BLP14A Brushless DC Drive Product Manual V2.00, 08.2010

BLP14A Brushless DC drive Product manual V2.00, 08.2010

0098441113504, V2.00, 08.2010 www.schneider-electric.com Important information BLP14A

Important information

This manual is part of the product. Carefully read this manual and observe all instructions. Keep this manual for future reference. Hand this manual and all other pertinent product documentation over to all users of the product. Carefully read and observe all safety instructions and the chapter "Be- fore you begin - safety information".

Some products are not available in all countries. For information on the availability of products, please consult the cata- log. Subject to technical modifications without notice. All details provided are technical data which do not constitute warranted qualities. Most of the product designations are registered trademarks of their respective owners, even if this is not explicitly indicated. 0098441113504, V2.00, 08.2010 2 Brushless DC drive 0098441113504, V2.00, 08.2010 L1ATable contents of BLP14A Brushless DCdrive Brushless Table ofcontents ehia aa...... 21 ...... Technical Data 3 17 Before . . you . . . begin -safety information. 2 11 ...... Introduction 1 .. iesos 23 ...... Dimensions. 23 ...... data Mechanical 3.3.1 21 ...... Ambient conditions 3.3 21 ...... Certifications 3.2 3.1 20 ...... Standards and terminology 20 ...... safety Functional 2.6 19 ...... Basic information. 2.5 18 ...... Hazard categories 2.4 17 . Intended . use . . . . . 2.3 17 . . . . . Qualification of personnel 2.2 2.1 16 for . functionalsafety. . certificate TÜV . . 15 . . Declaration . . ofconformity. . 1.6 14 . . . Type. . . . . code 1.5 13 . . . . . Components and interfaces 1.4 12 ...... Scope ofsupply. 1.3 11 ...... Device overview 1.2 1.1 10 reading...... Further . 9 ...... About thismanual. 3 ...... Table of contents 2 ...... Important information. 3 Table of contents BLP14A

3.4 Electrical Data ...... 24 3.4.1 Connection overview ...... 24 3.4.2 Power stage supply VDC at CN1 ...... 24 3.4.3 Commissioning interface at CN2 ...... 25 3.4.4 I/O signal interfaces at CN3 and CN4 (optional) . . . 26 3.4.5 STO safety function at CN3 ...... 27 3.4.6 Fieldbus interface at CN5...... 28 3.4.7 Motor connection at CN6 ...... 28 3.4.8 Interface for Hall effect sensor at CN7 ...... 29 3.4.9 Motor encoder at CN8 ...... 30 3.4.10 Technical data accessories ...... 31 3.4.11 Cables ...... 31 3.4.12 Connector ...... 31 3.4.13 Other accessories ...... 31 3.5 Conditions for UL 508C ...... 31

4 Basics ...... 33 4.1 Functional safety...... 33 4.2 Fieldbus CANopen basics ...... 35 4.2.1 CAN bus...... 35 4.2.2 CANopen technology ...... 36 4.2.3 Communication profile ...... 39 4.2.4 Service data communication ...... 45 4.2.5 Process data communication...... 50 4.2.6 Synchronization ...... 57 4.2.7 Emergency service ...... 59 4.2.8 Network management services ...... 61 4.3 Fieldbus CANopen object dictionary ...... 67 4.3.1 Overview of object group 1000h ...... 67 4.3.2 Details of object group 1000h ...... 71

5 Engineering...... 107 5.1 Specification of the control mode ...... 107 5.2 Configurable inputs and outputs...... 107 5.3 External power supply units ...... 108 5.3.1 Power stage supply ...... 108 5.3.2 Signal power supply...... 109 5.4 Safety function STO ("Safe Torque Off")...... 110 5.4.1 Definitions ...... 110 5.4.2 Function ...... 110 5.4.3 Requirements for using the safety function ...... 110 5.4.4 Application examples STO...... 112 5.4.5 Error handling E1300 (STO) ...... 114 5.5 Monitoring functions ...... 115 0098441113504, V2.00, 08.2010 4 Brushless DC drive 0098441113504, V2.00, 08.2010 L1ATable contents of BLP14A Brushless DCdrive Brushless prto 181 ...... Operation 8 145 ...... Commissioning 7 117 ...... Installation 6 .. hnigteoeaigmd ...... 195 . . . . . Changing the operating mode 194 ...... the operating mode Starting 193 Displaying, and changing operating . . starting modes 8.4.2 191 ...... Changing operating 8.4.1 states 188 . . . . . Indicating the operating states 8.4 184 ...... State diagram 8.3.3 184 ...... Operating states 8.3.2 183 ...... Via signal inputs 8.3.1 183 . . . . . Via commissioning software 8.3 183 ...... Via fieldbus 8.2.3 183 ...... Access channels 8.2.2 8.2.1 182 . . . Overview. . ofoperating modes 8.2 8.1 172 . . Controlleroptimization with step response. 171 Checking thedirectionofmovement. . . . 170 Testing . . . . thesafety function STO 7.3.8 Testing the signalsofthe limi 7.3.7 166 . . Setting, scalingand checking analogsignals 7.3.6 Setting basicparameters a 7.3.5 157 ...... "First Setup" 7.3.4 156 . . . Setting thedevice addressand baud rate 7.3.3 156 . Commissioning . . procedure. . . 7.3.2 151 . . . . Human-MachineInterface HMI: 7.3.1 150 . . . . Lexium7.3 CTcommissioningsoftware 149 ...... Overview. 7.2.3 149 ...... Commissioning tools 7.2.2 148 7.2.1 ...... Overview 7.2 7.1 143 ...... Checking installation 141 Motor encoder connection (CN8) . . . . 140 . . . . effect Hall 6.5 sensorconnection(CN7) 138 connection(CN6). Motor . . . . 6.4.10 135 ...... Fieldbus connection (CN5) 6.4.9 6.4.8 I/Oexpansion signal interface connection 6.4.7 131 . . . I/Osignalinterface connection (CN3). 129 . . . Commissioning interface connection (CN2) 6.4.6 127 Power . . . stage supplyconnection(CN1) 6.4.5 126 ...... Connection overview 6.4.4 125 Overview . of . procedure . . . 6.4.3 124 ...... installation Electrical 6.4.2 122 6.4.1 ...... thedevice Mounting 6.4 120 ...... installation Mechanical 6.3 118 . . . . Electromagnetic compatibility, EMC 6.2 6.1 C4otoa) 133 (CN4 optional)...... dlmtvle ...... 164 . . . nd limitvalues wths 169 . . . t switches 5 Table of contents BLP14A

8.5 Operating modes ...... 196 8.5.1 Operating mode Jog ...... 196 8.5.2 Operating mode Current Control ...... 199 8.5.3 Operating mode Speed Control ...... 201 8.5.4 Operating mode Profile Position ...... 203 8.5.5 Operating mode Profile Velocity...... 206 8.5.6 Operating mode Motion Sequence ...... 208 8.5.7 Operating mode Homing ...... 224 8.6 Functions ...... 237 8.6.1 Monitoring functions...... 237 8.6.2 Scaling ...... 246 8.6.3 Motion profile ...... 249 8.6.4 Quick Stop ...... 252 8.6.5 Halt...... 253 8.6.6 Standstill window ...... 254 8.6.7 Setting the digital signal inputs and signal outputs 256 8.6.8 Reversal of direction ...... 269 8.6.9 Checksum read value ...... 271 8.6.10 Delay time for "Target Reached" and "Homing Attained" ...... 272 8.6.11 Storing user-specific values ...... 274 8.6.12 Restoring default values...... 275

9 Examples...... 277 9.1 Wiring examples ...... 277 9.2 Wiring STO ...... 280 9.3 Sample settings ...... 280 9.3.1 Standardized operating modes ...... 280 9.3.2 Vendor-specific operating modes...... 284

10 Diagnostics and troubleshooting ...... 289 10.1 Error indication ...... 289 10.1.1 State diagram...... 290 10.1.2 Error indication with LEDs ...... 294 10.1.3 Error indication using the commissioning software 296 10.1.4 Error indication via the fieldbus ...... 297 10.2 Troubleshooting ...... 302 10.2.1 Fieldbus communication ...... 302 10.2.2 Troubleshooting of errors sorted by error bit . . . . . 303 10.3 Table of error numbers ...... 305

11 Parameters ...... 315 11.1 Representation of the parameters ...... 315 11.1.1 Explanation of the parameter representation. . . . . 316 11.2 List of parameters...... 318 11.3 Objects for PDO mapping...... 355 11.4 Assignment object group 6000h ...... 356 0098441113504, V2.00, 08.2010 6 Brushless DC drive 0098441113504, V2.00, 08.2010 L1ATable contents of BLP14A Brushless DCdrive Brushless 6Idx 381 ...... Index. 16 375 ...... Glossary. 15 363 ...... Extract 14 359 . . . . . maintenance and disposal Service, 13 357 ...... Accessories andspare parts 12 52TrsadAbeitos 377 Terms . . . . . andAbbreviations. 376 ...... Conductor cross section 15.2 376 Temperature ...... 376 ...... ofinertia Moment 15.1.9 376 Torque.15.1.8 ...... 376 ...... Rotation 15.1.7 375 Power . 15.1.6 ...... 375 . Force. . . 15.1.5 . . . . . 375 ...... Mass 15.1.4 375 ...... Length. 15.1.3 15.1.2 375 . . . . . Units and conversion tables 15.1.1 15.1 373 . . . . existing Duplicating device settings 369 ...... "First Setup" 368 . . . Setting14.2.3 thedevice addressand baud rate 14.2.2 368 . . . . . Extract for commissioning 14.2.1 367 ...... example Wiring 14.2 364 ...... Connection overview 14.1.2 363 ...... Extract for installation 14.1.1 14.1 362 . . . . . Shipping, storage, disposal 362 ...... Changing the motor. 13.5 361 ...... Replacing devices 13.4 360 . Lifetime . . . . STO safety function. 13.3 360 ...... Maintenance 13.2.1 359 ...... address Service 13.2 13.1 357 ...... Connector 357 ...... Accessories. 12.2 12.1 7 Table of contents BLP14A 0098441113504, V2.00, 08.2010 8 Brushless DC drive 0098441113504, V2.00, 08.2010 L1AAboutthismanual BLP14A Brushless DCdrive Brushless Correctionssuggestions and About thismanual Source EPLANMacros Making work easier Source manuals Parameters Work steps Work SI units behind thevalue; original they mayrounded. be SI units are the values.original Converted units are shown in brackets alphabetically by parametername. Parameters. sorted is list chapter parameter the in The plained ample ample for name, parameter the ex- with shown are textIn parameters sections, information on making work easier. Sections highlightedthis way provide supplementary Information onmaking easier work ishighlighted bysymbol: this specified sequence. Unless otherwise stated, the individual steps must be performed inthe work stephas been performed correctly. the that allows you verify to this indicated, is step work a to response a If is representedfollows: as If steps work must be performed consecutively, this sequence of steps ̈ ୵ ̈ ࡯ • The followingmanuals belongthis to product: sion. identifywhether your producta standard is productor acustomized ver- allows code youfortype code The type to liststhe tion" this product. This manual is valid for BLP14A standard products. Chapter 1 "Introduc- http://www.schneider-electric.com at: The latestversions the ofmanuals can bedownloaded from the Internet [email protected] Please get intouchwith usby e-mail: gestions and corrections. manuals. our optimize We yourWe welcome sug- always to further try http://www.schneider-electric.com at: Internet ble the for from download For easier engineering, macro files and product master data are availa- Step 2 step work this to response Specific Step 1 for prerequisites Special thefollowing steps work Product manual missioning and the operating modesfunctions. and _IO_act . The way parameters are represented intablesis ex- , describes the technical, describes data, installation, com- . 9 About this manual BLP14A

Example: Minimum conductor cross section: 1.5 mm2 (AWG 14) Inverted signals Inverted signals are represented by an overline, for example STO_A or STO_B. Glossary Explanations of special technical terms and abbreviations. Index List of keywords with references to the corresponding page numbers.

Further reading

CAN users and manufacturers CiA - CAN in Automation organization Am Weichselgarten 26 D-91058 Erlangen http://www.can-cia.org/ CANopen standards • CiA Standard 301 (DS301) CANopen application layer and communication profile • CiA Standard 402 (DSP402) Device profile for drives and motion control • ISO 11898: Controller Area Network (CAN) for high speed communication • EN 50325-4: Industrial communications subsystem based on ISO 11898 for controller device interfaces (CANopen) Recommended literature for further reading • Ellis, George: Control System Design Guide. Academic Press • Kuo, Benjamin; Golnaraghi, Farid: Automatic Control Systems. John Wiley & Sons 0098441113504, V2.00, 08.2010 10 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A1Introduction Device overview 1.1 Introduction 1 BLP14A Brushless DCdrive Brushless Safety function Drive system reducesthe system coststhe and response times. to interrupt notthe necessary supply voltage for 0 stop. a category This is It power contactors. external without 60204-1 IEC per as 0stop gory 61800-5-2) allows for acate- The integratedsafety function STO (IEC tors are also available with a motor encoder for such applications. mo- capture. The position precise more Positioning require usually tasks limit. rotation stant velocitycharacteristics minimum down speed to of acertain con- sufficient with operated be they only can design, their to sors. Due The standard DCmotors brushless are equipped witheffect Hall sen- controller, forexample LMC. Reference values supplied areby normally amasterPLC or amotion driveThis isusedcontrol to DCmotor.3-phase a brushless iue11Device overview 1.1 Figure 1 11 1 Introduction BLP14A

1.2 Scope of supply

Figure 1.2 Scope of supply and accessories

(1) BLP14A (2) DIN rail adapter with mounting screws (accessories) (3) EMC kit with mounting screws (accessories) 0098441113504, V2.00, 08.2010 12 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A1Introduction Components andinterfaces 1.3 BLP14A Brushless DCdrive Brushless (13) Connection CN8 motor encoder motor CN8 Connection sensors effect Hall CN7 Connection motor CN6 Connection (13) Nameplate (12) (accessories) adapter rail DIN (11) plate EMC (accessory EMCkit) (10) interface fieldbus CN5 Connection (9) interface signal I/O CN3 Connection (8) ConnectionI/O CN4 expansion signal interface (optional) (7) settings for Switches (6) forstatus LEDs indication (5) interface commissioning CN2 Connection (4) Connection CN1 power stage supply (3) (2) (1) interfaces Components and 1.3 Figure 9 10 1 2 3 4 11 12 5 13 6 7 8 13 1 Introduction BLP14A

1.4 Type code

BLP1 • • D16 B4 •• Product designation BLP1 = Drive for brushless DC motors (Brushless Positioning)

Product design 4 = Closed

Interface A = CANopen / analog

Peak current D16 = 16 Arms

Power stage supply B4 = 24 ... 48 Vdc

Further options 00 = Standard 10 = I/O expansion xx = Customized version

If you have questions concerning the type code, contact your Schneider Electric sales office. Contact your machine vendor if you have questions concerning customized versions. Customized version: Position 10 of the type code is an "S". Example: BLP14AD16S100 The device designation is shown on the nameplate. 0098441113504, V2.00, 08.2010 14 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A1Introduction Declaration ofconformity 1.5 BLP14A Brushless DCdrive Brushless especially: standards, harmonized aeDprmn: Wolfgang Brandstätter/Development Name/Department: 20March2009 Date/Signature: Company stamp: especially: specifications, and technical national standards Applied Applied 006205000400x Product number: BrushlessDCDrive Type: Designation: by us. theproductsnotauthorized any modificationto declaration becomesinvalidinthecaseof andversiondistributedbyus.This Directives indicatedwithrespecttodesign,construction We herebydeclarethattheproductslisted below meet the requirements of the EC

SCHNEIDER ELECTRIC MOTION DEUTSCHLAND GmbH&Co.KG DEUTSCHLAND MOTION SCHNEIDER ELECTRIC EC BLP14 Product documentation UL 508C IEC 61508:2000,SIL2 EN 62061:2005,SILcl2 EN 61800-3:2004,secondenvironment EN ISO13849-1:2006,PerformanceLevel"d"(category3) accordingtoECDirectiveLowVoltage2006/95/EC accordingtoECDirectiveEMC2004/108/EC accordingtoECDirectiveonMachinery2006/42/EC

D cessories chapter.cessories used underthe specified conditionsa The followingdeclaration of conformityapplicable is if the product is ECLARATION OF Breslauer Str.7D-77933Lahr Y EAR 2009

ONFORMITY

nd with the cables listed in the Ac-

15 1 Introduction BLP14A

1.6 TÜV certificate for functional safety 0098441113504, V2.00, 08.2010 16 Brushless DC drive 0098441113504, V2.00, 08.2010 . Intended use 2.2 2Before you begin-safety information Qualification ofpersonnel 2.1 Before you begin-safety information 2 BLP14A Brushless DCdrive Brushless tained only by qualified personnel. equipmentElectrical should be installed, operated, and main- serviced, sult inhazards. Any useother than the use explicitly isprohibited permitted and can re- ardous locations,Ex areas). be operatedThe productmust NEVER only genuine and spare accessories parts. Operate the product only with the specified cables and accessories.Use tem(for example, machine design). ensure the safety of persons bymeans of the design of this entire sys- Since the product is used as a component inan entire system, you must measures must be implemented. of the planned application. Based on the results, the appropriate safety to usingPrior the product,you must perform assessment arisk inview data. regulations and directives, the specified requirements and the technical The product may only be used in compliance with all applicable safety manual. tothis according use industrial productThis a drive is for DCmotors 3-phasebrushless and intended for when performing such work. applicable standards, directives, and accident prevention regulations an on All personsworking used. is product the inwhich system entire tings and by the mechanical, electrical and electronic equipment of the hazards that may be caused by using the product, by changing the set- potential detect able foresee be to and and experience and knowledge ards involved. These persons musthave sufficient technical training, persons must havereceived safetytraining to recognize and avoid haz- these Inaddition, this product. with on and to work authorized are tion thecontents ofthis manual product and allother documenta- pertinent trained appropriately persons Only d with the product must theproduct befullyfamiliard with withall who arefamiliar wit inexplosiveatmospheres (haz- h and understand 2 17 2 Before you begin - safety information BLP14A

2.3 Hazard categories

Safety instructions to the user are highlighted by safety alert symbols in the manual. In addition, labels with symbols and/or instructions are at- tached to the product that alert you to potential hazards. Depending on the seriousness of the hazard, the safety instructions are divided into 4 hazard categories.

@ DANGER

DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury.

@ WARNING

WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage.

@ CAUTION

CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment damage.

CAUTION

CAUTION used without the safety alert symbol, is used to address practices not related to personal injury (e.g. can result in equipment damage). 0098441113504, V2.00, 08.2010 18 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A2Before you begin-safety information Basic information 2.4 BLP14A Brushless DCdrive Brushless )For USA: Additional information, refer 1) injury. Failure to follow these Perform a comprehensive commissioning test. • Do not operate theproduct with unknown settings or data. • injury. Failure to follow these thor- and individually be must product the of implementation Each • all Observe accident prevention regulationslocal and safety • System control paths may inclu • Separate or redundantcontrol pathsmust beprovidedfor critical • designer The of any controlscheme must consider the potential • LOSS OF CONTROL in Carefully install thewiring • tem. Interferencemay (EMC) cause unpredictable responses inthe sys- ing, incorrect settings, incorrect data orothererrors. Drives may perform unexpected movements because of incorrect wir- UNEXPECTED MOVEMENT • Switch off the voltage at the inputs voltage the inputs off at the Switch • tems”. Guide forSelection, Installationand Operation Adjustable-Speed of Drive Sys- trol” andNEMA ICS to 7.1 (latest edition), “Safety Standards for Construction and Guidelinesfor the Application, Installation,and Maintenanceof Solid StateCon- switching on and configuring the product. the switching configuring on and ( ice. oughly tested for proper operation beforebeing placed into serv- guidelines. sion delaysor failures the link. of eration must be given to the implication of unanticipated transmis- functions. overtravelstop, power outageand restart. failure. Examples control of functions critical are emergency stop, provide ameansachieve to safe a state and after during apath functions, critical forand, certain paths control failure of modes ments. PWRR_B ) to avoid anunexpectedthe of motor before start 1) instructions can result indeath orserious instructions can result indeath orserious @ @ WARNING WARNING accordancewith the EMCrequire- to NEMA ICS 1.1 (latestNEMA ICS to edition), “Safety de communicationlinks. Consid- STO_A ( PWRR_A ) and ) and STO_B 19

2 Before you begin - safety information BLP14A

@ WARNING UNEXPECTED BEHAVIOR AND DESTRUCTION OF SYSTEM COMPO- NENTS When you work on the wiring and when you unplug or plug in connectors, this may cause unexpected behavior and destruction of system components. • Switch the power supply off before working on the wiring. Failure to follow these instructions can result in death, serious injury or equipment damage.

2.5 Functional safety

Using the safety functions integrated in this product requires careful planning. See chapter 5.4 "Safety function STO ("Safe Torque Off")", page 110 for additional information.

2.6 Standards and terminology

Technical terms, terminology and the corresponding descriptions in this manual are intended to use the terms or definitions of the pertinent standards. In the area of drive systems, this includes, but is not limited to, terms such as "safety function", "safe state", "fault", "fault reset", "failure", "error", "error message", "warning", "warning message", etc. Among others, these standards include: • IEC 61800 series: "Adjustable speed electrical power drive systems" • IEC 61158 series: "Industrial communication networks - Fieldbus specifications" • IEC 61784 series: "Industrial communication networks - Profiles" • IEC 61508 series: "Functional safety of electrical/electronic/programmable electronic safety-related systems" Also see the glossary at the end of this manual. 0098441113504, V2.00, 08.2010 20 Brushless DC drive 0098441113504, V2.00, 08.2010 . Ambient conditions 3.2 3Technical Data Certifications 3.1 Technical Data 3 BLP14A Brushless DCdrive Brushless Ambient conditions transportation conditions Ambient Ambient conditions for conditions operation Ambient Certified safetyCertified function and storage 1) No icing No 1) 61800-5-2) Safety function STO "Safe Torque Off" (IEC • productThishas the following safety certified function: Product certifications: cessories. mechanical and electrical properties This chapter contains information onthe ambient conditions and on the The installation altitudeis defined asaltitude above meanlevel. sea The followingrelative humidity operation: ispermissible during "Installation". quired power.in the instructions chapterObserve the 6 pertinent re- the devices on the and between distances mounting the on pends The maximum permissible ambienttemperature operation during de- fied limits. dust. The maximum vibration and shock load mustwithin bethespeci- The environment and during transport storage must and free from be dry the sides >50 mmfor >50 the sides convection at ture of withafree space 40°C sea level tempera- an ambient at 3K3, class As per IEC60721-3-3, altitude aboveInstallation mean sea level derating without altitude aboveInstallation mean Relative humidity Temperature [°C] -25 ... -25 +70 [°C] Operating temperature Temperature E 153659 File number Assigned UL Certification 1) m <2000 [m] <1000 [m] 0... +50 [°C] of the product family and the ac- allowed condensation no ... 85%, 5 3 21 3 Technical Data BLP14A

Installation site and connection For operation, the device must be mounted in a closed control cabinet. The device may only be operated with a permanently installed connection.

@ WARNING LOSS OF SAFETY FUNCTION CAUSED BY FOREIGN OBJECTS Conductive foreign objects, dust or liquids may cause safety functions to become inoperative. • Do not use the a safety function unless you have protected the system against contamination by conductive substances. Failure to follow these instructions can result in death or serious injury.

Pollution degree and degree of protection Pollution degree 2 Degree of protection IP 20

Degree of protection when the You must ensure that conductive substances cannot get into the product safety function is used (pollution degree 2). Conductive substances may cause the safety function to become inoperative. Vibration and shock Vibration, sinusoidal As per IEC 60068-2-6 1.5 mm (from 3 Hz ... 13 Hz) 10 m/s2 (from 13 Hz ... 150 Hz) Shock, semi-sinusoidal As per IEC 60068-2-27 150 m/s2 (for 11 ms)

EMC Emission with shielded cables IEC 61800-3: Category C2 EN 61000-6-4 EN 55022: Class A Emission with unshielded cables IEC 61800-3: Category C3 EN 61000-6-4 EN 55022: Class A Immunity IEC 61800-3: second environment 0098441113504, V2.00, 08.2010 22 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A3Technical Data Dimensions 3.3.1 Mechanical data 3.3 BLP14A Brushless DCdrive Brushless iue31Dimensions 3.1 Figure as[g 0.38 4 [kg] 3 [mm] Free convection 133.5 [mm] 4 [mm] 4.5 [mm] 14 [mm] 28 Mass [mm] 43 Typeof cooling [mm] 86 j [mm] 36 g [mm] 141.5 f [mm] e [mm] d c b a T B H H g T dd a j c b B e f 23 3 Technical Data BLP14A

3.4 Electrical Data

3.4.1 Connection overview

The illustration below shows an overview of the connections.

LED LED OK ERR

LED LED BUS_RUN BUS_ERR CN1 14 2

S1 3

S2 CN4 CN2 S3

CN3

CN5 CN6

CN7

CN8

Figure 3.2 Overview of signal connections

3.4.2 Power stage supply VDC at CN1

The power stage supply VDC is also the controller supply voltage.

1) Nominal voltage VDC [Vdc] 24 ... 48 0098441113504, V2.00, 08.2010 24 Brushless DC drive 0098441113504, V2.00, 08.2010 .. Commissioning 3.4.3 3Technical Data BLP14A Brushless DCdrive Brushless RS485 signals Inrush current Inrush Fuses interface atCN2 Charging current for capacitor C=1100 µF and theinput current. Select the nominal current of the circuit breaker depending on the wiring ( Gerin Merlin type multi9C60N, Circuit breakers tripping are with recommended. thermal For example, dynamic processes suchas fast acceleration load or torque brief peaks. The input currentmay increase greatly isolated. Thewithcomply signals the RS485 standard and are not galvanically nal level. The commissioninginterface uses t chapter. in this "Fuses" section Note 3) 3 seconds. of For amaximum 2) the Notespecial the of requirements power in terms supply units."Exter- See5.3 1) For example,from E-T-AESS20 type ( Alternatively, circuit breakers with electronic tripping can be used. C.characteristic rnmsinpooo Modbus RTU [kBaud Transmission protocol Transmission rate values Limit nu urn [A] <5 [%] Input current ripple Residual oe ispto [W] Power dissipation Input power at 48V Input power at 24V Input power at 48V Input power at 24V Input current short-term Input currentshort-term nenlcpctr [ upstream connected be to Fuse capacitors Internal www.schneider-electric.com nal power supplyunits"(regeneration condition). VDC dc dc dc dc short-term short-term 2) ) Cat.No.60110; rated current 10A, trip trip 10A, Cat.No.60110;current ) rated 2) 2) 3) ] [A] [W] [W] [W] [W] [A] [V μ ]1100 F] dc he Modbus protocol withRS485 sig- 19.260 ... ] www.e-t-a.com for a short periods in the case of inthecaseof periods forshort a 9.6 / 19.2 / 38.4 / / 19.2 9.6 ≤ ≤ ≤ ≤ ≤ ≤ ≤ ≤ 10 600 300 300 150 14 7 7 ). 25 3 Technical Data BLP14A

3.4.4 I/O signal interfaces at CN3 and CN4 (optional)

Signal inputs The signal inputs are internally connected to 0VDC.

Logic 0 (Ulow) [V] -3 ... +5

Logic 1 (Uhigh) [V] +15 ... +30 Input current (typical at 24V) [mA] 3.5 Debounce time [ms] 1.25 ... 1.5

Analog inputs The analog inputs are galvanically connected to 0VDC.

Voltage range of differential input [Vdc] -10 ... +10 circuit Zero voltage window [mV] 50

Maximum input voltage [Vdc] ± 30 Input resistance [kΩ] ≥10 Resolution [Bit] 14 Sampling period [ms] 0.25

Signal outputs The signal outputs are internally connected to 0VDC and short-circuit protected. NOTE: An external power supply unit must be connected to CN3 for the signal outputs at CN3 and CN4 to be able to be used.

Voltage range [V] 10 ... 30 1) Maximum switching current of out- [A] 1.5 put L01_OUT 2) Maximum switching current of the [mA] 200 outputs L02_OUT, XLO1_OUT, XLO2_OUT Suitable for inductive loads [mH] 1000 Voltage drop at 50 mA load [V] ≤1 1) The value corresponds to the supplied 24V signal supply 2) The output can be parameterized to control a holding brake. There is no voltage reduction. 0098441113504, V2.00, 08.2010 26 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A3Technical Data STO safety functionatCN3 3.4.5 BLP14A Brushless DCdrive Brushless Datafor maintenanceand plan safety calculations The connected signal inputs to are internally plan and the safetycalculations: Use the following data of the STO safety function for your maintenance Switchingof both inputs must besimultaneous(offset <1s) 1) C(S 34-)[]90 [%] 13849-1) DC (ISO CoverageDiagnostic upstream devices Permitted widthof testpulse stage) STO (until disabling of power timeof Response safety function PL (ISO 13849-1) d (category 3) d(category 4.299*10 [1/h] MTTF Failure Dangerous to Time Mean 1 13849-1) PL (ISO Performance Level 61508) (IEC PFH ware Failure Hour per 49 Hard- of Dangerous Probability [%] 62061 IEC 61508 20years IEC Safety level integrity 61508) HFT (IEC Type A subsystem Hardware Fault Tolerance 61508) SFF (IEC Safe Failure Fraction 61508) Lifetime (IEC ... 5 1 [ms] between differenceDetection signal of Debounce time at24V) (typical Input current at24V) (typical Input current 0(U Logic Logic 1(U Logic d (ISO 13849-1) 1995 years 1995 13849-1) (ISO STO_A high low ) [V] -3 ... +5 -3... [V] ) STO_B STO_A ) [V] +15 ... +30 +15 ... [V] ) and and STO_B 1) m]<1 [ms] <50 [ms] <1 [s] [mA] [mA] SILCL2 SIL2 ≤ ≤ 3 10 0VDC -9 . 27 3 Technical Data BLP14A

3.4.6 Fieldbus interface at CN5

CAN bus signals The CAN bus signals comply with the ISO 11898 standard and are galvanically isolated. Connection CN5.3 (SHLD) is connected to the housing.

Transmission rate [kBaud 50 / 125 / 250 / 500 / 1000 ] Transmission protocol CANopen as per CiA301 Device profile CANopen as per CiA402

3.4.7 Motor connection at CN6

Maximum motor phase current [Arms]16

Continuous output current [Arms]8 Number of phases 3 Electrical motor time constant [ms] >0.8 Switching frequency of power [kHz] 16 stage

Approved motors You can use the motors from the RECM motor series with 24/48V. It is also possible to connect third-party motors. The third-party motors must comply with the technical data described here. 0098441113504, V2.00, 08.2010 28 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A3Technical Data Interface for Hall 3.4.8 BLP14A Brushless DCdrive Brushless Hall effect sensors effect sensoratCN7 The parameter for the motor phases. switching combinations of the Halleffect sensors and the current pattern The parameter following parameters: maybe different assignments.The assignment be can adapted via the prerequisite for properoperation. motors are used, If there third-party The assignment of the Halleffectas sensorsshown inFigurea 3.3 is ings according to these signals. combinations per electrical revoluti motor. They are offset by 60° or 120° and deliver sixdifferent switching The rotorpositiondetected is by 3Halleffectsensor integrated thein ̈ behavior Switching theHall effectof sensors 3.3 Figure sensors. upyvlae[V voltage Supply aiu urn m]200 [mA] resistance pull-up Internal protected Short-circuit Maximum current aiu al egh[]15 [m] 3000 Maximum cablelength [Hz] Maximumfrequency commutation movement". of direction the "Checking in7.3.7 described as Check function the HALL_W HALL_V HALL_U I_W I_V I_U M_hallpos M_hallshift °420° 0° 60° is used to set the position of the Hall effect 120° is used to isusedspecify ashift betweenthe [k Ω on. Current issuppliedtothe3wind- on. Current dc 180° ]1 ]5 240° ± 5% 300° 360° 29 3 Technical Data BLP14A

3.4.9 Motor encoder at CN8

Motor encoder with A/B/I signals Output: ENC+5V_OUT Supply voltage [V] 5 ±5% Maximum output current [mA] 100 Short-circuit protected Inputs: ENC_A, ENC_B, ENC_I Signal voltage As per RS422 Frequency [kHz] ≤400 [inc/s] ≤1600000

If this encoder is connected, a sinusoidal current pattern is used. 0098441113504, V2.00, 08.2010 30 Brushless DC drive 0098441113504, V2.00, 08.2010 . odtosfrU 508C Conditions for UL 3.5 Otheraccessories 3.4.13 Connector 3.4.12 3Technical Data Cables 3.4.11 Technical dataaccessories 3.4.10 BLP14A Brushless DCdrive Brushless noe als1 0.2 ... 1.0 0.5 ... 2.5 7 ... 1.0 0.2 10 7 3 3 3 15 15 15 Encoder cables effectHall cable sensor Motor cable obs1 0.14 ... 1.5 1.0 ... 0.2 - 0.5 ... 2.5 7 10 2 30 table See "Max- 30 10 30 30 CAN cable interface Signal Modbus Supply cable Overview of required connectors required of Overview Ambient temperature during Overview of required cables required of Overview PELV power supply Pollution degree DIN railadapter DIN operation EMC kit EMC Wiring sories and spare parts". spare and sories The connectors are available as a connector kit. See chapter 12 "Acces- Note the following dimensions when assembling cables. s tlat6/5°C copper conductors. Use at60/75 least III. category Use only power supply units that are approved for overvoltage mustmet: alsobe 508C, the following conditions If the productis used to comply with UL shield clamps. The scopesupply of includes plate, the EMC 2fasteningscrews 2 and facilitatesThe EMCkit EMC-compliant fastening2 screws are includedwithaccessory. this railTheDIN 35mm adapterforis a standard TH35rail60715.per EN as olto ere2 0 ... +50 Pollution degree [°C] airtemperature Surrounding CAN", page 137 page CAN", imum bus length (shielded) length [m] Maximum CAN", page 137 page CAN", imum bus length tableSee "Max- (unshielded) length [m] Maximum 7 0.5 ... 2.5 0.5 ... 7 length [mm] Stripping grounding ofthecable shields. AG2 . W 18) AWG ... 24 (AWG 18) AWG ... 24 (AWG 14) AWG ... 20 (AWG AG2 . W 14) AWG ... 20 (AWG flexible [mm Cross sectionrigidor AG2 . W 18) AWG ... 24 (AWG 16) AWG ... 26 (AWG 14) AWG ... 20 (AWG 2 ] (AWG) 31 3 Technical Data BLP14A 0098441113504, V2.00, 08.2010 32 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics Functional safety 4.1 4BasicsBLP14A Brushless DCdrive Brushless PFH, Probabilityofadangerous PFH, SIL, Safety Integrity Level SafetySIL, Integrity hardware failure per hour E 61508 standard IEC ard. The resultmust not exceed the maximumvalue specifiedthein stand- safety system. The individual PFH values of a function chain are added. ingthe onSIL, must the PFH not exceed values certain forthe entire mannerand the safety function cannotbe correctly executed. Depend- This istheprobabilityperhourthat of PFH (probability implementedforures co evalua to to aprobabilityassessment the required SIL. Allcomponents of a safety function must be subjected levelsous forof measures avoiding vari- requires standard 61508 ToIEC the safety the function, maintain must cover. is to beconsidered asasafety func relevant the chain level. whether decide function to integrity isused This forbasisa serves as analysis theand required risk determining safety functions.SIL1is the lowest level and SIL4is the highestlevel. A hazard 61508defines4 safety integrity levels(SIL) forsafety The standard IEC levelswith comparable risk bedeveloped can basis.on this and components that can be used invarious applications for safety tasks requirements of thesafety specific tor) isconsideredunit.afunction This as chain mustmeet the ample, fromsensor a through the logical processing unitsthe to actua- function. Instead of a single component, an entire function chain (for ex- grammable electronic safety-related systems" covers the safety-related safety electrical/electronic/proof "Functional 61508 IEC standard The tential arising from th tential arising The levelof the requirements results from and the the risk hazardpo- Usually,the safety engineering requirementsdepend on the application. by greatly integrated simplified safetyare functions. grated. and Engineering installationcomplex of automation solutions inte- more and have but more recently past the become in separated Automation and safety engineering are two areas that werecompletely 1 2 PFH athighdemand 3 4 SIL ≥ ≥ ≥ ≥ 10 10 10 10 -6 -7 -8 -9 ... <10 ... <10 ... <10 ... <10 a dangerous failure perhour)for a safety system. e specific application. ntrolling faults. the Thisassessmentdetermines -5 -6 -7 -8 or continuous demand and controlling faul a safety fails system ina hazardous integrity levelintegrity asawhole. Systems tionand whichhazard potential it te the effectiveness ofthemeas- ts,on depending 4 33 4 Basics BLP14A

HFT and SFF Depending on the SIL for the safety system, the IEC 61508 standard requires a specific hardware fault tolerance HFT in connection with a specific proportion of safe failures SFF (safe failure fraction). The hardware fault tolerance is the ability of a system to execute the required safety function in spite of the presence of one or more hardware faults. The SFF of a system is defined as the ratio of the rate of safe failures to the total failure rate of the system. According to IEC 61508, the maximum achievable SIL of a system is partly determined by the hardware fault tolerance HFT and the safe failure fraction SFF of the system. IEC 61508 distinguishes two types of subsystems (type A subsystem, type B subsystem). These types are specified on the basis of criteria which the standard defines for the safety-relevant components.

