mapped Receive PDO mapping 3 Number of entries 1st receive PDO mapped 2nd receive PDO mapped 3rd receive PDO mapped 4th receive PDO mapped 5th receive PDO mapped 6th receive PDO mapped 7th receive PDO mapped 8th receive PDO mapped － － － － － － － － － － － : 1602h : 1603h 20h 00h 01h 02h 03h 04h 05h 06h 07h 08h 32nd receive PDO mapped Receive PDO mapping 4 Number of entries 1st receive PDO mapped 2nd receive PDO mapped 3rd receive PDO mapped 4th receive PDO mapped 5th receive PDO mapped 6th receive PDO mapped 7th receive PDO mapped 8th receive PDO mapped － － － － － － － － － － － : 20h 32nd receive PDO mapped － R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 262 - CoE communication profile area (1000h to 1FFFh) Index SubIndex 00h 01h 02h 03h 04h 1A00h 05h 06h 07h 08h Name Transmit PDO mapping 1 Number of entries 1st transmit PDO mapped 2nd transmit PDO mapped 3rd transmit PDO mapped 4th transmit PDO mapped 5th transmit PDO mapped 6th transmit PDO mapped 7th transmit PDO mapped 8th transmit PDO mapped Units Range Acc ess － rw rw rw rw rw rw rw rw rw PDO － 0 - 32 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 Data Type － U8 U32 U32 U32 U32 U32 U32 U32 U32 － No No No No No No No No No Op- EEPRO Attribu mode M te － － － ALL Yes S ALL Yes S ALL Yes S ALL Yes S ALL Yes S ALL Yes S ALL Yes S ALL Yes S ALL Yes S － － － － － － － － － － 0 - 4294967295 － 0 - 32 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 U32 － U8 U32 U32 U32 U32 U32 U32 U32 U32 rw － rw rw rw rw rw rw rw rw rw No － No No No No No No No No No ALL － ALL ALL ALL ALL ALL ALL ALL ALL ALL Yes － Yes Yes Yes Yes Yes Yes Yes Yes Yes S － S S S S S S S S S 0 - 4294967295 － 0 - 32 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 U32 － U8 U32 U32 U32 U32 U32 U32 U32 U32 rw － rw rw rw rw rw rw rw rw rw No － No No No No No No No No No ALL － ALL ALL ALL ALL ALL ALL ALL ALL ALL Yes － Yes Yes Yes Yes Yes Yes Yes Yes Yes S － S S S S S S S S S 0 - 4294967295 － 0 - 32 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 0 - 4294967295 U32 － U8 U32 U32 U32 U32 U32 U32 U32 U32 rw － rw rw rw rw rw rw rw rw rw No － No No No No No No No No No ALL － ALL ALL ALL ALL ALL ALL ALL ALL ALL Yes － Yes Yes Yes Yes Yes Yes Yes Yes Yes S － S S S S S S S S S 0 - 4294967295 U32 rw No ALL Yes S : 1A01h 20h 32nd transmit PDO mapped Transmit PDO mapping 2 00h Number of entries 01h 1st transmit PDO mapped 02h 2nd transmit PDO mapped 03h 3rd transmit PDO mapped 04h 4th transmit PDO mapped 05h 5th transmit PDO mapped 06h 6th transmit PDO mapped 07h 7th transmit PDO mapped 08h 8th transmit PDO mapped － － － － － － － － － － － : 1A02h 20h 00h 01h 02h 03h 04h 05h 06h 07h 08h 32nd transmit PDO mapped Transmit PDO mapping 3 Number of entries 1st transmit PDO mapped 2nd transmit PDO mapped 3rd transmit PDO mapped 4th transmit PDO mapped 5th transmit PDO mapped 6th transmit PDO mapped 7th transmit PDO mapped 8th transmit PDO mapped － － － － － － － － － － － : 1A03h 20h 32nd transmit PDO mapped Transmit PDO mapping 4 00h Number of entries 01h 1st transmit PDO mapped 02h 2nd transmit PDO mapped 03h 3rd transmit PDO mapped 04h 4th transmit PDO mapped 05h 5th transmit PDO mapped 06h 6th transmit PDO mapped 07h 7th transmit PDO mapped 08h 8th transmit PDO mapped － － － － － － － － － － － : 20h 32nd transmit PDO mapped － R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 263 CoE communication profile area (1000h to 1FFFh) Index SubIndex 00h 01h 1C00h 02h 03h 04h 00h 01h 1C12h 02h 03h 04h 00h 01h 1C13h 02h 03h 04h Name Units Range Sync manager communication type Number of used sync manager channels Communication type sync manager 0 Communication type sync manager 1 Communication type sync manager 2 Communication type sync manager 3 Sync manager channel 2 Number of assigned PDOs PDO mapping object index of assigned RxPDO 1 PDO mapping object index of assigned RxPDO 2 PDO mapping object index of assigned RxPDO 3 PDO mapping object index of assigned RxPDO 4 Sync manager channel 3 Number of assigned PDOs PDO mapping object index of assigned TxPDO 1 PDO mapping object index of assigned TxPDO 2 PDO mapping object index of assigned TxPDO 3 PDO mapping object index of assigned TxPDO 4 － － － － － － － － － 0 - 255 0-4 0-4 0-4 0-4 － 0–4 － 1600h – 1603h － Data Type － U8 U8 U8 U8 U8 － U8 Acc ess － ro ro ro ro ro － rw PDO － No No No No No － No Op- EEPRO