SFF HFT type A subsystem HFT type B subsystem 012 012 < 60% SIL1 SIL2 SIL3 --- SIL1 SIL2 60% ... <90% SIL2 SIL3 SIL4 SIL1 SIL2 SIL3 90% ... < 99% SIL3 SIL4 SIL4 SIL2 SIL3 SIL4 ≥99% SIL3 SIL4 SIL4 SIL3 SIL4 SIL4

Fault avoidance measures Systematic errors in the specifications, in the hardware and the software, usage faults and maintenance faults of the safety system must be avoided to the maximum degree possible. To meet these requirements, IEC 61508 specifies a number of measures for fault avoidance that must be implemented depending on the required SIL. These measures for fault avoidance must cover the entire life cycle of the safety system, i.e. from design to decommissioning of the system. 0098441113504, V2.00, 08.2010 34 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics CANbus 4.2.1 Fieldbus CANopenbasics 4.2 BLP14A Brushless DCdrive Brushless Features of the CANbus Transmission technology Network devicesNetwork Sensors and actuators • devices Analysis • •Drives Input/output modules • •PCs Automation devices, for example, PLCs • ExamplesCAN bus of devices are deviceswork transmitted are serially. net- between Data receivemessages. and device transmit can network CANbus,In the viaabus devicesmultiple connected cable. are Each The CANbus ( Residual errorprobability • of messages Prioritization • Message-oriented communication • capability Multimaster • bus CAN comprise features the of tween devices, sensors and actuators from different manufacturers. The Thebus CAN isastandardized, openbus enabling communication be- developedfurther forcommunication fieldbus at level. CAN bus isalso used inindustrial automation technology and has been fast, economical data transmission in the automotive industry. Today, the undetected incorrect data transmissionless to than 10 Various features security inthe tions. Messages with arehigher sent first priority fortime-critical applica- needto be specifiedthe onnetwork. ration of the entire system.address Theof newa device does not Devices can be integrated into a networkrunning without reconfigu- ently without depending onanmaster "ordering" functionality. Each device in the fieldbus can transmit and receive data independ- C ontroller A rea N etwork) was originally developed wasetwork) originally for network reduce the probability of reduce theprobability network -11 . 35 4 Basics BLP14A

4.2.2 CANopen technology

4.2.2.1 CANopen description language

CANopen is a device- and manufacturer-independent description language for communication via the CAN bus. CANopen provides a common basis for interchanging commands and data between CAN bus devices.

4.2.2.2 Communication layers

CANopen uses the CAN bus technology for data communication. CANopen is based on the basic network services for data communication as per the ISO-OSI model model. 3 layers enable data communication via the CAN bus. • Physical Layer • Data Link Layer • Application Layer

Device communication

Application Layer

Data Link Layer

Physical Layer

Fieldbus communication

CAN bus

Figure 4.1 CANopen layer model

Physical Layer The physical layer defines the electrical properties of the CAN bus such as connectors, cable length and cable properties as well as bit coding and bit timing. Data Link Layer The data link layer connects the network devices. It assigns priorities to individual data packets and monitors and corrects errors. Application Layer The application layer uses communication objects (COB) to exchange data between the various devices. Communication objects are elemen- tary components for creating a CANopen application. 0098441113504, V2.00, 08.2010 36 Brushless DC drive 0098441113504, V2.00, 08.2010 ... Objects 4.2.2.3 L1A4Basics BLP14A Brushless DCdrive Brushless

CAN bus Object dictionary Object indexObject CANopen management(NMT) objects(PDO) Process data objects(SDO) Communication Service data Service SYNC, EMCY Network communicate in this dictionary. devices.they which can the with between objects devices the Other find device allows for network each of communication dictionary object The 402. according to the DS CANopen object groups3000 The product provides corresponding parameters for objects. these specific objects), the device functions can be used and changed via devices. linked device directly to the are network the Ifobjects (device- the fieldbus, control the process of establishing aconnection or monitor different tasks; they act ascommunication objects for to data transport Processes under CANopen are executed via objects. out Objects carry See chapter"Parameters" 11 forlista the of CANopen objects. specifications. CANopen the per as dictionary object the groups in the object dictionary. The following table shows an overview of sented as afour-digit hexadecimal number. The objects are arranged in Eachobject isaddressed by means of a16bit index, whichisrepre- open. executing the communication tasks and device functions under CAN- containsThe object objects for dictionary describing the data types and Device withobject dictionary model 4.2 Figure object group 6000 parameters may be different from the DS402 definition for The names of the parametersthe and data type of the A000 6000 3000 ne ag hx Object groups 1000 Index (hex) range h h h h -9FFF -5FFF -2FFF -FFFF h h h h dictionary FFFF 6000 3000 1000 Object h h h h . In this case, enter the data type type data the case, enter this . In h Reserved deviceStandardized profiles Vendor-specific objects profile Communication h and 6000 and Specific functions Device profile functions Application Device h . Motor stage Power 37 4 Basics BLP14A

4.2.2.4 CANopen profiles

Standardized profiles Standardized profiles describe objects that are used with different devices without additional configuration. The users and manufacturers organization CAN in Automation has standardized various profiles. These include: • DS301 communication profile • DSP402 device profile

Application Layer Application Device Profile for Drives and Motion Control (CiA DSP 402) CANopen Communication Profile (CiA DS 301)

Data Link Layer Physical Layer

CAN-Bus

Figure 4.3 CANopen reference model

DS301 communication profile The DS301 communication profile is the interface between device profiles and CAN bus. It was specified in 1995 under the name DS301 and defines uniform standards for common data exchange between different device types under CANopen. The objects of the communication profile in the device carry out the tasks of data exchange and parameter exchange with other network devices and initialize, control and monitor the device in the network. DSP402 device profile The DSP402 device profile describes standardized objects for positioning, monitoring and settings of drives. The tasks of the objects include: • Device monitoring and status monitoring (Device Control) • Standardized parameterization • Changing, monitoring and execution of operating modes Vendor-specific profiles The basic functions of a device can be used with objects of standardized device profiles. Only vendor-specific device profiles offer the full range of functions. The objects with which the special functions of a device can be used under CANopen are defined in these vendor-specific device profiles. 0098441113504, V2.00, 08.2010 38 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics Communication profile 4.2.3 BLP14A ... Object dictionary 4.2.3.1 Brushless DCdrive Brushless Object descriptions in the manual the in descriptions Object Standardized objects Index, subindex Example positionssoftware of limit switches. tion with a subscript " tionwith asubscript fields in the object. Index and subindex are shown in hexadecimal nota- One or more 8bit subindex for entries each object specify individual data The objects are addressedvia a16index. bit inthe objectdictionary objects for communication. Each CANopen device manages an object which dictionary contains the Request status information • busCAN devices individual of functions motion Start • Exchange parametervalues • vices de- following network The of the objects by the be done can accessing values.back modified from of another the objectdictionary device and, ifpermissible, write objects data (PDO) andobjects service (SDO) to request the object data object dictionaries and objects.network A device can useprocess data CANopen managescommunication betweenthe network devices with Table 4.1 Example of index Example subindexand entries Table 4.1 and theDSP402 device profile. Standardized objects are definedtheinDS301 communication profile objectstobe contained of the network devices. inthe object dictionary different network devices of the same devicetype. requiresThis these Standardized objects allow youto usethesame application program for 6xxx • of the object object the of The following table shows index and subindex using the entries example 1xxx • groups are in described detail: For CANprogramming of adevice,theobjects ofthefollowing object ne uidxNm Meaning Name Subindex 607D Index 607D 607D 8 "Operation" 8 h h h h h objects: Standardized objectsthe ofdevice profile inchapter objects: Communication 02 01 00 software position limit (607D h h h h ". - Number of data fields Number data of limit maximum position limit position minimum - objects inthischapter objects Upper limit Upper switch Lower limitswitch h ) for specifying the 39 4 Basics BLP14A

4.2.3.2 Communication objects

Overview The communication objects are standardized with the DS301 CANopen communication profile. The objects can be classified into 4 groups according to their tasks.

PDO Special objects T_PDO1 R_PDO1 T_PDO2 R_PDO2 SYNC EMCY T_PDO3 R_PDO3 T_PDO4 R_PDO4

Communication Network SDO objects management NMT Services T_SDO NMT Node guarding R_SDO NMT Heartbeat

Figure 4.4 Communication objects; the following applies to the perspective of the network device: T_..: "Transmit", R_..: "Receive"

• PDOs (process data objects) for real-time transmission of process data • SDOs (service data object) for read and write access to the object dictionary • Objects for controlling CAN messages: – SYNC object (synchronization object) for synchronization of network devices – EMCY object (emergency object), for signaling errors of a device or its peripherals. • Network management services: – NMT services for initialization and network control (NMT: network management) – NMT Node Guarding for monitoring the network devices – NMT Heartbeat for monitoring the network devices 0098441113504, V2.00, 08.2010 40 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A Brushless DCdrive Brushless CANopen message CANopen CAN message COB ID COB Node address (node ID), 7bits. • Function code, 4bits • communication;CAN it 2parts comprises An 11 bit COB identifier asper the CAN 3.0A specification isdefined for Identificationcommunication of objects • Bus arbitration:Specification transmission of priorities • controlling communication The COBID( sage. fieldthe todata frame (maximum length 8bytes) of aCANopenmes- message.The "Identifier" corresponds to the "COBID"and the "Data" The two bit fields "Identifier"and"Data" form thesimplified CANopen before istransmitted. it message a receivemessage bythedata linklayer of themodel, OSI and added to removed the from automatically are bits These forcorrection. used error are bits of the most because form in simplified be represented can sage forForand objects data exchange,with CANopen work mes- theCAN Figure 4.5 CAN message and simplified representation of CANopen mes- CANopen of representation simplified and CAN message Figure 4.5 Figure 4.6 COB ID with function code and node address node and code function with ID COB 4.6 Figure administration and control data. data. control and administration CAN message transmits the communication object as well as numerous Data is exchanged viatheCANbus CANopen message(simplified) CAN message 1 111 7 111 1 Start bit Start 4 Bit 11 Bit COB ID 7 Bit i:00 Bit:10 sage C Identifier COB ID ommunication 1 616 Function code 2 0...15 RTR bit 0 0...8 Byte 0...8 Byte 3 1 objects isconcerned: objects Control 4 OB 2 Data frame ject 1 Data 3 in the form ofCANmessages. A Id 2 4 entifier) has 2 tasks as far as tasks as 2 has entifier) 3 CRC 5 Node ID 0...127 4 6 5 7 Acknowledge 6 7 End bits >=3 41 4 Basics BLP14A

COB IDs of the communication The following table shows the COB IDs of the communication objects objects with the factory settings. The column "Index of object parameters" shows the index of special objects with which the settings of the communication objects can be read or modified via an SDO.

Communication object Function Node address COB ID decimal (hexadecimal) Index of object code node ID [1 ... 127] parameters

NMT Start/Stop Service 0 0 0 0 0 0 0 0 0 0 0 0 (0h)-

SYNC object 0 0 0 1 0 0 0 0 0 0 0 128 (80h) 1005h ... 1007h

EMCY object 0 0 0 1 x x x x x x x 128 (80h) + node ID 1014h, 1015h

T_PDO1 0 0 1 1 x x x x x x x 384 (180h) + node ID 1800h

R_PDO1 0 1 0 0 x x x x x x x 512 (200h) + node ID 1400h

T_PDO2 0 1 0 1 x x x x x x x 640 (280h) + node ID 1801h

R_PDO2 0 1 1 0 x x x x x x x 768 (300h) + node ID 1401h

T_PDO3 0 1 1 1 x x x x x x x 896 (380h) + node ID 1802h

R_PDO3 1 0 0 0 x x x x x x x 1024 (400h) + node ID 1402h

T_PDO4 1 0 0 1 x x x x x x x 1152 (480h) + node ID 1803h

R_PDO4 1 0 1 0 x x x x x x x 1280 (500h) + node ID 1403h

T_SDO 1 0 1 1 x x x x x x x 1408 (580h) + node ID -

R_SDO 1 1 0 0 x x x x x x x 1536 (600h) + node ID -

NMT error control 1 1 1 0 x x x x x x x 1792 (700h) + node ID 1) LMT Services 1 1 1 1 1 1 0 0 1 0 x 2020 (7E4h), 2021 (7E5h) 1) NMT Identify Service 1 1 1 1 1 1 0 0 1 1 0 2022 (7E6h) 1) DBT Services 1 1 1 1 1 1 0 0 x x x 2023 (7E7h), 2024 (7F8h) 1) NMT Services 1 1 1 1 1 1 0 1 0 0 x 2025 (7E9h), 2026 (7EAh) 1) Not supported by the device

Table 4.2 COB IDs of the communication objects

COB IDs of PDOs can be changed if required. The assignment pattern for COB IDs only specifies a basic setting.

Function code The function code classifies the communication objects. Since the bits of the function code in the COB ID are more significant, the function code also controls the transmission priorities: Objects with a lower function code are transmitted with higher priority. For example, an object with function code "1" is transmitted prior to an object with function code "3" in the case of simultaneous bus access. Node address Each network device is configured before it can be operated on the network. The device is assigned a unique 7 bit node address (node ID) between 1 (01h) and 127 (7Fh). The device address "0" is reserved for "broadcast transmissions" which are used to send messages to all reachable devices simultaneously. Example Selection of a COB ID For a device with the node address 5, the COB ID of the communication object T_PDO1 is:

384+node ID = 384 (180h) + 5 = 389 (185h). 0098441113504, V2.00, 08.2010 42 Brushless DC drive 0098441113504, V2.00, 08.2010 ... Communication relationships 4.2.3.3 L1A4Basics BLP14A Brushless DCdrive Brushless Master-slave relationship Data frame Data vices. ofde- connection the to monitor and start for network jects acontrolled The master-slave relationshipused is withnetwork managementob- whenis addressed it by the master. messa the mastercontrols A network Producer-consumer relationship • relationship Client-server • Master-slave relationship • vices: CANopen uses 3relationships for communication between network de- The data frames containthe respectivecommunication objects. Remote data frame for requesting amessage • Error data frame • profile: CANopen the in specified are types frame for PDOs, special frame and data SDOs the to addition In The data frame of the CANopen message can hold up to 8 bytes of data. slave, whichthenresponds the with desired data. To the message, confirm the master requests a message from a specific single slaveor by allreachable slavesby or no slave. received bybe can a it message, CAN unconfirmed an sends master Messages canbe interchangedwith and without confirmation. If the -slave Master relationships 4.7 Figure Master Master Request Data Data ge traffic. A slave traffic. ge responds only Slave Slave Slave Slave 43 4 Basics BLP14A

Client-server relationship A client-server relationship is established between 2 devices. The "server" is the device whose object dictionary is used during data exchange. The "client" addresses and starts the exchange of messages and waits for a confirmation from the server. A client-server relationship with SDOs is used to send configuration data and long messages.

Data Client

Server Data

Figure 4.8 Client-server relationship

The client addresses and sends a CAN message to a server. The server evaluates the message and sends the response data as an acknowledgement. Producer-consumer relationship The producer-consumer relationship is used for exchanging messages with process data, because this relationship enables fast data exchange without administration data. A "Producer" sends data, a "Consumer" receives data.

Consumer

Producer Consumer Data

Consumer

Request Producer Consumer Data Consumer

Figure 4.9 Producer-consumer relationships

The producer sends a message that can be received by one or more network devices. The producer does not receive an acknowledgement to the effect that the message was received. The message transmission can be triggered by • An internal event, for example, "target position reached" • The synchronization object SYNC • A request of a consumer See chapter 4.2.5 "Process data communication" for details on the function of the producer-consumer relationship and on requesting messages. 0098441113504, V2.00, 08.2010 44 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics exchange data SDO 4.2.4.2 Overview 4.2.4.1 datacommunication Service 4.2.4 BLP14A Brushless DCdrive Brushless Message types server is the device to whose object dictionary an SDO message refers. message SDO an dictionary device object isthe whose to server relationship. The client-server the exchangevices.to data conforms The data object (SDO) transmitsA service parameter data between 2de- over buslower theCAN at a priority. SDOs havehigher a COB ID than PDOs; therefore, theyare transmitted 8bytes. of sist con- SDO an to receive. of frame used data is R_SDO The the change; forex- data request the send to isused client SDO an of T_SDO The ferent deviceor to change themthein dictionary. required to requestfrom SDOmessages theof adif- object dictionary to read andrequests write from a different device. Aclient SDO isonly Every network device has at least one server SDOto be able to respond ues of the objects can be read and, if permissible, also be changed. viaindex of ancess the object entries dictionary and subindex. The val- (SDO: Objects Data Service Figure 4.10 SDO message message exc SDO 4.10 Figure from the server. the communicationent starts with a request and receives a response values to the serverto orget them fromthe server.both In cases, the cli- communicationClient-server is triggere CAN _D T_SDO R_SDO Client COB ID Response S hange with request and response and withrequest hange COB ID ervice ervice Data Request D d by parameter theclientto send ata ata Data O T_SDO bject)can beused ac- to Server R_SDO 45 4 Basics BLP14A

4.2.4.3 SDO message

Put simply, an SDO message consists of the COB ID and the SDO data frame, in which up to 4 bytes of data can be sent. Longer data sequences are distributed over multiple SDO messages with a special protocol. The device transmits SDOs with a data length of up to 4 bytes. Greater amounts of data such as 8 byte values of the data type "Visible String 8" can be distributed over multiple SDOs and are transmitted successively in blocks of 7 bytes. Example The following illustration shows an example of an SDO message.

SDO 0 1 234567 581 4300 10 0092 01 02 00

Data COB ID Subindex Index (581h) Command Code

Figure 4.11 SDO message, example

COB ID and data frame R_SDO and T_SDO have different COB IDs. The data frame of an SDO messages consists of: • Command code (ccd) which contains the SDO message type and the data length of the transmitted value • Index and subindex which point to the object whose data is trans- ported with the SDO message • Data of up to 4 bytes Evaluation of numeric values Index and data are transmitted left-aligned in Intel format. If the SDO contains numerical values of more than 1 byte in length, the data must be rearranged byte-by-byte before and after a transmission.

Index: Data: 0 1 2 3 4 5 67 581 43 00 10 00 9201 02 00

Hex: 10 00h 00 02 01 92h

Figure 4.12 Rearranging numeric values greater than 1 byte 0098441113504, V2.00, 08.2010 46 Brushless DC drive 0098441113504, V2.00, 08.2010 ... Readingwriting data and 4.2.4.4 L1A4Basics BLP14A Brushless DCdrive Brushless Writing data Writing ccd coding ccd subindex, but nodata. rectly processed. contains Thethesame confirmation index and indicatingTheconfirmation servera sends whether the data was cor- and value. request by awrite The sending client starts index, subindex, datalength contentthese of data fieldsnot is defined. Unusedbytes datain the fieldshown are with aslashthein graphic. The values parameter Writing 4.13 Figure Table 4.3 Command code code for parametervalues Command writing Table 4.3 Itdepends on the messageand typethe transmitted datalength. The table below shows the command code for parameter writing values. ro epne80 60 Error response response Write rt eus 23 request Write Datalength used Message type Client Write request Write COB ID ccd= COB ID 4 byte 3 byte 2 byte 1 byte 1 byte 2 3byte 4 byte ccd 60h 0 h h h ccd= ccd= ccd= ccd= LSB Idx 1 ccd 2Fh 2Bh 27h 23h 80 60 27 0 MSB Idx 2 h h h LSB Idx 1 ixData Sidx 3 MSB Idx 80 60 2B 234567 h h 4 h ixData Sidx 5 Data 80 60 2F Data h h h 6 Data Data 7 Error Confirmation eters Transmitting param- Write response Write Server 47 4 Basics BLP14A

Reading data The client starts a read request by transmitting the index and subindex that point to the object or part of the object whose value it wants to read. The server confirms the request by sending the desired data. The SDO response contains the same index and subindex. The length of the response data is specified in the command code "ccd".

Client Server

Read request 0 1 2 3 4 5 6 7 Idx Idx COB ID ccd LSB MSB Sidx Data

ccd= 40h

Read response 0 1 234567 Idx Idx COB ID ccd LSB MSB Sidx Data

ccd= 43h Data

ccd= 47h Data

ccd= 4Bh Data

ccd= 4Fh Data

Figure 4.14 Reading a parameter value

Unused bytes in the data field are shown with a slash in the graphic. The content of these data fields is not defined. ccd coding The table below shows the command code for transmitting a read value. It depends on the message type and the transmitted data length.

Message type Data length used 4 byte 3 byte 2 byte 1 byte

read request 40h 40h 40h 40h Request read value

Read response 43h 47h 4Bh 4Fh Return read value

Error response 80h 80h 80h 80h Error

Table 4.4 Command code for transmitting a read value

Error response If a message could not be evaluated, the server sends an error message. See chapter 10.1.4.5 "SDO error message ABORT" for details on the evaluation of the error message.

Client Server

Error response 0 1 2 3 456 7 ccdIdx Idx Sidx Data COB ID LSB MSB

ccd: 80 Byte 4...7 Error code

Figure 4.15 Response with error message (error response) 0098441113504, V2.00, 08.2010 48 Brushless DC drive 0098441113504, V2.00, 08.2010 ... Reading than data 4bytes longer 4.2.4.5 L1A4Basics BLP14A Brushless DCdrive Brushless Reading data code of the read response fromtheserver to the first message is41 specifies that data of more than 4 bytes are transmitted. The command length and the first 4 bytes of the requested data. The command code therequest byThe server confirms transmitting index,subindex, data value value read. whose itwants to object the or object the to point that read a request byThe client starts transmitting theindex and subindex value "0", inthe subsequentframes, ittoggles betweenand10. the has bit frame, toggle the first the In "ccd". segment the in bit toggle a the toggle bit and a data segment. The frameconfirmation also contains The request bytheSDO client cont by Confirmation theserver. SDO • Requestby theclient, SDO • parts: 2 of consists sage, themessage mustbe divided into several frames. Eachframe an SDO mes- If valueswith 4bytes transmitted to than be are of more ditional information on this procedure. packets of 7bytes from theserver. Refertothe DS301 offor the CiA ad- In thenext frames, the remaining data is requested and transmittedin Transmitting message first the 4.16 Figure Client read request COB-Id ccd= COB-Id 41h ccd 0 ccd= Idx 1 2 ccd 40h 0 Idx 2 1 Idx 1 Sidx 2 3 Idx ains the command code "ccd" with 2 1 4 Sidx Length ofdata 3 Data 5 4 6 Data 5 7 6 read response 7 Server h 49 . 4 Basics BLP14A

4.2.5 Process data communication

4.2.5.1 Overview

Process data objects (PDO: Process Data Object) are used for realtime data exchange of process data such as actual and reference values or the operating state of the device. Transmission is very fast because the data is sent without additional administration data and data transmission acknowledgement from the recipient is not required. The flexible data length of a PDO message also increases the data throughput. A PDO message can transmit up to 8 bytes of data. If only 2 bytes are assigned, only 2 data bytes are sent. The length of a PDO message and the assignment of the data fields are specified by PDO mapping. See chapter 4.2.5.4 "PDO mapping" for additional information. PDO messages can be exchanged between devices that generate or process process data.

4.2.5.2 PDO data exchange

PDO Consumer PDO Consumer R_PDO R_PDO

COB-ID Data

CAN

T_PDO R_PDO PDO Producer PDO Consumer

Figure 4.17 PDO data exchange

Data exchange with PDOs follows to the producer-consumer relationship and can be triggered in 3 ways • Synchronized • Event-driven, asynchronous • On request of a consumer, asynchronous The SYNC object controls synchronized data processing. Synchronous PDO messages are transmitted immediately like the standard PDO messages, but are only evaluated on the next SYNC. For example, several drives can be started simultaneously via synchronized data exchange. The device immediately evaluates PDO messages that are called on request or in an event-driven way. The transmission type can be specified separately for each PDO with subindex 02h (transmission type) of the PDO communication parameter. The objects are listed in Table 4.5. 0098441113504, V2.00, 08.2010 50 Brushless DC drive 0098441113504, V2.00, 08.2010 4.2.5.3 PDO message PDO 4.2.5.3 L1A4Basics BLP14A Brushless DCdrive Brushless T_PDO, R_PDO Activating PDOs PDO settings Example Valuesfor "x"inthe exampledepend on the COBIDsetting. Subindex 01 • Setting for R_PDO3 in object 1402 A PDOisactivated with bit(valid 31 bit) insubindex 01 otherPDOs must be activated first. activated. The are T_PDO1 and default the R_PDO1 With settings, PDO jects: The PDOsettingscan beread and changed communication8 with ob- fault,are theevaluated PDOs or transmitted inan event-driven way. The device uses8PDOs, 4receivePDOs andtransmit 4 PDOs.By de- read and set viaobjects of the communication profile. for They be device,the can specified. otherwise unless The followingsettings for PDOs correspond to the defaults Receive). (R: messages receive to PDO R_PDO • (T:Transmit), message PDO the transmit to T_PDO • One PDO each is available for sending and receiving a PDO message: communication object: Table 4.5 Communication objects objects Communication for PDO Table 4.5 Subindex 01 • Activating PDOsviasubindex 01 4.18 Figure 4th receive parameter (1403 PDO 2nd transmit PDO parameter (1801 transmitPDO 2nd betMeaning 3rd transmit PDO parameter (1802 2nd receive PDOparameter (1401 1st receive PDOparameter (1400 Object 4th transmitPDOparameter (1803 1st transmitparameter PDO (1800 3rd receive PDOparameter (1402 uidx0hObjects140xh,180xh(x: 0,1,2,3) Subindex 01h 31(MSB) valid-Bit 1: PDOnotactivated 0: PDOactivated h h =000004xx =800004xx 23 h h : R_PDO3 activated. : R_PDO3 activated not : R_PDO3 h h h h h h )Settings for R_PDO1 h )Settings for R_PDO4 )Settings for R_PDO3 h )Settings for R_PDO2 Settings for T_PDO1 ) Settings for T_PDO4 ) Settings for T_PDO3 ) Settings for T_PDO2 ) 15 h h , bit 31 , bit 10 h COB-ID of the respective ofthe . 0 51 4 Basics BLP14A

PDO time intervals The time intervals "inhibit time" and "event timer" can be set for each transmit PDO. • The time interval "inhibit time" can be used to reduce the CAN bus load, which can be the result of continuous transmission of T_PDOs. If an inhibit time not equal to zero is entered, a transmitted PDO will only be re-transmitted after the inhibit time has elapsed. The time is set with subindex 03h. • The time interval "event timer" cyclically triggers an event message. After the time intervals has elapsed, the device transmits the event- controlled T_PDO. The time is set with subindex 05h. Receive PDOs The objects for R_PDO1, R_PDO2 and R_PDO3 are permanently set. The object that is mapped to PDO R_PDO4 can be modified by PDO mapping.

COB-ID 0 1 R_PDO1 200h+Node-ID X X

Controlword (6040h)

COB-ID 0 1 2 3 4 5 R_PDO2 300h+Node-ID X X X X X X

Target position (607Ah)

Controlword (6040h)

COB-ID 0 1 2 3 4 5 R_PDO3 400h+Node-ID X X X X X X

Target velocity (60FFh) Controlword (6040h)

COB-ID 0 1 2 3 4 5 6 7 R_PDO4 500h+Node-ID X X X X X X X X

Figure 4.19 Receive PDOs

R_PDO1 In the R_PDO1, the control word, object controlword (6040h), of the state machine is mapped which can be used to set the operating state of the device. R_PDO1 is evaluated asynchronously, i.e. it is event-driven. R_PDO1 is permanently set. R_PDO2 With R_PDO2, the control word and the target position of a motion command, object target position (607Ah), are received for a movement in the operating mode Profile Position. R_PDO2 is evaluated asynchronously, i.e. it is event-driven. R_PDO2 is permanently set. For details on the SYNC object see chapter 4.2.6 "Synchronization". R_PDO3 R_PDO3 contains the control word and the target velocity, object Target velocity (60FFh), for the operating mode "Profile Velocity". R_PDO3 is evaluated asynchronously, i.e. it is event-driven. R_PDO3 is permanently set. 0098441113504, V2.00, 08.2010 52 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A Brushless DCdrive Brushless Transmit PDOs R_PDO4 T_PDO1 T_PDO3 T_PDO2 In T_PDO1, the status word, object object word, status the T_PDO1, In iue42 Transmit PDOs 4.20 Figure Velocity actual value (606C T_PDO3 containsthe status word and the actualvelocity, object driven way. T_PDO2. with be mapped can objects Noother transmittedT_PDO2 is afterreceipt of aSYNCobject andevent- in an the operating mode Profile Position. mapped with T_PDO3. whenever thestatusinformation changes.No other objectsbe can transmittedT_PDO3 is asynchronouslyandan in event-driven way mo operating file in the object T_PDO2 contains the status word and the current position of the motor, mapped with T_PDO1. whenever thestatusinformation changes.No other objectsbe can transmittedT_PDO1 is asynchronouslyandan in event-driven way machine ismapped. mapping. The objectthat ismappedtocan PDOT_PDO4 bemodified by PDO The objects forT_PDO1, and T_PDO2 T_PDO3 set. are permanently available are that objects forspecific mapping. PDO Chapter 11.4 "Assignment object group 6000h" contains a list of vendor- mapping. becanto used map various vendor-specific objects bymeans of PDO R_PDO4 isevaluated asynchronously,i.e. it isevent-driven. R_PDO4 empty.R_PDO4 is R_PDO4to isusedtransmit vendor-specific objectvalues. Bydefault, T_PDO4 T_PDO3 T_PDO2 T_PDO1 Position actual value (6064 Position actual 280 180 480 380 COB-ID COB-ID COB-ID COB-ID h h h h +Node-ID +Node-ID +Node-ID +Node-ID de "Profile Velocity". X X X X 0 0 0 0 X X X X 1 1 1 1 Statusword Statusword Statusword X X X 2 2 2 statusword (6041 h ) X X X 3 3 3 , for monitoring the velocity the pro- , for monitoring (6041 (6041 (6041 h X X X 4 4 4 ) , to monitor movements in Velocity actualvalue Position actualvalue h h h ) ) ) X X X 5 5 5 X 6 h X 7 ) , of the state (606C (6064 h h ) ) 53 4 Basics BLP14A

T_PDO4 Vendor-specific object values (for monitoring) are transmitted with T_PDO4. By default, T_PDO4 is empty. T_PDO4 is transmitted asynchronously and in an event-driven way whenever the data changes. The parameter CANpdo4Event is used to specify the objects which are to trigger an event. With the default setting of the parameter, the mapped objects trigger an event. T_PDO4 can be used to map various vendor-specific objects via PDO mapping. Chapter 11.3 "Objects for PDO mapping" contains a list of vendor-specific objects that are available for PDO mapping.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

CANpdo4Event PDO4 event mask - UINT16 CANopen 3017:5h 0 UINT16 Modbus 5898 - Changes of values in the object trigger an 15 R/W event: - 15 - Bit 0 = 1: first PDO4 object - Bit 1 = 1: second PDO4 object Bit 2 = 1: third PDO4 object Bit 3 = 1: fourth PDO4 object Bit 4..15 : reserved 0098441113504, V2.00, 08.2010 54 Brushless DC drive 0098441113504, V2.00, 08.2010 4.2.5.4 PDO mapping PDO 4.2.5.4 L1A4Basics BLP14A Brushless DCdrive Brushless R_PDOs T_PDOs R_PDO4 COB ID Static PDO mapping StaticPDO 501h ...... 000A ...... 0A10 Target position ... 000E1103 ... 001F Position actualvalue ...... 00h 607Ah Statusword ...... 00h Control word 6064h ... 00h ... 6041h 00h 6040h ... 1F 0 T_PDO4 COB ID 00 1 481h Control word (6040 R_PDO4 of the PDOs. on the basistwo ofdictionary examplesobjectsT_PDO4in of and The picture below shows the data exchange between PDOsand object cific objects that are available forPDO mapping. for mappin "Objects PDO 11.3 Chapter mapping. is referred PDO as to transmitted withmessage. aPDO Mappingof data PDOmessageato Up to 8bytesof data from different canbeareasof the objectdictionary Figure 4.21 PDO mapping, in this case for case inthis mapping, PDO a device 1 address with node 4.21 Figure tionobject for each PDO. The settings for PDOmappingdefined are assigned inan communica- the corresponding PDO. means that theobjects are mappedin accordance with afixed setting in The device uses static and dynamic PDO mapping. Static PDO mapping 2nd transmit PDO mapping (1A01 mapping transmitPDO 2nd (1601 receive 2nd PDOmapping 3rd receive (1602 PDOmapping betPOmpigfrType PDOmapping for 1st transmit(1A00 mapping PDO (1600 1st receive PDOmapping Object 3rd transmit PDO (1A02 mapping 4th receive (1603 mapping PDO 4th transmit PDO mapping (1A03 4th transmitPDOmapping R_PDO4 10 0 COB ID 501h 0A 1 Status word (6041 h ) 1F 0 00 1 T_PDO4 Control word (6040 COB ID 481h 00 2 h ) 0A 3 h h h h _D1Static R_PDO1 ) h _D4Dynamic R_PDO4 ) h _D3Static R_PDO3 ) h 00 _D2Static R_PDO2 ) h 4 _D1Static T_PDO1 ) 10 _D4Dynamic T_PDO4 ) _D3Static T_PDO3 ) 0 _D2Static T_PDO2 ) Target position(607A 00 5 0A h 1 ) Status word (6041 g" contains alistof vendor-spe- 03 2 11 3 0E 4 h ) (6064 Position actualvalue h ) 00 5 h ) 55 4 Basics BLP14A

Structure of entries Up to 8 bytes of 8 different objects can be mapped in a PDO. Each communication object for setting the PDO mapping provides 4 subindex entries. A subindex entry contains 3 pieces of information on the object: the index, the subindex and the number of bits that the object uses in the PDO.

PDO mapping object LSB 00h 2 31 15 7 0 Bit 10h 01h 6041h 00h xx xxh xxh xxh 02h 606Ch 00h 20h ...... Index Subindex Object length

Figure 4.22 Structure of entries for PDO mapping

Subindex 00h of the communication object contains the number of valid subindex entries.

Object length Bit value

10h 16 bits

20h 32 bits 0098441113504, V2.00, 08.2010 56 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics Synchronization 4.2.6 BLP14A Brushless DCdrive Brushless Time values forTime synchronization Synchronous data transmission The cycletime specifies the time intervals betweenmes- SYNC 2 • Two time values define the behavior of synchronous data transmission: The synchronouswindow time specifies whichtime the span during • PDOs. devicecan and beevaluated by the devices synchronous that support The SYNCobject istransmitted to allreachabledevices by anetwork The data exchange conformstothe producer-consumer relationship. of multiple drives.taneous start ofbetween messages network devices foras the such simul- purposes The synchronization object SYNCcontrols the synchronous exchange Figure 4.23 SYNC SYNC message 4.23 Figure Figure 4.24 Synchronization times Synchronization 4.24 Figure data. isreceived.message SYNC SYNC The an R_PDO. However, the control data isonly processed when the next data istransmitted first inaT_PDO, then new controldata isreceived via From the perspective of a SYNCrecipient, in one time window the status period(1006 object the with set is sages. It length (1007 The time window isdefined with the object the synchronous PDO messages must be received and transmitted. SYNC SYNC Producer Synchronous time window COB ID Cycle time h ) h R_PDO (controller) T_PDO (status) . ) . SYNC Consumer Communication cycle R_PDO data Process object itself does not transmit not itself does object SYNC SYNC Consumer CAN bus Synchronous window SYNC Consumer CAN 57 4 Basics BLP14A

Cyclic ad acyclic data transmission Synchronous exchange of messages can be cyclic or acyclic.

T_PDO1: acyclical

T_PDO2: cyclical

SYNC

Figure 4.25 Cyclic and acyclic transmission

In the case of cyclic transmission, PDO messages are exchanged continuously in a specified cycle, for example with each SYNC message. If a synchronous PDO message is transmitted acyclically, it can be transmitted or received at any time; however, it will not be valid until the next SYNC message. Cyclic or acyclic behavior of a PDO is specified in the subindex transmission type (02h) of the corresponding PDO parameter, for example, in the object 1st receive PDO parameter (1400h:02h) for R_PDO1. COB ID, SYNC object For fast transmission, the SYNC object is transmitted unconfirmed and with high priority.