Attribu mode M te － － － ALL No X ALL No X ALL No X ALL No X ALL No X － － － ALL Yes S U16 rw No ALL Yes S 1600h – 1603h U16 rw No ALL Yes S － 1600h – 1603h U16 rw No ALL Yes S － 1600h – 1603h U16 rw No ALL Yes S － － － 0–4 － － U8 rw － No － ALL － Yes － S － 1A00h – 1A03h U16 rw No ALL Yes S － 1A00h – 1A03h U16 rw No ALL Yes S － 1A00h – 1A03h U16 rw No ALL Yes S － 1A00h – 1A03h U16 rw No ALL Yes S R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 264 - CoE communication profile area (1000h to 1FFFh) Index SubIndex 00h 01h 02h 03h 04h 05h 06h 1C32h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 20h 00h 01h 02h 03h 04h 05h 06h 1C33h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 20h Name Sync manager 2 synchronization Number of sub-objects Sync mode Cycle time Shift time Sync modes supported Minimum cycle time Calc and copy time Command Delay time Sync0 cycle time Cycle time too small SM-event missed Shift time too short RxPDO toggle failed Sync error Sync manager 3 synchronization Number of sub-objects Sync mode Cycle time Shift time Sync modes supported Minimum cycle time Calc and copy time Command Delay time Sync0 cycle time Cycle time too small SM-event missed Shift time too short RxPDO toggle failed Sync error Units Range － － － ns ns － ns ns － ns ns － － － － － － － － ns ns － ns ns － ns ns － － － － － － 0 - 255 0 - 65535 0 - 4294967295 0 - 4294967295 0 - 65535 0 - 4294967295 0 - 4294967295 0 - 65535 0 - 4294967295 0 - 4294967295 0 - 65535 0 - 65535 0 - 65535 0 - 65535 0-1 － 0 - 255 0 - 65535 0 - 4294967295 0 - 4294967295 0 - 65535 0 - 4294967295 0 - 4294967295 0 - 65535 0 - 4294967295 0 - 4294967295 0 - 65535 0 - 65535 0 - 65535 0 - 65535 0-1 Data Acc Type ess － － U8 ro U16 rw U32 rw U32 ro U16 ro U32 ro U32 ro U16 ro U32 ro U32 ro U16 ro U16 ro U16 ro U16 ro BOOL ro － － U8 ro U16 rw U32 ro U32 rw U16 ro U32 ro U32 ro U16 ro U32 ro U32 ro U16 ro U16 ro U16 ro U16 ro BOOL ro PDO － No No No No No No No No No No No No No No No － No No No No No No No No No No No No No No No Op- EEPRO Attribu mode M te － － － ALL No X ALL Yes S ALL Yes S ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X － － － ALL No X ALL Yes S ALL No X ALL No S ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X ALL No X R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 265 Servo parameter area (3000h to 3FFFh) Index 3000h 3001h 3002h 3003h 3004h 3008h 3009h 3010h 3011h 3012h 3013h Category 0: Basic configuration SubName Index 00h For manufacturer’s use 00h Control mode setup 00h Real-time auto-gain tuning setup Real-time auto-tuning machine 00h stiffness setup 00h Inertia ratio 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use Number of output pulses per motor 00h revolution (Not supported) Reversal of pulse output logic 00h (Not supported) 00h 1st torque limit Units Range － － － 0-1 0-6 0-6 － 0 - 31 % － － － Data Type I16 I16 I16 Acc ess rw rw rw PDO No No No Op- EEPRO Attribu mode M te ALL Yes ALL Yes R ALL Yes B I16 rw No ALL Yes B 0 - 10000 － － － I16 I32 I32 I32 rw － － － No － － － ALL － － － Yes － － － B - pulse/r 1 - 262144 I32 rw No ALL Yes R － 0-3 I16 rw No ALL Yes R % 0 - 500 I16 rw No Yes B command 0 - 134217728 I32 rw No Yes A Yes C Yes C Yes C 3015h 00h Absolute encoder setup － 0-3 I16 rw No 3016h 00h External regenerative resistor setup Selection of load factor for external 00h regenerative resistor － 0-3 I16 rw No ALL csp pp hm ip csp(s) pp(s) hm(s) ip(s) csv pv cst tq ALL － 0-4 I16 rw No ALL 3014h 00h Position deviation excess setup 2.00 3017h R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 266 Servo parameter area (3000h to 3FFFh) Index Category 1: Gain tuning SubName Index Units Range Data Acc PDO Op- EEPRO Attribu Type ess mode M te csp pp B I16 rw No Yes hm ip B I16 rw No ALL Yes 3100h 00h 1st gain of position loop 0.1/s 0 - 30000 3101h 0.1Hz 1 - 32767 0.1ms 1 - 10000 I16 rw No ALL Yes B 3103h 00h 1st velocity loop gain 1st velocity loop integration time 00h constant 00h 1st filter of velocity detection － 0-5 I16 rw No ALL Yes B 3104h 00h 1st torque filter time constant 0.01ms 0 - 2500 I16 rw No ALL Yes B Yes B Yes B 3102h 3105h 00h 2nd gain of position loop 0.1/s 0 - 30000 I16 rw No 3106h 0.1Hz 1 - 32767 I16 rw No 0.1ms 1 - 10000 I16 rw No ALL Yes B 3108h 3109h 00h 2nd velocity loop gain 2nd velocity loop integration time 00h