The COB ID of the SYNC object is set to the value 128 (80h) by default. The value can be changed after initialization of the network with the object COB-ID SYNC Message (1005h) . "Start" PDO With the default settings of the PDOs, R_PDO2/T_PDO2 and R_PDO3/ T_PDO3 are received and transmitted synchronously. Both PDOs are used for starting and monitoring operating modes. The synchronization allows an operating mode to be started simultaneously on multiple devices so that, for example, the feed of a portal drive with several motors can be synchronized. 0098441113504, V2.00, 08.2010 58 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics Emergency service 4.2.7 BLP14A ... Error evaluationhandling and 4.2.7.1 Brushless DCdrive Brushless Boot-up message Boot-up EMCY message transmitsEMCY an message error with register error and code. ter (1001 Byte 2 - Error register, value isalso saved in the object Byte 7-Subindexof the mapped object Bytes 5, 6 - Index of the mapped object 3,Vendor-specific-Bytes 4 error code of the mapped object object according to the Consumer-Producer relationship. The error message istransmitted to the network devices with an EMCY devicesignals internal Theerrors EmergencyService viathe CANbus. iue42 EMCYmessage 4.27 Figure EMCYobjects message via Error 4.26 Figure (603F code, value 1-Error 0, savedBytes isalso object in the state deviceIfan internal error occurs, the device switches to the operating and one data byte (00h). The boot-up message istransmitted with theCOB ID 700h +node ID messageis ready for operation inthe CANnetwork. the device transmitted devices the that that network the informs sage task for the EMCY object: sending a boot-up message. Aboot-up mes- additional an version DS301, defines 3.0, profile communication The 81 9 EMCY-Producer h Faultperthe as CANopen state machine.thesame At time, it COB-ID (80 ) 12 0 COB-ID h ) , see 10.1.4.3 "Error register". "Error 10.1.4.3 , see 22 1 Error code h + Node-ID) 00 2 data Error register 00 3 EMCY-Consumer 00 4 00 5 Manufacturer specificerrorfield 00 6 00 7 EMCY-Consumer Error code EMCY-Consumer Error regis- Error code 222 12 CAN 0 1 22 12 h 59 4 Basics BLP14A

COB ID The COB ID for each device on the network supporting an EMCY object is determined on the basis of the node address:

COB ID = Function code EMCY object (80h) + node ID The function code of the COB ID can be changed with the object COB- ID emergency(1014h). Error register and error code The error register contains bit-coded information on the error. Bit 0 remains set as long as an error is active. The remaining bits identify the error type. The exact cause of error can be determined on the basis of the error code. The error code is transmitted in Intel format as a 2 byte value; the bytes must be reversed for evaluation. See chapter 10 "Diagnostics and troubleshooting" for a list of the error messages and error responses by the device as well as remedies. Error memory The device saves the error register in the object Error register (1001h) and the last error that occurred in the object ErrorError code (603Fh) . The last 20 error messages are stored in the object FLT_err_num (303C:1h) in the order in which the errors occurred. FLT_MemReset (303B:5h) resets the read pointer of the error memory to the oldest error. 0098441113504, V2.00, 08.2010 60 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics Network mana 4.2.8 BLP14A Brushless DCdrive Brushless NMT services gement services gement multaneously. sage with node address "0"isbroadcast to allreachable NMT slaves si- master addresses individualNMT slaves their via node address.mes- A are executedNMTservices inamaster-slave relationship.The NMT work. net- the on operation devices during network the monitor and stop start, profile; it isused to initialize the network and the network devices and to of the CANopenNetworkmanagement communication (NMT)part is Services:for connection monitoring • fordevice Services toinitialize control, devices for com- CANopen • groups: 2 into divided be can services NMT slave. NMT an of function the take deviceonly on The can via the master-slave NMTservices relationship 4.28 Figure on the network munication and to controlthe behaviordevices of operationduring CAN slave NMT slave NMT COB ID Data master NMT slave NMT slave NMT slave NMT 61 4 Basics BLP14A

4.2.8.1 NMT services for device control

NMT state machine The NMT state machine describes the initialization and states of an NMT slave during operation on the network.

Power on

Reset Reset Initialization Application Communication

SDO, EMCY E Pre-Operational D NMT

B Stopped C NMT A

PDO, SDO, SYNC Operational EMCY, NMT

Figure 4.29 NMT state machine and available communication objects

To the right, the graphic shows the communication objects that can be used in the specific network state. Initialization An NMT slave automatically runs through an initialization phase after the supply voltage is switched on (power on) to prepare it for CAN bus operation. On completion of the initialization, the slave switches to the operating state "Pre Operational" and sends a boot-up message. From now on, an NMT master can control the operational behavior of an NMT slave on the network via 5 NMT services, represented in the above illustration by the letters A to E.

NMT service Transition Meaning Start remote node A Transition to operating state "Operational" (Start network node) Start normal operation on the network Stop remote node B Transition to operating state "Stopped" (Stop network node) Stops communication of the network device on the network. If connection monitoring is active, it remains on. If the power stage is enabled (operating state "Operation Enabled" or "Quick Stop"), an error of error class 2 is triggered. The motor is stopped and the power stage disabled. Enter Pre-Operational C Transition to operating state "Pre-Operational" (Transition to "Pre-Opera- The communication objects except for PDOs can be used. tional") The operating state "Pre-Operational" can be used for configuration via SDOs: - PDO mapping - Start of synchronization - Start of connection monitoring Reset node D Transition to operating state "Reset application" (Reset node) Load stored data of the device profiles and automatically switch via operating state "Reset communication" to "Pre-Operational". Reset communication E Transition to operating state "Reset communication" (Reset communication Load stored data of the communication profile and automatically transition to data) operating state "Pre-Operational". If the power stage is enabled (operating state "Operation Enabled" or "Quick Stop"), an error of error class 2 is triggered. The motor is stopped and the power stage disabled. 0098441113504, V2.00, 08.2010 62 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A ... NMT services for connection monitoring 4.2.8.2 Brushless DCdrive Brushless Persistent data memory NMT message NMT node address between 1 and 127 (7F The second byte addresses therecipient of an message NMTwith a used. The firstbyte, the "Command specifier", indicates the NMT service NMTmessage 4.30 Figure "0" is broadcast toallreachable isbroadcast NMT slaves."0" • "Heartbeat" for connection "Heartbeat" unconfirmed from messages network • "Life guarding" for monitoringthe connectionan of NMTmaster • "Node guarding" formonitoring the connection ofNMT slave an • available: are monitoring forconnection services NMT 3 devices. Connection monitoring monitors the communication status of network The data frame of the NMTdeviceconsistsof 2bytes. service bus. CAN the on 0 . By default,= COB ID the theywith havemessages priority highest the forThe NMTservices devicecontrol are transmitted asunconfirmed RAM. the saved objectdatafromthenon-vola When the supply voltage is switched on (power on), the device loads the 130 (82 130 (81 129 omn pcfe M evc Transition 2 (02 NMT service 1 (01 Command Specifier 128 (80 128 devices. Master NMT h h tr eoend A node remote Start ) tprmt oeB remotenode Stop ) h h h ee oeD E C Reset communication node Reset Pre-Operational Enter ) ) ) COB ID 0 ye01 Byte 0 01 tile EEPROMtile forto persistentdata Command specifier h ). A message with node address 00 Node ID Slave Slave Slave NMT NMT NMT 63 4 Basics BLP14A

Node guarding / Life guarding

COB ID The communication object NMT error control (700h+Node-ID) is used for connection monitoring. The COB ID for each NMT slave is determined on the basis of the node address:

COB ID = function code NMTerror control (700h) + Node-ID. Structure of the NMT message After a request from the NMT master, the NMT slave responds with one data byte.

COB ID 704h Master Slave Guard 704h 05h time

704h

704h 85h

704h

704h 05h

Bit 7 6 ... 0 Bit 7 6 0 05h ==00 0001 01 85h 1100001 0

Acknowledgement of the NMT slave

Bits 0 to 6 identify the NMT state of the slave:

•4 (04h): "Stopped"

•5 (05h): "Operational"

• 127 (7Fh): "Pre-Operational" After each "guard time" interval, bit 7 switches toggles between "0" and "1", so the NMT master can detect and ignore a second response within the "guard time" interval. The first request when connection monitoring is started begins with bit 7 = 0. Connection monitoring must not be active during the initialization phase of a device. The status of bit 7 is reset as soon as the device runs though the NMT state "Reset communication". Connection monitoring remains active in the NMT state "Stopped". Configuration Node Guarding/Life Guarding is configured via:

• Guard time (100Ch)

• Life time factor (100Dh)

• Error Behavior (1029h) 0098441113504, V2.00, 08.2010 64 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A "Node Guarding""Node "Life and Guarding"with timeintervals Brushless DCdrive Brushless Connection error missing response from an NMT slave. NMT an from response missing showsafter the anerrormessage theNMT state the of slave has changed without arequest by the • theslave does notrespond within the"guard time" period • The NMTmastersignals aconnection error to the master programif: Guard time NMT master. Master Message response No Response Response end of the third cycle because of a cycle becauseof third end ofthe Request Request Request Slave time Life 65 4 Basics BLP14A

Heartbeat

The optional Heartbeat protocol replaces the node guarding/life guarding protocol. It is recommended for new device versions. A heartbeat producer transmits a heartbeat message cyclically at the frequency defined in the object Producer heartbeat time (1017h). One or several consumers can receive this message. Producer heartbeat time (1016h) = 0 deactivates heartbeat monitoring. The relationship between producer and consumer can be configured with objects. If a consumer does not receive a signal within the period of time set with Consumer heartbeat time (1016h), it generates an error message (heartbeat event). Consumer heartbeat time (1016h) = 0 deactivates monitoring by a consumer.

COB ID 704h xxh Producer Consumer Heartbeat producer Heartbeat time consumer COB ID time 704h xxh

Node ID=04h

"Heartbeat" monitoring

Data byte for NMT state evaluation of the "Heartbeat" producer:

•0 (00h): "Boot-Up"

•4 (04h): "Stopped"

•5 (05h): "Operational"

• 127 (7Fh): "Pre-Operational" Time intervals The time intervals are set in increments of 1 ms steps; the values for the consumer must not be less than the values for the producer. Whenever the "Heartbeat" message is received, the time interval of the producer is restarted. Start of monitoring "Heartbeat" monitoring starts as soon as the time interval of the producer is greater than zero. If "Heartbeat" monitoring is already active during the NMT state transition to "Pre-Operational", "Heartbeat" monitoring starts with sending of the boot-up message. The boot-up message is a Heartbeat message with one data byte 00h. Devices can monitor each other via "Heartbeat" messages. They as- sume the function of consumer and producer at the same time. 0098441113504, V2.00, 08.2010 66 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics Overview ofobjectgroup 1000 4.3.1 Fieldbus CANopenobjectdictionary 4.3 BLP14A Brushless DCdrive Brushless 1018 1016 1011 1010 1017 1014 1011 1011 1011 1010 1000 ne Subi Index 1018 1018 1018 1018 1016 1015 1010 1010 100D 100C 100A 1009 1008 1005 1003 1003 1003 1001 h h h h h h h h h h h h h h h h h h h h h h h h h h h h h 01 01 03 02 01 03 02 01 01 00 04 03 02 ndex h h h h h h h h h h h h h eilnme A nind2r eilnme 82 82 82 82 82 number Serial ro Unsigned32 Revision number code Product Vendor ID 80 VAR 79 ro object: ro Identification ro Unsigned32 Unsigned32 Unsigned32 ro VAR VAR VAR number Serial Identity Revision number REC code Product Vendor ID Object Identity Time Heartbeat Producer Unsigned16 Unsigned32 Time rw Heartbeat Consumer rw Unsigned16 Unsigned32 Time VAR VAR Heartbeat Consumer EMCY time Inhibit IDEMCY COB parameters communication Restore default of 77 77 ters parame- application Restore default of parameters Restore default ofall 76 parameters 73 Restore defaults of parameters Saves the parameters Saves a parameter: Repeat Save application Timespan for [ms] Guarding Node rw rw rw Unsigned32 parameters rw Unsigned32 Saves communication 72 Unsigned8 Unsigned16 VAR ARR VAR VAR Save allparameters 73 Save parameters Life timefactor 74 72 Guard time version ware Errornumber object thesynchronization of Identifier 73 Manufacturer soft- ro rw version ware Unsigned32 Unsigned32 Errorhistory, for memory errormessages Manufacturer hard- VAR VAR of entries Number error rw name Errorregister rw Manufacturer device Unsigned8 Deviceprofile and type ro IDSYNC COB VAR Unsigned8 ro Error field Unsigned32 VAR of Number errors VAR ARR error Predefined field Error register Device type Name Obj. Obj. Name R nind2 wUsge3 80 81 for Timeinterval "Heartbeat" producer rw Unsigned16 node ID of and the "Heartbeat" Timeinterval VAR rw Unsigned32 Unsigned32 VAR rw Unsigned32 ARR parameter values Resets application to the rw Unsigned32 VAR parametervalues default the the Resets to set- 77 rw Unsigned32 valuescommunication parameter the Resets VAR rw Unsigned32 77 Resets parameter values to the default set- VAR rw Unsigned32 Saves parameters application ARR rw Unsigned32 Saves parameters communication VAR rw Unsigned32 VAR Visible VAR Visible VAR Visible VAR code String8 String8 String8 aatp Acce Data type h oSfwr eso 75 75 74 Software version ro Hardware version ro device User-defined name ro ss recipient default settings tings to thedefault settings tings ecito Page Description atrfrteNd urigpooo 76 factor for protocol Node Guarding the 80 78 78 78 78 67 4 Basics BLP14A

Index Subi Name Obj. Data type Acce Description Page ndex code ss

1020h Verify configuration ARR Unsigned32 rw Checks configuration data 83

1020h 01h Configuration date VAR Unsigned32 rw Date of configuration 83

1020h 02h Configuration time VAR Unsigned32 rw Time of configuration 83

1029h Number of elements ARR Unsigned8 ro Number of values for the object 83

1029h 01h Communication error ARR Unsigned8 rw Communication errors 83

1200h 1st server SDO REC SDO server ro First server SDO, settings 85 parameter param.

1200h 01h COB ID client -> VAR Unsigned32 ro Identifier client -> server 85 server

1200h 02h COB ID server -> cli- VAR Unsigned32 ro Identifier server -> client 85 ent

1201h 2nd server SDO REC SDO server rw Second server SDO, settings 86 parameter param.

1201h 01h COB ID client -> VAR Unsigned32 rw Identifier client -> server 86 server

1201h 02h COB ID server -> cli- VAR Unsigned32 rw Identifier server -> client 86 ent

1201h 03h Node ID SDO client VAR Unsigned32 rw Node ID SDO client 86

1400h 1st receive PDO REC PDO comm. rw First receive PDO (R_PDO1), settings 87 parameter param.

1400h 01h COB ID R_PDO1 VAR Unsigned32 rw Identifier of the R_PDO1 87

1400h 02h Transmission type VAR Unsigned8 rw Transmission type 87 R_PDO1

1401h 2nd receive PDO REC PDO comm. rw Second receive PDO (R_PDO2), settings 89 parameter param.

1401h 01h COB ID R_PDO2 VAR Unsigned32 rw Identifier of the R_PDO2 89

1401h 02h Transmission type VAR Unsigned8 rw Transmission type 89 R_PDO2

1402h 3rd receive PDO REC PDO comm. rw Third receive PDO (R_PDO3), settings 90 parameter param.

1402h 01h COB ID R_PDO3 VAR Unsigned32 rw Identifier of the R_PDO3 90

1402h 02h Transmission type VAR Unsigned8 rw Transmission type 90 R_PDO3

1403h 4th receive PDO REC PDO comm. rw Fourth receive PDO (R_PDO4), settings 92 parameter param.

1403h 01h COB ID R_PDO4 VAR Unsigned32 rw Identifier of the R_PDO4 92

1403h 02h Transmission type VAR Unsigned8 rw Transmission type 92 R_PDO4

1600h 1st receive PDO map- REC PDO map- ro PDO mapping for R_PDO1, settings 93 ping ping

1600h 01h 1st mapped object VAR Unsigned32 ro First object for mapping in R_PDO1 93 R_PDO1

1601h 2nd receive PDO REC PDO map- ro PDO mapping for R_PDO2, settings 94 mapping ping

1601h 01h 1st mapped object VAR Unsigned32 ro First object for mapping in R_PDO2 94 R_PDO2

1601h 02h 2nd mapped object VAR Unsigned32 ro Second object for mapping in R_PDO2 94 R_PDO2 0098441113504, V2.00, 08.2010 68 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A Brushless DCdrive Brushless 1803 1802 1801 1800 1800 1603 1603 1603 1602 Subi Index 1803 1802 1801 1602 1803 1803 1803 1803 1802 1802 1802 1802 1801 1801 1801 1801 1800 1800 1800 1800 1603 1602 h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h ndex 02 01 05 04 03 02 01 05 04 03 02 01 05 04 03 02 01 03 02 01 02 01 05 04 03 h h h h h h h h h h h h h h h h h h h h h h h h h Name Obj. Obj. Name ping 3rd receive PDO map- eevdTPO A nind oRsre 102 102 100 Reserved Time rw ro 102 Unsigned16 for time Inhibit locking bus (1=100µs) access Unsigned8 VAR rw VAR Event timer T_PDO4 Unsigned16 theT_PDO4 of Identifier T_PDO4 Reserved VAR rw T_PDO4 time Inhibit Unsigned32 100 98 T_PDO4 VAR Transmission type Time Reserved IDT_PDO4 COB rw rw 100 parameter Unsigned16 4th transmitfor time Inhibit PDO locking bus (1=100µs) access Unsigned8 VAR rw VAR Event timer T_PDO3 Unsigned16 theT_PDO3 of Identifier T_PDO3 Reserved VAR rw T_PDO3 time Inhibit Unsigned32 98 T_PDO3 VAR Transmission type Time IDT_PDO3 Reserved COB rw rw 98 parameter Unsigned16 3rd transmit PDO for time Inhibit locking bus (1=100µs) access Unsigned8 VAR rw VAR Event timer T_PDO2 Unsigned16 theT_PDO2 of Identifier T_PDO2 Reserved VAR rw T_PDO2 time Inhibit 96 Unsigned32 96 T_PDO2 VAR Transmission type Time for bus([0-7]). CAN arbitration Priority IDT_PDO2 COB rw rw 96 parameter Unsigned16 transmit2nd PDO for time Inhibit locking bus (1=100µs) access Unsigned8 VAR rw VAR Event timer T_PDO1 Unsigned16 theT_PDO1 of Identifier T_PDO1 Reserved VAR rw T_PDO1 time Inhibit Unsigned32 T_PDO1 VAR Transmission type IDT_PDO1 COB parameter 1st transmit PDO R_PDO4 object mapped 3rd R_PDO4 object mapped 2nd R_PDO4 object mapped 1st ping 4th receivePDO map- R_PDO3 object mapped 2nd R_PDO3 object mapped 1st code REC PDO map- PDO REC A nind r rnmsintp 102 Transmission 100 type rw Unsigned8 VAR comm. PDO REC Transmission 98 type rw Unsigned8 VAR comm. PDO REC Transmission 96 type rw Unsigned8 VAR comm. PDO REC Transmission type rw Unsigned8 96 VAR 96 comm. PDO for Third object inR_PDO4 mapping 96 REC rw Unsigned32 forR_PDO4 object in Second mapping VAR rw Unsigned32 forR_PDO4 Firstobject in mapping VAR rw 95 Unsigned32 95 VAR forR_PDO3 object in Second mapping map- PDO REC ro forR_PDO3 Firstobject in mapping Unsigned32 VAR ro Unsigned32 VAR ping Acce Data type param. param. param. param. ping oPOmpigfrRPO,stig 95 PDOmapping for R_PDO3, settings ro ss r orhtasi D TPO) etns102 transmit PDO(T_PDO4),settings Fourth rw 100 Third transmit PDO (T_PDO3), settings rw 98 settings transmit PDO(T_PDO2), Second rw 96 First transmit PDO (T_PDO1), settings rw 96 PDOmapping for R_PDO3, settings rw ecito Page Description pnfreettigrn 11m)102 forspan ms) event (1=1 triggering 100 forspan ms) event (1=1 triggering 98 span for eventms) (1=1 triggering 96 span for eventms) (1=1 triggering 69 4 Basics BLP14A

Index Subi Name Obj. Data type Acce Description Page ndex code ss

1A00h 1st transmit PDO REC PDO map- rw PDO mapping for T_PDO1, settings 103 mapping ping

1A00h 01h 1st mapped object VAR Unsigned32 ro First object for the mapping in T_PDO1 103 T_PDO1

1A01h 2nd transmit PDO REC PDO map- rw PDO mapping for T_PDO2, settings 104 mapping ping

1A01h 01h 1st mapped object VAR Unsigned32 ro First object for the mapping in T_PDO2 104 T_PDO2

1A01h 02h 2nd mapped object VAR Unsigned32 ro Second object for the mapping in T_PDO2 104 T_PDO2

1A02h 3rd transmit PDO REC PDO map- rw PDO mapping for T_PDO3, settings 105 mapping ping

1A02h 01h 1st mapped object VAR Unsigned32 ro First object for the mapping in T_PDO3 105 T_PDO3

1A02h 02h 2nd mapped object VAR Unsigned32 ro Second object for the mapping in T_PDO3 105 T_PDO3

1A03h 4th transmit PDO REC PDO map- rw PDO mapping for T_PDO4, settings 106 mapping ping

1A03h 01h 1st mapped object VAR Unsigned32 rw First object for the mapping in T_PDO4 106 T_PDO4

1A03h 02h 2nd mapped object VAR Unsigned32 rw Second object for the mapping in T_PDO4 106 T_PDO4

1A03h 03h 3rd mapped object VAR Unsigned32 rw Third object for the mapping in T_PDO4 106 T_PDO4

1A03h 04h 4th mapped object VAR Unsigned32 rw Fourth object for the mapping in T_PDO4 106 T_PDO4 0098441113504, V2.00, 08.2010 70 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics Details ofobjectgroup 1000h 4.3.2 BLP14A Brushless DCdrive Brushless Min/max valuesMin/max Factory setting Object code Persistent RO/RW Index PDO whether it remains inafter the memory the device is switched off . i.e. persistent, is parameter valuethe "per."of the whether indicates Factory settings when theproductis shipped The objectoftheobject.code the specifies data structure indexhexadecimal a valueas specified value. is dictionary. object inthe object the of index The position the The specifies valid. Specifies the permissible range in which the object value isdefined and object the possible with not mapping PDO specification: No T_PDO: Mapping for T_PDO possible R_PDO: Mappingfor R_PDOpossible RW:values canread be written. and RO: values can onlyread be values write and/or read Indicates iil tig6ACIcaatr 6bt 0010 0006 0005 0009 0007 byte 16 byte 2 byte 1 byte 8 byte 4 0002 0003 ASCIIcharacters VisibleString16 1 byte ASCIIcharacters 0001 0004 ..4294967295 0 byte 2 VisibleString8 ..65535 0 Unsigned32 ..255 0 byte 1 4 byte Unsigned16 ..2147483647 -2147483648 CiA301 Data length Unsigned8 ..+32767 -32768 ..+127 -128 Integer32 false, = 0 true = 1 Integer16 Coding Integer8 ValueBoolean range Data type that are contains entries field that Adata simple A value, for example of the type have which the entries field in Adata the REC (RECORD) ARR (ARRAY) Meaning VAR Object code a combination of simple types. ofsimple data a combination type. data same Visible or String8. Unsigned32 Integer8, coding 9 8 7 71 4 Basics BLP14A

4.3.2.1 1000h Device type The object specifies the device profile used as well as the device type. Object description Index 1000h Object name Device type Object code VAR Data type Unsigned32

Value description Subindex 00h, device type Meaning Device type and profile Access Read only PDO mapping – Value range –

Default value 0044 0192h Can be saved –

Bit coding, subindex 00h Bit Access Value Meaning

31-24 ro 00h not used

15-0 ro 0192h Device profile DS-402 (192h)

4.3.2.2 1001h Error register The object indicates the operating state 9 Fault of the device. The detailed cause of error can be determined with the object predefined error field (1003h) and - for reasons of compatibility with devices with other fieldbus profiles - with the object error code (603Fh). Errors are signaled by an EMCY message as soon as they occur. Object description Index 1001h Object name Error register Object code VAR Data type Unsigned8

Value description Subindex 00h, error register Meaning Error register Access Read only PDO mapping – Value range – Default value – Can be saved – 0098441113504, V2.00, 08.2010 72 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics 1003 4.3.2.3 BLP14A Brushless DCdrive Brushless Bit coding,Bit subindex 00 Bit coding,Bit subindex 00 h Predefined error field Object description Value description h ..05 h h • Writing 0to Writing subindex 00 • a esvd– 0 Can be saved – Default value Readonly Value range – number Error PDO mapping 01 Access Meaning Subindex – 1 Can be saved 1 ... 0 Default value Read-write Value range – oferrorentries Number PDO mapping Access Meaning uidx00 Unsigned32 Subindex ARRAY 1003 Data type errorfield Predefined Object code Object name Index assigned in the device. not information, error 31 additional ... code.16 Bytes Error 0..15: Bytes The current error messagestored is at subindex 01 • • The subindex 00 The • EMCY messages. The objectcontains the latesterror messages that were shown as o–Manufacturer-specific Device (deviceprofile error) profile – (communication error) Communication profile – ro – 7 ro Reserved6ro error) Error(generic ro – 5 4 – Reserved3ro – Reserved2ro Meaning ro – Reserved1ro Value – Access 0 Bit sages are moved to higher subindex entries. sages. h h , errorfield , numbererrors of h h entry contains the number entry saved of errormes- h resets the error list. the error resets h , older mes- older , 73 4 Basics BLP14A

4.3.2.4 1005h COB ID SYNC message The object specifies the COB ID of the SYNC object and determines whether a device sends or receives SYNC messages. The device can only receive SYNC messages. For synchronization, a device in the network must send SYNC objects. The COB ID can be changed in the NMT state "Pre-Operational" Object description Index 1005h Object name COB ID SYNC Object code VAR Data type Unsigned32

Value description Subindex 00h, COB ID SYNC Meaning Identifier of the synchronization object Access Read-write PDO mapping – Value range 0 ... 4294967295

Default value 8000 0080h Can be saved Yes

Bit coding, subindex 00h Bit Access Value Meaning

31 ro 0b 1: Device can receive SYNC messages (SYNC consumer)

30 ro 1b 1: Device can send SYNC messages (SYNC producer)

29 ro 0b 0: 11 bit identifier (CAN 3.0A) 1: 29 bit identifier (CAN 3.0B)

28-11 ro 0000h Only relevant if bit 29=1 is not used by the device.

10-7 rw 0001b Function code, bits 10 ... 7 of COB ID

6-0 ro 7Fh Node address, bit 6 ... 0 of COB ID

4.3.2.5 1008h Manufacturer device name The object specifies the device name of the manufacturer. Object description Index 1008h Object name Manufacturer device name Object code VAR Data type Visible String8 0098441113504, V2.00, 08.2010 74 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A ... 1009 4.3.2.6 ... 100A 4.3.2.7 Brushless DCdrive Brushless h h Manufacturer hardware Manufacturer version Manufacturer software version software Manufacturer Object description Object description Value description Value description Value description a esvd– – Can be saved – Default value Readonly Value range – device User-defined name PDO mapping Access Meaning a esvd– – Can be saved – Default value Readonly Value range – Software version PDO mapping Access Meaning – – Can be saved – Default value Readonly Value range – version Hardware PDO mapping Access Meaning uidx00 Subindex aatp Visible String8 VAR 100A Data type Manufacturersoftware version Object code Object name Index 00 Visible String8 Subindex VAR 1009 Data type Manufacturer hardware version Object code Object name Index uidx00 Subindex The objectspecifies the version of the devicesoftware. The objectspecifies the version of the devicehardware. - Objects 6404 The followingobjects contain additional information on the device: h , 6410 h h h , manufacturer device name , manufacturer softwareversion , manufacturer hardwareversion h h h : Motor data : Motor 75 4 Basics BLP14A

4.3.2.8 100Ch Guard time The object specifies the time span for connection monitoring (Node Guarding) of an NMT slave. The time span for connection monitoring of an NMT master results from the time span "guard time" multiplied by the factor "life time", object Life time factor(100Dh) . The time span can be changed in the NMT state "Pre-Operational". Object description Index 100Ch Object name Guard time Object code VAR Data type Unsigned16

Value description Subindex 00h, guard time Meaning Time span for Node Guarding [ms] Access Read-write PDO mapping – Value range 0 ... 65535 Default value 0 Can be saved Yes

4.3.2.9 100Dh Life time factor The object specifies the factor that, together with the time span "guard time", results in the time interval for connection monitoring of an NMT master. Within this period, the NMT slave device expects a monitoring request via Node Guarding from the NMT master. life time = guard time * life time factor The value "0" deactivates monitoring of the NMT master. If there is no connection monitoring through the NMT master during the time interval "life time", the device signals an error and switches to the operating state 9 Fault. The time factor can be changed in the NMT state "Pre-Operational". The time span "guard time" is set with the object Guard time (100Ch). Object description Index 100Dh Object name Life time factor Object code VAR Data type Unsigned8 0098441113504, V2.00, 08.2010 76 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A ...01010 4.3.2.10 Brushless DCdrive Brushless h Save Parameters Object description Value description Value description Subindex 03 • Subindex 02 • a esvdYes 0 Can be saved 255 ... 0 Default value Read-write Value range – factor protocol. Repeat forGuarding Node the PDO mapping Access Meaning a esvd– 1 Can be saved – Default value Read-write Value range – Saves communication parameters PDO mapping 02 Access Meaning Subindex – 1 Can be saved – Default value Read-write Value range – Saves theparameters PDO mapping 01 Access Meaning Subindex – 3 Can be saved – Default value Readonly Value range – ofvalues Number for the object PDO mapping Access Meaning uidx00 Subindex uidx00 Unsigned32 Subindex ARRAY 1010 Data type Saveparameters Object code Object name Index Subindex 01 • The objecttois used save parameters. h h h , application parameters , application , communication parameters , parameters h h h h , lifetime factor , save parameters communication , save allparameters , number ofelements h 77 4 Basics BLP14A

Subindex 03h, save application parameters Meaning Saves application parameters Access Read-write PDO mapping – Value range – Default value 1 Can be saved –

4.3.2.11 1011h Restore default parameters The object is used to restore the default parameters.

• Subindex 01h, parameters

• Subindex 02h, communication parameters

• Subindex 03h, application parameters Object description Index 1011h Object name Restore Default Parameters Object code ARRAY Data type Unsigned32

Value description Subindex 00h, number of elements Meaning Number of values for the object Access Read only PDO mapping – Value range – Default value 3 Can be saved –

Subindex 01h, restore default of all parameters Meaning Resets parameter values to the default setting Access Read-write PDO mapping – Value range – Default value 1 Can be saved –

Subindex 02h, restore default of communication parameters Meaning Resets communication parameter values to default Access Read-write PDO mapping – Value range – Default value 1 Can be saved – 0098441113504, V2.00, 08.2010 78 Brushless DC drive 0098441113504, V2.00, 08.2010 ...21014 4.3.2.12 L1A4Basics BLP14A Brushless DCdrive Brushless Bit coding,Bit subindex 00 h COB ID-Emergency message Object description Value description h Default value 4000 0080 4000 4294967295 ... 0 Default value Read-write Value range – object emergency of the Identifier PDO mapping Access Meaning – 1 Can be saved – Default value Read-write Value range – values parameter to Resetsapplication default PDO mapping Access Meaning uidx03 Subindex uidx00 Unsigned32 Subindex VAR 1014 Data type EMCY ID COB Object code name Object Index Thechanged COBIDcanbe thestate inNMT "Pre-Operational" a esvdYes Can be saved The objectspecifies the COBIDof the emergency object "EMCY". i cesVleMeaning Value 30 Access 31, Bit - o–Node address, bits6-0, of the ID COB – 0001 ro 6-0 0000 rw 0 10-7 ro 28-11 ro 29 o0 ro b b h h , COB IDEMCY parametersdefault, restore of application h b h h Function code,Function bits of 10-7 the COB ID device. relevantOnly is by bit29=1 not if used the (CAN 3.0B) identifier 29bit 1: (CAN 3.0A) identifier 11 bit 0: Reserved + node ID +node 79 4 Basics BLP14A

4.3.2.13 1015h Inhibit time emergency message The object specifies the waiting time for the repeated transmission of EMCY messages as a multiple of 100µs. Object description Index 1015h Object name Inhibit time EMCY Object code VAR Data type Unsigned16

Value description Subindex 00h, inhibit time EMCY Meaning Waiting time for repeated transmission of an EMCY Access Read-write PDO mapping – Value range 0 ... 65535 Default value 0 Can be saved Yes

4.3.2.14 1016h Consumer Heartbeat Time The object contains the settings of the "Heartbeat Consumers" for NMT monitoring by mans of "Heartbeat" connection message. Object description Index 1016h Object name Consumer Heartbeat Time Object code ARRAY Data type Unsigned32

Value description Subindex 00h, number of elements Meaning Number of values for the object Access Read only PDO mapping – Value range – Default value 3 Can be saved –

Subindex 01h, Consumer Heartbeat Time Meaning Time interval and node ID of the "Heartbeat" recipient Access Read-write PDO mapping – Value range 0 ... 4294967295 Default value 0 Can be saved Yes 0098441113504, V2.00, 08.2010 80 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A ...51017 4.3.2.15 Brushless DCdrive Brushless Bit coding subindex 01 h Producer Time Heartbeat Object description Value description h . 03 ... h a esvdYes 0 Can be saved 65535 ... 0 Default value Read-write Value range – for "Heartbeat" producer interval Time PDO mapping Access Meaning uidx00 Unsigned16 Subindex VAR 1017 Data type Time Heartbeat Producer Object code name Object Index Time (1017 time,than the producer object"Heartbeat" and ms must be greater The time intervalis specified asmultiple a of 1 node IDisnotmonitored. (1016 consumer,"Heartbeat" object timeThe producer mustthanless "Heartbeat" betime the intervalthe of ms. multiple of1 connectionmonitoringNMT by a message as means"Heartbeat" of The objectcontains the producer time intervalforthe of "Heartbeat" 15 ... 0 Time interval for "Heartbeat" message for Timeinterval "Heartbeat" ID Node Meaning 0 ... 15 16 ... 23 24Reserved ... 31 Bit h ) . Atime intervalzero of deactivates monitoring. h ) . If the time interval is zero, the device specified viathe h , Producer Heartbeat Time , Heartbeat Producer h Consumer HeartbeatTime Producer Heartbeat 81 4 Basics BLP14A

4.3.2.16 1018h Identity Object The object provides information on the product.

• Subindex 01h (vendor ID) contains the manufacturer ID

• Subindex 02h (product ID) contains the manufacturer-specific product code

• Subindex 03h (revision number) identifies special CANopen properties for the device

• Subindex 04h (serial number) contains the serial number Object description Index 1018h Object name Identity Object Object code RECORD Data type Identity

Value description Subindex 00h, number of elements Meaning Number of values for the object Access Read only PDO mapping – Value range – Default value 4 Can be saved –

Subindex 01h, vendor ID Meaning Vendor ID Access Read only PDO mapping – Value range –

Default value 0000 00A4h Can be saved –

Subindex 02h, product code Meaning Product code Access Read only PDO mapping – Value range – Default value 9200 Can be saved –

Subindex 03h, revision number Meaning Revision number Access Read only PDO mapping – Value range – Default value 1 Can be saved – 0098441113504, V2.00, 08.2010 82 Brushless DC drive 0098441113504, V2.00, 08.2010 ...71020 4.3.2.17 L1A4Basics BLP14A Brushless DCdrive Brushless h data on configuration Object description Value description Subindex 02 • a esvd– 0 Can be saved – Default value Readonly Value range – number Serial PDO mapping Access Meaning a esvdYes Can be saved – Default value Read-write Value range – configuration of Time PDO mapping 02 Access Meaning Subindex Yes Can be saved – Default value Read-write Value range – Dateof configuration PDO mapping 01 Access Meaning Subindex – 2 Can be saved – Default value Readonly Value range – Checks data configuration PDO mapping Access Meaning uidx04 Subindex uidx00 Identity Subindex RECORD 1020 type Data code Object name Object Index Subindex 01 • The objecttois used verify the configuration. h h , time of of configuration , time configuration of date , h h h h , serial number , serial , configuration time , configuration date , configuration , verify configuration h 83 4 Basics BLP14A

4.3.2.18 1029h error behavior The object specifies the behavior of the NMT state machine in the event of a communication error. Object description Index 1029h Object name Error behavior Object code ARRAY Data type Unsigned8

Value description Subindex 00h, number of elements Meaning Number of values for the object Access Read only PDO mapping – Value range – Default value 1 Can be saved –

Subindex 01h, Communication Error Meaning Communication errors Access Read-write PDO mapping – Value range 0 ... 2 Default value 0 Can be saved Yes

Settings, subindex 01h Value Meaning 0 Pre-operational (with state Operational only) 1 No state transition 2 stopped 0098441113504, V2.00, 08.2010 84 Brushless DC drive 0098441113504, V2.00, 08.2010 ...91200 4.3.2.19 L1A4Basics BLP14A Brushless DCdrive Brushless h 1st server SDO parameter SDO server 1st Object description Value description uidx02 Subindex Yes ID +node 1536 Can be saved 4294967295 ... 0 Default value Readonly Value range – server -> client Identifier PDO mapping 01 Access Meaning Subindex – 2 Can be saved – Default value Readonly Value range – ofvalues Number for the object PDO mapping Access Meaning a esvdYes ID +node 1408 Can be saved 4294967295 ... 0 Default value Readonly Value range – client -> server Identifier PDO mapping Access Meaning ne 1200 Index uidx00 parameter SDOserver Subindex RECORD Data type parameterSDO 1stserver code Object name Object The objectcontains the settingsfor the first serverSDO. h h h , COB ID client ->server client ID , COB , number ofelements , COB ID server -> client -> server ID , COB h 85 4 Basics BLP14A

4.3.2.20 1201h 2nd server SDO parameter The object contains the settings for the second server SDO. Object description Index 1201h Object name 2nd server SDO parameter Object code RECORD Data type SDO server parameter

Value description Subindex 00h, number of elements Meaning Number of values for the object Access Read only PDO mapping – Value range – Default value 3 Can be saved –

Subindex 01h, COB ID client -> server Meaning Identifier client -> server Access Read-write PDO mapping – Value range 0 ... 4294967295

Default value 8000 0000h Can be saved Yes

Subindex 02h, COB ID server -> client Meaning Identifier server -> client Access Read-write PDO mapping – Value range 0 ... 4294967295

Default value 8000 0000h Can be saved Yes

Subindex 03h, node ID SDO client Meaning Node ID SDO client Access Read-write PDO mapping – Value range 1 ... 127 Default value – Can be saved Yes 0098441113504, V2.00, 08.2010 86 Brushless DC drive 0098441113504, V2.00, 08.2010 ...11400 4.3.2.21 L1A4Basics BLP14A Brushless DCdrive Brushless Bit assignment subindex 01 h 1st receiveparameter PDO Object description Value description Bit 31 h eal au 0200 4294967295 ... 0 Default value Read-write Value range – R_PDO1 of the Identifier PDO mapping 01 Access Meaning Subindex – 2 Can be saved – Default value Readonly Value range – ofvalues Number for the object PDO mapping Access Meaning a esvdYes 255 Can be saved 255 ... 0 Default value Read-write Value range – Transmission type PDO mapping Access Meaning ne 1400 Index uidx00 Parameter PDO Communication Subindex RECORD type Data 1streceivePDO parameter code Object Object name A R_PDOcan only bebit usedif31="0". uidx02 Subindex Yes Can be saved The objectcontains the settingsfor the first receive PDOR_PDO1. 1 w0 Meaning rw Value Access 31 Bit - o–Node address, bits6-0, of the ID COB – 0100 ro 6-0 0000 rw 0 10-7 ro 0 28-11 ro 29 ro 30 b b b h h h , COB ID used byused ID PDO , COB , number ofentries , transmission type=asynchronous h h b h + node ID node + Function code,Function bits of 10-7 the COB ID device. Only relevant isnotusedby if 29=1 bit the (CAN 3.0B) identifier bit 1: 29 3.0A) (CAN bit identifier 0: 11 mitted 0: RTRpossible below)is (see 1: RTR per- not 0: PDO is enabled 1:PDOisdisabled 87 4 Basics BLP14A

Bit 30: RTR Bit If a device supports R_PDOs with RTR (remote transmission request), it can request a PDO from a PDO producer with RTR = "0" in accordance with the producer-consumer relationship. The device cannot request PDOs, but it can respond to the request for a PDO, see RTR bit for T_PDO1 settings (1800h).