constant 00h 2nd filter of velocity detection 00h 2nd torque filter time constant csp pp hm ip ALL － 0.01ms 0-5 0 - 2500 I16 rw I16 rw No No Yes Yes B B 3110h 00h Velocity feed forward gain 0.1% 0 - 1000 I16 rw No Yes B 3111h 00h Velocity feed forward filter 0.01ms 0 - 6400 I16 rw No Yes B 3112h 00h Torque feed forward gain 0.1% 0 - 1000 I16 rw No Yes B 3113h 00h Torque feed forward filter 0.01ms 0 - 6400 I16 rw No ALL ALL csp pp hm ip csp pp hm ip csp pp hm ip csv pv csp pp hm ip csv pv Yes B 3107h R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 267 - Servo parameter area (3000h to 3FFFh) Category 1: Gain tuning SubName Index 3114h 00h 2nd gain setup Index Units Range － 0-1 3115h 00h Mode of position control switching － 0 - 10 3116h 00h Delay time of position control switching 0.1ms 0 - 10000 3117h 00h Level of position control switching － 0 - 20000 3118h 00h Hysteresis at position control switching － 0 - 20000 3119h 00h Position gain switching time 0.1ms 0 - 10000 3120h 00h Mode of velocity control switching － 0-5 3121h 00h Delay time of velocity control switching 0.1ms 0 - 10000 3122h 00h Level of velocity control switching － 0 - 20000 3123h 00h Hysteresis at velocity control switching － 0 - 20000 3124h 00h Mode of torque control switching － 0-3 3125h 00h Delay time of torque control switching 0.1ms 0 - 10000 3126h 00h Level of torque control switching － 0 - 20000 3127h 00h Hysteresis at torque control switching － 0 - 20000 Data Acc PDO Op- EEPRO Attribu Type ess mode M te B I16 rw No ALL Yes csp pp B I16 rw No Yes hm ip csp pp B Yes I16 rw No hm ip csp pp B I16 rw No Yes hm ip csp pp B I16 rw No Yes hm ip csp pp B I16 rw No Yes hm ip csv B I16 rw No Yes pv csv B I16 rw No Yes pv csv B I16 rw No Yes pv csv B Yes I16 rw No pv cst B I16 rw No Yes tq cst B I16 rw No Yes tq cst B I16 rw No Yes tq cst B I16 rw No Yes tq R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 268 Servo parameter area (3000h to 3FFFh) Index Category 2: Anti-vibration filter SubName Index Units Range 3200h 00h Adaptive filter mode setup － 0-4 3201h 3202h 3203h 00h 1st notch frequency 00h 1st notch width selection 00h 1st notch depth selection Hz － － 50 - 5000 0 - 20 0 - 99 3204h 00h 2nd notch frequency Hz 50 - 5000 I16 rw No ALL Yes B 3205h 3206h 3207h 3208h 3209h 3210h 3211h 3212h 00h 00h 00h 00h 00h 00h 00h 00h － － Hz － － Hz － － 0 - 20 0 - 99 50 - 5000 0 - 20 0 - 99 50 - 5000 0 - 20 0 - 99 I16 I16 I16 I16 I16 I16 I16 I16 rw rw rw rw rw rw rw rw No No No No No No No No Yes Yes Yes Yes Yes Yes Yes Yes B B B B B B B B 3213h 00h Selection of damping filter switching － 0-3 I16 rw No Yes B 3214h 00h 1st damping frequency 0.1Hz 0 - 2000 I16 rw No Yes B 3215h 00h 1st damping filter setup 0.1Hz 0 - 1000 I16 rw No Yes B 3216h 00h 2nd damping frequency 0.1Hz 0 - 2000 I16 rw No Yes B 3217h 00h 2nd damping filter setup 0.1Hz 0 - 1000 I16 rw No ALL ALL ALL ALL ALL ALL ALL ALL csp pp hm ip csp pp hm ip csp pp hm ip csp pp hm ip csp pp hm ip Yes B 2nd notch width selection 2nd notch depth selection 3rd notch frequency 3rd notch width selection 3rd notch depth selection 4th notch frequency 4th notch width selection 4th notch depth selection Data Acc PDO Op- EEPRO Attribu Type ess mode M te csp pp hm B I16 rw No Yes ip csv pv B I16 rw No ALL Yes B I16 rw No ALL Yes B I16 rw No ALL Yes R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 269 - Servo parameter area (3000h to 3FFFh) Index Category 2: Anti-vibration filter SubName Index Units Range 3218h 00h 3rd damping frequency 0.1Hz 0 - 2000 3219h 00h 3rd damping filter setup 0.1Hz 0 - 1000 3220h 00h 4th damping frequency 0.1Hz 0 - 2000 3221h 00h 4th damping filter setup 0.1Hz 0 - 1000 3222h 00h Positional command smoothing filter 0.1ms 0 - 10000 3223h 00h Positional command FIR filter 0.1ms 0 - 10000 Data Acc PDO Op- EEPRO Attribu Type ess mode M te csp pp B I16 rw No Yes hm ip csp pp B I16 rw No Yes hm ip csp pp B I16 rw No Yes hm ip csp pp B I16 rw No Yes hm ip csp pp B I16 rw No Yes hm ip csp pp B I16 rw No Yes hm ip R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 270 Servo parameter area (3000h to 3FFFh) Index 3304h 3305h 3312h 3313h 3314h Category 3: Velocity, torque, and full-closed controls SubName Units Index 00h For manufacturer’s use － 00h For manufacturer’s use － 1ms/ 00h Acceleration time setup (1000r/min) 1ms/ 00h Deceleration time setup (1000r/min) Sigmoid acceleration/ deceleration 00h 1ms time setup Range － － Data Type I16 I16 0 - 10000 I16 0 - 10000 I16 0 - 1000 I16 3317h 00h Selection of speed limit － 2 I16 3321h 3322h 00h For manufacturer’s use 00h For manufacturer’s use － － － － I16 I16 3323h 00h External scale selection (Not supported) － 0-2 I16 3324h 00h Numerator of external scale division (Not supported) － 0 - 1048576 I32 3325h 00h Denominator of external scale division (Not supported) － 1 - 1048576 I32 3326h 00h Reversal of direction of external scale (Not supported) － 0-1 I16 3327h External scale Z phase disconnection 00h detection disable (Not supported) － 0-1 I16 3328h 00h Hybrid deviation excess setup (Not supported) command 1 - 134217728 I32 3329h 00h Hybrid deviation clear setup (Not supported) rotation 0 - 100 I16 Acc PDO Op- EEPRO Attribu ess mode M te － － － － － － － － csv rw No Yes B pv csv rw No Yes B pv csv rw No Yes B pv cst rw No Yes B tq － － － － － － － － csp(F) pp(F) rw No Yes R hm(F) ip(F) csp(F) pp(F) Yes R rw No hm(F) ip(F) csp(F) pp(F) Yes R rw No hm(F) ip(F) csp(F) pp(F) Yes R rw No hm(F) ip(F) csp(F) pp(F) rw No Yes R hm(F) ip(F) csp(F) pp(F) rw No Yes C hm(F) ip(F) csp(F) pp(F) rw No Yes C hm(F) ip(F) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 271 Servo parameter area (3000h to 3FFFh) Index 3400h 3401h 3402h 3403h 3404h 3405h 3406h 3407h 3410h 3411h 3412h 3416h 3417h 3418h 3419h 3421h 3422h 3423h 3424h Category 4: I/O monitor SubName Index 00h SI1 input selection 00h SI2 input selection 00h SI3 input selection 00h SI4 input selection 00h SI5 input selection 00h SI6 input selection 00h SI7 input selection 00h SI8 input selection 00h SO1 output selection 00h SO2 output selection 00h SO3 output selection 00h Type of analog monitor 1 00h Analog monitor 1 output gain 00h Type of analog monitor 2 00h Analog monitor 2 output gain 00h Analog monitor output setup 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use Units Range － － － － － － － － － － － － － － － － － － － 0 - 16777215 0 - 16777215 0 - 16777215 0 - 16777215 0 - 16777215 0 - 16777215 0 - 16777215 0 - 16777215 0 - 16777215 0 - 16777215 0 - 16777215 0 - 24 0 - 214748364 0 - 24 0 - 214748364 0-2 － － － Data Type I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I16 I32 I16 I32 I16 I16 I16 I16 Acc ess rw rw rw rw rw rw rw rw rw rw rw rw rw rw rw rw － － － PDO No No No No No No No No No No No No No No No No － － － Op- EEPRO Attribu mode M te ALL Yes C ALL Yes C ALL Yes C ALL Yes C ALL Yes C ALL Yes C ALL Yes C ALL Yes C ALL Yes C ALL Yes C ALL Yes C ALL Yes A ALL Yes A ALL Yes A ALL Yes A ALL Yes A － － － － － － csp pp Yes A hm ip csp pp Yes A hm ip csp pp Yes A hm ip ALL Yes A csv pv Yes A cst tq csv pv Yes A cst tq 3431h 00h Positioning complete (In-position) range command 0 - 262144 I32 rw No 3432h 00h Positioning complete (In-position) output setup － 0-4 I16 rw No 3433h 00h INP hold time 1ms 0 - 30000 I16 rw No 3434h 00h Zero-speed r/min 10 - 20000 I16 rw No 3435h 00h Speed coincidence range r/min 10 - 20000 I16 rw No 3436h 00h At-speed (Speed arrival) r/min 10 - 20000 I16 rw No 3437h 00h 1ms 0 - 10000 I16 rw No ALL Yes B 3438h 00h 1ms 0 - 10000 I16 rw No ALL Yes B 3439h 3440h 3441h 00h 00h 00h r/min － － 30 - 3000 0 - 14 0 - 14 I16 rw I16 rw I16 rw No No No Yes Yes Yes B A A 3442h 00h command 0 - 262144 I32 rw No ALL ALL ALL csp pp hm ip Yes A Mechanical brake action at stalling setup Mechanical brake action at running setup Brake release speed setup Selection of alarm output 1 Selection of alarm output 2 Positioning complete (In-position) range 2 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 272 Servo parameter area (3000h to 3FFFh) Index 3503h 3504h 3505h 3506h 3507h 3508h 3509h 3510h 3511h 3512h 3513h Category 5: Extended configuration SubName Index Denominator of pulse output division 00h (Not supported) 00h Over-travel inhibit input setup 00h Sequence at over-travel inhibit 00h Sequence at Servo-Off 00h Sequence upon main power off 00h L/V trip selection upon main power off 00h Detection time of main power off 00h Sequence at alarm 00h Torque setup for emergency stop 00h Over-load level setup 00h Over-speed level setup Units Range － 0 - 1048576 － － － － － 1ms － % % r/min Data Acc PDO Op- EEPRO Attribu Type ess mode M te I32 rw No ALL Yes