Bit coding, subindex 02h The type of control for evaluating R_PDO data is specified via subindex 02h. The values 241 ... 251 are reserved.

Transmission cyclic acyclic synchro- asynchro- RTR- type nous nous controlled 0–XX–– 1-240 X – X – – 252 – – X – X 253 – – – X X 254 – – – X – 255 – – – X –

If an R_PDO is transmitted synchronously (transmission type=0 ... 252), the device evaluates the received data depending on the SYNC object. • In the case of acyclic transmission (transmission type=0), the evaluation depends on the SYNC object, but not the transmission of the PDO. A received PDO message is evaluated with the following SYNC. A value between 1 and 240 specifies the number of SYNC cycles after which a received PDO is evaluated.

The values 252 to 254 are relevant for updating T_PDOs, but not for sending them. • 252: Updating of transmit data with receipt of the next SYNC • 253: Updating of transmit data with receipt of a request from a PDO consumer • 254: Updating of data in an event-driven way, the triggering event is specified in a manufacturer-specific way R_PDOs with the value 255 are updated immediately upon receipt of the PDOs. The triggering event is the data that is transmitted corresponding to the definition of the CiA 402 device profile in the PDO. Settings R_PDO1 is processed asynchronously and in an event-driven way. The byte assignment of the R_PDO1 is specified via PDO mapping with the object 1st receive PDO mapping (1600h). The following default assignment is used for R_PDO1:

• Bytes 0 ... 1: Control word controlword (6040h). The COB ID of the object can be changed in the NMT state "Pre-Oper- ational". 0098441113504, V2.00, 08.2010 88 Brushless DC drive 0098441113504, V2.00, 08.2010 ...21401 4.3.2.22 L1A4Basics BLP14A Brushless DCdrive Brushless h 2nd receivePDO_parameter Object description Value description Default value 8000 0300 8000 4294967295 ... 0 Default value Read-write Value range – R_PDO2 of the Identifier PDO mapping 01 Access Meaning Subindex – 2 Can be saved – Default value Readonly Value range – subindex Largest supported PDO mapping Access Meaning a esvdYes 255 Can be saved 255 ... 0 Default value Read-write Value range – Transmission type PDO mapping Access Meaning ne 1401 Index uidx00 Parameter PDO Communication Subindex RECORD type Data receive 2nd parameter PDO code Object name Object uidx02 Subindex Yes Can be saved object 1streceive PDOparameters (1400 The meaning of the bit states and subindex values isdescribed with the The objectcontains settingsfor the secondreceive PDO R_PDO2. h h h , COB ID R_PDO2 subindex, largest supported , transmissiontype h h + node ID +node h ). 89 4 Basics BLP14A

Settings R_PDO2 is processed synchronously, acyclically and in an event-driven way and must be activated with bit 31=1 in subindex 01h before it can be used. The byte assignment of R_PDO2 is specified via PDO mapping with the object 2nd Receive PDO mapping (1601h). The following default assignment is set for the operating mode Profile Position:

• Bytes 0 ... 1: Control word controlword (6040h) • Bytes 2 ... 5: Target position of the motion command target position (607Ah) The COB ID of the object can be changed in the NMT state "Pre-Oper- ational". The transmission type for the receive PDO can have 3 value ranges:

0 For an asynchronous cycle 1 to 240 Instructs the receive PDO to become active only if a SYNC object is received 255 Specifies that the PDO is executed when it is received

4.3.2.23 1402h 3rd receive PDO-Parameter The object contains settings for the third receive PDO R_PDO3. Object description Index 1402h Object name 3rd receive PDO parameter Object code RECORD Data type PDO Communication Parameter

Value description Subindex 00h, largest subindex supported Meaning Largest subindex supported Access Read only PDO mapping – Value range – Default value 2 Can be saved –

Subindex 01h, COB ID used by PDO Meaning Identifier of the R_PDO3 Access Read-write PDO mapping – Value range 0 ... 4294967295

Default value 8000 0400h + node ID Can be saved Yes 0098441113504, V2.00, 08.2010 90 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A Brushless DCdrive Brushless Settings a esvdYes 255 Can be saved 255 ... 0 Default value Read-write Value range – Transmission type PDO mapping Access Meaning uidx02 Subindex ye . 5: Reference velocityofmotion command ... Bytes 2 • • Bytes 0 ... 1: Control word word Control 1: ... 0 Bytes • Velocity:Profile mode for operating isset faultthe assignment a n utb ciae ihbt31=1 insubindex 01 way and must be activated with bit R_PDO3 isprocessedsynchronously, acyclicallyandevent-driven inan The transmissionfor type the receivecan PDO have 3valueranges: ational". TheIDof COB the objectbe can changed thein NMTstate "Pre-Oper- the object The byteassignment of theis specified R_PDO3via PDOmapping with used. object The meaning of the bit states and subindex values isdescribed with the 255 Specifies that the PDOisexecuted the that Specifies it receivedwhen is 255 For anasynchronous cycle thereceive active to become PDO Instructs aSYNCobject only if 1 to 240 0 velocity (60FF 1st receivePDO-parameters (1400 is received 3rd ReceivePDOmapping(1602 h , transmissiontype h ) controlword (6040 h h ) ) . The following. The de- . h h ) before it can be before be itcan Target 91 4 Basics BLP14A

4.3.2.24 1403h 4th receive PDO parameter The object stores settings for the fourth receive PDO R_PDO4. Object description Index 1403h Object name 4th receive PDO parameter Object code RECORD Data type PDO Communication Parameter

Value description Subindex 00h, largest subindex supported Meaning Largest subindex supported Access Read only PDO mapping – Value range – Default value 2 Can be saved –

Subindex 01h, COB ID used by PDO Meaning Identifier of the R_PDO4 Access Read-write PDO mapping – Value range 0 ... 4294967295

Default value 8000 0500h + node ID Can be saved Yes

Subindex 02h, transmission type Meaning Transmission type Access Read only PDO mapping – Value range – Default value 254 Can be saved Yes

The meaning of the bit states and subindex values is described under object 1st receive PDO-parameters (1400h). PDO settings R_PDO4 is processed asynchronously and in an event-driven way and must be activated with bit 31=1 in subindex 01h before it can be used. The COB ID of the object can be changed in the NMT state "Pre-Oper- ational". 0098441113504, V2.00, 08.2010 92 Brushless DC drive 0098441113504, V2.00, 08.2010 ...51600 4.3.2.25 L1A4Basics BLP14A Brushless DCdrive Brushless Bit coding starting at subindexcodingBit starting 01 h 1st receive mapping PDO Object description Value description Settings h Default value 6040 0010 6040 4294967295 ... 0 Default value Readonly Value range – for object First in R_PDO1 mapping PDO mapping 01 Access Meaning Subindex – 1 Can be saved 8 ... 1 Default value Readonly Value range – ofvalues Number for the object PDO mapping Access Meaning Each subindex entry from subindex from 01 subindexEach entry – Can be saved 00 PDOmapping Subindex RECORD 1600 type Data 1streceivePDO mapping code Object Object name Index mapped objects isread. with the PDO. When theread, objectsubindex is 00 The objectspecifies the objects mapped inR_PDO1and transmitted Subindex 01 • used: is default assignment The PDOassignment for R_PDO1cannotmodified. be The following subindex, whichreferof the to the device. objectdictionary bit length of the object. The objectidentified is via the index and the 7 ... 0 Object length inbit length Object Subindex Meaning 0 ... 7 8 ... 15 16Index ... 31 Bit controlword (6040 h : PDO mapping: of the control word, object h h , CMD: Controlword objects mapped , number of h h h ) . h on specifies on the objectand the h , the numberof 93 4 Basics BLP14A

4.3.2.26 1601h 2nd receive PDO mapping The object specifies the objects mapped in R_PDO2 and transmitted with the PDO. When the object is read, subindex 00h, the number of mapped objects is read. Object description Index 1601h Object name 2nd receive PDO mapping Object code RECORD Data type PDO mapping

Value description Subindex 00h, number of mapped application objects in PDO Meaning Number of values for the object Access Read only PDO mapping – Value range 1 ... 8 Default value 2 Can be saved –

Subindex 01h, PDO mapping for the first application object to be mapped (control word) Meaning First object for mapping in R_PDO2 Access Read only PDO mapping – Value range 0 ... 4294967295

Default value 6040 0010h Can be saved –

Subindex 02h, PDO mapping for the second application object to be mapped (target position) Meaning Second object for mapping in R_PDO2 Access Read only PDO mapping – Value range 0 ... 4294967295

Default value 607A 0020h Can be saved –

The meaning of the bit states is described with the object 1st receive PDO-mapping (1600h). Settings The PDO assignment for R_PDO2 cannot be modified. The following default assignment is set for the operating mode Profile Position:

• Subindex 01h: PDO mapping of the control word, object controlword (6040h).

• Subindex 02h: target position of the motion command, object target position (607Ah). 0098441113504, V2.00, 08.2010 94 Brushless DC drive 0098441113504, V2.00, 08.2010 ...71602 4.3.2.27 L1A4Basics BLP14A Brushless DCdrive Brushless h 3rd receive PDO mapping Object description Value description Settings • Bytes 2..5: reference velocity of the motion command command motion reference velocity the 2..5: of Bytes • Subindex 01 • default assignmentset for is theoperating mode Profile Velocity: The PDOassignment for R_PDO3cannotmodified. be The following uidx01 Subindex – 2 Can be saved 8 ... 1 Default value Readonly Value range – ofvalues Number for the object PDO mapping Access Meaning uidx02 Subindex – Can be saved 00 PDOmapping Subindex RECORD 1602 type Data 3rdreceive PDOmapping code Object Object name Index a esvd– Can be saved mapped objects isread. PDO-mapping (1600 The meaning of the bit states with thedescribed object is with the PDO. When theread, objectsubindex is 00 The objectspecifies the objects mapped inR_PDO3and transmitted Default value 60FF 0020 60FF 4294967295 ... 0 Default value Readonly Value range – for Second object inR_PDO3 mapping PDO mapping Access Meaning 0010 6040 4294967295 ... 0 Default value Readonly Value range – for object First in R_PDO3 mapping PDO mapping Access Meaning velocity (60FF controlword (6040 h mapped (control word) (control mapped mapped (target (target velocity)mapped : PDO mapping: of the control word, object h h h , PDO mapping for, PDO mapping object to be the first application , inPDO objects number application mapped of , PDO mapping for tobe , object PDO mapping application the second h h h ) ) . . h h h ) . h , the numberof 1st receive Target 95 4 Basics BLP14A

4.3.2.28 1603h 4th receive PDO mapping The object specifies the objects mapped in R_PDO4 and transmitted with the PDO. When the object is read, subindex 00h, the number of mapped objects is read. Object description Index 1603h Object name 4th receive PDO mapping Object code RECORD Data type PDO mapping

Value description Subindex 00h, number of elements Meaning Number of values for the object Access Read-write PDO mapping – Value range 0 ... 4 Default value 0 Can be saved Yes

The meaning of the bit states is described with the object 1st receive PDO mapping (1600h). Settings The PDO assignment for R_PDO4 can be modified.

4.3.2.29 1800h 1st transmit PDO parameter The object contains settings for the first transmit PDO T_PDO1. Object description Index 1800h Object name 1st transmit PDO parameter Object code RECORD Data type PDO Communication Parameter

Value description Subindex 00h, number of entries Meaning Number of values for the object Access Read only PDO mapping – Value range – Default value 5 Can be saved –

Subindex 01h, COB ID used by PDO Meaning Identifier of the T_PDO1 Access Read-write PDO mapping – Value range 0 ... 4294967295

Default value 0180h + node ID Can be saved Yes 0098441113504, V2.00, 08.2010 96 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A Brushless DCdrive Brushless Settings • Bytes 0..1: Status word Status 0..1: Bytes • fault assignment isused: uidx05 Subindex – – Can be saved 255 ... 0 Default value – Value range – Reserved PDO mapping 04 Access Meaning Subindex Yes 0 Can be saved 65535 ... 0 Default value Read-write Value range – timefor Inhibit locking bus access (1=100µs) PDO mapping 03 Access Meaning Subindex Yes 255 Can be saved 255 ... 0 Default value Read-write Value range – Transmission type PDO mapping Access Meaning a esvdYes 0 Can be saved 65535 ... 0 Default value Read-write Value range – forspan Time event ms) (1=1 triggering PDO mapping Access Meaning uidx02 Subindex ational". TheIDof COB the objectbe can changed thein NMTstate "Pre-Oper- the object The byte assignment of the T_PDO1 is specified via PDO mapping with whenever thePDO datachanges. transmittedT_PDO1 is asynchronouslyandan in event-driven way object The meaning of the bit states and subindex values isdescribed with the 1st receivePDO-parameters (1400 1st transmit PDO mapping (1A00 h h h h , reserved , inhibittime , transmission type=asynchronous , eventtimer statusword (6041 h ) h h ) ) . . Thefollowing de- . 97 4 Basics BLP14A

4.3.2.30 1801h 2nd transmit PDO parameter The object contains settings for the second transmit PDO T_PDO2. Object description Index 1801h Object name 2nd transmit PDO parameter Object code RECORD Data type PDO Communication Parameter

Value description Subindex 00h, largest subindex supported Meaning Largest subindex supported Access Read only PDO mapping – Value range – Default value 5 Can be saved –

Subindex 01h, COB ID used by PDO Meaning Identifier of the T_PDO2 Access Read-write PDO mapping – Value range 0 ... 4294967295

Default value C000 0280h + node ID Can be saved Yes

Subindex 02h, transmission type Meaning Transmission type Access Read-write PDO mapping – Value range 0 ... 255 Default value 255 Can be saved Yes

Subindex 03h, inhibit time Meaning Inhibit time for locking bus access (1=100µs) Access Read-write PDO mapping – Value range 0 ... 65535 Default value 0 Can be saved Yes 0098441113504, V2.00, 08.2010 98 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A Brushless DCdrive Brushless Settings • Bytes 0..1: Status word Status 0..1: Bytes • Position:Profile mode for operating isset faultthe assignment a esvdYes 100 Can be saved 65535 ... 0 Default value Read-write Value range – forspan Time event ms) (1=1 triggering PDO mapping 05 Access Meaning Subindex – – Can be saved 255 ... 0 Default value – Value range – Reserved PDO mapping Access Meaning ational". TheIDof COB the objectbe can changed thein NMTstate "Pre-Oper- uidx04 Subindex Bytes 2..5:Current position • the object The byte assignment of the T_PDO2 is specified via PDO mapping with transmittedT_PDO2 is synchronously and acyclically. object The meaning of the bit states and subindex values isdescribed with the 1st receivePDO-parameters (1400 2nd transmit PDO mapping (1A01 h h , eventtimer , reserved statusword (6041 position actual value(6064 h ) h h ) ) . . Thefollowing de- . h 99 ) . 4 Basics BLP14A

4.3.2.31 1802h 3rd transmit PDO parameter The object contains settings for the third transmit PDO T_PDO3. Object description Index 1802h Object name 3rd transmit PDO parameter Object code RECORD Data type PDO Communication Parameter

Value description Subindex 00h, largest subindex supported Meaning Largest subindex supported Access Read only PDO mapping – Value range – Default value 5 Can be saved –

Subindex 01h, COB ID used by PDO Meaning Identifier of the T_PDO3 Access Read-write PDO mapping – Value range 0 ... 4294967295

Default value C000 0380h + node ID Can be saved Yes

Subindex 02h, transmission type Meaning Transmission type Access Read-write PDO mapping – Value range 0 ... 255 Default value 255 Can be saved Yes

Subindex 03h, inhibit time Meaning Inhibit time for locking bus access (1=100µs) Access Read-write PDO mapping – Value range 0 ... 65535 Default value 0 Can be saved Yes 0098441113504, V2.00, 08.2010 100 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A Brushless DCdrive Brushless Settings • Bytes 0..1: Status word Status 0..1: Bytes • Velocity:Profile mode for operating is set faultthe assignment a esvdYes 100 Can be saved 65535 ... 0 Default value Read-write Value range – forspan Time event ms) (1=1 triggering PDO mapping 05 Access Meaning Subindex – – Can be saved 255 ... 0 Default value – Value range – Reserved PDO mapping Access Meaning object The meaning of the bit states and subindex values isdescribed with the ational". TheIDof COB the objectbe can changed thein NMTstate "Pre-Oper- uidx04 Subindex • Bytes 2..5: Actual velocity Actual 2..5: Bytes • the object The byte assignment of the T_PDO3 is specified via PDO mapping with transmittedT_PDO3 is synchronously and acyclically. 1st receivePDO-parameters (1400 3rd transmit PDO mapping (1A02 h h , eventtimer , reserved statusword (6041 velocity actual value(606C h ) h h ) ) . . Thefollowing de- . h 101 ) . 4 Basics BLP14A

4.3.2.32 1803h 4th transmit PDO parameter The object contains settings for the fourth transmit PDO T_PDO4. Object description Index 1803h Object name 4th transmit PDO parameter Object code RECORD Data type PDO Communication Parameter

Value description Subindex 00h, largest subindex supported Meaning Largest subindex supported Access Read only PDO mapping – Value range – Default value 5 Can be saved –

Subindex 01h, COB ID used by PDO Meaning Identifier of the T_PDO4 Access Read-write PDO mapping – Value range 0 ... 4294967295

Default value C000 0480h + node ID Can be saved Yes

Subindex 02h, transmission type Meaning Transmission type Access Read only PDO mapping – Value range 0 ... 255 Default value 254 Can be saved Yes

Subindex 03h, inhibit time Meaning Inhibit time for locking bus access (1=100µs) Access Read-write PDO mapping – Value range 0 ... 65535 Default value 0 Can be saved Yes 0098441113504, V2.00, 08.2010 102 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A4Basics BLP14A ...31A00 4.3.2.33 Brushless DCdrive Brushless h 1st transmit PDOmapping Object description Value description Settings a esvdYes 0 Can be saved 65535 ... 0 Default value Read-write Value range – forspan Time event ms) (1=1 triggering PDO mapping 05 Access Meaning Subindex – – Can be saved 255 ... 0 Default value – Value range – Reserved PDO mapping Access Meaning a esvd– 1 Can be saved 8 ... 1 Default value Readonly Value range – ofvalues Number for the object PDO mapping Access Meaning object The meaning of the bit states and subindex values isdescribed with the uidx04 Subindex uidx00 PDOmapping Subindex RECORD 1A00 type Data 1sttransmitPDO mapping code Object Object name Index with the PDO. When theread, objectsubindex is 00 The objectspecifies the objects mapped inT_PDO1transmitted and ational". TheIDof COB the objectbe can changed thein NMTstate "Pre-Oper- R_PDO4 istransmittedasynchronously andevent-driven inan way. mapped objects isread. 1st receivePDO-parameters (1400 h h h , eventtimer , reserved , number of mapped objects mapped , number of h h ) h . , the numberof 103 4 Basics BLP14A

Subindex 01h, ETA: status word Meaning First object for the mapping in T_PDO1 Access Read only PDO mapping – Value range 0 ... 4294967295

Default value 6041 0010h Can be saved –

The meaning of the bit states is described with the object 1st receive PDO mapping (1600h). Settings The PDO assignment for T_PDO1 cannot be modified. The following default assignment is used: • Subindex 1: PDO mapping of the status word, object statusword (6041h)

4.3.2.34 1A01h 2nd transmit PDO mapping The object specifies the objects mapped in T_PDO2 and transmitted with the PDO. When the object is read, subindex 00h, the number of mapped objects is read. Object description Index 1A01h Object name 2nd transmit PDO mapping Object code RECORD Data type PDO mapping

Subindex 01h, PDO mapping for the first application object to be mapped (status word) Meaning First object for the mapping in T_PDO2 Access Read only PDO mapping – Value range 0 ... 4294967295

Default value 6041 0010h Can be saved – 0098441113504, V2.00, 08.2010 104 Brushless DC drive 0098441113504, V2.00, 08.2010 ...51A02 4.3.2.35 L1A4Basics BLP14A Brushless DCdrive Brushless h 3rdtransmit PDOmapping Object description Value description Settings Subindex 2: PDO mapping of the current position, object • Subindex 1: PDO mapping of the status word, object • Position:Profile mode for operating isset faultthe assignment The PDOassignment for T_PDO2 cannot be modified. The following de- uidx01 Subindex – 2 Can be saved 8 ... 1 Default value Readonly Value range – ofvalues Number for the object PDO mapping Access Meaning PDO-mapping (1600 The meaning of the bit states with thedescribed object is uidx02 Subindex uidx00 PDOmapping Subindex RECORD 1A02 type Data 3rdtransmit PDOmapping code Object Object name Index – Can be saved a esvd– Can be saved with the PDO. When theread, objectsubindex is 00 The objectspecifies the objects mapped inT_PDO3transmitted and mapped objects isread. Default value 6041 0010 6041 4294967295 ... 0 Default value Readonly Value range – for object First inT_PDO3 themapping PDO mapping Access Meaning 0020 6064 4294967295 ... 0 Default value Readonly Value range – for inT_PDO2 Second object mapping the PDO mapping Access Meaning actual value (6064 (6041 h ) mapped (actual position) (actual mapped mapped (statusword)mapped h h h , PDO mapping for tobe , object PDO mapping application the second , PDO mapping for, PDO mapping object to be the first application , inPDO objects number application mapped of h h ) . h h h ) . h , the numberof 1st receive statusword position 105 4 Basics BLP14A

Subindex 02h, PDO mapping for the second application object to be mapped (actual velocity) Meaning Second object for the mapping in T_PDO3 Access Read only PDO mapping – Value range 0 ... 4294967295

Default value 606C 0020h Can be saved –

The meaning of the bit states is described with the object 1st receive PDO-mapping (1600h). Settings The PDO assignment for T_PDO3 cannot be modified. The following default assignment is set for the operating mode Profile Velocity:

• Bytes 0..1: Status word statusword (6041h).

• Bytes 2..5: Actual velocity velocity actual value (606Ch).

4.3.2.36 1A03h 4th transmit PDO mapping The object specifies the objects mapped in T_PDO4 and transmitted with the PDO. When the object is read, subindex 00h, the number of mapped objects is read. Object description Index 1A03h Object name 4th transmit PDO mapping Object code RECORD Data type PDO mapping

Value description Subindex 00h, number of elements Meaning Number of values for the object Access Read-write PDO mapping – Value range 0 ... 4 Default value 0 Can be saved Yes

The meaning of the bit states is described under object 1st receive PDO mapping (1600h) . Settings The PDO assignment for T_PDO4 can be modified. 0098441113504, V2.00, 08.2010 106 Brushless DC drive 0098441113504, V2.00, 08.2010 . Configurable inputsandoutputs 5.2 5Engineering Specification ofthecontrol mode 5.1 Engineering 5 BLP14A Brushless DCdrive Brushless Controlmode: Localfieldbus or Fieldbus control mode Local Control mode digitalinputs signal and signal outputs"for additionalinformation. quirements of the customer's installation. See chapter 8.6.7 "Setting the operatingthe start-up mode. This assignment can be adapted to the re- inputsoutputs and have adefined standard assignment dependingon productThis has digitalinputs outputs and that can beconfigured.The phase. design inthe is vital This chapter contains information on the application of the product that tionwith the product. for used communica- are commands fieldbus mode, control fieldbus In mode. trol Limit switches and reference switches cannotconnected be inlocalcon- ( signals analog of form the in supplied are referencevalues the mode, for control movements local of case the In setting. The availability ofoperat ter 8.6.12.2 the"Restoring factory settings". setting can only be modified by the restoring factory settings, see chap- controlled in tobe it is When the you product for start the first time, you must specify whether localcontrol modefieldbus or control mode. This ing modes oftheproduct ing modes ± 10V). also depends onthis also depends 5 107 5 Engineering BLP14A

5.3 External power supply units

@ DANGER ELECTRIC SHOCK CAUSED BY INCORRECT POWER SUPPLY UNIT The VDC and +24VDC supply voltages are connected with many exposed signal connections in the drive system. • Use a power supply unit that meets the PELV (Protective Extra Low Voltage) requirements. • Connect the negative output of the power supply unit to PE (ground). Failure to follow these instructions will result in death or serious injury.

5.3.1 Power stage supply

General The power supply unit must be rated for the power requirements of the drive. The input current can be found in the technical data. The actual power requirements are often significantly lower because the maximum possible motor torque is usually not required for normal operation of a system. When designing the system, note that the input current of the drive is higher during the motor acceleration phase than during constant movement. The VDC power supply for this product is the DC bus. Reverse polarity protection In the case of reverse polarity of the VDC supply voltage, there is a short-circuit in the drive. The product is continuous short circuit-proof up to a short-circuit current of a maximum of 15A. If the power is supplied by a transformer power supply unit, several hundred amperes may flow for a short period of time in the event of reverse polarity; the drive is rated for this and will not be damaged if proper fusing is provided. Required fuse: a circuit-breaker (type Multi9 C60N by Merlin Gerin (http://www.schneider-electric.com); Cat.No.60112; rated current 15A, trip characteristic C.) or a blade fuse (FKS, maximum 15A) or a fuse (5mm x 20mm, 10A slow-blow).

@ WARNING LOSS OF CONTROL DUE TO REGENERATION CONDITION Regeneration conditions resulting from braking or external driving forces may increase the VDC supply voltage to an unexpected level. Components not rated for this voltage may be destroyed or cause misoperation. • Verify that all VDC consumers are rated for the voltage occurring during regeneration conditions (for example limit switches). • Use only power supply units that will not be damaged by regeneration conditions. • If necessary, use a braking resistor controller. Failure to follow these instructions can result in death, serious injury or equipment damage. 0098441113504, V2.00, 08.2010 108 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A5Engineering Signal power supply 5.3.2 BLP14A Brushless DCdrive Brushless Regeneration condition General cause excessively high voltagesat via thepower stage supply The sensors and the digital signal outputs ( sistor controller.sistor See the product manualspareparts". forof the adescription braking re- Braking resistor controllers can be found in chapter 12and "Accessories ergy to heatenergy deceleration. during sponding braking resistor controller. Thisconverts the regenerated en- Overvoltages canbe limited by adding abraking resistor withcorre- a overvoltage an discharged, moni ordischarged externalinternal via br If the capacity of the capacitors isexceeded, the excess energy must be sorbed. capacitors to the DCbusincreases theamount ofenergy thatcan beab- limitedsorb a amountof energy in the capacitors. Connecting additional The motors regenerateenergy deceleration. during busDC The canab- highlyapplications: dynamic Note the following for drives with high external or for moments of inertia Chapter 9 "Examples" pr 9 "Examples" Chapter ̈ digital signal outputs ( outputs signal digital A separate powerunitis required supplyto supply thesensorsthe and signal outputs ( Use aseparate powerunit supply supply to the sensorsand digital +24VDC +24VDC ovides examples. wiring ). VDC ). sinceregeneration conditions may tor will shut offthepowertor willshut stage. VDC aking resistors. If the energy isnot . +24VDC ) cannot be supplied 109 5 Engineering BLP14A

5.4 Safety function STO ("Safe Torque Off")

See chapter 2.5 "Functional safety" for information on using the IEC 61508 standard.

5.4.1 Definitions

Safety function STO (IEC 61800-5- The safety function STO ("Safe Torque Off") shuts off the motor torque 2) safely. It is not necessary to interrupt the supply voltage. There is no monitoring for standstill. Category 0 stop (IEC 60204-1) Stopping by immediate removal of power to the machine actuators (i.e. an uncontrolled stop). Category 1 stop (IEC 60204-1) Controlled stop with power available to the machine actuators to achieve the stop. Power is not interrupted until the stop is achieved.

5.4.2 Function

The STO safety function integrated into the product can be used to implement an "EMERGENCY STOP" (IEC 60204-1) for category 0 stops. With an additional, approved EMERGENCY STOP safety relay module, it is also possible to implement category 1 stops. Function principle The STO safety function is triggered via 2 redundant inputs. The circuits of the two inputs must be separate so that there are two channels. The switching process must be simultaneous for both inputs (offset <1s). The power stage is disabled and an error message is generated. The motor can no longer generate torque and coasts down without braking. A restart is possible after resetting the error message with a "Fault Re- set". The power stage is disabled and an error message is generated if only one of the two inputs is switched off or if the time offset is too great. This error message can only be reset by switching off the product.

5.4.3 Requirements for using the safety function

@ WARNING LOSS OF SAFETY FUNCTION Incorrect usage may cause a hazard due to the loss of the safety function. • Observe the requirements for using the safety function. Failure to follow these instructions can result in death or serious injury.

Category 0 stop During a category 0 stop, the motor coasts down in an uncontrolled way. If access to the machine coasting down involves a hazard (results of the hazard and risk analysis), you must take appropriate measures. Category 1 stop A controlled stop must be triggered with a category 1 stop. The controlled stop is not monitored by the drive system. In the case of power outage or an error, a controlled stop is impossible. Final shutoff of the motor is achieved by switching off the two inputs of the STO safety function. The shutoff is usually controlled by a standard EMERGENCY STOP safety relay module with a safe time delay. 0098441113504, V2.00, 08.2010 110 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A5Engineering BLP14A Brushless DCdrive Brushless Datafor maintenanceand plan Degreeprotection of when the Vertical axes, forces external Protected cable installation Protected Hazard and risk analysis and Hazard risk safety functionis used Unintended restart safety calculations restart. set to "off". Note that a master controller must not an trigger unintended example,after power outage), the parameter To avoid of the motor unintended after restart restoration power of (for must notoperated be without additional measuresfor fallprotection. ment,for exampleby caused gravity, couldcause ahazard, the motor Ifexternal forces acton the motor axis)and (vertical unwanted an move- plan and the safetycalculations: Use the following data of the STO safety function for your maintenance thesafety functionno longer is operative. cableis damaged. Ifthe two channels are connectedexternal to voltage, channels) of a safety function may be connected to external voltage if a In thecase ofunprotected an cable installation, the two(both signals isrequired. 13849-2 ISO per as installation cable protected devices, by upstream detected not if they are and signals safety-related circuitscross and circuits Ifshort tion to become inoperative. (pollution degree 2). Conductive su You mustensure that conductive substancescannot get into theproduct quired.results Thethe hazard of analysis and have risk priority. ing applicationexamples. Additional safety components may be re- The type of circuit resulting from the analysis may differ from the follow- safety the of cation function. appli- the in account taken into must be results The system. entire the As a system integrator you must conduct a hazard analysis and risk of C(S 34-)[]90 [%] 13849-1) DC (ISO CoverageDiagnostic PL (ISO 13849-1) d (category 3) d(category 4.299*10 [1/h] MTTF Failure Dangerous to Time Mean 1 13849-1) PL (ISO Performance Level 61508) (IEC PFH ware Failure Hour per 49 Hard- of Dangerous Probability [%] 62061 IEC 61508 20years IEC Safety level integrity 61508) HFT (IEC Type A subsystem Hardware Fault Tolerance 61508) SFF (IEC Safe Failure Fraction 61508) Lifetime (IEC d (ISO 13849-1) 1995 years 1995 13849-1) (ISO canexpected be inconnection with bstances may cause the safety func- SILCL2 SIL2 IO_AutoEnable -9 must be must 111 5 Engineering BLP14A

5.4.4 Application examples STO

Example of category 0 stop Use without EMERGENCY STOP safety relay module, category 0 stop.

24V 24V

ENABLE PLC

FAULT RESET M 3~ EMERGENCY STOP STO_A STO_B

Figure 5.1 Example of category 0 stop

An EMERGENCY STOP is requested. This request leads to a category 0 stop • The power stage is immediately disabled via the inputs STO_A and STO_B of the STO safety function. Power can no longer be supplied to the motor. If the motor has not yet stopped at this point in time, it coasts down in an uncontrolled way (uncontrolled stop). 0098441113504, V2.00, 08.2010 112 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A5Engineering BLP14A Brushless DCdrive Brushless 4 24V 24V xml fctgr 1 stop Example of category STOP EMERGENCY 4 4 24V 24V 24V 758 23 13 57 47 A1 S31 37 S32 S22 S21 03 Y+ Preventa XPS-AV Undelayed Delayed Y64 S14 S13 S12 S11 Y84 Y74 A2 24 14 04 48 38 module must be observed. STOP the relayof EMERGENCY the current of outputs safety relay NOTE:specified The minimum current and themaximum permissible stop. STOPwith EMERGENCY Application • The function "Halt" is immediately started (undelayed) The function "Halt"is immediately started viathe input • 1stop category a to leads request STOP This EMERGENCY An isrequested. Preventa withexternal 1stop XPS-AV ofcategory Example Figure 5.2 The power stage isdisabled viathe inputs • (uncontrolled stop). delay time haselapsed,coasts it down inanuncontrolledway motor. tothe the when yetsupplied has not stopped motor Ifthe STOP safety relay moduleelapsed.has Power can nolonger be STOEMERGENCY the delay in the set safety after time function HALT decelerated viathe adjusted ramp. FAULT RESET ENABLE (single-channel, not monitored).Any activemovement is EMERGENCY STOP safety relay module PLC safety relay module, category 1 1 safety relaycategory module, STO_B STO_A Halt STO_A and and STO_B 3~ M of the the of 113 5 Engineering BLP14A

5.4.5 Error handling E1300 (STO)

Prior to firmware version V1.20 In the operating states 5, 6, 7, 8, an error is generated when the STO inputs are deactivated to that the drive transitions to the operating state 9 Fault. If the STO inputs are activated in the operating state 4 Ready To Switch On, the drive transitions to operating state 3 Switch On Disabled. If the STO inputs are already activated during start-up, the drive also remains in the operating state 3 Switch On Disabled. No error message is generated. As of firmware version V1.20 and The parameter DEVSafetyReact allows you to specify that the drive is higher to transition to the operating state 2 Not Ready To Switch On and an error message (E1300) is to be generated if the STO inputs are activated in the operating states 3 Switch On Disabled, 4 Ready To Switch On and9 Fault. It is only possible to exit the operating state 9 Fault via a "Fault Reset" if voltage is available at both STO inputs.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

DEVSafetyReact Specific safety function response - UINT16 CANopen 3005:21h 0 UINT16 Modbus 1346 - 0 / Standard: Standard response 0 R/W 1 / Specific: Specific response: Error - 1 per. response in all states - 0098441113504, V2.00, 08.2010 114 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A5Engineering Monitoring functions 5.5 BLP14A Brushless DCdrive Brushless Overtemperature Monitors thedevice Monitors for overtemperature phases circuits motor between the for short Monitoring for Monitors difference reference position betweenand actual position Overtemperature age undervolt- Overvoltage and Position deviation circuit Short if, Error message inspit Task error Blocking Monitoring Motor connection Monitors for Monitors The motorconnection. for Monitors correct signals hall Task for Monitors correct si encoder Motor connection signals Motor encoder signals Hall Monitoring for movement Monitors permissible range becomes inoperative thelink if Errorresponse I switchLimit signals connection Data 2 iiainPower caseof inthe overload limitation t limitation Monitors forMonitors of overvoltagethe power supply and undervoltage stage and the resistor. the braking and with thisparameter. Availableas of software version V1.20 and higher: The followingmonitoring functions are available: ing functions may notused be to protectpersons. and involved reduce the risks ain system misoperation.These monitor- The monitoring functions inthe product canhelp to guard the system e of maximum current, the motor e shaf of maximum current,themotor gnals if processing with motor encoder isactive. encoder withmotor ifprocessing gnals test is performed thepowertest isperformed when isenabled. stage s for motor, the power output current, the output the t does not move t does for set time the 115 5 Engineering BLP14A 0098441113504, V2.00, 08.2010 116 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation Installation 6 BLP14A Brushless DCdrive Brushless )For USA: Additional information, refer 1) installation, see chapter 5"Engineering". mandatory engineering phaseAn is injury. Failure to follow these thor- and individually be must product the of implementation Each • all Observe accident prevention regulationslocal and safety • System control paths may inclu • Separate or redundantcontrol pathsmust beprovidedfor critical • designer The of any controlscheme must consider the potential • LOSS OF CONTROL tems”. Guide forSelection, Installationand Operation Adjustable-Speed of Drive Sys- trol” andNEMA ICS to 7.1 (latest edition), “Safety Standards for Construction and Guidelinesfor the Application, Installation,and Maintenanceof Solid StateCon- ice. oughly tested for proper operation beforebeing placed into serv- guidelines. sion delaysor failures the link. of eration must be given to the implication of unanticipated transmis- functions. overtravelstop, power outageand restart. failure. Examples control of functions critical are emergency stop, provide ameansachieve to safe a state and after during apath functions, critical forand, certain paths control failure of modes 1) instructions can result indeath orserious @ WARNING to NEMA ICS 1.1 (latestNEMA ICS to edition), “Safety de communicationlinks. Consid- prior to prior mechanical and electrical 6 117 6 Installation BLP14A

6.1 Electromagnetic compatibility, EMC

@ WARNING SIGNAL AND DEVICE INTERFERENCE Signal interference can cause unexpected responses of device. • Install the wiring in accordance with the EMC requirements. • Verify compliance with the EMC requirements. Failure to follow these instructions can result in death, serious injury or equipment damage.