R 0-2 0-2 0-9 0-9 0-3 70 - 2000 0-7 0 - 500 0 - 500 0 - 20000 I16 I16 I16 I16 I16 I16 I16 I16 I16 I16 rw rw rw rw rw rw rw rw rw rw No No No No No No No No No No Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes C C B B B C B B A A 0.1 rotation 0 - 1000 I16 rw No Yes A Yes － C - Yes B Yes B － － － Yes C 3514h 00h Motor working range setup 3515h 3520h 00h Control input signal reading setup 00h For manufacturer’s use － － 0-3 － I16 rw I16 － No － 3521h 00h Selection of torque limit － 1-4 I16 rw No 3522h 00h 2nd torque limit % 0 - 500 I16 rw No 3525h 3526h 3529h 3531h 00h 00h 00h 00h － － － － － － － 0 - 127 I16 I16 I16 I16 － － － rw － － － No ALL ALL ALL ALL ALL ALL ALL ALL ALL ALL csp pp hm ip ALL － csp pp hm ip csv pv csp pp hm ip csv pv － － － ALL － 0-1 I16 rw No ALL Yes C － － I16 － － － － - 3533h 3534h For manufacturer’s use For manufacturer’s use For manufacturer’s use USB axis address Pulse regenerative output limit setup 00h (Not supported) 00h For manufacturer’s use R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 273 Servo parameter area (3000h to 3FFFh) Index Category 6: Specific configuration SubName Index Units Range 3602h 00h Speed deviation excess setup r/min 0 - 20000 3605h 00h Position 3rd gain valid time 0.1ms 0 - 10000 3606h 00h Position 3rd gain scale factor % 50 - 1000 3607h 00h Torque command additional value % -100 - 100 3608h 00h Positive direction torque compensation value % -100 - 100 3609h 00h Negative direction torque compensation value % -100 - 100 3610h 3611h 3614h 3615h 3618h 3619h 3620h 3621h 00h 00h 00h 00h 00h 00h 00h 00h Function expansion setup Current response setup Emergency stop time at alarm 2nd over-speed level setup Power-up wait time For manufacturer’s use For manufacturer’s use For manufacturer’s use － % 1ms r/min 100ms － － － 0 - 2047 50 - 100 0 - 1000 0 - 20000 0 - 100 － － － 3622h AB phase external scale pulse 00h outputting method selection (Not supported) － 0-1 2.00 Data Acc PDO Op- EEPRO Attribu Type ess mode M te csp(s) pp(s) I16 rw No Yes A hm(s) ip(s) csp pp I16 rw No Yes B hm ip csp pp I16 rw No Yes B hm ip csp pp hm I16 rw No Yes B ip csv pv csp pp I16 rw No Yes B hm ip csp pp Yes B I16 rw No hm ip I16 rw No ALL Yes B I16 rw No ALL Yes B I16 rw No ALL Yes B I16 rw No ALL Yes A I16 rw No ALL Yes R I16 － － ― － － I16 － － ― － － I32 － － － － ― csp(F) pp(F) Yes R I16 rw No hm(F) ip(F) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 274 - Servo parameter area (3000h to 3FFFh) Index Category 6: Specific configuration SubName Index 3623h 00h Disturbance torque compensating gain 3624h 00h Disturbance observer filter 3627h 00h Units Range Data Acc PDO Op- EEPRO Attribu Type ess mode M te csp(s) pp(s) hm(s) I16 rw No Yes B ip(s) csv pv csp(s) pp(s) hm(s) I16 rw No Yes B ip(s) csv pv % -100 - 100 0.01ms 10 - 2500 － 0-3 I16 rw No ALL Yes C － － 0-3 -32768 - 32767 I16 rw I16 rw No No ALL ALL csp(F) pp(F) hm(F) ip(F) csp(F) pp(F) hm(F) ip(F) ALL ALL － － csp pp hm ip ALL ALL csp(s) pp(s) hm(s) ip(s) csp(s) pp(s) hm(s) ip(s) csp(s) pp(s) hm(s) ip(s) csp(s) pp(s) hm(s) ip(s) ALL Yes Yes B B Yes B Yes B Yes Yes － － B C - Yes B Yes Yes B B 3631h 3632h Warning latch state setup (Not supported) 00h Real time auto tuning estimation speed 00h Real time auto tuning custom setup 3634h 00h Hybrid vibration suppression gain (Not supported) 0.1/s 0 - 30000 I16 rw No 3635h 00h Hybrid vibration suppression filter (Not supported) 0.01ms 0 - 6400 I16 rw No 3637h 3638h 3639h 3640h 00h 00h 00h 00h Oscillation detecting level Alarm mask setup For manufacturer’s use For manufacturer’s use 0.1% － － － 0 - 1000 -32768 - 32767 － － I16 I16 I16 I16 rw rw － － No No － － 3641h 00h 1st damping depth － 0 - 1000 I16 rw No 3642h 3643h 00h 2-stage torque filter time constant 00h 2-stage torque filter attenuation term 0.01ms － 0 - 2500 0 - 1000 I16 rw I16 rw No No 2.00 3647h 00h Function expansion setup 2 - 0 - 15 I16 rw No 2.00 3648h 00h Tuning filter 0.1ms 0 - 2000 I16 rw No 3649h 00h Command / tuning filter damping - 0 – 99 I16 rw No 2.00 3650h 00h Viscous friction compensating gain 0.1%/ 0 – 10000 (10000r/min) I16 rw No 2.00 3651h 00h Wait time for emergency stop ms I16 rw No 2.00 0 - 10000 Yes R Yes B Yes B Yes B Yes B R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 275 Servo parameter area (3000h to 3FFFh) Category 7: Specific