Limit values This product meets the EMC requirements according to the standard IEC 61800-3 if the measures described in this manual are implemented during installation. If the selected composition is not designed for category C1, note the following:

@ WARNING HIGH-FREQUENCY INTERFERENCE In a residential environment this product may cause high-frequency interference that require interference suppression. Failure to follow these instructions can result in death or serious injury.

EMC measures EMC measures Effect Cable as short as possible. No ground loops. Avoid capacitive and inductive interference. Ground shields of digital signal wires at both Reduces interference affect- ends by connecting them to a large surface ing the signal wires, reduces or via conductive connector housings. emissions Connect large surface areas of cable Reduces emissions. shields, use cable clamps and ground straps.

Cable shield The following cables must be shielded: • Fieldbus cable • Cables for safety function STO: Note the requirements in chapter 5.4.3 "Requirements for using the safety function". The following cables do not need to be shielded: • Supply voltage VDC • 24 V signal interface 0098441113504, V2.00, 08.2010 118 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation BLP14A Brushless DCdrive Brushless Equipotential bonding conductors bonding Equipotential •16mmcan beused: sections cross ductor following the shown that has con- experience Practical flowing. current The equipotential bonding conductormust rated be forthemaximum cable shields. shields. Useequipotential bonding conductors to reduce currents on the Potential differencesresult in can •20mm fmr hn20m 200 than more of m length of 200 2 2 (AWG 4) for equipotential bonding conductors with alength 4) for equipotentialbonding conductors upa to (AWG excessive cableon the currents 119 6 Installation BLP14A

6.2 Mechanical installation

@ WARNING MOTOR WITHOUT BRAKING EFFECT If power outage, functions or errors cause the power stage to be switched off, the motor is no longer decelerated in a controlled way and may cause damage. • Verify the mechanical situation. • If necessary, use a cushioned mechanical stop or a suitable holding brake. Failure to follow these instructions can result in death, serious injury or equipment damage. 0098441113504, V2.00, 08.2010 120 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation BLP14A Brushless DCdrive Brushless Motor (ground to machine) Machine M~ Control cabinet grounding point Central iue61EMC measures Figure 6.1 + Encoder Motor ~ - CN3 CN4 CN5 CN1 N CN7 CN6 121 6 Installation BLP14A

6.3 Mounting the device

Control cabinet The control cabinet must have a sufficient size so that the devices and components can be permanently installed and wired in compliance with the EMC requirements. Sufficient ventilation of the control cabinet must be provided to remove the heat generated by all devices and components operated in the control cabinet. Mounting distances, ventilation When selecting the position of the device in the control cabinet, note the following: • Mount the device in a vertical position (±10°). This is required for cooling the device. • Adhere to the minimum installation distances for required cooling. Avoid heat accumulations. • Do not mount the device close to heat sources. • Do not mount the device on flammable materials. • The heated airflow from other devices and components must not heat up the air used for cooling the device. • If the thermal limits are exceeded during operation, the drive switches off (overtemperature).

d d

Figure 6.2 Mounting distances and air circulation

The specified continuous current is applicable if the following distances are maintained and the device is installed vertically. • At least 10mm of free space is required in front of the device. • At least 50mm of free space is required above the device. • At least 30 mm of free space is required for "d". • At least 200 mm of free space (with EMC plate) is required below the device to allow for cable installation without bends. If other parts are mounted in the areas mentioned, the possible continuous current is reduced. 0098441113504, V2.00, 08.2010 122 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation BLP14A Brushless DCdrive Brushless Mounting the device holes. ter 3.3.1 "Dimensions", page 23 for the dimensionsof the mounting onto astandardrail TH35 as per EN60715(DINrail 35 mm). Seechap- surfacetwo with M4 screws. product The can optionallysnapped be mounting narrowor wide via the directly be mounted can product The of the mounting points until the metal is completely bare. completely is metal the until points mounting the of device to a painted mounting plate, remove all paint across a large area NOTE: Painted surfaces have an insulating effect. Before mounting the ̈ ̈ to route the cable and connect theshield. (busbars, or similar) clamps elements shield connection alternative Use the EMCkit (see chapter or 12 "Accessories and spare parts") device. the cooling Mount the device positionvertical ( ain ± 10°). This is required for10°). Thisis 123 6 Installation BLP14A

6.4 Electrical installation

@ WARNING UNEXPECTED BEHAVIOR DUE TO EXTERNAL OBJECTS External objects, deposits or humidity can cause unexpected behavior. • Do not use damaged products. • Prevent external objects such as chips, screws or wire clippings from entering the product. • Do not use products that contain external objects. Failure to follow these instructions can result in death, serious injury or equipment damage.

@ WARNING DAMAGE TO SYSTEM COMPONENTS AND LOSS OF CONTROL Interruptions of the negative connection of the controller supply voltage can cause excessively high voltages at the signal connections. • Do not interrupt the negative connection between the power supply unit and load with a fuse or switch. • Verify correct connection before switching on. • Do not connect the controller supply voltage or change its wiring while the supply voltage is present. Failure to follow these instructions can result in death, serious injury or equipment damage.

Suitability of the cables Cables must not be twisted, stretched, crushed or bent. Use only cables that comply with the cable specification. Consider the following in determining suitability of the cables: • Suitable for drag chain applications • Temperature range • Chemical resistance • Outdoor installation • Underground installation 0098441113504, V2.00, 08.2010 124 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation Overview ofprocedure 6.4.1 BLP14A Brushless DCdrive Brushless examples. 9-277 for wiring examples“, „Wiring Seite See Kapitel ̈ ̈ ̈ ̈ .. Mtrcneto C6"138 Page 141 135 140 (CN8)" connection 6.4.10 "Motorencoder effect6.4.9 "Hall (CN7)" connection sensor 127 129 (CN6)" 6.4.8 "Motor connection (CN5)" 6.4.7 "Fieldbus connection "I/O expansion interf 6.4.6 signal interf "I/O signal 6.4.5 interface6.4.4 "Commissioning (CN2)" connection 6.4.3 "Power (CN1)" supply connection stage Chapter present. The entire installation procedure must be performed without voltage Finally, verifyproper installation. page357. andries spare parts", compliancewith the EMCrequirements,see chapter "Accesso- 12 Make the required connectionsaccording to the table below. Verify the deviceConnect neutra tothe c oncin(N) 131 (CN3)" ace connection c oncin(N pinl"133 (CN4optional)" ace connection l point for grounding thesystem. 125 6 Installation BLP14A

6.4.2 Connection overview

The illustration below shows an overview of the connections.

LED LED OK ERR

LED LED BUS_RUN BUS_ERR CN1 14 2

S1 3

S2 CN4 CN2 S3

CN3

CN5 CN6

CN7

CN8

Figure 6.3 Overview of signal connections

Connection Assignment CN1 Power stage supply CN2 Commissioning interface CN3 I/O signal interface CN4 I/O expansion signal interface (optional) CN5 Fieldbus interface CN6 Motor connection CN7 Hall effect sensor interface CN8 Motor encoder 0098441113504, V2.00, 08.2010 126 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation Power stage supply connection(CN1) 6.4.3 BLP14A Brushless DCdrive Brushless injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these If necessary, useabraking resistor controller. • poweronly Use unitsthat supply • age. Failure tofollow theseinstructions canresultequipment in dam- Switch the powerinput of the powerunit supplyinstead of the • Usepowera supply unit thatthe limitspeak valuethe of output • welding may result. means of switchingof contacts, damageto the contacts contact or limitation. current have not inrush an The connection for thecontroller supply voltage at the product does CONTACTS TO DAMAGE Verifyall that • soperation. Componentsnot rated for this voltagemay bedestroyedcause or mi- forcesthe may increase Regenerationconditions resultingfrom braking or external driving OFLOSS CONTROL DUETO injury. Failure to follow these instructions will result in death or serious Connect thenegative output of the powerunit supply PE to • Usepowera supply unit that meets the PELV (Protective Extra • connections inthedrivesystem. The ELECTRIC SHOCK CAUSED BY INCORRECTPOWER SUPPLY UNIT ation conditions. regenerationduring conditions (for example limit switches). output voltage. current to avalue permissiblefor the contact. (ground). Low Voltage) requirements. +24VDC supply voltage isconnectedwith many exposed signal VDC consumers are rated rated for are the consumers voltage occurring @ VDC @

CAUTION REGENERATION CONDITION REGENERATION WARNING supply voltage to an unexpected level. DANGER will not be damagedby not will regener- If the voltage isswitchedby on 127 6 Installation BLP14A

Wiring diagram

CN1

CN1 1 2

CN2

Figure 6.4 Connector CN1

Pin Signal Meaning 1 VDC Power stage supply 1) 2 0VDC Reference potential to VDC 1) Note the special requirements in terms of the power supply units. See 5.3 "Exter- nal power supply units"(regeneration condition).

Fuses See 12 "Accessories and spare parts" for fuses. Required mating plug The connector is available as a part of a connector kit. See chapter 12 "Accessories and spare parts".

Designation Type (Weidmüller) Power stage supply Female header 2 pins 5.08, BLZF 5.08/02/180F AU SW GOLD black

Assembling cables Note the dimensions specified when assembling cables.

Maximum Maximum Stripping Cross section rigid or length [m] length [m] length [mm] flexible [mm2] (shielded) (unshielded) Supply cable 30 30 10 0.5 ... 2.5 (AWG 20 ... AWG 14) 0098441113504, V2.00, 08.2010 128 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation Commissioning inte 6.4.4 BLP14A Brushless DCdrive Brushless i inlMaigI/O Meaning 8 7 Signal 5 4 Pin MOD_0V MOD+10V_OUT MOD_D0 MOD_D1 Cable specifications Wiring diagram Wiring Function rface connection(CN2) ̈ ̈ Figure 6.5 Wiring diagram Modbus Wiring 6.5 Figure page 157. Address and baud rate are commissioning.during setSee Setup", "First The baud rate must be the same for all devices in the fieldbus. unique node addressis assigned to eachdevice. vice mustbe configured beforecan it beoperated the onnetwork. A A Modbus connects multiple devices viaa bus cable. Eachnetwork de- The deviceis suitable for connection to Modbus. Shield groundedat both ends • Shielded cable • Twisted pair • The cables usedmust havethe tofollowing properties: aiu al egh[]400 [m] [mm Minimum conductor cross section Maximum cablelength 2Vspl,mxmm20m O level RS485 level RS485 Reference to potential mA 12 Vsupply, maximum 200 transmit/receive inverted signal, Bidirectional transmit/receiveBidirectional signal errors. Use pre-assembled cables (page 357)of wiring reduce to the risk Use equipotential bonding conductors, seepage119. CN2 CN1 MOD+10V_OUT 2 .4(W 24) 0.14 (AWG ] 1 8 CN2 O 129 6 Installation BLP14A

Required mating plug The connector is available as a part of a connector kit. See chapter 12 "Accessories and spare parts".

Designation Modbus RJ45

Assembling cables Note the dimensions specified when assembling cables.

Maximum Maximum Stripping Cross section rigid or length [m] length [m] length [mm] flexible [mm2] (shielded) (unshielded) Modbus 10 2 - 0.14 ... 1.5 (AWG 26 ... AWG 16)

Connecting Modbus ̈ Connect the Modbus cable to CN4 with an RJ45 connector. 0098441113504, V2.00, 08.2010 130 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation I/O signalinte 6.4.5 BLP14A Brushless DCdrive Brushless Wiring diagram Wiring rface connection(CN3) Figure 6.6 Wiring diagram signal diagraminterface signal Wiring 6.6 Figure 1) Do not bridge with supplybridge Donot voltage (regeneration). See 5.3.2"Signal power supply". 1) i inlMaigI/O 11 4 10 3 9 Meaning 2 8 1 7 Signal Pin 6 12 5 STO_A LI4 LI3 LI2 LI1 LO2_OUT LO1_OUT ANA1- ANA1+ +24VDC 0VDC STO_B 1) S3 S2 S1

iia nu I I I I O O I 4 input Digital 3 input Digital 2 input Digital 1 input Digital output 2 Digital output 1 Digital Reference to potential input 1 Analog aeyfnto T I I 24 V Reference to potential Safety STO function Safety STO function puts

3 2 14 dc CN5 supply voltage supply for out- the signal CN3 CN4 12 11 10 9 8 7 CN3 ANA1+ +24VDC 6 5 4 3 2 1 I I I 131 6 Installation BLP14A

Information on the signals STO_A and STO_B of the safety function can also be found in chapter 5.4 "Safety function STO ("Safe Torque Off")" and in chapter 3.4.5 "STO safety function at CN3". Connection information The inputs and outputs of this interface are galvanically connected to the power stage supply. The reference potentials may not have an additional connection to 0VDC. Required mating plug The connector is available as a part of a connector kit. See chapter 12 "Accessories and spare parts".

Designation Type (Weidmüller) Signal interface Female connector B2L, 12 B2L 3.5/12 SN SW pins, black, with tension clamp

Assembling cables Note the dimensions specified when assembling cables.

Maximum Maximum Stripping Cross section rigid or length [m] length [m] length [mm] flexible [mm2] (shielded) (unshielded) Signal interface 30 30 7 0.14 ... 1.5 (AWG 26 ... AWG 16)

Connecting the signal interface ̈ Verify that wiring and cables meet the PELV requirements. ̈ Connect the connector to CN3. 0098441113504, V2.00, 08.2010 132 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation I/O expansion signalinte 6.4.6 BLP14A Brushless DCdrive Brushless Connection information Required matingplug Wiring diagram Wiring Figure 6.7 Wiring diagram signal diagraminterface signal Wiring 6.7 Figure "Accessories and spareparts". "Accessories The connectoravailable is connectora of kit. Seechapter 12 as apart to connection power stage supply. The reference potentials may not have an additional The inputs and outputs of this interface are galvanically connected to the inlitraeFemale 12 connector B2L, interface Signal i inlMaigI/O 5 10 4 9 3 8 Meaning 2 7 1 6 Signal Pin rface connection(CN4optional) XANA1- XANA1+ XLI6 XLI5 XLI4 XLI3 XLI2 XLI1 XLO2_OUT XLO1_OUT 0VDC . einto Type (Weidmüller) Designation clamp pins, black, withtension S3 S2 S1

nlgiptXN1I I I I I I Reference to potential I input XANA1 Analog XLI6 input Digital XLI5 input Digital O XLI4 input Digital O XLI3 input Digital XLI2 input Digital XLI1 input Digital outputXLO2_OUT Digital outputXLO1_OUT Digital

3 2 14 CN5 CN3 CN4 1 2 3 4 5 B2L 3.5/12SW SN CN4 XANA1+ 10 6 7 8 9 I 133 6 Installation BLP14A

Assembling cables Note the dimensions specified when assembling cables.

Maximum Maximum Stripping Cross section rigid or length [m] length [m] length [mm] flexible [mm2] (shielded) (unshielded) Signal interface 30 30 7 0.14 ... 1.5 (AWG 26 ... AWG 16)

Connecting the signal interface ̈ Verify that wiring and cables meet the PELV requirements. ̈ Connect the connector to CN4. 0098441113504, V2.00, 08.2010 134 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation Fieldbus connection(CN5) 6.4.7 BLP14A Brushless DCdrive Brushless Terminating resistors Cable specifications Function Maximum length dependson the numberdevices, of the baud rate • Shield groundedat both ends • Twisted pair • Shielded cable • page 157. Address and baud rate are commissioning.during setSee Setup", "First all devices in the fieldbus. sistor between Both ends of aCANbus line must be terminated. A 120 ̈ ̈ ̈ ID) between 1 (01 the network. The device isassigned a unique7 bit node address (node Eachnetwork devicemust beconfigured beforeit operated canbe on A repeatermust beused ifthe number of devices exceeds 64. work branch. can beconnected andto up 127 devices addressed inone CANbusnet- busA CAN multiple connects devices a via bus cable. Upto110 devices The deviceis suitable for connection to CANopen. thebus cable needsbe. to and signal propagation delay. The higher the baud rates the shorter requirements. Verify that cables wiring, and connected interfaces meet thePELV errors. Use pre-assembled cables (page 357)of wiring reduce to the risk Use equipotential bonding conductors, seepage119. CAN_L h ) and 127 (7F and CAN_H h ). The baud rate must be the same for is used for this purpose. Ω terminating re- terminating 135 6 Installation BLP14A

Wiring diagram 14

S1 2

3 CN4

S2 S3 CN5 CN3

1 CN5 2 3 4 5

Figure 6.8 Wiring diagram CAN at CN4

Pin Signal Meaning I/O 1 Reserved Reserved - 2 CAN_H Data CAN level 3 SHLD Shield connection - 4 CAN_L Data, inverted CAN level 5 CAN_0V Reference potential CAN -

Required mating plug The connector is available as a part of a connector kit. See chapter 12 "Accessories and spare parts".

Designation Type (Weidmüller) CAN Female header, BL, 5.08 BLDZ DN5.08/5/180F GR mm, 5 pins gray, printed, BED GOLD, flange

Assembling cables Note the dimensions specified when assembling cables.

Maximum Maximum Stripping Cross section rigid or length [m] length [m] length [mm] flexible [mm2] (shielded) (unshielded) CAN cable See table "Max- See table "Max- 7 0.5 ... 2.5 imum bus length imum bus length (AWG 20 ... AWG 14) CAN", page 137 CAN", page 137 0098441113504, V2.00, 08.2010 136 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation BLP14A Brushless DCdrive Brushless Maximum bus lengthCAN Connecting CAN case of cablesof case D-SUBconnectors. with shows the maximum recommended overall length of the CAN bus in the The maximum buslength depends on the selected baud rate. Table 6.1 ̈ At a baud rateof 1Mbit/s, the dropare lineslimited to 0.3m. is reduced by 50%. NOTE: If you use cables with RJ45 connectors, the maximum bus length busconnection for Maximum D-SUB length with CAN Table6.1 According to the CANopen specification, the maximum bus length is 4 m. How- 1) 0020 100 250 500 1000 1000 500 250 125 Ma 50 Baud rate[kbit/s] mayreduce this length. ever, inpractice, 20mhavebeen possible most in cases. interferenceExternal Connect the CAN cablethe CAN CN5. Connect to 1) ximum bus length[m] 137 6 Installation BLP14A

6.4.8 Motor connection (CN6)

@ DANGER ELECTRIC SHOCK High voltages at the motor connection may occur unexpectedly. • The motor generates voltage when the shaft is rotated. Prior to performing any type of work on the drive system, block the motor shaft to prevent rotation. • AC voltage can couple voltage to unused conductors in the motor cable. Insulate both ends of unused conductors in the motor cable. • The system integrator is responsible for compliance with all local and national electrical code requirements as well as all other applicable regulations with respect to grounding of all equipment. Supplement the motor cable grounding conductor with an additional protective ground conductor to the motor housing. Failure to follow these instructions will result in death or serious injury.

Monitoring The motor phases are monitored for: • Short circuit between the motor phases A short circuit between the motor phases and VDC is not detected. Connecting the motor cable ̈ Verify that wiring and cables meet the PELV requirements. ̈ Note the EMC requirements for the motor cables, see page 118. ̈ Connect the motor phases and the protective ground conductor to terminals U, V, W and PE (ground). The connection assignments at the motor and device ends must match. ̈ Connect a large area of the cable shield to the optional EMC plate or the alternative connection element.

Wiring diagram

CN6

CN6 1 2 3 4 CN7

CN8

Figure 6.9 Wiring diagram motor

Connection Meaning 1 Motor phase 0098441113504, V2.00, 08.2010 138 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation BLP14A Brushless DCdrive Brushless Motor cable 15 3 10 0.5 0.5 ... 2.5 10 3 15 Motor cable Required matingplug Assembling cables Notethedimensions specified when assembling cables. and spareparts". "Accessories The connectoravailable is connectora of kit. Seechapter 12 as apart Motor Female header 4 pins 5.08, Female 5.08, 4pins header Motor 4 Shield connection Shield W phase Motor V phase Motor 4 Meaning 3 2 Connection (shielded) length [m] Maximum (unshielded) length [m] Maximum einto Type (Weidmüller) GOLD black Designation length [mm] Stripping BLZF 5.08/04/180F AU5.08/04/180F BLZF SW flexible [mm Cross sectionrigidor AG2 . W 14) AWG ... 20 (AWG 2 ] 139 6 Installation BLP14A

6.4.9 Hall effect sensor connection (CN7)

Wiring diagram

CN6

CN7 CN7 4 1 5 2 6 3 CN8

Figure 6.10 Wiring diagram Hall effect sensors

Pin Signal Meaning I/O 1 HALL_U Hall signal I 2 HALL_V Hall signal I 3 HALL_W Hall signal I 4 SHLD Shield connection 5 HALL_0V Reference potential to HALL_5VOUT O

6 HALL_5VOUT 5Vdc supply for Hall effect sensors O

Required mating plug The connector is available as a part of a connector kit. See chapter 12 "Accessories and spare parts".

Designation Type (Weidmüller) Hall effect sensors Female connector B2L, 6 B2L 3.5/6 SN SW pins, black, with tension clamp

Assembling cables Note the dimensions specified when assembling cables.

Maximum Maximum Stripping Cross section rigid or length [m] length [m] length [mm] flexible [mm2] (shielded) (unshielded) Hall effect sensor cable 15 3 7 0.2 ... 1.0 (AWG 24 ... AWG 18) 0098441113504, V2.00, 08.2010 140 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation Motorencoderconnection(CN8) 6.4.10 BLP14A Brushless DCdrive Brushless Function and encodertype Cable specifications signals. It signals changesofthe position of the motor shaftthe in formofA/B/I motor. the into integrated encoder incremental an is encoder motor The Shield groundedat both ends • Twisted pair • Shielded cable • ̈ ̈ forwardsindex counting A,Band signal, pulse with chart Time Figure 6.11 errors. Use pre-assembled cables (page 357)of wiring reduce to the risk Use equipotential bonding conductors, seepage119. I B A 0 1 0 1 0 1 ...... 7 and backwards 913 89 + 21 8.. 9 13 12 414 14 15 ... - 141 6 Installation BLP14A

Wiring diagram

CN6

CN7 CN8 5 1 CN8 6 2 7 3 8 4

Figure 6.12 Wiring diagram encoder

Pin Signal Meaning I/O 1 ENC_A Encoder signal channel A RS422 input signal 2 ENC_B Encoder signal channel B RS422 input signal 3 ENC_I Encoder signal channel I RS422 input signal

4 ENC_5V Encoder supply 5Vdc O 5 ENC_A Channel A, inverted RS422 input signal 6 ENC_B Channel B, inverted RS422 input signal 7 ENC_I Channel I, inverted RS422 input signal 8 ENC_0V Reference potential to ENC_5V -

Required mating plug The connector is available as a part of a connector kit. See chapter 12 "Accessories and spare parts".

Designation Type (Weidmüller) Encoder Female connector B2L, 8 B2L 3.5/8 SN SW pins, black, with tension clamp

Assembling cables Note the dimensions specified when assembling cables.

Maximum Maximum Stripping Cross section rigid or length [m] length [m] length [mm] flexible [mm2] (shielded) (unshielded) Encoder cables 15 3 7 0.2 ... 1.0 (AWG 24 ... AWG 18)

Connecting the encoder ̈ Connect the connector to CN8. If you do not use a pre-assembled cable, verify correct pin assignment. ̈ Make the appropriate settings during commissioning. See "First Setup", page 157. 0098441113504, V2.00, 08.2010 142 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A6Installation Checking installation 6.5 BLP14A Brushless DCdrive Brushless ̈ Verify properinstallation: ̈ ̈ ̈ Did youproperly install and connect allcables and connectors? Are all fuses correct? Are allfuses Did you properly connect the signal wires? Are there any live, exposed cables? 143 6 Installation BLP14A 0098441113504, V2.00, 08.2010 144 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning Commissioning 7 BLP14A Brushless DCdrive Brushless this chapter.this in detail explained are more in parameters of some function the and use "Parameters". The chapter foundbe the in can overview parameters ofthe sorted An alphabetically injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these the systemif there are Only nopersonsor start obstructions in • movements Anticipate in • Verify that a functioning button for emergency stop is within • loads. withoutcoupled Run initialtests • rameters. pa- unsuitable or errors by movements possible caused pected wiring When the drive isoperatedfor the first time, ofthere unex- is arisk UNEXPECTED MOVEMENT injury. Failure to follow these instructions will result in death or serious the systemif there are Only nopersonsthein start hazardous • tor's view and cannotbe visually monitored. the drivesWhen are thestarted, out usually systemof the is opera- UNINTENDED CONSEQUENCESOF the hazardous area. the drive. reach. area. @ @ the incorrect direction or oscillation of oscillation directionor theincorrect WARNING DANGER EQUIPMENT OPERATION EQUIPMENT 7 145 7 Commissioning BLP14A

@ WARNING UNINTENDED BEHAVIOR The behavior of the drive system is governed by numerous stored data or settings. Unsuitable settings or data may trigger unexpected movements or responses to signals and disable monitoring functions. • Do NOT operate the drive system with unknown settings or data. • Verify that the stored data and settings are correct. • When commissioning, carefully run tests for all operating states and potential error situations. • Verify the functions after replacing the product and also after making changes to the settings or data. • Only start the system if there are no persons or obstructions in the hazardous area. Failure to follow these instructions can result in death, serious injury or equipment damage.

@ WARNING HOT SURFACES The heat sink at the product may heat up to over 100°C (212°F) during operation. • Avoid contact with the hot heat sink. • Do not allow flammable or heat-sensitive parts in the immediate vicinity. • Consider the measures for heat dissipation described. Failure to follow these instructions can result in death or serious injury. 0098441113504, V2.00, 08.2010 146 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning BLP14A Brushless DCdrive Brushless injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these the time The shorter for monitoring, the faster the detection of the • Verify that connection monitoring is on. • connection monitoring isnotactive. The productunable is to detectinterruption an of the network linkif LOSS OF CONTROL Verify freeand is system the that • loads. withoutcoupled Run initialtests • the you understand fully unless values parameters to write not Do • values Do not write reserved to parameters. • UNINTENDED OPERATION injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these Do not establish a fieldbus connection unless you have fully • Verify the use of the word sequence with fieldbus communication. • interruption. function. understood the communication principles. changing parameters. @ @ WARNING WARNING readyfor themovement before 147 7 Commissioning BLP14A

7.1 Overview

This chapter describes the commissioning procedure for the drive. The following is required for commissioning: • EDS file (http://www.schneider-electric.com) • Commissioning software Lexium CT (http://www.schneider-electric.com) • Fieldbus converter for the commissioning software Lexium CT, see software manual for the commissioning software.

You must also re-commission an already configured product if you want to use it under changed operating conditions.

To be done ̈ Carry out the steps below in the specified order.

To be done ... Page 6.5 "Checking installation" 143 7.2.2 "Lexium CT commissioning software" 150 7.3.1 "Setting the device address and baud rate" 156 7.3.2 ""First Setup"" 157

̈ Carry out the following steps using the commissioning software.

To be done ... Page 7.3.3 "Setting basic parameters and limit values" 164 7.3.4 "Setting, scaling and checking analog signals" 166 7.3.5 "Testing the signals of the limit switches" 169 7.3.6 "Testing the safety function STO" 170 7.3.7 "Checking the direction of movement" 171 0098441113504, V2.00, 08.2010 148 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning Overview 7.2.1 Commissioning tools 7.2 BLP14A Brushless DCdrive Brushless 1 3 Fieldbus (accessory) HMI terminal Remote software commissioning with PC (3) (2) (1) tools Commissioning 7.1 Figure and diagnostics: followingThe parameterization for be used can tools commissioning,

V 2

N E

E S

N C

sto

reset 3 149 7 Commissioning BLP14A

7.2.2 Lexium CT commissioning software

The commissioning software has a graphic user interface and is used for commissioning, diagnostics and testing settings. • Graphic interface for parameterization and status display • Comprehensive set of diagnostics tools for optimization and maintenance • Long-term recording for evaluation of the performance • Testing the input and output signals • Tracking signals on the screen • Archiving of device settings and recordings with export function for further processing in other applications Prerequisites • Converter for fieldbus - PC connection, see software manual for the commissioning software. • Software manual:Commissioning software Lexium CT Factory setting Modbus The factory baud rate setting is 19200 Baud factory address is 247. Online help The commissioning software offers help functions, which can be accessed via "? - Help Topics" or by pressing the F1 key. Source of commissioning software The latest version of the commissioning software is available for download from the internet. http://www.schneider-electric.com 0098441113504, V2.00, 08.2010 150 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning HMI: Human-Machine Interface 7.2.3 BLP14A Brushless DCdrive Brushless Font on HMI displayFont HMI on Remote terminal Remote Function 2 ESC: Status indication (2) (1) Remote terminal 7.2 Figure and theoperation. structure HMI the to introduction followingbrief The a provide sections whetherthe commissioning software mustused. be formation onwhetherfunction a outthevia canHMI becarried or minal (HMI). Theon sections commissioning and operation include in- The device allows you to display and set parameters via a remote ter- The figure below showsremote terminal. (9) Up arrow: Up (9) Arrow: Down function No function No (8) Stop) (Software Stop Quick (7) (6) (5) ENT: Status LEDs (4) (3) ters. Uppercase and lowercase aredistinguished only forthe letter "C". displayedthesymbols by theas HMIused inthe sections onparame- to numbers and letters the of following The assignment table the shows STuVWXYZ1234567890 STUVWXYZ1234567890 ABcCDEFGHiJKLMNoPQR MNOPQR KL J ABCDEFGHI - Return from displayed va displayed from Return - - Closeamenu or parameter - Increasethe displayed value parameter or menu previous to Return - - Decreasethe displayed value - Goto next menu or parameter EEPROM the - Savedisplayedvalueto - Display amenuparameter or 9 8 xxxx 7 xxxx 8.8.8.8 RUN 1 6 lue tolaststoredvalue E ENT S C Halt Cont 5 3 4 2 151 7 Commissioning BLP14A

Displaying parameters via the HMI Each parameter that can be displayed is accessed via a menu item. The following figure shows an example of displaying a parameter and entering a parameter value.

Parameter Value Menu

ENT ENT Set- GFAc 500 ESC ESC ESC

ENT iStd 1000 1000 ESC Store (flashing) (next parameter)

Figure 7.3 HMI, example of setting a parameter

The two arrow keys are used to set numerical values within the permitted range of values; alphanumerical values are selected from lists. Press ENT to confirm the selected value. The display flashes once for confirmation. The modified value is immediately written to the EEP- ROM. If you press ESC, the display returns to the original value. Menu structure The HMI is menu-driven. The following illustration shows the top level of the menu structure.

Power On: ENT - First Setup FSU- First Setup not performed ESC Save ENT - First Setup performed rdy

ENT

ENT ESC SEt- Settings ESC

ENT ESC drC- Drive Configuration ESC

ENT ESC srV Service ESC

ENT ESC JoG- JOG Mode Menus ESC ENT ESC (Om- Communication ESC

ENT ESC FLt- Fault ESC

ENT ESC InF- Information / Identification ESC

ENT ESC STA- Status Information ESC

Figure 7.4 HMI menu structure 0098441113504, V2.00, 08.2010 152 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning BLP14A Brushless DCdrive Brushless DEVC FSU- HMI menu brak srv- HMI menu Sens ntyp supv BTRE BTCL FCS PRoT ioAE io-M A2NM A2iM A2Mo drC- HMI menu icms irmp istd A1NS A1WN A1of Set- HMI menu SAVE MBBD MBAD CoBD CoAD io-M ioPi ENCm Mtyp FSU- SRV- DRC- SET- Specification of of Specification First setup( Description Releasing/applying the holding brake holding the power (prerequisite: Releasing/applying isoff) stage supply S Description effectHall Selection /motor sensor encoder Motor selection Value displayed by when motor movesHMI delaybrakeTime holding forthe releasing delaybrakeTime holding forthe applying (defaultRestore factory settings values) ofmovement thedirection of Specification Automatic Enable at PowerOn is input active ifENABLE for mode operating mode Control" "Local Start-up forScaling viaANA2at+10V of of rotation speed limitation viaANA2at +10V forScaling limitation current ANA2 via limitation of Selection Device ( configuration Description Percentage movement constant during of current phase component Percentage /deceleration acceleration during of current phase Percentage at of current standstill phase for ANA1 Scaling reference Oscillator) mode (operating velocity +10V at Zero voltage ANA1 window input at analog input ANA1 at Offset analog Device settings ( Description Saving settings Modbus rate baud ("Fieldbus" control mode only) Modbus only) mode address ("Fieldbus" control modeonly) control baud rate ("Fieldbus" CANopen number =node address (" CANopen for mode operating mode Control" "Local Start-up interface position selection Signal position encoder ofmotor Processing Motor selection e rv ice F irst the controlmode SET S et U tings) DR p), ive C onfiguration) Fieldbus" controlmode only) 153 7 Commissioning BLP14A

HMI menu JOG- Description Jog- Jog movement (JOG) STrt Start jog movement NSLW Speed of rotation for slow jog NFST Speed of rotation for fast jog

HMI menu COM- Description COm- Communication (COMmunication) CoAD CANopen address = node number ("Fieldbus" control mode only) CoBD CANopen baud rate ("Fieldbus" control mode only) pBAD Profibus address MBAD Modbus address ("Fieldbus" control mode and commissioning software) MBFo Modbus data format ("Fieldbus"control mode and commissioning software MBBD Modbus baud rate ("Fieldbus" control mode and commissioning software) MBWo Modbus word order for double words (32 bit values) ("Fieldbus" control mode and commissioning software)

HMI menu FLT- Description FLt- Error indication (FauLT) STPF Error number of last error

HMI menu INF- Description Inf- Information/Identification (INFormation / Identification) dev[ Active control mode _nAM Product Name _PNR Firmware program number _PVR Firmware version number PoWo Number of power stage enable cycles PiNo Nominal current of power stage MiNo Nominal motor current MiMA Maximum motor current 0098441113504, V2.00, 08.2010 154 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning BLP14A Brushless DCdrive Brushless StA- HMI menu olo2 olo1 Lo2 Lo1 oli6 oli5 oli4 oli3 oli2 oli1 Li4 Li2 Li1 i-o- HMI menu oPh SiGS WRNS TPA TDEV uDCA iACT Pdif PACU NACT A1AC ioAC STA- I-O- Status indication Status Monitoring of device, ( Monitoring information status and motor Description Function digital outputXLO2_OUT digital Function outputXLO1_OUT digital Function outputLO2_OUT digital Function outputLO1_OUT digital Function XLI6 input digital Function XLI5 input digital Function XLI4 input digital Function XLI3 input digital Function XLI2 input digital Function XLI1 input digital Function LI4 input digital Function LI2 input digital Function LI1 input digital Function Configurable inputs/outputs ( Description Operating hours counter hours Operating Saved signals status monitoring of Saved bit-coded warnings, Powertemperature stage Device temperature DC busvoltage Totalcurrent motor Current deviation referenceof pos units user-defined in motor the of position Actual Actual velocityof motor VoltageANA1 input valueanalog outputs and inputs digital of the Status A changebecomesonlyactive when the power stageis disabled. • • • can set the followingcan menuvia the item By default, the currentoperating statedisplayed, is pagesee 184. You iact nact stat displays thecurrent motor current display the current speed of rotation of the motor displays the current operating state I n O ut) ition from and position fromand actual ition drc- STA tus Information) tus / supv : 155 7 Commissioning BLP14A

7.3 Commissioning procedure

@ WARNING LOSS OF CONTROL DUE TO UNSUITABLE PARAMETER VALUES Unsuitable parameter values may disable monitoring functions and trigger unexpected movements or responses of signals. • Prepare a list with the parameters required for the functions used. • Check the parameters before operation. • Only start the system if there are no persons or obstructions in the hazardous area. Failure to follow these instructions can result in death, serious injury or equipment damage.

7.3.1 Setting the device address and baud rate

Setting the baud rate Parameter switch S1 allows you to set the baud rate. ̈ Switch off all supply voltages. Verify that no voltages are present (safety instructions). ̈ Use parameter switches S1.1 to S1.3 to set the baud rate.