configuration 2 SubName Index 3700h 00h Display on LED 3701h 00h Display time setup upon power-up Index Range － 100ms 0 - 32767 0 - 1000 Data Type I16 I16 － 0-1 I16 Acc PDO Op- EEPRO Attribu ess mode M te rw No ALL Yes A rw No ALL Yes R cst rw No Yes A tq － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － rw No ALL Yes C － － － － － csv pp hm rw No Yes B ip csv pv rw No ALL Yes R rw No ALL Yes B 3703h 00h Output setup during torque limit 3704h 3705h 3706h 3707h 3708h 3709h 3710h 3711h 3712h 3713h 3714h 3715h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h For manufacturer’s use For manufacturer’s use For manufacturer’s use For manufacturer’s use For manufacturer’s use For manufacturer’s use For manufacturer’s use For manufacturer’s use For manufacturer’s use For manufacturer’s use Main power off warning detection time For manufacturer’s use － － － － － － － － － － 1ms － － － － － － － － － － － 0 - 2000 － I16 I16 I16 I16 I16 I16 I16 I32 I32 I32 I16 I32 3716h 00h Torque saturation error protection frequency time 0 - 30000 I16 3722h 3723h 00h Communication function extended setup 1 00h Communication function extended setup 2 Communication function extended 00h setup 3 00h For manufacturer’s use 00h Station Alias setup(high) 00h Station Alias selection Maximum continuation 00h communication error 00h Lost link detection time 00h Software version 00h Homing return speed limit value － － -32768 - 32767 -32768 - 32767 I16 I16 － -32768 - 32767 I16 rw No ALL Yes C － － － － 0 - 255 0-2 I16 － I16 rw I16 rw － No No － ALL ALL － Yes Yes － R R － -32768 - 32767 I16 rw No ALL Yes R 0 - 32767 I16 rw -2147483648 – 2147483647 I32 ro 0 - 20000 I16 rw No No No ALL ALL hm Yes Yes Yes R X C 3724h 3739h 3740h 3741h 3742h 4.00 Units 3743h 3744h 3793h ms － r/min R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 276 Servo parameter area (3000h to 3FFFh) Index 3800h 3801h 3802h 3803h 3804h 3805h 3810h 3812h 3813h 3814h 3815h 3819h Category 8: Specific configuration 3 SubName Index 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use 00h For manufacturer’s use Units Range － － － － － － － － － － － － － － － － － － － － － － － － Data Type I16 I32 I16 I16 I32 I16 I32 I16 I32 I32 I32 I16 Acc ess － － － － － － － － － － － － PDO － － － － － － － － － － － － Op- EEPRO Attribu mode M te － － － － － － － － － － － － － － － － － － － － － － － － R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 277 4.00 User-specific area (4000h～4FFFh) Index SubIndex 00h 4D00h 01h 02h 4D01h 00h 4D29h 00h Name Special function start Number of entries Special function start flag 1 Special function start flag 2 Special function setting 9 Over load factor Units Range 0.1% 2 0 – 4294967295 0 – 4294967295 0 – 65535 0 – 65535 Data Type U8 U32 U32 U16 U16 Acc PDO ess ro No rw No rw No rw No ro TxPDO Op- EEPRO Attribu mode M te No X ALL No B No B ALL No B ALL No X R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 278 Drive profile area (6000h to 6FFFh) Index 6007h 603Fh 6040h 6041h 605Ah 605Bh 605Ch 605Dh SubIndex 00h 00h 00h 00h 00h 00h 00h 00h Name Abort connection option code Error code Controlword Statusword Quick stop option code Shutdown option code Disable operation option code Halt option code Units Range - 0–3 0 – 65535 0 – 65535 0 – 65535 0–7 0–1 0–1 1–3 Data Type I16 U16 U16 U16 I16 I16 I16 I16 605Eh 00h Fault reaction option code - 0–2 6060h 6061h 00h Modes of operation 00h Modes of operation display - -128 – 127 -128 – 127 6062h 00h Position demand value command -2147483648 – 2147483647 I32 6063h 6064h 00h Position actual internal value 00h Position actual value pulse command -2147483648 – 2147483647 I32 -2147483648 – 2147483647 I32 6065h 00h Following error window command 0 – 4294967295 U32 6066h 00h Following error time out 1ms 0 – 65535 U16 6067h 00h Position window command 0 – 4294967295 U32 6068h 00h Position window time 1ms 0 – 65535 U16 6069h 00h Velocity sensor actual value 606Ah 00h Sensor selection code - I16 rw I8 I8 -2147483648 – 2147483647 I32 -32768 – 32767 I16 606Bh 00h Velocity demand value command/s -2147483648 – 2147483647 I32 606Ch 606Dh 606Eh 606Fh 6070h 00h 00h 00h 00h 00h command/s command/s 1ms command/s 1ms -2147483648 – 2147483647 0 – 65535 0 – 65535 0 – 65535 0 – 65535 I32 U16 U16 U16 U16 6071h 00h Target torque 0.1% -32768 – 32767 I16 6072h 6073h 6074h 6075h 6076h 6077h 6078h 6079h 00h 00h 00h 00h 00h 00h 00h 00h 0.1% 0.1% 0.1% mA mN・m 0.1% 0.1% mV 0 – 65535 0 – 65535 -32768 – 32767 0 – 4294967295 0 – 4294967295 -32768 – 32767 -32768 – 32767 0 – 4294967295 U16 U16 I16 U32 U32 I16 I16 U32 command -2147483648 – 2147483647 I32 command command command 2 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 U8 I32 I32 I32 Velocity actual value Velocity window Velocity window time Velocity threshold Velocity threshold time Max torque Max current Torque demand Motor rated current Motor rated torque Torque actual value Current actual value DC link circuit voltage 607Ah 00h Target position 607Bh 607Ch 00h 01h 02h 00h Position range limit Highest sub-index supported Min position range limit Max position range limit Home offset Acc PDO ess rw No ro TxPDO rw RxPDO ro TxPDO rw No rw No rw No rw No No Op- EEPRO Attribu mode M te ALL Yes A ALL No X ALL No A ALL No X ALL Yes A ALL Yes A ALL Yes A ALL Yes A ALL Yes A rw RxPDO ALL ro TxPDO ALL pp hm ro TxPDO ip csp ro TxPDO ALL ro TxPDO ALL pp rw RxPDO csp pp rw RxPDO csp pp rw RxPDO ip pp rw RxPDO ip ro TxPDO ALL ro RxPDO pv pv ro TxPDO csv ro TxPDO ALL rw RxPDO pv rw RxPDO pv rw RxPDO pv rw RxPDO pv tq rw RxPDO cst rw RxPDO ALL ro No tq ro TxPDO ALL ro No ALL ro No ALL ro TxPDO ALL ro TxPDO ALL ro TxPDO ALL pp rw RxPDO csp ro No ALL rw RxPDO rw RxPDO rw RxPDO ALL Yes No A X No X No No X X Yes A Yes A Yes A Yes A No No X X No X No Yes Yes Yes Yes X A A A A Yes A Yes No No No No No No No A X X X X X X X No A No Yes Yes Yes X X X P,H 2.00 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 279 - Drive profile area (6000h to 6FFFh) Index SubIndex 00h 607Dh 01h 02h 607Eh 00h Name Software position limit Number of entries Min position limit Max position limit Polarity 607Fh 00h Max profile velocity 6080h 00h Max motor speed 6081h Units command command - Range Data Type 2 U8 -2147483648 – 2147483647 I32 -2147483648 – 2147483647 I32 0 – 255 U8 Acc PDO ess ro No rw RxPDO rw RxPDO rw No command/s 0 – 4294967295 U32 rw RxPDO r/min 0 – 4294967295 U32 rw RxPDO 00h Profile velocity command/s 0 – 4294967295 U32 rw RxPDO 6082h 00h End velocity command/s 0 – 4294967295 U32 rw RxPDO 6083h 00h Profile acceleration command/s2 0 – 4294967295 U32 rw RxPDO 6084h 00h Profile deceleration command/s2 0 – 4294967295 U32 rw RxPDO 6085h 00h Quick stop deceleration command/s2 0 – 4294967295 U32 rw RxPDO 6086h 00h Motion profile type - -32768 – 32767 I16 rw RxPDO 6087h 00h Torque slope 0.1%/s 0 – 4294967295 U32 rw RxPDO 6088h 00h 00h 01h 02h 00h 01h 02h pulse r (motor) r (motor) r (shaft) command r (shaft) command /s command/s command/s2 -32768 – 32767 2 1 – 4294967295 1 – 4294967295 2 1 – 4294967295 1 – 4294967295 2 1 – 4294967295 1 – 4294967295 -128 – 127 2 0 – 4294967295 0 – 4294967295 0 – 4294967295 I16 U8 U32 U32 U8 U32 U32 U8 U32 U32 I8 U8 U32 U32 U32 608Fh 6091h 00h 01h 02h 6098h 00h 00h 6099h 01h 02h 609Ah 00h 6092h Torque profile type Position encoder resolution Highest sub-index supported Encoder increments Motor revolutions Gear ratio Number of entries Motor revolutions Shaft revolutions Feed constant Highest sub-index supported Feed Shaft revolutions Homing method Homing speeds Number of entries Speed during search for switch Speed during search for zero Homing acceleration 2.00 2.00 2.00 rw ro ro ro ro rw rw ro rw rw rw ro rw rw rw RxPDO No No No No No No No No No RxPDO No RxPDO RxPDO RxPDO Op- EEPRO Attribu mode M te pp No X ip Yes P,H csp Yes P,H ALL Yes P pp hm Yes B ip pv ALL 2.00 Yes B pp Yes A ip pp Yes X ip pp pv Yes A ip pp ip Yes A pv pp pv hm Yes A ip csp csv pp pv Yes A ip tq Yes A cst tq Yes A No X ALL No X No X No X ALL Yes P,H Yes P,H No X ALL Yes P,H Yes P,H hm Yes B No X hm Yes A Yes A hm Yes A R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 280 - Drive profile area (6000h to 6FFFh) Index 60A3h SubIndex Name 00h Profile jerk use 60B0h 00h 01h 02h 00h 60B1h 00h Velocity offset 60B2h 60B8h 60B9h 60BAh 60BBh 60BCh 60BDh 60C0h 00h 00h 00h 00h 00h 00h 00h 00h 00h 01h 60A4h 60C1h FEh 00h 60C2h 01h 02h 00h 01h 02h 60C4h 03h 04h 05h 06h Profile jerk Highest sub-index supported Profile jerk 1 Profile jerk 2 Position offset Torque offset Touch probe function Touch probe status Touch probe pos1 pos value Touch probe pos1 neg value Touch probe pos2 pos value Touch probe pos2 neg value