OFF OFFOFFOFF ON 142 3 142 3 142 3 S1 CANbaud 50 kBaud 125 kBaud 142 3 OFF ON 142 3 142 3 142 3 250 kBaud 500 kBaud 1000 kBaud

Figure 7.5 Parameter switch S1

In the case of switch settings 01 ... 06, the selected switch setting corresponds to the baud rate. If the switch setting is 0, the baud rate is set via the commissioning software. 0098441113504, V2.00, 08.2010 156 Brushless DC drive 0098441113504, V2.00, 08.2010 .. "First Setup" 7.3.2 7Commissioning BLP14A Brushless DCdrive Brushless Setting the address Factory setting Preparation Example The illustration below shows thefact address. Each device on the network is identified by a unique, adjustable node Ifthe switchsetting is 0, the addressset via is the parameter responds to the address. In the case of switch settings 01 ... 127, the selected switch setting cor- Results inanaddresssetting of 118. Parameter switch 8 = S3 Parameter switch B = S2 A "First Setup" is requir Setup"is A "First (least LSD significant digit) (S3) digit) MSD(mostsignificant (S2) Settings of switches the rotary Figure 7.6 ̈ ̈ ̈ ࡯ helps to avoid that 2devices onthe network have theaddress. same parameter the switch or the setting ther Switch setting 0reads the parameter The factory setting for the device address is0 in the parameter on for thefirst time orafter the factorysettings have beenrestored. Switch onSwitch the controller supply voltage. with thePC commissioningsoftware mustbe connected. a exclusively HMI, the via commissioned be device to the not If is Use parameter switches S2andset S3to the address. (safety instructions). voltages. supply all Verifyoff Switch present voltagesare no that Determines thedigit ones the of node address Determines the tens digit of the node address

C D B E MSD A F S2

8 1

6 3

5 ed when the controller su controller the when ed 4 ory setting of the device of setting address. ory CANadr CANadr . To operate the device, ei- must bechanged.This pply voltage switched is

7 8

LSD 9 6

S3 0

2 3 CANadr CANadr 157 . . 7 Commissioning BLP14A

"First Setup" via HMI The following diagram shows the sequence via the HMI.

FSU-

ENT

ENT ENT DevC None ESC IO CANO MoDB

ENT ENT None MTYP 4334 ESC 4338 4344 ... 1 7748 USER

ENT ENT sens None ESC hall hinc 1

DEVC = IO DEVC = CANO DEVC = MoDB

ENT ENT ENT ENT ENT ENT IO-M none COAD 127 mbad 1 ESC ESC curr ESC sped jog 1 ENT ENT ENT ENT COBD 125 mbbd 9600 ESC ESC

SaVe

ENT

Figure 7.7 "First Setup" via HMI

(1) The next menu item can only be selected if the previous menu item has a valid value (≠none). 0098441113504, V2.00, 08.2010 158 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning BLP14A Brushless DCdrive Brushless - - DEVC DEVcmdinterf HMI menu Parameter name DEVC Setup"). (exception:time ofvalue change for0, "First active isswitched until the unit onthenext NOTE: not do become settings Changed 3 / Modbus / / 2 /CANopen 1 /IODevice / 0 / None / thecontrolmode Specification of ecito Unit Description Device control Motor type Motor NoNE MoDB io CANo : Undefined : Local control mode : Local control : Modbus : CANopen M_hallshift M_R_UV M_Sensor ing parameters must be checkedadjusted: and must be set via the commissioning software or the fieldbus. The follow- In the caseof auser-specific motor, the appropriate motor-specific data set. matically is auto- data type, motor-specific the motor youa defined When select ̈ ̈ to the device. mode forthe device. Use the parameter Use the parameter , M_I2t , M_n_max , M_hallpos , M_I_0 , 3 0 0 - Maximum value Factory setting Minimum value DEVcmdinterf M_Type M_n_nom , M_Polepair , M_currcomp ( MTYP , M_I_max ) to specify the motor connected connected motor the ) to specify ( , DEVC - per. R/W UINT16 UINT16 Expert Persistent R/W type Data M_SenssLine , , M_I_nom M_kE_EC ) tospecify the control CANopen 3005:1 CANopen via fieldbus Parameter address Modbus 1282 , and M_U_nom , M_L_q_EC , 159 h . 7 Commissioning BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

M_Type Motor type - UINT32 CANopen 300D:2h none - UINT32 Modbus 3332 DRC- - MTYP 0 / None / : No motor selected - R/- 4334 / BDM4332 (RECM343/3 24V) / 4334: DRC- - MTYP - - BDM4332 (RECM343/3 24V) - 4338 / BDM4334 (RECM343/3 48V) / 4338: BDM4334 (RECM343/3 48V) 4344 / BDM4342 (RECM343/4 24V) / 4344: BDM4342 (RECM343/4 24V) 4348 / BDM4344 (RECM343/4 48V) / 4348: BDM4344 (RECM343/4 48V) 4534 / BDM4532 (RECM345/3 24V) / 4534: BDM4532 (RECM345/3 24V) 4538 / BDM4534 (RECM345/3 48V) / 4538: BDM4534 (RECM345/3 48V) 4544 / BDM4542 (RECM345/4 24V) / 4544: BDM4542 (RECM345/4 24V) 4548 / BDM4544 (RECM345/4 48V) / 4548: BDM4544 (RECM345/4 48V) 7224 / BDM7222 (RECM372/2 24V) / 7224: BDM7222 (RECM372/2 24V) 7228 / BDM7224 (RECM372/2 48V) / 7228: BDM7224 (RECM372/2 48V) 7244 / BDM7242 (RECM372/4 24V) / 7244: BDM7242 (RECM372/4 24V) 7248 / BDM7244 (RECM372/4 48V) / 7248: BDM7244 (RECM372/4 48V) 7424 / BDM7422 (RECM374/2 24V) / 7424: BDM7422 (RECM374/2 24V) 7428 / BDM7424 (RECM374/2 48V) / 7428: BDM7424 (RECM374/2 48V) 7444 / BDM7442 (RECM374/4 24V) / 7444: BDM7442 (RECM374/4 24V) 7448 / BDM7444 (RECM374/4 48V) / 7448: BDM7444 (RECM374/4 48V) 7528 / BDM7524 (RECM375/2 48V) / 7528: BDM7524 (RECM375/2 48V) 7548 / BDM7544 (RECM375/4 48V) / 7548: BDM7544 (RECM375/4 48V) 7728 / BDM7724 (RECM377/2 48V) / 7728: BDM7724 (RECM377/2 48V) 7748 / BDM7744 (RECM377/4 48V) / 7748: BDM7744 (RECM377/4 48V) 99999999 / User-defined Motor / uSEr: User-defined motor

After selection of a motor type from the list, the motor-specific parameters are automatically set. When you select 'user-defined', you must set the motor-specific parameters via the commissioning software or the fieldbus. 0098441113504, V2.00, 08.2010 160 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning BLP14A Brushless DCdrive Brushless DRC- SENS - DRC- M_Sensor DRC- io-M - DRC- IOdefaultMode HMI menu Parameter name HMI menu Parameter name - - Hall effectmotor and sensors SENS io-M Start-up operatingStart-up mode ecito Unit signals increment / 17 /Hall And Incremental / 16 /Hallsensor 0 /Unknown / typeof Encoder motor Description mdinterf. DEVc- parameter the 'IODevice isset in IO' / stateOperation Enabledthe operating and activated assoon thedriveas switches to NOTE: Theoperating isautomatically mode sequence Unit 6 /MotionSequence 5 /Jog valueerence from ANA1) 2 /SpeedControl / (reference valueANA1) from 1 /CurrentControl / 0 / None / mode' modefor operating 'Local control Start-up Description encoder Jog NoNE : Jog none : None hall SPED : Unknown lected,an encoder mustconnected be for operation. Select Select The operating modes inchapter are described 8.5 "Operating modes". ̈ ̈ ࡯ CuRR : Hall signals : Hall MotS tion. func- its device indicate to the to and connected is encoder motor mode the device activate the to whenever is mode switchedit is on. Use the parameter Use the ( DEVcmdinerf : Speed control (ref- control : Speed DEVC : Currentcontrol : Motion : Motion nonE hinc = : Hall and : Hall IO IOdefaultMode if nomotor encoderconnected. is If ) = IODevice - 0 - - Maximum value Factory setting Minimum value 6 0 0 - Maximum value Factory setting Minimum value M_Sensor parameter ( parameter ( SENS ) to specify whetherto specify) ornota - - R/- UINT16 UINT16 Expert Persistent R/W type Data - per. R/W UINT16 UINT16 Expert Persistent R/W type Data IO-M )set to the operating hall CANopen 300D:3 CANopen via fieldbus Parameter address CANopen 3005:3 CANopen via fieldbus Parameter address Modbus 3334 Modbus 1286 or or hinc isse- 161 h h 7 Commissioning BLP14A

Baud rate and address via ࡯ DEVcmdinerf = CANopenDevice parameters Parameter switch S1 = 0 Parameter switch S2 and S3 = 0 ̈ Use the parameter CANadr to specify the node address and the parameter CANbaud to specify the baud rate.

Each device must have its own unique node address, which may only be assigned once in the network.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

CANadr CANopen address (node number) - UINT16 CANopen 3017:2h 1 UINT16 Modbus 5892 COM- - CoAD Valid addresses (node numbers): 1 to 127 127 R/W COM- - CoAD 127 per. Read access: - Rotary switch (NodeID) = 0: NodeID = Parameter value Rotary switch (NodeID) = >0: NodeID = Value from rotary switch

NOTE: Changed settings do not become active until the unit is switched on the next time or until after an NMT reset.

CANbaud CANopen Baud rate - UINT16 CANopen 3017:3h 50 50 UINT16 Modbus 5894 COM- - CoBD 50 / 50 kB / : 50 kBaud 125 R/W 125 / 125 kB / 125: 125 kBaud COM- - CoBD 250 1000 per. 250 / 250 kB / : 250 kBaud - 500 / 500 kB / 500: 500 kBaud 1000 / 1 MB / 1000: 1 MBaud Read access: Rotary switch (Baud) = 0 -> Baud rate = value of user parameter Rotary switch (Baud) >0 -> Baud rate = value selected via rotary switch

NOTE: Changed settings do not become active until the unit is switched on the next time 0098441113504, V2.00, 08.2010 162 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning BLP14A Brushless DCdrive Brushless COM- MBADCOM- - MBadr COM- MBBDCOM- - MBbaud HMI menu Parameter name - - SavingEEPROMto the data MBAD MBBD Fieldbus ModbusFieldbus ecito Unit Valid 1to247 addresses: Modbus address Description time active isswitched until the unit onthenext NOTE: not do become settings Changed / /38400 38400 / /19200 19200 / 9600 / 9600 Modbus Baud rate Further steps Further 9.6 38.4 19.2 : 9600 : 9600 Baud : 38400 Baud : 38400 Baud : 19200 ae275. page settings", factory the "Restoring 8.6.12.2 chapter see settings, Note that you can onlyto the return "First Setup" by the restoring factory of the deviceA restart required is forthe changesbecome toeffective. ̈ ࡯ ̈ ୵ ̈ ̈ age. Failure tofollow theseinstructions canresultequipment in dam- Updatethewith only areliable firmware voltage. supply • Do not switch off thevoltagesupply theduring update. • uct will be damaged and must If the supply voltage becomes unavailable an update, during the prod- DAMAGE TO THE PRODUCT CAUSEDBY POWER OUTAGE baud rate with the the rate with baud Specify the node address with the ( DEVcmdinerf Make below the settings described for commissioning. baud rate. fieldbus and address type, fieldbus fieldbus as device the such Attach a label to the device that contains information for servicing deviceThe EEPROM. saves the to settings the SaveEEPROM" to Commissioning software: Save your settings via "Configuration - Store the when entries you are done. DEVC = MoDB ) = ModbusDevice MBbaud 247 1 1 - Maximum value Factory setting Minimum value 38400 19200 9600 -

CAUTION parameter ( parameter be sent in for repair. MBadr - per. R/W UINT16 UINT16 Expert Persistent R/W type Data - per. R/W UINT16 UINT16 MBBD parameter( ). CANopen 3016:4 CANopen via fieldbus Parameter address Modbus 5638 3016:3 CANopen Modbus 5640 MBAD ) and the 163 h h 7 Commissioning BLP14A

7.3.3 Setting basic parameters and limit values

Prepare a list with the parameters required for the functions used.

Setting limit values Suitable limit values must be determined and calculated on the basis of the system and motor data. As long as the motor is operated without loads, the default settings do not need to be changed. Current limitation The maximum motor current can be set with the parameter CTRL_I_max. The maximum current for the "Quick Stop" function can be limited with the parameter LIM_I_maxQSTP and for the "Halt" function with the parameter LIM_I_maxHalt. ̈ Use the parameter CTRL_I_max to set the maximum motor current. ̈ Use the parameter LIM_I_maxQSTP to set the maximum motor current for the "Quick Stop" function. ̈ Use the parameter LIM_I_maxHalt to set the maximum motor current for the "Halt" function.

The motor can be decelerated via a deceleration ramp or the maximum current for the functions "Quick Stop" and "Halt".

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

CTRL_I_max Current limitation Apk UINT16 CANopen 3012:1h 0.00 UINT16 Modbus 4610 SET- - iMAX The value must not exceed the maximum - R/W permissible current of the motor or the power SET- - iMAX 299.99 per. stage. - Default: M_I_max or PA_I_max, whichever is lowest 0098441113504, V2.00, 08.2010 164 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning BLP14A Brushless DCdrive Brushless SET- SET- -NMAX CTRL_n_max SET- SET- -LihA LIM_I_maxHalt SET- SET- -LiQS LIM_I_maxQSTP HMI menu Parameter name HMI menu Parameter name - - - Limitation of speed of rotation NMAX LihA LiQS ecito Unit Description ecito Unit M_n_max) Default: maximum motor speed (see speed. motor setvalueThe must notexceed themaximum limitation Speed Description In increments of 0.01Apk of increments In (settings M_I_maxand PA_I_max) powerthe stage and motor the default on and Maximum depend settings terminated. is mode operating an when braking after Haltor currentduring Max. forlimitation Current Halt 0.01Apk of increments In (settings M_I_maxand PA_I_max) powerthe stage and motor the default on and Maximum depend settings triggered. software is a stop when 1 or 2and classes due toanerrorof error ramp braking via torque currentduring Max. forlimitation Current QuickStop of rotation. of The parameter ̈ Use the parameter tionof the motor. CTRL_n_max Maximum value Factory setting Minimum value min Maximum value Factory setting Minimum value ------13200 - 0 A A CTRL_n_max pk pk -1 can be used to limit the maximum speed speed maximum the limit to used be can to set the maximum speed of rota- Expert Persistent R/W type Data Expert Persistent R/W type Data - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 via fieldbus Parameter address via fieldbus Parameter address CANopen 3011:6 CANopen 3011:5 CANopen CANopen 3012:2 CANopen Modbus 4364 Modbus 4362 Modbus 4612 165 h h h 7 Commissioning BLP14A

7.3.4 Setting, scaling and checking analog signals

Analog inputs Analog input voltages between -10 Vdc and +10 Vdc can be read via the analog inputs. The current voltage value at ANA1+ (XANA1+) can be read with the parameter ANA1_act (XANA1_act). ࡯ Power stage supply is switched off. Controller supply voltage is switched on. ̈ Apply a voltage in the range from ±10Vdc to the analog input. ̈ Check the applied voltage with the parameter ANA1_act (XANA1_act).

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

ANA1_act Analog 1: Value of input voltage mV INT16 CANopen 3009:1h -10000 INT16 Modbus 2306 STA- - A1AC - R/- STA- - A1AC 10000 - -

ANAX1_act Voltage value analog input XANA1 mV INT16 CANopen 3009:Ch -10000 INT16 Modbus 2328 STA- - A3AC - R/- STA- - A3AC 10000 - -

Reference value An input voltage at ANA1 can be used as the reference value for the operating mode Current Control or Speed Control. The reference value for a voltage value of +10V can be set via the parameters ANA1_I_scale or ANA1_n_scale.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

ANA1_I_scale Reference value in op. mode Current Control Apk INT16 CANopen 3020:3h at 10V at ANA1 -300.00 INT16 Modbus 8198 SET- - A1iS 3.00 R/W By using a negative sign, you can invert the SET- - A1iS 300.00 per. evaluation of the analog signal. - -1 ANA1_n_scale Reference value in operating mode speed min INT16 CANopen 3021:3h control at 10V at ANA1 -30000 INT16 Modbus 8454 SET- - A1NS 3000 R/W The internal maximum speed is limited to the SET- - A1NS 30000 per. current setting in CTRL_n_max. - By using a negative sign, you can invert the evaluation of the analog signal. 0098441113504, V2.00, 08.2010 166 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning BLP14A Brushless DCdrive Brushless SET- SET- -A1oF ANA1_offset SET- SET- -A1WN ANA1_win HMI menu Parameter name Offsetzero and voltagewindow - - A1oF A1WN ecito Unit input ANA1. analog corrected the of zero range the pass voltage window,window effectivethis is in value.the offset Ifyou have a defined zero by ANA1iscorrected/offset input analog The 1: Offsetvoltage Analog Description -20 ... mV -20 +20 treatedas0mV.is ValueExample: from arange 20,thismeans value is treated 0V.as valueThreshold upto aninput voltagewhich 1: Analog Zero voltage window rameter rameter Current ControlSpeed and Controlaswell asthe read value of the pa- correctedThis input voltageis the voltage value for the operating modes age at parameter The parameter Figure 7.8 Offset and and zero Offset voltage window 7.8 Figure 5 Input voltagewith offset and zero voltagewindow Input voltagewith offset Input voltage without processing (5) (4) Voltage value for operating modes Current Control and Speed (3) Input voltageat (2) (1) ANA1 ANA1_act Controlaswell asread value of the parameter ANA1_win . -10 V ANA1_offset . to define azero voltage define to window for volt- input the 5000 0 -5000 mV Maximum value Factory setting Minimum value 1000 0 0 mV ANA1 can beused to define anoffsetand the 2 -10 V 10 V - per. R/W INT16 INT16 Expert Persistent R/W type Data - per. R/W UINT16 UINT16 10 V CANopen 3009:B CANopen via fieldbus Parameter address Modbus 2322 3009:9 CANopen Modbus 2326 5 4 3 ANA1_act 1 167 h h 7 Commissioning BLP14A

Limitations A current limitation or a voltage limitation can be activated via the analog input ANA2. ̈ Use the parameter ANA2LimMode to specify the type of limitation. ̈ Use the parameters ANA2_I_max or ANA2_n_max to define the scaling of the limitation at +10V.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

ANA2LimMode Selection of limitation via ANA2 - UINT16 CANopen 3012:Bh NoNE 0 UINT16 Modbus 4630 DRC- - A2Mo 0 / None / : No limitation 0 R/W 1 / Current Limitation / CuRR: Limitation of DRC- - A2Mo 2 per. reference current value of current controller - 2 / Speed Limitation / SPED: Limitation of reference speed value of speed controller (limitation value at 10V in ANA2_n_max)

ANA2_I_max Current limitation at 10V at ANA2 Apk UINT16 CANopen 3012:Ch 0.00 UINT16 Modbus 4632 DRC- - A2iM The maximum limit is ImaxM and ImaxPA, 3.00 R/W whichever is smaller. DRC- - A2iM 300.00 per. - -1 ANA2_n_max Velocity limitation at 10V at ANA2 min UINT16 CANopen 3012:Dh 500 UINT16 Modbus 4634 DRC- - A2NM The minimum velocity limitation value is set 3000 R/W to 100 min-1. Lower values have no effect. DRC- - A2NM 30000 per. The maximum velocity is also limited by the - adjustable value in CTRL_n_max. 0098441113504, V2.00, 08.2010 168 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning Testing thesignals 7.3.5 BLP14A Brushless DCdrive Brushless of thelimitswitches breakcan besignaled as an error. Ifpossible, contacts closed that sowire a use normally functions".itoring 1, seechapter 8.6.1 "Mon- 0active or and to set the evaluation to active The appropriate parameters canused berelease to the limit switches ୵ ̈ ̈ ࡯ Verify the correctinstallation of • Verify correct connectionof the limit switches. • possible, If limit switches.the use • erence values). (for example, mechani collisionwith hazards against switches protection of limit some use provide can The LOSS OF CONTROL injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these Youmust releasethelimit switches before you canusethem. • caused bycaused alimitswitch. The commissioning software displays the operating state Trigger thelimitswitches manually. overtraveled operation. normal during way a being switches limit such in from the keepthem to up as Set tingthedigital signal inputs and signaloutputs". (LIMN)" and "Positivelimit switch (LIMP)", see chapter 8.6.7 "Set- You must have configured thefunctions "Negative switch limit mechanical stop to allowfor anadequate stopping distance. switches must be mountedpositiona in farenough away fromthe @ WARNING thelimitswitches.limit The cal stop caused bystop caused cal incorrectref- 9 Fault Fault 169 7 Commissioning BLP14A

7.3.6 Testing the safety function STO

Operation with STO If you want to use the STO safety function, carry out the following steps: ࡯ Power stage supply is switched off. Controller supply voltage is switched off. ̈ Verify that the inputs STO_A and STO_B are isolated from each other. The two signals must not be electrically connected.

࡯ Power stage supply voltage is switched on. Controller supply voltage is switched on. ̈ To avoid unintended restart after restoration of power, the parameter IO_AutoEnable must be set to "off". Verify that the parameter IO_AutoEnable is set to "off" (HMI: conf→acg→ioae). ̈ Start the operating mode Jog (without motor movement) (see page 196). ̈ Trigger the STO safety function. STO_A and STO_B must be switched off simultaneously. ୵ The power stage is disabled and error message 1300 is generated. (NOTE: Error message 1301 indicates a wiring error.) ̈ Check the behavior of the drive when errors are present. ̈ Document all tests of the safety function in your acceptance certificate.

Operation without STO If you do not want to use the STO safety function: ̈ Verify that the inputs STO_A and STO_B are connected to +24VDC. 0098441113504, V2.00, 08.2010 170 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning Checking thedi 7.3.7 BLP14A Brushless DCdrive Brushless Direction of movement of Direction rection ofmovement ̈ ୵ ̈ ୵ ̈ ̈ shaft. shaft rotatesclockwise you as look at the end of the protruding motor Positive IEC61800-7-204: with cordance the motor is when direction motors,In thecase of arotary direction of movementis defined inac- Movements are made inpositive or innegative directions. with the If thearrow and direction of movement donot match, correct this movement. of negativedirection with rotates shaft motor The movementa Start with negative direction of movement. movement. of positivedirection with rotates shaft motor The movementa Start with positive direction of movement. Jog. mode operating the Start of direction". POSdirOfRotat prmtr e hpe 8.6.8 "Reversal parameter,see chapter 171 7 Commissioning BLP14A

7.3.8 Controller optimization with step response

7.3.8.1 Controller structure

Velocity _n_ref feed-forward Reference value Reference value _n_pref at operating mode at operating mode _p_tarRAMPusr _p_actRAMPusr "Speed Control" Reference "Current Control" _p_refusr _n_targetRAMP _n_actRAMP value filter _p_ref CTRL_KFPp Profile Velocity Velocity generator Jerk limitation _p_dif controller controller

CTRL_KPp CTRL_n_max CTRL_TAUref CTRL_KPn CTRL_I_max CTRL_TNn

_iq_ref POSdirOfrotat Current controller Power stage 0

_iq_act

M Encoder evaluation 3~ _n_act Actual value - Velocity E _p_act, _p_actusr - Position

Figure 7.9 Controller structure

Current controller The current controller determines the torque of the motor. The current controller is automatically optimally tuned with the stored motor data. Velocity controller The velocity controller maintains the required motor velocity by varying the output motor torque depending on the load situation. The velocity controller has a decisive influence on the dynamic response of the drive. The dynamics of the velocity controller depend on: • Moment of inertia of the drive and the controlled system • Torque of the motor • Stiffness and elasticity of the elements in the flow of forces • Backlash of the drive elements • Friction 0098441113504, V2.00, 08.2010 172 Brushless DC drive 0098441113504, V2.00, 08.2010 ... Optimization 7.3.8.2 L1A7Commissioning BLP14A Brushless DCdrive Brushless Setting reference value signals Position controller Recording the controlperformance screen on and evaluatingit with • Testing control performance with the signal generator. • Defining reference value signals: signal type, amplitude, frequency • Selecting controlloops. control Superimposed loops are automati- • conditions.The following options are available: The driveoptimization function matches the deviceto the application sitioncontroller. The superimposed controlloopremains off. side" inthe following sequence: current The controllers are tuned one after the other from the "inside" to the "out- locity controllerbecan smoothed viaafilter. trollerposition and controller. In addition, the reference valueoftheve- cascadedpositioning closed loop with currentcontroller, velocity con- The controller structure of the controller correspondsthe to classical controller.position the of An optimized velocity control loop isa prerequisite for good amplification by motionthe profile internal generator. Jog, the reference position for the In the operating modes Profile Position, Profile Velocity, Homing and zero inthe casewea of mum. Whenthe motor isatastandst sitionand the actual positionthe of The positioncontroller reduces the difference betweenthereference po- The manual showssignal paths forthesignal type "Step". theentire determine dynamic behavior of acontrol loop. Only the signaltypes "Step""Square" and allowyou to Amplitude: 100 min • • Number of repetitions: 1 ofrepetitions: Number • Positive Signal: step • Period: ms 100 • ̈ ̈ ̈ ̈ the commissioning software. commissioning the point and starting cally deactivated. plays". Also noteadditional settings inthe menu "DisplaySpecific - Dis- Set the following values for the reference value signal: Display the "Tune" tab. Tuning...". thesequence menus of and commands "FunctionsRecording/- controller optimizationStart with the commissioning software using -1 ll-tuned position controller.ll-tuned position closed positioning loop isgenerated motor (position deviation) to a mini- ill, the position deviationthe position ill, to close is controller, velocity controller, po- 173 7 Commissioning BLP14A

Entering controller values The optimization steps described on the following pages require you to enter control loop parameters and test their effect by triggering a step function. A step function is triggered as soon as you start recording in the commissioning software. You can enter controller values for optimization in the parameters window in the "Control" group.

7.3.8.3 Optimizing the velocity controller

Optimum settings of complex mechanical control systems require hands-on experience with controller tuning . This includes the ability to calculate control loop parameters and to apply identification procedures. Less complex mechanical systems can often be successfully optimized by means of experimental adjustment using the aperiodic limit method. The following parameters are used for this:

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 CTRL_KPn Velocity controller P gain A/min UINT16 CANopen 3012:3h 0.0001 UINT16 Modbus 4614 - The default value is calculated on the basis - R/W of the motor parameters. - 1.2700 per. -

CTRL_TNn Velocity controller integral action time ms UINT16 CANopen 3012:4h 0.00 UINT16 Modbus 4616 - 9.00 R/W - 327.67 per. -

Check and optimize the calculated values in a second step, as described on page 178. 0098441113504, V2.00, 08.2010 174 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning BLP14A Brushless DCdrive Brushless - - CTRL_TAUnref HMI menu Parameter name Switching off the Switching off filter ofthevelocity controller Determining the mechanicalDetermining system of thesystem of system value filter value timeconstantof Filter reference velocity ecito Unit Description reference value • System with a less rigid mechanical Systemwith alessrigid system • System with mechanical rigid system • on into group mechanicalsystem its To assessandoptimize the transient response behavior of your system, ̈ ̈ ̈ mechanicalsystems Rigid and less rigid Figure 7.10 themethod issuitable fortheactual application. suggestion. It isresponsibility The procedure for optimization of the settings isonly a velocity the controller.of switchedfor setup must be off filter first the the transient response at optimized velocity control. The reference value The referencevalue filterof the velocity controller allows you to improve the parameter parameter the velocitycontroller. reference the value Deactivate of the filter Set ofthemotor.installation If youswitches,use limit verify the system motor andthemechanical Couple the mechanical system Rigid low backlash higherelasticity low elasticity .g Directdrive e. g. Rigid coupling CTRL_TAUnref 327.67 9.00 0.00 ms Maximum value Factory setting Minimum value of the user to tothelowervalue limit "0". mechanical system Less rigid e of the followinge of the twocategories. function of the limit switches after e. g. backlash high - per. R/W UINT16 UINT16 Expert Persistent R/W type Data decide whether Elastic coupling Weak driveshaft Belt drive CANopen 3012:9 CANopen via fieldbus Parameter address Modbus 4626 175 h 7 Commissioning BLP14A

Determining controller parameter In the case of a rigid mechanical system, adjusting the control perform- values for rigid mechanical systems ance on the basis of the table is possible if: • the moment of inertia of the load and of the motor are known and • the moment of inertia of the load and of the motor are constant The P gain CTRL_KPn and the integral action time CTRL_TNn depend on:

•JL: moment of inertia of the load

•JM: moment of inertia of the motor ̈ Determine the controller parameter values using Table 7.1:

JL= JM JL= 5 * JM JL= 10 * JM 2 JL[kgcm ] KPn TNn KPn TNn KPn TNn 1 0.0125 8 0.008 12 0.007 16 2 0.0250 8 0.015 12 0.014 16 5 0.0625 8 0.038 12 0.034 16 10 0.125 8 0.075 12 0.069 16 20 0.25 8 0.15 12 0.138 16

Table 7.1 Determining controller values

Determining controller parameter For optimization purposes, determine the P gain of the velocity control- values for rigid mechanical systems ler at which the controller adjusts velocity _n_act as quickly as possible without overshooting. ̈ Set the integral action time CTRL_TNn to infinite. CTRL_TNn =327.67ms. If a load torque acts on the motor when the motor is at a standstill, the integral action time must not exceed a value that causes uncontrolled change of the motor position.

If the motor is subject to loads when it is at a standstill, setting the integral action time to "infinite" may cause position deviations. Reduce the integral action time if the deviation is unacceptable in your application. However, reducing the integral action time can adversely affect optimization results. 0098441113504, V2.00, 08.2010 176 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A7Commissioning BLP14A Brushless DCdrive Brushless Amplitude 100% 63% 0% TNn CTRL_TNn ̈ ̈ ̈ ̈ toothed belt drive. belt toothed occursfrequentlyThis inthe caseof linear axesa with c be reduceduntiloscillations before the limit isreached, aperiodic the P gain "KPn"must case ofdrivesystems In the limit for "TNn" aperiodic the Determining 7.11 Figure Differences between theperformance of the control loop. low, effects friction otherwise of CTRL_I_max ence value for the current Set the amplitudethe of reference valuejust high enoughthe so refer- Verify freeand is system the that • Verify that a functioning button for emergency stop is within • possible, If limit switches. use • Verify that the selected values for velocity and time do not exceed • ified time has expired. The step function moves the motor at constant velocity until the spec- UNEXPECTED MOVEMENT injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these Increase or decrease Increase or check the amplitude of Trigger another stepfunction ifyouto hadmodify value forcurrent the After the first test, check the maximum amplitude for the reference Initiate astep function. the-right isreduced by reducing required transient response on the left. Overshooting - asshown on obtained asfast aspossible.following The diagram shows the reach. the available distance. starting the function.starting t n_act n_ref to"Infinite". . Onthe other hand, the value selected should not be too 100% 0% _n_ref _Iq_ref the P gain insma theP @ _Iq_ref _Iq_ref in which oscillations occur occur inwhichoscillations WARNING and an no longer be detected. be detected. an nolonger the mechanical system will determine willdetermine the mechanicalsystem . _n_act remains below themaximum value . CTRL_KPn readyfor themovement before ll increments until ll increments result from setting setting from result Improve with KPn . t _n_ref n_act n_ref _n_act and 177 is 7 Commissioning BLP14A

Graphic determination of the 63% Graphically determine the point at which the actual velocity _n_act value reaches 63% of the final value. The integral action time CTRL_TNn then results as a value on the time axis. The commissioning software supports you with the evaluation:

7.3.8.4 Checking and optimizing default settings

100% 100% n_act n_act

n_ref n_ref Amplitude Amplitude Rigid Less rigid mechanical mechanical system system 0% 0% t t

Figure 7.12 Step responses with good control performance

The controller is properly set when the step response is approximately identical to the signal shown. Good control performance is characterized by • Fast transient response • Overshooting up to a maximum of 40%, 20% is recommended. If the control performance does not correspond to the curve shown, change CTRL_KPn in increments of about 10% and then trigger another step function: • If the control is too slow: Use a higher CTRL_KPn value. • If the control tends to oscillate: Use a lower CTRL_KPn value. Oscillation ringing is characterized by continuous acceleration and deceleration of the motor.

100% 100% Too slow n_act Oscillations n_ref n_ref

n_act Amplitud Amplitud

Improve with Improve with KPn KPn

0% 0% t t

Figure 7.13 Optimizing inadequate velocity controller settings

If the controller performance remains unsatisfactory in spite of optimization, contact your local sales representative. 0098441113504, V2.00, 08.2010 178 Brushless DC drive 0098441113504, V2.00, 08.2010 ... Optimizingthe position controller 7.3.8.5 L1A7Commissioning BLP14A Brushless DCdrive Brushless - - CTRL_KPp HMI menu Parameter name Setting the reference value signal Selectingthe recording signals The default valueiscalculated. Position P gain controller ecito Unit Description • • CTRL_KPp When tuning the position controller,you mustoptimize theP gain control loop. Optimization requires good control dynamics in the subordinate velocity Referenceposition of positioncontroller • revolution. motor per usr is 16384 resolution the The amplitude is entered inuser-defined units. With the default scaling, Set the amplitudetoapprox. 1/10 motor revolution. • "Step" type: Signal • ̈ ̈ ̈ parameter group that youalready for used the velocitycontroller. Controller values for the position controller canbe changed inthe same current motor Current • velocity Actual • Actual positionposition of controller • Verify freeand is system the that • Verify that a functioning button for emergency stop is within • possible, If limit switches. use • Verify that the selected values for velocity and time do not exceed • ified time has expired. The step function moves the motor at constant velocity until the spec- UNEXPECTED MOVEMENT injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these CTRL_KPp bilitythe of closed-loopcontrol CTRL_KPp Select the valuesin the box General RecordingParameters: Set the reference value signal: ing software. PositionSelect Controllerasthe reach. the available distance. starting the function.starting in two limits: toolow: High position deviation toohigh: Overshooting of the mechanicalsystem, insta- _n_act 495.0 - 2.0 1/s Maximum value Factory setting Minimum value @ _Iq_ref WARNING reference value inthe commission- readyfor themovement before _p_actusr - per. R/W UINT16 UINT16 Expert Persistent R/W type Data _p_refusr CANopen 3012:6 CANopen via fieldbus Parameter address Modbus 4620 ( _p_act ( _p_ref ) ) 179 h 7 Commissioning BLP14A

Optimizing the position controller ̈ Trigger a step function with the default controller values. value ̈ After the first test, check the values achieved for _n_act and _Iq_ref for current and velocity control. The values must not reach the current and velocity limitation ranges.

100% 100%

p_ref p_ref Amplitude Amplitude

p_act p_act Rigid Less rigid mechanism mechanism 0% 0% t t

Figure 7.14 Step responses of a position controller with good control performance

The setting of the proportional gain CTRL_KPp is optimal if the reference value is reached rapidly and with little or no overshooting. If the control performance does not correspond to the curve shown, change the P gain CTRL_KPp in increments of approximately 10% and trigger another step function. • If the control tends to oscillate: Use a lower CTRL_KPp value. • If the actual value is too slow reaching the reference value: Use a higher CTRL_KPp value.

100% 100% Control too slow Control oscillating

p_ref p_ref Amplitude Amplitude

Improve Improve p_act p_act with KPp with KPp

0% 0% t t

Figure 7.15 Optimizing inadequate position controller settings 0098441113504, V2.00, 08.2010 180 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation Operation 8 BLP14A Brushless DCdrive Brushless this chapter.this in detail explained are more in parameters of some function the and use "Parameters". The chapter foundbe the in can overview parameters ofthe sorted An alphabetically modes and functions of the device. The chapter "Operation" describes the basic operating states, operating ment damage. Failure followto or equip- ininjury result can instructions these the Observe information operation concerning with aPLC. • erate synchronously. to inconsistent transmit data since fieldbus and PLCcycles do not op- If a PLC isused as the master device, the exchange of data can lead CONTROLINCONSISTENT COMMANDS or equipment damage. injury serious indeath, result can Failurefollow to instructions these the systemif there are Only nopersonsor start obstructions in • Verify the functions after replacing the product andafter also • When commissioning, carefully tests run for all operating states • Verify that the stored data and settings are correct. • Do NOToperate the drivesystemwith unknown settings or data. • movements or responses to signals and disable monitoring functions. data orsettings. Unsuitable settingsdata or may unexpected trigger The behavior of the drive systemis governed by numerous stored UNINTENDED BEHAVIOR the hazardous area. making changesthe tosettings or data. and potential error situations. @ @ WARNING CAUTION 8 181 8 Operation BLP14A

8.1 Overview of operating modes

The following table shows an overview of the operating modes and the way reference values are supplied.

Operating mode with Local Control mode With Fieldbus Control mode Description Jog Digital inputs Digital inputs 1) Page 196 Fieldbus commands Current Control Analog input Analog input Page 199 Fieldbus commands Speed Control Analog input Analog input Page 201 Fieldbus commands Profile Position - Fieldbus commands Page 203 Profile Velocity - Fieldbus commands Page 206 Motion Sequence Digital inputs Digital inputs 1) Page 208 Fieldbus commands Homing - Fieldbus commands Page 224 1) Optional

Reference value for control loop The following table shows the relationship between operating mode, control loop and the use of the profile generator.

Operating mode Control loop Profile generator Jog Position controller X Current Control Current controller - Speed Control Velocity controller - Profile Position Position controller X Profile Velocity Position controller X Homing Position controller X 0098441113504, V2.00, 08.2010 182 Brushless DC drive 0098441113504, V2.00, 08.2010 .. Via signal inputs 8.2.3 Via commissioningsoftware 8.2.2 8Operation Via fieldbus 8.2.1 Access channels 8.2 BLP14A Brushless DCdrive Brushless - - AccessLock HMI menu Parameter name HALT) belocked. cannot (suchas signals input of the Processing - Asecond fieldbus - HMI software - Commissioning parameter: with this device following viathe channels access The fieldbus can lock active accessthe to channels 1: Lock access other channels access other 0: Release Locking otheraccesschannels ecito Unit Description • Signal inputs Signal • Commissioning software • Fieldbus • The devicethe followinghas channels: access access, the deviceonlycan becontrolled this via accesschannel. Exclusive access canbe assigned to ments). device the control can (for example,move- motor or transitions state The device has several accesschannels. Using an accesschannel, you other access channel. access other ing software. In this case, theproduct canlonger no be controlled viaan- assign to control "Access" Use the cess channel. bus.this In case, the product can nolonger becontrolledvia another ac- parameterUse the The digitalsignal inputs • The functions "Halt", "Positive limit • exclusivehas access. The following signal inputseffective are even another if channelaccess channel hasexclusive access. ... You inputs signal ofthe devicethe functions control the can using LI4 switch (LIMN)" and "Reference s and XLI1 ...... AccessLock XLI6 1 - 0 - Maximum value Factory setting Minimum value . Control is notpossibleControl is access another . while STO_A to assign exclusive to field- assign the to access and exclusive to access the commission- witch (REF)"remaineffective.witch an access channel.exclusive With switch (LIMP)","Negative limit STO_B - - R/W UINT16 UINT16 Expert Persistent R/W type Data remain effective. CANopen 3001:1E CANopen via fieldbus Parameter address Modbus 316 LI1 183 h

8 Operation BLP14A

8.3 Operating states

8.3.1 State diagram

After switching on and when an operating mode is started, the product goes through a number of operating states. The state diagram (state machine) shows the relationships between the operating states and the state transitions. The operating states are monitored and influenced by internal monitoring functions and system functions such as temperature monitoring or current monitoring. Graphical representation The state diagram is represented as a flow chart.

Motor without current

Switching on

1 Start

T0 2 Not Ready To Switch On

3 Switch On Disabled T15

T9 T2 T7 T12 4 T10 Ready To Switch On

T8 T3 T6

5 9 Switched On Fault

T14 8 T4 T5 Fault Reaction Active T16 Operation Enabled 6 7 Quick Stop Active RUN/HALT T13

T11 Error Class 1 Error Class 2, 3, (4)

Motor under current

Operating state State transition Error

Figure 8.1 State diagram 0098441113504, V2.00, 08.2010 184 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless T7 T6 T5 T4 T3 T2 T1 T0 tion Transi- T10 T9 T8 4 5 6 5 4 3 2 1 state Operating 5 6 6 -> -> -> -> -> -> -> -> -> -> -> 3 2 3 4 5 6 5 4 3 3 4 Operating states State transitions • Actual velocity: Actual min >1000 • STO 0V = signals • Undervoltage • FieldbusShutdown command: "Halt" with canceled command is Motion • FieldbusDisable command: Operation • Enable Operation Fieldbuscommand: • Automatic transition • • Fieldbus command: Switch On orEnable FieldbusSwitch command: • for Request power enabling the stage • undervoltage No • Parameter successfully initialized • Deviceelectronics successfully initialized • Condition /event • Fieldbus command: FieldbusDisable command: Voltage • • Fieldbus command: FieldbusDisable command: Voltage Power disabled. isimmediately stage • Request for disabling thepower stage • FieldbusDisable command: Voltage • Request for disabling thepower stage • FieldbusShutdown command: • Operation velocity:Actual min <1000 Encoder successfully checked Fieldbus command: FieldbusShutdown command: STO +24V = signals (for example by external driving force) )2) 1) as aresponsea to monitoring signal. State transitions are triggered by an input signal, afieldbus command or 9 8 7 6 5 4 Description 3 2 1 state Operating Fault Error response terminated response Error activeis response Error "Quick executed isbeing Stop" Fault Power stageisswitched on Power stageisenabled Active Reaction Fault Active Stop Quick Thepower is to switch stage ready on. voltagesupply switched Controller on Enabled Operation power enablethe Impossibleto stage On Switched On Switch To Ready Thepower is to stage switchnot ready on Disabled On Switch On Switch To Ready Not Start -1 -1 3) Power disabled stage brakeHolding isapplied brakeHolding (if isreleased available) parametersarecheckedUser-defined Power is enabled stage Response - Power disabled. is immediately stage Power stageisdisabled active is mode operating Selected Electronics are initialized 185 8 Operation BLP14A

Transi- Operating Condition / event 1) 2) Response tion state T11 6 -> 7 • Error of error class 1 Motion command is canceled with "Quick Stop".

• Fieldbus command: Quick Stop T12 7 -> 3 • Request for disabling the power stage Power stage is disabled immediately, even if "Quick Stop" is still active. • Fieldbus command: Disable Voltage T13 x -> 8 • Error of error classes 2, 3 or 4 Error response is carried out, see "Error Response" T14 8 -> 9 • Error response terminated (error class 2)

• Error of error classes 3 or 4 T15 9-> 3 • Function: "Fault Reset" Error is reset (cause of error must be corrected). T16 7 -> 6 • Function: "Fault reset"

• Fieldbus command: Enable Operation 4) 1) In order to trigger a state transition it is sufficient if one condition is met 2) Fieldbus commands only with fieldbus control mode 3) Only required with fieldbus control mode, fieldbus CANopen and parameter DCOMcompatib= 1 4) Possible only if operating state was triggered via the fieldbus

Error class The product triggers an error response if an error occurs. Depending upon the severity of the error, the device responds in accordance with one of the following error classes:

Error Response Meaning class 0 Warning A monitoring function has detected a problem. No interruption of the movement. 1 "Quick Stop" Motor stops with "Quick Stop", the power stage remains enabled. 2"Quick Stop" Motor stops with "Quick Stop", the power stage is with switch-off disabled after standstill has been achieved. 3 Fatal error The power stage is immediately disabled without stopping the motor first. 4 Uncontrolled The power stage is immediately disabled without operation stopping the motor first. The error can only be reset by switching off the product. 0098441113504, V2.00, 08.2010 186 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless Error response transition to operating state state operating to transition state 1 (operating In the event of a"Quick Stop" triggered by an error of class died and aFaultmust Reset executed. be To exit the the exit To to power Subsequently, stage. changes state operating the ample deceleration and stopping with "Quick Stop" or disabling the theerror response,vice cancelsthe motion commandforandstarts ex- An error can betriggered by a temperature sensor, for example. The de- react. must as occurrencesoon as an signals aninternal error to which the device The state transition T13 (error class2, 3 or 4) initiates an error response tion STO Safety4 or 3, func- State 2 Error class 9 Fault operating state, the causethe of error must bereme- 7 ), a"FaultReset" causes adirect x x from ->to -> -> 8 ->9 8 6 . Response even "Quickif is Stop" still active. Powerdisabledimmediately, is stage Power disabled stage brakeHolding is applied Stop movement with"Quick Stop" 9 Fault. 187 8 Operation BLP14A

8.3.2 Indicating the operating states

You can indicate the current operating state via the signal outputs, the commissioning software and the fieldbus. Signal outputs The current operating state is indicated via the digital signal outputs.

State "No fault" 1) "Active" 2) "Brake release" 3) 2: Not ready to switch on 0 0 0 3: Switch on disabled 0 0 0 4: Ready to switch on 1 0 0 5: Switched on 1 0 0 6: Operation enable 1 1 1 7: Quick Stop activ 0 0 1 8: Fault Reaction active 0 0 1 9: Fault000

1) Function is the factory setting for signal output LO1 2) Function is the factory setting for signal output LO2 3) The function must be configured, see chapter 8.6.7 "Setting the digital signal inputs and signal outputs".

Commissioning software For a detailed description, see the "Lexium CT commissioning software" product manual. 0098441113504, V2.00, 08.2010 188 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - DCOMstatus HMI menu Parameter name 9 8 7 6 5 4 3 2 Operating state FaultFaultReactionActive0X1111QuickStopActiveOperationEnabledSwitchedOnReadyToSwitchOnSwitchOnDisabledNotReadyToSwitchOn0X0000 0X1111 010011 000111 010001 010111 1X0000 Bits0, 1, 2,and5 3, 6 Bit 15: ref_ok Bit 15: x_end Bit 14: x_err Bit 13: modespecific Operating Bit 12: Reserved Bit 11: TargetBit 10: reached Bit 9:Remote Bit 8:HALT active request Bit 7:Warning Bit 4:Voltage enabled bits Status Bit 0-3,5,6: for information. bit coding Refer Operation, State Machine tochapter wordDrivecom status ecito Unit Description Fieldbus Disabled Switch On Bit 6 tionon the operating state. the 6of 5and 1, Bits 0, 2, 3, state of the device and the processingstatus the ofoperating mode. The parameter Figure 8.3 Indication Indication theoperatingof state 8.3 Figure theoperating stateviaparameters monitoring and Changing 8.2 Figure machine DCOMcontrol Quick Stop Bit 5 State DCOMstatus MSB Fault Bit 3 - 0 - - Maximum value Factory setting Minimum value 58... 8 15 XX XX System functions Monitoring and Monitoring State machine DCOMstatus provides information on the operating operating the on information provides XXXX Enabled Operation Bit 2 ... XX - - R/- UINT16 UINT16 Expert Persistent R/W type Data X parameter provide informa- 70 Switch On Switch Bit 1 61 5 DCOMstatus CANopen 6041:0 CANopen via fieldbus Parameter address Modbus 6916 3 2 Switch On Ready To Bit 0 0 LSB 189 h 8 Operation BLP14A

Bit 4, Voltage enabled Bit 4=1 indicates whether the DC bus voltage is correct. If the voltage is missing or is too low, the device does not transition from operating state 3 to operating state 4. Bit 7, Warning Bit 7 is 1 if parameter _WarnActive contains a warning message. The movement is not interrupted. The bit remains set as long as a warning message is contained in parameter _WarnActive. The bit remains set for at least 100 ms, even if a warning message is active for a shorter time. The bit is reset immediately in the case of a "Fault Reset". Bit 8, Halt request active Bit 8=1 indicates that a "Halt" is active. Bit 9, Remote If bit 9 is set, the device carries out commands via the fieldbus. If Bit 9 is reset, the device is controlled via a different interface. In such a case, it is still possible to read or write parameters via the fieldbus. Bit 10, target reached Bit 10 only becomes "1", if the operating mode is terminated successfully and the motor has come to a standstill. Bit 10 has the value "0" as long as the motor is running, if the operating mode is interrupted by a "Halt" or canceled because of an error. Bit 11 Reserved. Bit 12 Bit 12 is used for monitoring the current operating mode. Details can be found in the chapters on the individual operating modes. Bit 13, x_err Bit 13 only becomes "1" in the case of an error which needs to be rem- edied prior to further processing. The device responds corresponding to an error class, see page . Bit 14, x_end Bit 14 changes to "0" if an operating mode is started. When processing is terminated or interrupted, for example by a "Halt", bit 14 toggles back to "1" once the motor has come to a standstill. The signal change of bit 14 to "1" is suppressed if one process is fol- lowed immediately by a new process in a different operating mode. Bit 15, ref_ok Bit 15 is "1" if the motor or the axis has a valid reference point, for example as a result of a reference movement. 0098441113504, V2.00, 08.2010 190 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation Changing operatingstates 8.3.3 BLP14A Brushless DCdrive Brushless - - DCOMcontrol HMI menu Parameter name Fieldbus control mode Local Control mode Bit 9..15: Reserved (mustBit 9..15:Reserved be0) Bit 8:Halt Bit 7:Fault Reset Bit 4..6: Operating mode specific Bit 3:Enable Operation QuickBit 2: Stop Bit 1:Enable Voltage Bit 0:Switch on States,information. for coding bit Refer Operation, Operating tochapter Drivecom control word ecito Unit Description 7 are relevant are 7 for transitions. state parameter the or software missioning In fieldbuscontrol mode,operating the statesset are either com-via the commissioning software,the signal inputsor automatically. In Local Controlmode, the operating stateis changed either thevia Figure 8.4 Changing and monitoring theoperating stateviaparameters monitoring and Changing 8.4 Figure NBE1- T5, T6 T15 T3, T4 FAULT_RESET 0->1 ENABLE 1->0 ENABLE 0->1 Input signal DCOMcontrol - 0 - - Maximum value Factory setting Minimum value T16 transition State to tions transi- State System functions Monitoring and Monitoring State machine DCOMcontrol 6 4 4 6 - - R/W UINT16 UINT16 Expert Persistent R/W type Data prto Enabled Operation On Switch To Ready On Switch To Ready Enabled Operation DCOMstatus CANopen 6040:0 CANopen via fieldbus Parameter address Modbus 6914 . Bits 0to 3and bit 191 h 8 Operation BLP14A

Bits 0 to 3 and 7

713 2 0 State XXXXXXXXX X X machine 15... 870 ... MSB LSB

Figure 8.5 Changing the operating state

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Fieldbus command State tran- Reset Enable Quick Enable Switch sitions State transition to Fault Opera- Stop Voltage On tion Shutdown T2, T6, T8 4 Ready To Switch On X X 1 1 0 Switch On T3 5 Switched On X X 1 1 1 Disable Voltage T7, T9, T10, 3 Switch On Disabled X X X 0 X T12 Quick Stop T7, T10 3 Switch On Disabled XX01X T11 7 Quick Stop Active Disable Operation T5 5 Switched On X 0 1 1 1 Enable Operation T4, T16 6 Operation Enabled X 1 1 1 1 Fault Reset T15 3 Switch On Disabled 0->1 X X X X

The bit states in the fields marked with "X" have no meaning for the corresponding state transition. Bits 4 to 6 Bits 4 to 6 are used for the operating mode-specific settings. Details can be found in the descriptions of the individual operating modes in this chapter. Bit 8, Halt A "Halt" can be triggered with bit 8=1. Bits 9 to 15 Reserved. 0098441113504, V2.00, 08.2010 192 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation andchanging Displaying, operating modes starting 8.4 BLP14A Brushless DCdrive Brushless Prerequisites operatingstate isalready "OperationEnabled". done separately. An operating mode can usually only be activated if the Changing operating states and activatingoperating modes mustbe different operating mode afterthe causethe of error hasbeen removed. to be canceled, the movement can be resumed or you can change to a occurs during the movement which causes the current operating mode sition or if it isstopped by the func operatingAn ifthe motorreachedterminated has is mode the targetpo- modeif the currentoperating or canceled. mode isterminated operatingmodeis active, youchangeonly can to adifferentoperating The product cannottwo in run operating modes at the same time. If an be started. to mode erating The device must be ready for operation and initialized properly foran options "Quick Stop" or "Halt". If an error 193 8 Operation BLP14A

8.4.1 Starting the operating mode

Local Control mode In the case of Local Control mode, after starting, the device changes to the operating mode set with the parameter IOdefaultMode. By setting the input signal ENABLE, current is applied to the motor and the set operating mode is started. In addition, a "Jog" movement or "Autotuning" can be started via the HMI. Fieldbus control mode In the case of fieldbus control mode, the operating mode is started using the parameter DCOMopmode. The following table shows the sequence of parameters for starting an operating mode using the example of the operating mode Current Con- trol.

Parameter Meaning 1 CUR_I_target Reference value 2 CURreference Reference value source 3 DCOMopmode Start of the operating mode

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

CUR_I_target Reference current in operating mode current Apk INT16 CANopen 3020:4h control -300.00 INT16 Modbus 8200 - 0.00 R/W - 300.00 - -

CURreference Reference value source for operating mode - UINT16 CANopen 301B:10h Current Control 0 UINT16 Modbus 6944 - 0 R/W 0 / None: None - 2 - 1 / Analog Input: Reference value via +/- - 10V interface ANA1 2 / Parameter 'currTarg': Reference value via parameter CUR_I_target

DCOMopmode Operating mode - INT8 CANopen 6060:0h -8 INT16 Modbus 6918 - DS402 operating modes: - R/W 1: Profile position - 6 - 3: Profile velocity - 6: Homing

------Manufacturer operating modes: -1: Jog -3: Current control -4: Speed control -8: Motion sequence

In the operating modes Profile Position and Homing, the device receives the request for starting the selected operating mode via bit 4 in the parameter DCOMcontrol. In the other operating modes, bits 4 to 6 have operating mode-specific assignments. 0098441113504, V2.00, 08.2010 194 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation Changing theoperatingmode 8.4.2 BLP14A Brushless DCdrive Brushless - - _DCOMopmd_act - - DCOMopmode HMI menu Parameter name Fieldbus control mode Local Control mode See DCOMopmode forDCOMopmode See coding Activemode operating -8: Motion sequence Motion -8: control Speed -4: control Current -3: Jog -1: Manufacturer operating modes: ------6: Homing velocity3: Profile Unit position 1: Profile modes: operating DS402 mode Operating Description Parameter for change: • Parameter for indication: • modes. for operating the changing parameters2 are available for indicating the current operating mode and erating modes. this.tion to Nomotor The operatingCurrent modesControl and ProfileVelocity areexcep- an operating mode". drive must beatastandstill.Then pose, the current process must be completed or explicitly canceled. The The operating modes canchanged be operation. during For this pur- tive until after the deviceswitched is offandon again. cannotoperation. bechanged during new The settings only become ac- changed using the parameter When thedrive is atastandstill, standstill is requiredto standstill is 6 - -6 - 6 - -8 - Maximum value Factory setting Minimum value DCOMopmode _DCOMopmd_act IOdefaultMode the defaultthe operating be modecan proceed as describe as proceed - - R/- INT16 INT8 - - R/W INT16 INT8 Expert Persistent R/W type Data change betwee . The operating modes modes operating . The CANopen 6061:0 CANopen CANopen 6060:0 CANopen via fieldbus Parameter address Modbus 6918 Modbus 6920 d in "Starting an d in"Starting n theseop- 195 h h 8 Operation BLP14A

8.5 Operating modes

8.5.1 Operating mode Jog

Overview of operating mode Jog In the operating mode Jog, the motor moves by one jog unit or at constant speed of rotation during continuous movements. The distance of the jog unit, the values for the speed of rotation and the waiting time prior to continuous movement can be set. The current motor position is the start position for the operating mode Jog. The jog distance and the values for the speed of rotation are entered in user-defined units. Starting the operating mode The operating mode can be started in the following ways. • In the case of Local Control mode, the operating mode can be set as start-up operating mode. The functions "Jog positive" and "Jog negative" are used to start movements. The function "Jog fast/slow" lets you switch between slow and fast movements.

• In fieldbus control mode, the operating mode must be set via the parameter DCOMopmode. Writing the parameter value causes the operating mode to start. The parameter JOGactivate starts a movement. The Functions "Automatic/Manual", "Jog positive", "Jog negative" and "Jog fast/slow" must be configured, see chapter 8.6.7 "Setting the digital signal inputs and signal outputs". With the start signal for the jog movement, the motor first moves by a defined jog distance JOGstepusr. If the start signal is still available after a specified waiting time JOGtime, the device switches to continuous movement until the start signal is canceled. Status messages The drive provides information concerning the movements via bits 10 and 12 to 15 in the parameter DCOMstatus.

15 14 13 12 10 X XX XXXXXXXX 15... 870 ... MSB LSB

Figure 8.6 Status messages for the operating mode

Parameter value Meaning Bit 10: Target reached Not relevant for this operating mode Bit 12: Operating mode-dependent Reserved Bit 13: x_err 1: Error Bit 14: x_end 1: Operating mode terminated, motor at a standstill Bit 15: ref_ok 1: Drive has valid reference point 0098441113504, V2.00, 08.2010 196 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless JOGactivate JOGactivate JOGactivate DCOMstatus M M "Jog fast/slow" "Jog negative" "Jog positive" JOGn_slow JOGn_fast JOGn_slow JOGn_fast Bit14 Bit2 Bit0 Bit1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Description 1 1 2 2 The figure below providesoverview an inlocalcontrol mode. movement signal is canceled. until the start specified waitinga time fined jog distance moves first for movement,motor by signal jog the the de- a start the With The figure below providesoverview an infieldbus control mode. Jog, slow andfast Figure8.7 ment irrespective of the waiting time. move-continuous with directly Continuous zero, is movement tance movement jog starts the ve and waiting time waiting > time t unit, distance The waiting time < t (4) unit Distance (3) (2) (1) Jog, slow andfast Figure8.8 1 1 2 2 JOGstepusr JOGtime . If the start signal . Ifthestart , thedevice switches continuousto locity levels beset.Ifthedis- can 1 1 3 3 is stillavailable after 4 4 197 8 Operation BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

JOGactivate Activation of operating mode Jog - UINT16 CANopen 301B:9h 0 UINT16 Modbus 6930 - Bit 0: positive direction of rotation 0 R/W Bit 1: negative direction of rotation - 7 - Bit 2: 0=slow 1=fast - -1 JOGn_slow Speed for slow jog min UINT16 CANopen 3029:4h 1 UINT16 Modbus 10504 JOG- - NSLW The adjustable value is internally limited to 60 R/W the current parameter setting in JOG- - NSLW 13200 per. RAMPn_max. - -1 JOGn_fast Speed for fast jog min UINT16 CANopen 3029:5h 1 UINT16 Modbus 10506 JOG- - NFST The adjustable value is internally limited to 180 R/W the current parameter setting in JOG- - NFST 13200 per. RAMPn_max. -

JOGstepusr Jog distance prior to continuous movement usr INT32 CANopen 3029:7h 0 INT32 Modbus 10510 - 0: Direct activation of continuous movement 20 R/W >0: Positioning distance per jog cycle - 2147483647 per. -

JOGtime Wait time prior to continuous movement ms UINT16 CANopen 3029:8h 1 UINT16 Modbus 10512 - This time is only effective if you have set a 500 R/W jog distance not equal to 0, otherwise the - 32767 per. drive immediately starts a continuous move- - ment.

Terminating the operating mode Jog is finished when the motor has come to a standstill and • the direction signal is inactive • the operating mode has been interrupted by "Halt" or an error Further options For further settings and functions for the operating mode, see page 237. 0098441113504, V2.00, 08.2010 198 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation Operating mode 8.5.2 BLP14A Brushless DCdrive Brushless Overview of Current Control of Current Overview Starting the operatingStarting mode Status messages Current Control eter eter In local control mode, the operating mode must be set using the param- Figure 8.10 Status messages Statusmessages for mode theoperating 8.10 Figure ofadjustable principle function CurrentControl, Operating mode Figure 8.9 which can becanwhichfor set the operating mode. The followingoverview shows theof function the parametersprinciple supplied. is current In the operatingmodeCurrent Control, reference a value for the motor and 12 to15 inthe parameter The driveprovides informationthe movements concerning via bits10 start. to mode ing rameter In fieldbuscontrol mode,operating the mode must besetthe withpa-via cording to the settingsmade. power stage, applies currentto the motor and evaluates the inputs ac- aaee au Meaning min 0 than greater of rotation Speed 0: TargetBit 10: reached Parameter value i 5 e_k1:Drive valid has reference point a at motor terminated, Operating mode 1: Error 1: Bit 15: ref_ok x_end 14: Bit Bit 13:x_err (0) Reserved mode-dependent Operating Bit 12: CUR_I_target IOdefaultMode XANA1 (±10V) (±10V) ANA1 DCOMopmode MSB parameters 15 58... 8 15 ANA1_I_scale ANA1_win ANA1_offset 14 Processing Processing 13 Signal Signal . Writing the parameter value causes the operat- . Setting theinput signal 12 ... X 10 XANA1_n_max XANA1_I_max DCOMstatus CURreference XXXXXXXX X 1: Speed of rotation is 0 min 0 is of rotation Speed 1: standstill X 70 XANA1LimMode . ENABLE CTRL_n_max CTRL_I_max Controller enables enables the LSB -1 3~ M E 199 -1 8 Operation BLP14A

Setting limit values See chapter 7.3.3 "Setting basic parameters and limit values" for setting the limitation of the current and the speed of rotation.

@ WARNING EXCESSIVELY HIGH VELOCITY DUE TO INCORRECT LIMIT VALUE Without a proper limit value, the motor can reach a very high velocity in this operating mode. • Check the parameterized velocity limitation. Failure to follow these instructions can result in death, serious injury or equipment damage.

Reference value settings In local control mode, the analog input ANA1 is automatically evaluated. In fieldbus control mode, the parameter CURreference determines whether the analog input ANA1 or the parameter CUR_I_target are to be evaluated.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

CUR_I_target Reference current in operating mode current Apk INT16 CANopen 3020:4h control -300.00 INT16 Modbus 8200 - 0.00 R/W - 300.00 - -

Reference value with +10V input It is possible to change the development of the reference value with ref- signal erence to the ±10V input value: • Settings for the reference value at +10V • Parameterization of a zero voltage window • Parameterization of a voltage offset See chapter 7.3.4 "Setting, scaling and checking analog signals" for settings for the analog inputs. On the basis of this reference value, the device calculates a current with which the motor accelerates to a velocity limited by the load torque. Therefore, without a load, the motor accelerates up to the adjustable velocity limit. Terminating the operating mode Processing is terminated by: • Deactivation of the operating mode and motor at a standstill • Standstill of motor caused by "Halt" or by an error 0098441113504, V2.00, 08.2010 200 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation Operating m 8.5.3 BLP14A Brushless DCdrive Brushless Starting the operatingStarting mode Overview of Speed Control Settinglimitvalues Status information ode SpeedControl eter eter In local control mode, the operating mode must be set using the param- which can becanwhichfor set the operating mode. The followingoverview shows theof function the parametersprinciple rameters. Transitions between two velocities followtheadjusted control loop pa- is supplied. motor ofthe rotation In the operating mode Speed Control, a reference value for the speed of Figure 8.11 Operating mode Speed Control, function principle of adjustableof principle function Control, Speed mode Operating Figure 8.11 tation. See chapter for setting the limitation of the current and the speed of ro- The word"driveStat" provides informationon the operating mode. start. to mode ing rameter In fieldbuscontrol mode,operating the mode must besetthe withpa-via cording to the settingsmade. power stage, applies currentto the motor and evaluates the inputs ac- 15 x_err 0: Noerror 0: x_err modeactive Operating 0: x_end 15 0: Motor shaft rotates Meaning x_info 14 Name 13 Bit SPEEDn_target IOdefaultMode XANA1 (± (± ANA1 10V) 10V) DCOMopmode parameters ANA1_n_scale ANA1_win ANA1_offset 1: Error modeterminated Operating 1: 1: Motor standstill Processing Processing Signal Signal . Writing the parameter value causes the operat- . Setting theinput signal XANA1_n_max XANA1_I_max SPEEDreference XANA1LimMode ENABLE CTRL_n_max CTRL_I_max Controller enables enables the 3~ M E 201 8 Operation BLP14A

Reference value settings In local control mode, the analog input ANA1 is automatically evaluated. In fieldbus control mode, the parameter SPEEDreference determines whether the analog input ANA1 or the parameter SPEEDn_target are to be evaluated.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

SPEEDreference Reference value source for operating mode - UINT16 CANopen 301B:11h Speed Control 0 UINT16 Modbus 6946 - 0 R/W 0 / None: None - 2 - 1 / Analog Input: Reference value via +/- - 10V interface ANA1 2 / Parameter 'speedTarg': Reference value via parameter SPEEDn_target -1 SPEEDn_target Reference velocity in operating mode Speed min INT16 CANopen 3021:4h Control -30000 INT16 Modbus 8456 - 0 R/W The internal maximum speed is limited to the - 30000 - current setting in CTRL_n_max. -

Reference value with +10V input It is possible to change the development of the reference value with ref- signal erence to the ±10V input value: • Settings for the reference value at +10V • Parameterization of a zero voltage window • Parameterization of a voltage offset See chapter for settings for the analog inputs. Terminating the operating mode Processing is terminated by: • Deactivation of the operating mode and motor at a standstill • Standstill of motor caused by "Halt" or by an error 0098441113504, V2.00, 08.2010 202 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation Operating mode 8.5.4 BLP14A Brushless DCdrive Brushless Relative and absolute movements Triggering positioning Profile Position •BitThe movement cantriggered beways2in dependingbit on 5. 5DCOMcontrol = inthe 4 parameter A newmovement when the edgeof bit isstarted 0: relatively with reference to thecurrent axisposition orthe target position. In thecase of relative positioning, the movement distance isspecified movement. be defined with the operating mode Homingthe tofirst prior absolute absolutely with reference to the zero pointthe of axis.A zero point must In the case of absolute positioning, the movement distance isspecified ation ramp and targetvelocity. Youset can amotion profilewith values for accelerationramp, deceler- solute position. value of the target position can be specified as either a relative or an ab- motion profile isperformed position from toa atarget start position.The In theoperating mode Profile Position, amovementan with adjustable only beexecutedthe via fieldbus. The operating mode can only be used in fieldbus control mode and can iue81 Absolute movement (le Figure 8.12 •Bit 5 = 1: Bit 6: Absolute/ relative Meaning movement positioning orpre- Start 0->1: Newately (only if setpoint 0->1) immedi- setpoint Change Bit 5: Bit New4: value target Parameter value Positioning values ( Positioning values ( positioning values are overwritten. If new positioning values are provided again, the temporarily saved reached. thenew valuesis executed whenonly the target position hasbeen thecurrent positioning movement.The new movementaccordingto saved temporarily. The movement continues to thetarget position of RAMPdecel position starts immediately. starts position executed. newactive,movementtarget the immediately to The are RAMPdecel 0 500 usr 1.200 usr rises. ) that are suppliedmovement whilea active, is are ) that are suppliedpositioning whilea movementis PPp_targetusr PPp_targetusr 1: Relative1: positioning 0: Absolute positioning ately Activate1: values new immedi- position isreached get position Activate0: new values when tar- position movement positioning subsequent pare ft) and relative ft) and movement (right) 0 , , PPn_target PPn_target 500 usr 700 usr , , RAMPacc RAMPacc and and 203 8 Operation BLP14A

Status messages The drive provides information concerning positioning via bits 10 and 12 to 15 in the parameter DCOMstatus.

15 14 13 12 10 X XX XXXXXXXX 15... 870 ... MSB LSB

Figure 8.13 Status messages for the operating mode

Parameter value Meaning Bit 10: Target reached 0: Target position not reached (also in the case of "Halt" or error) 1: Target position reached Bit 12: Target value acknowledge 0: New position possible 1: New target position accepted Bit 13: x_err 1: Error Bit 14: x_end 1: Positioning finished, motor at a standstill Bit 15: ref_ok 1: Drive has valid reference point

POSNormNum SPV_SW_Limits POSNormDenom

PPp_targetusr * fp

PPn_target *fv=1 DCOMstatus

RAMPn_max RAMPacc *fa=1 RAMPdecel

Figure 8.14 Operating mode Profile Position, function principle of adjustable parameters

Current position The current position can be determined with the 2 parameters _p_actusr and _p_actRAMPusr.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_p_actusr Actual position in user-defined units usr INT32 CANopen 6064:0h - INT32 Modbus 7706 STA- - PACu 0 R/- STA- - PACu - - -

_p_actRAMPusr Actual position of profile generator usr INT32 CANopen 301F:2h - INT32 Modbus 7940 - In user-defined units 0 R/- - - - - 0098441113504, V2.00, 08.2010 204 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - PPn_target - - AbsHomeRequest - - PPoption HMI menu Parameter name - - PPp_targetusr current parameter value RAMPn_max. in current parameter the to limited valueinternally adjusted is The Position Target velocityfor Profile mode operating 1 /Yes 0 /No only after homing positioning Absolute motor of the tion 2: Relative referencewith posi- tothe actual supported 1: Not profile generator themotion get of position reference0: Relative with totheprevious tar- Unit tive positioning: reference the position forDetermines rela- position for profile Options mode operating Description vated) - Software limit switches (if they are acti- factor- Scaling valuesMin./max on: depend Position Target forposition Profile mode operating Target position : No : Yes Thisdepends the on setting inparameter position. target the or position axis relatively reference current with tothe In the case of arelative positioning, the positioning distance is specified absolutely with referencethe to zero pointof the axis. In the case of absolute positioning, the positioning distance is specified A new positionvalue isassignedthe with parameter min 1 0 0 - 2 0 0 - Maximum value Factory setting Minimum value - 0 - usr - 60 1 -1 - per. R/W UINT16 UINT16 - - R/W UINT16 UINT16 Expert Persistent R/W type Data - - R/W INT32 INT32 - - R/W UINT32 UINT32 PPoption CANopen 3006:16 CANopen 60F2:0 CANopen via fieldbus Parameter address CANopen 607A:0 CANopen CANopen 6081:0 CANopen Modbus 6960 Modbus 6942 Modbus 6940 Modbus 1580 PPp_targetusr . 205 h h h h . 8 Operation BLP14A

8.5.5 Operating mode Profile Velocity

In the operating mode Profile Velocity, a movement is made with a desired target velocity. You can set a motion profile with values for acceleration and deceleration ramps. Starting the operating mode After the operating mode, the operating state and the parameter values have been set, the operating mode can be started by applying the reference velocity set in the parameter PVn_target. Status messages The drive provides information concerning the movements via bits 10 and 12 to 15 in the parameter DCOMstatus.

15 14 13 12 10 X XX XXXXXXXX 15... 870 ... MSB LSB

Figure 8.15 Status messages for the operating mode

Parameter value Meaning Bit 10: Target reached 0: Reference velocity not reached 1: Reference velocity reached (also in the case of motor standstill via "Halt") Bit 12: speed=0 0: Motor shaft moves 1: Motor at a standstill Bit 13: x_err 1: Error Bit 14: x_end 1: Operating mode terminated Bit 15: ref_ok 1: Drive has valid reference point

Overview The following overview shows the function principle of the parameters which can be set for the operating mode Profile Velocity.

PVn_target *fv=1

DCOMstatus RAMPn_max RAMPacc *fa=1 RAMPdecel

Figure 8.16 Operating mode Profile Velocity, function principle of adjustable parameters 0098441113504, V2.00, 08.2010 206 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - PVn_target STA- STA- -NACT _n_act - - _n_actRAMP HMI menu Parameter name HMI menu Parameter name - NACT current parameter value RAMPn_max. in current parameter the to limited valueinternally adjusted is The Velocity Target velocityfor Profile mode operating culvlct fpoiegnrtrmin velocityActual generator of profile Unit Description culsedo oainmin Unit Actual speed of rotation Description Actual velocityActual Target velocity and parameters 2 the with determined velocity be can actual The immediately theduring execution motionrunning a of command. limited by themovement range limits. andbe can changed during the movement.The operatingnot mode is The target velocity isassigned via the parameter _n_actRAMP . min Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value - 0 - - 0 - - 0 - -1 -1 -1 New velocity values are accepted Expert Persistent R/W type Data Expert Persistent R/W type Data - - R/- INT16 INT32 - - R/W INT32 INT32 - - R/- INT32 INT32 PVn_target via fieldbus Parameter address via fieldbus Parameter address CANopen 606C:0 CANopen 60FF:0 CANopen CANopen 606B:0 CANopen Modbus 7696 Modbus 6938 Modbus 7948 _n_act in min in 207 h h h -1

8 Operation BLP14A

8.5.6 Operating mode Motion Sequence

Without the I/O expansion signal interface, only a few digital inputs and outputs are available. This limits the functionality for direct selection of data sets. If you do not have the I/O expansion signal interface and if the drive operates in local control mode, you should therefore use sequential selection of data sets if possible.

If, in fieldbus control mode, a positive limit switch is to be used instead of the reference switch, it must be configured, see chapter 8.6.7 "Setting the digital signal inputs and signal outputs".

Basics The operating mode Motion Sequence is based on the basic principles and functions of the operating modes Homing and Profile Position. The function principle is described in the individual chapters on the corresponding operating mode. Overview of Motion Sequence In the operating mode Motion Sequence, the motor is controlled by data sets that can be programmed as required. The data sets are parameterized via the commissioning software or the fieldbus. Parameterization via the commissioning software is considerably easier since a graphic user interface is available.

There are 2 processing modes for the data sets: • Direct selection of the data sets Direct selection of the data sets is used if a master controller (for example, a PLC) is in charge of the time coordination between the various data sets. In Local Control mode and without the I/O expansion signal interface, the data set with the number 0 is started. With the I/O expansion signal interface, the number of the data set to be processed is selected by means of the functions "DataSet Bit0" ... "DataSet Bit3". The selected data set is started via the function "DataSet Start". This way, data sets can be started directly. In fieldbus control mode, the number of the data set to be started is specified by means of the parameter MSMsetNum. The data set is started once the corresponding transition conditions are met.

• Sequential selection of the data sets Sequential selection of the data sets is typically used with motion sequences with a fixed order. Time coordination between and the sequence of the various data sets is stored in the drive. The global transition condition must be fulfilled before the start of the first data set. Special conditions can be parameterized for the subsequent data sets. In local control mode, an external signal meets a transition condition between the data sets via the function "DataSet Start". In fieldbus control mode, a transition condition can be met via the parameter MSMstartReq. 0098441113504, V2.00, 08.2010 208 Brushless DC drive 0098441113504, V2.00, 08.2010 8.5.6.1 Global settings Global 8.5.6.1 L1A8Operation BLP14A Brushless DCdrive Brushless - - MSMprocMode rcsigmd ilbscnrlmd oa oto oeDescription Local Control mode Fieldbus control mode sets of the data selection Direct Processing mode HMI menu Parameter name sets data Sequential selection of the Selection of processingmode 1 /Sequential 0 /Direct Processing mode ecito Unit Description : Direct selection directly via aparameter. beselected sets can The data with any data set. any data with continued starting and interrupted Any canbe started, sequence : Sequential selection : Sequential control modes of the operating mode Motion Sequence. The following table provides an overview of the processing modes and be outputvia an additional signal output. processing In addition,aninternal Acknowledge"signalvia a output with the "DataSet Start function. output be can set data a of state processing the mode, control local In The processingmodeis set with the parameter 1 1 0 - Maximum value Factory setting Minimum value selected directly via functions. interface, setscanbe the data I/O With the expansion signal started. 0 is number interface, the data set with the theI/O Without expansion signal starting with any data set. any data with starting and continued interrupted started, face, be can anysequence Wit the I/O expansion inter- signal started. number set 0is with the data interface, beginning the sequence theI/O Without expansion signal state such as "Motor Standstill"can as state such - per. R/W UINT16 UINT16 Expert Persistent R/W type Data MSMprocMode CANopen 302D:7 CANopen via fieldbus Parameter address Modbus 11534 Page 217 Page 220 . 209 h 8 Operation BLP14A

Global transition condition The global transition condition is specified via the parameter MSMglobalCond. The global transition condition applies both to the start of the first data set and to the transition to the subsequent data sets for which the global transition condition is specified as a condition. The global transition condition can be replaced by a special transition condition in each individual data set.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

MSMglobalCond Global transition condition - UINT16 CANopen 302D:8h 0 UINT16 Modbus 11536 - 0 / Rising Edge: Rising edge 0 R/W 1 / Falling Edge: Falling edge - 3 per. 2 / 1-level: 1 level - 3 / 0-level: 0 level The global transition condition defines the way the start request is to be processed. This setting is used for the first start after activation of the operating mode. In addition, this setting can be used as transition condition in the individual data sets (default assignment).