Interpolation sub mode select Interpolated data record Highest sub-index supported 1st set-point 254th set-point Interpolation time period Highest sub-index supported Interpolation time period value Interpolation time index Interpolation data configuration Highest sub-index supported Maximum buffer size Actual buffer size Buffer organisation Buffer position Size of data record Buffer clear Units Range - 1 - 2 , 255 command/s3 command/s3 command 1-2 0 – 4294967295 0 – 4294967295 -2147483648 – 2147483647 command/s -2147483648 – 2147483647 0.1% command command command command command : command - -32768 – 32767 0 – 65535 0 – 65535 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 -2147483648 – 2147483647 0 1 - 254 -2147483648 – 2147483647 -2147483648 – 2147483647 2 0 - 255 -128 – 63 6 0 – 4294967295 0 – 4294967295 0,1 0 – 32767 1 - 254 0,1 60C5h 00h Max acceleration command/s2 0 – 4294967295 60C6h 00h Max deceleration command/s2 0 – 4294967295 Data Acc PDO Op- EEPR Attrib Type ess mode OM ute pp U8 rw No pv Yes A ip pp U8 ro No No X pv U32 rw No Yes A ip U32 rw No Yes A I32 rw RxPDO csp Yes A pp pv hm I32 rw RxPDO Yes A ip csp csv I16 rw RxPDO ALL Yes A U16 rw RxPDO ALL No A U16 ro TxPDO ALL No X I32 ro TxPDO ALL No X I32 ro TxPDO ALL No X I32 ro TxPDO ALL No X I32 ro TxPDO ALL No X I16 rw No ip Yes A U8 ro No No X I32 rw No ip No A : I32 rw No No A ip U8 ro No No X csp csv U8 rw No Yes A cst I8 rw No Yes A U8 ro No No X U32 rw RxPDO Yes A U32 rw RxPDO Yes A ip U8 rw RxPDO Yes A U16 rw RxPDO Yes A U8 wo RxPDO Yes A U8 wo RxPDO Yes A pp hm U32 rw RxPDO Yes A pv ip pp hm U32 rw RxPDO Yes A pv ip R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 281 - Drive profile area (6000h to 6FFFh) Index SubName Index - Supported homing method 00h Number of entries Units Range - 32 Data Type U8 Acc PDO Op- EEPR Attribu ess mode OM te ro No No X 60E3h 01h 1st supported homing method - 0 – 32767 U16 ro 60F2h 20h 32nd supported homing method 00h Positioning option code : - 0 – 32767 0 – 32767 U16 ro No U16 rw RxPDO 60F4h 00h Following error actual value command -2147483648 – 2147483647 I32 ro TxPDO 60FAh 00h Control effort command/s -2147483648 – 2147483647 I32 ro TxPDO 60FCh 00h Position demand internal value pulse -2147483648 – 2147483647 I32 ro TxPDO - 0 – 4294967295 2 0 – 4294967295 0 – 4294967295 U32 U8 U32 U32 60FDh 00h 00h 60FEh 01h 02h Digital inputs Digital outputs Number of entries Physical outputs Bit mask 60FFh 00h Target velocity 6502h 00h Supported drive modes command/s - No ALL No X : pp pp hm ip csp pp hm ip csp pp hm ip csp ALL ro TxPDO ro No ALL rw RxPDO rw RxPDO pv -2147483648 – 2147483647 I32 rw RxPDO csv 0 – 4294967295 U32 ro TxPDO ALL No Yes X A No X No X No X No No Yes Yes X X A A No A No X R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 282 - 10 10 Glossary of Terms 10-1 Glossary of Terms ..................................................................................................................................... 283 R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 283 - 10-1 Glossary of Terms Term/abbreviation AL CSP,csp CSV,csv CST,cst DC ESC ESM FG HM,hm MBX PDO PDS PP,pp RxPDO SM TxPDO WDT nma ms oms eo r qs ev h so fr RW rw ro c Alarm Warning Yes No - Description Application Layer Cyclic Synchronous Position (profile) Cyclic Synchronous Velocity Cyclic Synchronous Torque Distributed Clocks EtherCAT Slave Controller EtherCAT State Machine Function Group Homing Mode Mailbox Process Data Object Power Drive Systems Profile Position Receive PDO SyncManager Transmit PDO Watchdog Timer No Mode Assigned manufacturer-specific (Controlword 6040h) operation mode specific (Controlword 6040h) enable operation (Controlword 6040h) reserved (Controlword 6040h) quick stop enable voltage halt switch on fault reset Read-Write read-write read-only constant Error Warning Supported Not supported Not applicable (Controlword 6040h) (Controlword 6040h) (Controlword 6040h) (Controlword 6040h) (Controlword 6040h) (or condition met) (or condition not met) (or out of scope) R4.00 Motor Business Unit, Panasonic Corporation No. SX-DSV02473 - 284 - Data Type U8 U16 U32 Int8 Int16 Int32 VS BOOL OS Unsigned8 Unsigned16 Unsigned32 Integer8 Integer16 Integer32 Visible String Boolean Octet String R4.00 Motor Business Unit, Panasonic Corporation