8.5.6.2 Structure of a data set

1 Type Target Speed Acceleration Deceleration

TriggerOut TriggerOut 2 Type Target Speed Acceleration Deceleration Next data set Pause Condition SetStart SetEnd

Figure 8.17 Structure of a data set

(1) Direct selection of the data sets (2) Sequential selection of the data sets 0098441113504, V2.00, 08.2010 210 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - MSMdataTarget - - MSMdataType HMI menu Parameter name HMI menu Parameter name usr - Position in position setting setting:position HMmethod) movement (see - Reference movement: of type reference - Relative relative inusr positioning: distance usr in position absolute positioning: - Absolute meaning no - None: ing type(seeMSMdataType for settings): The value selectedprocess- onthe depends Target value ofmovement type but withhandshake mechanism. compliance Triggering movement, ofadatasetwithout Direct selection: only.tion of waitProcessing transition condi- time and selection: Sequential 4 /SetPosition 3 /Homing ing 2 /RelativePositioning ing 1 /Absolute Positioning 0 /None Selection of movement type ecito Unit Description Unit Description : None Target : Homing Type : Position setting following differentmeanings: type, set the Target data selected on the Depending have settings the Selection of data set type case ofcase position setting,an absolute positionis specified. In the caseof homing,the homing method can beselected here. In the relativeor movement. absolute value an of the is this positioning, of case Correspondsdifferent to values dependingon the dataset type. In the oiinstigPosition by 8.5.7.4"Homing seechapter setting Reference movement to limit switch withand Relative positioni Position setting Description "Operat- seechapter 8.5.4 positioning Absolute Homing Pos. relative Pos. absolute Type : Relative position- : Absolute position- : Absolute 2147483647 0 -2147483648 - 4 0 0 - Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value position setting" position mode Homing" index 8.5.7"Operating without chapter pulse,see mode Profile Position" ing mode Profile Position" - per. R/W INT32 INT32 - per. R/W UINT16 UINT16 Expert Persistent R/W type Data Expert Persistent R/W type Data ng see 8.5.4"Operating ng see chapter CANopen 302D:12 CANopen 302D:11 CANopen via fieldbus Parameter address via fieldbus Parameter address Modbus 11554 Modbus 11556 211 h h 8 Operation BLP14A

Velocity, acceleration and The values for velocity [min-1], acceleration [min-1] and deceleration deceleration [min-1] are specified separately for each data set.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 MSMdataSpeed Speed min UINT16 CANopen 302D:13h 0 UINT16 Modbus 11558 - In the case of relative or absolute move- 0 R/W ments, this value corresponds to the refer- - 13200 per. ence speed, in the case of homing to the - search speed. -1 MSMdataAcc Acceleration min /s UINT32 CANopen 302D:14h 0 UINT32 Modbus 11560 - 0: Use of current acceleration, no change 0 R/W >0: Special acceleration value, see parame- - 3000000 per. ter RAMPacc for adjustment range - -1 MSMdataDec Deceleration min /s UINT32 CANopen 302D:15h 0 UINT32 Modbus 11562 - 0: Use of current deceleration, no change 0 R/W >0: Special deceleration value, see parame- - 3000000 per. ter RAMPdecel for adjustment range -

Subsequent data set Specifies the number of the data set that is to be executed next.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

MSMdataNext Number of subsequent data set - UINT16 CANopen 302D:18h 0 UINT16 Modbus 11568 - This setting is only effective in the process- 0 R/W ing mode 'sequential selection'. - 15 per. -

Pause Specifies the waiting time after the end of the movement. Values from 0 to 30000 ms can be specified. The data set is not complete until after this time has elapsed.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

MSMdataDelay Wait time ms UINT16 CANopen 302D:16h 0 UINT16 Modbus 11564 - Additional wait time in ms after termination of 0 R/W the movement. - 30000 per. - This setting is only effective in the processing mode 'sequential selection'. 0098441113504, V2.00, 08.2010 212 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless Exampleblended of movements Condition set is executed. is set following available are The settings for parameter: the Specifies the transition condition that must be met before the next data ment aand b, using 3datasets. The followingillustration shows the )Only possible with linear ramps. See 8.6.3 "Motion profile" 1) Figure 8.18 Blended movement Blended 8.18 Figure Blended movementBlended b) movementBlended a) "DataSet function The movementBlended "DataSet function The chap- see transition condition, global the Uses condition transition Global level 1 "DataSet Thefunction after immediately Thenext isstarted data set level "DataSet function 0 The Fallingedge Meaning edge Rising Auto Condition 1/min 1/min b a 1) . 1 reached. isadjusted set data ofthesubsequent of The speed rotation reached. isadjusted set data ofthesubsequent of The speed rotation sets, data whose ofsubsequent case the In • positioning. Absolute • only for: Movement" "Blended The condition ispossible position. target the reaching is sets data the between condition sets. Thetransition the data movementmotor between The stopped not is ter 8.5.6.1 "Global settings". ter 8.5.6.1"Global fulfilled. the level tobe isconsidered is thecondition 1, fulfilled. the level tobe isconsidered is thecondition 0, to befulfilled. sidered con- is condition the detected, falling is a edge to befulfilled. sidered con- is isdetected,the condition edge a rising datathe current set. current data set. data current the that isgreaterof target position than difference between blended move- 2 before after 3 the target is position target the Start" is monitored and if and ismonitored Start" the target position is thetarget position Start" is monitored and if and ismonitored Start" if and ismonitored Start" if and ismonitored Start" t t 213 8 Operation BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

MSMdataNextCond Transition condition - UINT16 CANopen 302D:17h 0 UINT16 Modbus 11566 - 0 / Rising Edge: Rising edge 4 R/W 1 / Falling Edge: Falling edge - 7 per. 2 / 1-level: 1 level - 3 / 0-level: 0 level 4 / Global Next Condition: Global transition condition (see MSMglobalCond) 5 / Auto: Auto 6 / Blended Move Typ A: Blended movement a 7 / Blended Move Typ B: Blended movement b This setting is only effective in the processing mode 'sequential selection'.

TriggerOut SetStart / SetEnd Each data set can control a signal output at the start (SetStart) and also at the end of the data set including expiry of the waiting time (SetEnd) if the corresponding signal output is set to the function "DataSet trigger output".

TriggerOut TriggerOut Description SetStart SetEnd Unchanged Unchanged Output level remains unchanged 1 level 1 level Output level switches 1 level 0 level 0 level Output level switches to 0 level Inverted Inverted Output level is inverted

8.5.6.3 Starting the operating mode

Starting the operating mode In local control mode, the operating mode must be set using the parameter IOdefaultMode. Setting the input signal ENABLE enables the power stage, applies current to the motor and evaluates the inputs according to the settings made. In fieldbus control mode, the operating mode must be set with via the parameter DCOMopmode. Writing the parameter value causes the operating mode to start. Starting a data set in local control In local control mode, the global transition condition refers to the state of mode the function "DataSet Start". The first data set (data set number 0) is started if the global transition condition is fulfilled. Separate transition conditions can be defined for each subsequent data set after the first data set. 0098441113504, V2.00, 08.2010 214 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - MSMstartReq HMI menu Parameter name Starting a data set in fieldbus in set data a Starting Status messages set. for adjusted canbespecially tion each data condi- Thetransition with MSMglobalCond. defined is condition start The condition. tion Triggering ortransi- start ofadatasetwith selection: Sequential must firstadjustedviaMSMsetNum. The number thedataset of to be triggered byedge. arising istriggered set The data Direct selection: for request of set processing a data Start ecito Unit Description control mode DCOMstatus on the movement inbits7, 8, 13,and 1415 inthe parameter In the operating mode Motion Sequence, the drive provides information set. data conditionsbe can defined foreach subsequent dataafter set the first if the global transitionstarted condition is fulfilled. Separatetransition rameters In fieldbus control mode, the global transition condition refers to the pa- Figure 8.19 Status messages Statusmessages for mode theoperating 8.19 Figure i 5 e_k1:Drive isreferenced Bit 15: ref_ok Bit 14: x_end 1: Data set co Data 1: Error 1: parameter the that Indicates 1: 1: indi Bit 14:x_end Meaning Bit 13:x_err Bit 8: Halt request active Warning Bit 7: Parameter value MSMstartReq MSB . 15 58... 8 15 14 13 1 0 0 - Maximum value Factory setting Minimum value X or ... X DCOMcontrol XXXXXX X XX still _WarnActive 8 7 70 cates that a"Halt" is active. - - R/W UINT16 UINT16 Expert Persistent R/W type Data bit 4. The first data set is set data first The 4. bit mpleted, motor at astand- motor mpleted, contains awarning contains CANopen 302D:3 CANopen via fieldbus Parameter address Modbus 11526 LSB 215 h 8 Operation BLP14A

8.5.6.4 Switching on the drive system

@ DANGER UNEXPECTED RESTART If appropriately parameterized, the product can automatically start movements as soon as the VDC power stage supply is available. This may cause unexpected restarts after a power outage. • Verify the behavior of the system when the power stage supply is switched on. • Verify that there are no hazards to persons when the system restarts after a power outage. • Verify that there are no persons in the hazardous area. Failure to follow these instructions will result in death or serious injury.

If Motion Sequence is selected as the start-up operating mode, the input signals and settings are processed in the following sequence when the drive system is switched on: Enabling the power stage If the parameter IO_AutoEnable is set to the value 2, the power stage is automatically enabled when the device is switched on. If the parameter IO_AutoEnable is parameterized to 0, the power stage must be enabled separately. Selection of the data sets In Local Control mode and without the I/O expansion signal interface, the data set with the number 0 is started. With the I/O expansion signal interface, the number of the data set to be started is specified via the functions "DataSet Bit0" ... "DataSet Bit1". The selected data set is started via the function "DataSet Start". This way, the data sets can be started directly. In fieldbus control mode, the number of the data set to be started can be specified via the parameter MSMSetnum. Start of a data set The global transition condition MSMGlobalCond must be fulfilled before the start of the first data set. In local control mode, the parameter MSMGlobalCond evaluates the "DataSet start" function. In fieldbus control mode, the parameter MSMGlobalCond evaluates the value of the parameter MSMstartReq. If a "0" or "1" level is parameterized as the global transition condition (MSMglobalCond) and this level is present at the time the power stage is enabled, the data set is started directly. This sequence allows you to parameterize the drive in such a way as to allow for automatic starts of movements when the product is switched on. 0098441113504, V2.00, 08.2010 216 Brushless DC drive 0098441113504, V2.00, 08.2010 ... Processing mode "Direct selection of data sets" 8.5.6.5 L1A8Operation BLP14A Brushless DCdrive Brushless Example of aprocessing sequence Operationwith master controller in fieldbus control mode In fieldbus control mode, the parameter parameter the mode, control fieldbus In MSMsubMode parameter via the isparameterized sets data ofthe selection Direct sequential selection of datasets ifpossible. thereforeuse you mode, should control local in operates havethe I/O expansionsignal interface and ifthedrive you not sets. If do data of for selection direct functionality digital inputs and outputsar interface, expansionfewsignal I/O a the only Without (1) sequenc ofprocessing Example 8.20 Figure via handshake. suitable via determined feedback signals. The signals are exchanged be can drive the of for status processing example, PLC. a current The Timingcontrolledof theprocess is signals viaI/O of amastercontroller, number of the dataset to bestarted. than the duration of the movement. The secondmovementis ashort thedatahas set been finished. (3) (2) that the data set has been finished. been has set data the that rameter rameter "0" and "Motor Standstill"= The handshake signalchecks the function "Motor Standstill" internally. If (4) DCOMstatus MSMstartReq PLC: "0" andsets PLC via starts the data set.start The of the dataacknowledged set is Drive to be started. set data ofthe number the specifies to the PLC via Drive MSMsetNum sets x_end . : Thedetects PLC the startthe of data set via : A change in the parameter parameter inthe : Achange : The: fact that the dataset has been finished issignaled In fieldbusIn control mode, the parameter x_end M = "0"( 0 1 0 1 = "1". "1". = MSMstartReq x_end DCOMstatus e available.e the This limits MSMstartReq 1 x_end 2 = "1" ( = 37 movement. longer cycle is ThePLC x_end = "1" allows the PLC to detect that that detect to PLC allowsthe "1" = 3 = "0". = MSMstartReq MSMSetnum ). = "1"allows th 4 e with direct selection of the data = "0", bit bit ="0", MSMstartReq 1 specifies the specifies x_end must be0). e PLC to detect detect to e PLC MSMsetNum from 0 to 0to 1 from of the pa- x_end 217 =

8 Operation BLP14A

Example of a processing sequence In local control mode, the data set to be started is selected via the func- in local control mode tions "DataSet Bit0" ... "DataSet Bit3". The function "DataSet Start" starts the data set. The processing status is returned by means of the function "DataSet Start Acknowledge".

DATA_x 37 1 "Start DataSet" 1 0 2 "Start 3 1 acknowledge 0 DataSet" 4 M

Figure 8.21 Handshake with direct selection of data sets

(1) PLC: Selection of the data set via the signal inputs. A rising edge for "DataSet Start" starts the data set. (2) Drive: The data set is started and the function "DataSet Start Acknowledge" is set to 0. (3) PLC: The PLC detects the start of the movement by means of "DataSet Start Acknowledge" and sets "DataSet Start" = "0". (4) Drive: The fact that the data set has been finished is signaled to the PLC via "DataSet Start Acknowledge" = "1" ("DataSet Start" must be 0). The function "DataSet Start Acknowledge" internally checks the function "Motor Standstill". If "Motor Standstill" = "0" and "DataSet Start" = "0", "DataSet Start Acknowledge" = "1". "DataSet Start Acknowledge" = "1" allows the PLC to detect that the data set has been finished. The second movement is a short movement. The PLC cycle is longer than the duration of the movement. "DataSet Start Acknowledge" = "1" allows the PLC to detect that the data set has been finished. Example For control via a PLC, the data sets in the controller are to do the following:

Data set number Type Target Velocity Acceleration Deceleration 0 Reference move- LIMN 1000 500 500 ment 1 Absolute 1000 1000 750 200 2 Absolute 5000 2000 1000 1000 3 Relative -1000 500 500 500 4 Relative 1000 1000 250 250 0098441113504, V2.00, 08.2010 218 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless Setting The followingsettings are made inthe commissioningsoftware: Figure 8.22 Example ofdirect Example 8.22 Figure selection of the datasets ofthe selection 219 8 Operation BLP14A

8.5.6.6 Processing mode "Sequential selection of data sets"

The sequential selection of the data sets is parameterized via parameter MSMprocMode. The processing sequence is specified by parameterization of the data sets. The global transition condition MSMglobCond is used to start the first data set. In local control mode, the function "DataSet Start" can be used to fulfill a condition. In fieldbus control mode, the parameter MSMstartReq can be used to fulfill a condition. Operation without external The movements including the waiting time are processed sequentially. controller The transition conditions between the data sets can be tuned to the requirements of the application. If multiple data sets are activated one after the other by the same start command, processing of the sequence can be stopped by not fulfilling the condition. This is possible if a static state has been set as the transition condition , for example 1 level. If the sequence is stopped, the currently running data set is completed. When the transition condition is met again, the next data set in the sequence is processed. In fieldbus control mode, the parameter MSMsetNum specifies the number of the data set to be started first. The setting becomes active when the power stage is enabled. 0098441113504, V2.00, 08.2010 220 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless Example of sequential selectionof the data sets formed: Afterenabling the ofpower stage, thefollowing steps are toper- be • • for sets data principle sequential Processing 8.23 Figure • • to be at levelat be to 1. "Dat positioning,the fulfilled. During DataSet_1: DataSet_1: with nextdata(DataSet_1). set ing time, next data set =DataSet_1,continue processingdirectly DataSet_0: rising edgerising parameterized via the parameter next data set =DataSet_1, continue processing with next data set if DataSet_3: with nextmet. still if conditionis data set of 2000ms, next data set = DataSet_3, continue processing directly DataSet_2: setdue0 toto the condition Blended Movement. next datasetreaching on theposition, the speed of rotation isnot next dataDataSet_2,set = continueprocessing directly withthe Condition =Blendedmovement a Reference movement terminated MSMglobalCond Relative positioningby 1200000 usr,no waiting time, Absolutepositioning to 1000000 usr,then waiting time Absolutepositioning to 200000 usr,waiting no time, Reference movement to negat Positioning terminated Positioning terminated Positioning terminated Condition =1-Level Pause terminated = rising edge =rising DataSet_0 DataSet_3 DataSet_2 DataSet_1 MSMglobalCond aSet Trigger Output"functionis relative positioning absolute positioning absolute positioning homing ive limitswitch, nowait- MSMglobalCond = rising edge = rising is 221 8 Operation BLP14A

Setting The "DataSet Trigger Output" function has been assigned to a digital signal output. The following settings are made in the commissioning software:

Figure 8.24 Example of sequential selection of the data sets 0098441113504, V2.00, 08.2010 222 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless Example of aprocessing sequence "DataSet trigger output" "DataSet trigger MSMstartReq/ "DataSet start" acknowlege" "DataSet start x_end/ Processing principle M 0 1 0 1 2 1 3 4 (7) The change from 0 to 1 in the parameter parameter the in 1 to 0 from change The (7) After completion of DataSet_3, achange from 0to 1 isexpect- (6) Transition afterwaiting thetime from DataSet_2DataSet_3to (5) (4) Transition from DataSet_1 to DataSet_2 takes place without without place takes DataSet_2 to DataSet_1 from Transition Transition from reference movement to data set 1takes place (4) same the at started; is set data selected the of Processing (3) (2) mode). Acknowledge"trol mode)or the function"DataSet Start (local control value A return isavailable viathe parameter signaled byacknowledgement an signal. condit start whentheglobal is started lectedafter power the stage isenabled. Processingof the first dataset Movement terminatedThe AND datasets are processed sequentially.specified The data set 0isse- Movement terminatedAND DelayTimepassed AND (5) Movement terminated, direct transitiontonext data set terminated movement Reference (4) (3) (2) (1) (1) The change from 0 to 1 in the parameter parameter the in 1 to 0 from change The (1) mode processing Handshake withsequential 8.25 Figure vates the data 1. set data the vates set to 0. to set nated, the level of the function "DataSet Trigger Output" is re- the1 of x_end bit. When processing of the dataset istermi- value the by issignaled sequence processing ofa completion ed inparameter function "DataSet Trigger Output"is 1. met. During the movement asper DataSet_3, the level of the takesplace immediately because quence. standstill of standstill the motor, becaus immediately after theend of the reference movement. time,bit x_endset is to 0. selected when the power stage wasenabled. vates the first data set (here 0). The data set hasalready been ing edge condition 1levelfulfilled MSMglobalCond 5 MSMstartReq 6 = Risingedge ion is fulfilled. End of processing is is ion isfulfilled.Endofprocessing MSMglobalCond e thecondition for continued processing. The 7 DCOMstatus the transition condition is MSMstartReq MSMstartReq fulfilled ris- with is motionse- (fieldbuscon- acti- acti- 223 8 Operation BLP14A

8.5.7 Operating mode Homing

Overview of Homing The operating mode Homing establishes an absolute position reference between the motor position and a defined axis position. Homing can be carried out by a means of a reference movement or by position setting. • A reference movement is a movement to a defined point, the reference point, on the axis; the objective is to establish the absolute position reference between the motor position and the axis position. The reference point also defines the zero point that is used for the subsequent absolute movements as a reference point. It is possible to parameterize a shift of the zero point. A reference movement must be completed successfully for the new zero point to be valid. If the reference movement is interrupted, it must be started again. As opposed to the other operating modes, a reference movement must be completed before a new operating mode can be activated. The signals required for the reference movement must have been wired. Monitoring signals that are not used must be deactivated.

• Position setting lets you set the current motor position to a desired position value to which the subsequent position values will relate. Types of reference movements There are 4 standard types of reference movements: • Movement to negative limit switch LIMN • Movement to positive limit switch LIMP • Movement to reference switch REF in negative direction of movement • Movement to reference switch REF in positive direction of movement Reference movements are possible with or without index pulse. • Reference movement without index pulse Movement from the switching point to a parameterizable distance from switching point • Reference movement with index pulse Movement from the switching point to the closest index pulse of the motor. The current motor position can be read via the parameter _p_absENCusr. The index pulse is at position value 0. Starting the operating mode Homing is triggered via bit 4=1 in parameter DCOMcontrol. 0098441113504, V2.00, 08.2010 224 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless Operating mode terminated Status messages When the power stage isdisabled, the valid reference point isretained. standstill byerror.or an "Halt" The operating aftersuccessfulhoming,terminated mode is amotor to 15 inthe parameter The drive providesinformation positioning via concerning bits 10 and 12 Figure 8.26 Status messages Statusmessages for mode theoperating 8.26 Figure i 5 e_k1: validDrive has reference point at standstill motor completed, 1: Homing 1: Error Bit 15: ref_ok completed successfully 1:Homing x_end Bit 14: Bit 13:x_err Meaning completed not 0: Homing attained Homing Bit 12: TargetBit 10: reached Parameter value MSB 15 58... 8 15 14 13 DCOMstatus 12 ... X 10 XXXXXXXX X (also in the case of cancellation via "Halt") (also in the caseofcancellation completed 1: Homing X 70 . LSB 225 8 Operation BLP14A

Description There are various methods of homing which can be selected via the parameter HMmethod.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

HMmethod Homing method - INT8 CANopen 6098:0h 1 INT16 Modbus 6936 - 1: LIMN with index pulse 18 R/W 2: LIMP with index pulse - 35 - 7: REF+ with index pulse, inv., outside - 8: REF+ with index pulse, inv., inside 9: REF+ with index pulse, not inv., inside 10: REF+ with index pulse, not inv., outside 11: REF- with index pulse, inv., outside 12: REF- with index pulse, inv., inside 13: REF- with index pulse, not inv., inside 14: REF- with index pulse, not inv., outside 17: LIMN 18: LIMP 23: REF+, inv., outside 24: REF+, inv., inside 25: REF+, not inv., inside 26: REF+, not inv., outside 27: REF-, inv., outside 28: REF-, inv., inside 29: REF-, not inv., inside 30: REF-, not inv., outside 33: Index pulse neg. direction 34: Index pulse pos. direction 35: Position setting

Abbreviations: REF+: Search movement in pos. direction REF-: Search movement in pos. direction inv.: Invert direction in switch not inv.: Direction not inverted in switch outside: Index pulse / distance outside switch inside: Index pulse / distance inside switch

Use the parameter IOsigREF to set the evaluation of the reference switch REF to active 0 or active 1. A release of the switch is not required. 0098441113504, V2.00, 08.2010 226 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - IOsigRef - - HMn - - IOsigLimP - - IOsigLimN HMI menu Parameter name - - HMn_out HMI menu Parameter name is processed. reference movement to thereference switch The reference switch is activeonly a while 2 / Normally Open 1 /Normally Closed evaluationSignal for reference switch RAMPn_max. the current parameterin setting to limited adjustablevalueThe is internally Target velocityfor searchingtheswitch 2 /normally open 1 /Normally Closed 0 /Inactive evaluationSignal for positive limit switch 2 / Normally Open 1 /Normally Closed 0 /Inactive Unit evaluationSignal for negative limitswitch Description RAMPn_max. Unit the current parameterin setting to limited adjustablevalueThe is internally Target velocityfor movingaway fromswitch Description : Inactive : Inactive : Normally open NO open : Normally : Normally open NO open : Normally : Normally open NO open : Normally input signals The parameters searching the switch and for movingaway from the switch. The parameters breakcan besignaled as an error. Ifpossible, contacts closed that sowire a usenormally 1. active : Normally closed NC : Normally closed NC : Normally closed NC LIMP IOsigLimP HMn and and 2 1 1 - min 2 1 0 - 2 1 0 - Maximum value Factory setting Minimum value min Maximum value Factory setting Minimum value 3000 6 1 13200 60 1 LIMN -1 -1 HMn_out and adteeauto sstt cie0or and the evaluationis setto active IOsigLimN areto usedthe set speedsfor - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W type Data Expert Persistent R/W type Data - per. R/W UINT16 UINT32 - per. R/W UINT16 UINT32 are usedrelease to the CANopen 3006:E CANopen CANopen 3006:10 CANopen CANopen 3006:F CANopen via fieldbus Parameter address via fieldbus Parameter address CANopen 6099:2 CANopen 6099:1 CANopen Modbus 1566 Modbus 1564 Modbus 10250 Modbus 10248 Modbus 1568 227 h h h h h 8 Operation BLP14A

The parameter HMp_homeusr can be used to specify a desired position value, which is set at the reference point after a successful reference movement. This position value defines the current motor position at the reference point. This also defines the zero point.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

HMp_homeusr Position at reference point usr INT32 CANopen 3028:Bh -2147483648 INT32 Modbus 10262 - After a successful reference movement, this 0 R/W position is automatically set at the reference - 2147483647 per. point. -

The parameters HMoutdisusr and HMsrchdisusr can be used for activation of the monitoring of the switch function.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

HMoutdisusr Maximum distance for search for switching usr INT32 CANopen 3028:6h point 0 INT32 Modbus 10252 - 0 R/W 0: Monitoring of distance inactive - 2147483647 per. >0: Maximum distance in user-defined units - After detection of the switch, the drive starts to search for the defined switching point. If the defined switching point is not found within the distance defined here, the reference movement is canceled with an error.

HMsrchdisusr Maximum search distance after overtravel of usr INT32 CANopen 3028:Dh switch 0 INT32 Modbus 10266 - 0 R/W 0: Search distance monitoring disabled - 2147483647 per. >0: Search distance in user units - The switch must be activated again within this search distance, otherwise the reference movement is canceled. 0098441113504, V2.00, 08.2010 228 Brushless DC drive 0098441113504, V2.00, 08.2010 ... Reference movement without index pulse 8.5.7.1 L1A8Operation BLP14A Reference movement tolimit switch Brushless DCdrive Brushless - - HMdisusr HMI menu Parameter name erence movementerence indexwithout pulse. effective isonly aref- parameter The during referenceas the defined point. The distance from the switching point is switchingfrom Distance point ecito Unit Description Description The parameter switching the point. from nextdistance movement defined a to is The first movement isto the defined limit switch or reference switch. The 3 Movement to distance from switching point at velocity for mov- Movement to switching point at velocity for moving away from (3) Movementlimit to switchat search velocity (2) (1) Reference movement to the negative switch limit 8.27 Figure The followingillustration shows are point. limit switchdi with INLIMP LIMN ing away from switch switch ᕄ HMdisusr stance from the switching ( the point from stance ᕅ 2147483647 200 1 usr Maximum value Factory setting Minimum value HMoutdisusr ᕃ HMdisusr R- lets you set the distanceto the switching M ference movement - per. R/W INT32 INT32 Expert Persistent R/W type Data HMmethod CANopen 3028:7 CANopen via fieldbus Parameter address Modbus 10254 to the negative HMn_out HMn = 17). 229 h 8 Operation BLP14A

Reference movement to reference The following illustration shows reference movements to the reference switch switch with distance from the switching point (HMmethod =27 to 30).

LIMN REF LIMP

M ᕃ

R- ᕄ ᕅ HMmethod = 27

ᕃ R- ᕄ HMmethod = 28 ᕅ

ᕄ ᕃ R- HMmethod = 29 ᕅ

R- ᕅ ᕄ ᕃ HMmethod = 30 HMn HMn_out

Figure 8.28 Reference movements to the reference switch

(1) Movement to reference switch at search velocity (2) Movement to switching point at velocity for moving away from switch (3) Movement to distance from switching point at velocity for moving away from switch 0098441113504, V2.00, 08.2010 230 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless Examples switchswitchingfrom the with distance point( The followingillustration shows reference movementsreferenceto the 5 Movement to distance from switching point at velocity for mov- Movementswitch backtorange at velocity formoving away (5) fastmovement to Excessively (4) Movement to switching point at velocity for moving awayfrom (3) velocity atsearch switch reference to Movement (2) (1) Reference movements tothereference switch 8.29 Figure Additionalmovement when the switch range ispassed(A2,B2). • Movement to the reference switch withfirst movementnegativein • responsesdifferent at search velocities positions are shown. and start (A1,A2),once behind it(B1,B2). direction; the reference switchpoint isonceinfrontofthestarting LIMN ing away from switch from switch locity switch HMn_out HMn HMoutdisusr M ᕃ ᕅ REF ᕄ reference switch at at search switch ve- reference ᕄ ᕆ ᕄ ᕄ HMmethod ᕇ ᕇ ᕇ ᕇ ᕃ ᕅ R- R- R- R- M =27). Various LIMP B1 A2 A1 B2 231 8 Operation BLP14A

8.5.7.2 Reference movement with index pulse

Description The first movement is to the defined limit switch or reference switch. The next movement is to the nearest index pulse. Parameterization The position distance between the switching point and index pulse can be determined with the parameter HMdisREFtoIDX. The value must be >0.05 for reproducible reference movements with index pulse. If the index pulse is too close to the switching point, the limit switch or reference switch can be moved mechanically.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

HMdisREFtoIDX Distance from switching point to index pulse revolution INT32 CANopen 3028:Ch - INT32 Modbus 10264 - It allows to check the distance between the 0.0000 R/- index pulse and the switching point and - - - serves as a criterion for determining whether - the reference movement with index pulse can be reproduced. In increments of 1/10000 revolutions

Reference movement to limit switch The following illustration shows a reference movement to the positive limit switch with movement to the first index pulse (HMmethod = 2).

LIMN LIMP

M ᕃ

ᕅ ᕄ

HMn HMn_out

Figure 8.30 Reference movement to the positive limit switch

(1) Movement to limit switch at search velocity (2) Movement to switching point at velocity for moving away from switch (3) Movement to index pulse at velocity for moving away from switch 0098441113504, V2.00, 08.2010 232 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless Reference movement to reference switch switch with movement to thefirst index pulse ( The followingillustration shows reference movementsreferenceto the 3 Movementindex to pulseve at Movement to switching point at velocity for moving awayfrom (3) velocity atsearch switch reference to Movement (2) (1) Reference movements tothereference switch 8.31 Figure LIMN switch switch HMn_out HMn ᕅ REF ᕄ ᕄ ᕅ ᕅ ᕄ ᕄ ᕅ locity for moving away from ᕃ ᕃ ᕃ ᕃ M HMmethod HMmethod =11 HMmethod =14 HMmethod =13 HMmethod =12 = 11 to 14). LIMP 233 8 Operation BLP14A

Examples The following illustration shows reference movements to the reference switch with movement to the first index pulse (HMmethod =11). Various responses at different search velocities and start positions are shown. • Movement to the reference switch with first movement in negative direction; the reference switch is once in front of the starting point (A1, A2), once behind it (B1, B2). • Additional movement when the switch range is passed (A2, B2).

LIMN REF LIMP

M M ᕃ A1 ᕄ ᕇ

ᕅ A2 ᕄ ᕇ

ᕄ ᕇ ᕃ B1

ᕅ

HMoutdisusr ᕆ B2 HMn HMn_out ᕄ ᕇ

Figure 8.32 Reference movements to the reference switch

(1) Movement to reference switch at search velocity (2) Movement to switching point at velocity for moving away from switch (3) Excessively fast movement to reference switch at search velocity (4) Movement back to switch range at velocity for moving away from switch (5) Movement to index pulse at velocity for moving away from switch 0098441113504, V2.00, 08.2010 234 Brushless DC drive 0098441113504, V2.00, 08.2010 Reference movement indexto pulse Referencemovement to the index pulse 8.5.7.3 L1A8Operation BLP14A Brushless DCdrive Brushless HMmethod Description =33 1 A movement ismade from the current position to the indexpulse. ( The followingillustration showsrefe 1 Movementindex to pulseve at (1) Reference movements totheindex pulse 8.33 Figure HMmethod switch = 33 and = 34). 1 HMmethod rence movements totheindex pulse locity for moving away from =34 235 8 Operation BLP14A

8.5.7.4 Homing by position setting

Description By means of position setting, the current motor position is set to the position value in parameter HMp_setpusr. This also defines the zero point. Homing by position setting can only be carried out when the motor is at a standstill. Any active position deviation remains active and can still be compensated by the position controller after position setting.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

HMp_setpusr Position for position setting usr INT32 CANopen 301B:16h - INT32 Modbus 6956 - Position setting position for homing method 0 R/W 35 - - - -

Example Position setting can be used to carry out a continuous motor movement without exceeding the positioning limits.

M M M ቢ

0 2000 usr "2000" ቤ ባ "0" 0 2000 usr

Figure 8.34 Positioning by 4000 usr units with position setting

(1) The motor is positioned by 2000 usr. (2) By means of position setting to 0, the current motor position is set to position value 0 which, at the same time, defines a new zero point. (3) When a new motion command by 2000 usr is triggered, the new target position is 2000 usr. This method avoids overtravel of the absolute position limits during a positioning operation because the zero point is continuously adjusted. The reference position is read by means of parameter _p_refusr.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_p_refusr Reference position in user-defined units usr INT32 CANopen 301E:Ch - INT32 Modbus 7704 - 0 R/- - - - - 0098441113504, V2.00, 08.2010 236 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation monitoring Status 8.6.1.1 Monitoring functions 8.6.1 Functions 8.6 BLP14A Brushless DCdrive Brushless _v_act_Posintf _p_actPosintf _n_targetRAMP _p_tarRAMPusr GEARdenum GEARnum GEARratio generator Profile _n_actRAMP _p_actRAMPusr _p_addGEAR + Jerk limitation Jerk GEARdir_enabl M _p_ref _p_refusr _n_pref iue83 Statusmonito 8.35 Figure _p_dif _p_act, _p_actusr,_p_absmodulo,_p_absENCusr feed-forward Speed CTRL_KPp CTRL_KFPp CTRL_n_max "Speed control" at operating mode Reference value _iq_ref controller Current ring of the control loops ofthe control ring CTRL_TAUref _iq_act controller Speed value filter Reference _n_ref Power stage _n_act POSdirOfrotat CTRL_TNn CTRL_KPn Encoder evaluation controller Speed - Position - Speed Actual value CTRL_I_max "Current control" at operating mode Reference value 0 1 3~ M E 237 8 Operation BLP14A

8.6.1.2 Positioning range

Positioning range The motor can be moved to any point on the axis within the positioning range by means of absolute positioning. The current position of the motor can be read with the parameter _p_actusr.

M A B A B A B

Figure 8.36 Positioning range

With the default scaling, the positioning limits are: (A) -1073741824 usr (B) 1073741823 usr Overtraveling of the positioning limits is possible in the operating modes, except during absolute positioning in Profile Position operating mode. If a positioning limit is overtraveled, the reference point is lost. In the case of relative movement in the operating mode Profile Position, the unit checks whether the position limits will be overtraveled before the movement is started. If so, internal position setting to 0 is triggered when the movement is started. The reference point is lost (ref_ok = 1 -> 0). 0098441113504, V2.00, 08.2010 238 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - SPVswLimPusr - - SPV_SW_Limits - - SPVswLimNusr HMI menu Parameter name Softwareswitch limit defined value.defined maximumuser- to the set automatically are range, limitswitch the the permissible limits valueIf a user-defined Positiveswitchfor limit software limit position 1). works incaseofsuccessfulhoming (ref_ok= of software limitswitchesMonitoring only ware limit switches bothdirections 3 /SWLIMP+SWLIMN switches negative direction 2 /SWLIMN switches positive direction 1 /SWLIMP 0 /None of software limitswitchesMonitoring SPVswLimPusr. of Referparameter todescription Unit switch Negative for limit position softwarelimit Description : None : Activationof software limit : Activation of software limit sition values of the soft values the sition of possible assoon as the drive has a valid zero point (ref_ok =1). The po- The positioning range can be limited by switch is reached. position pendingon the controller settings,the motor may stopbefore the limit range isthereference position of the position controller.Therefore, de- switch limit software the of factor for monitoring position determining The ing ofasoftwarelimit switch. SPV_SW_Limits SPVswLimPusr parameters the via switches set limit are software The zero point. the : Activationsoft- of entered is outside of entered is outside and . Bit 2 of parameter parameter of 2 . Bit SPVswLimNusr ware limitswitches aresp - 2147483647 - usr 3 0 0 - - -2147483648 - usr Maximum value Factory setting Minimum value _SigLatched are activated via software limit switches. Thisis - per. R/W INT32 INT32 - per. R/W UINT16 UINT16 - per. R/W INT32 INT32 Expert Persistent R/W type Data ecified withreference to CANopen 607D:2 CANopen CANopen 3006:3 CANopen 607D:1 CANopen via fieldbus Parameter address Modbus 1546 Modbus 1544 Modbus 1542 signals the trigger- 239 h h h 8 Operation BLP14A

Limit switches @ WARNING LOSS OF CONTROL The use of limit switches can provide some protection against hazards (for example, collision with mechanical stop caused by incorrect reference values). • If possible, use the limit switches. • Verify correct connection of the limit switches. • Verify the correct installation of the limit switches. The limit switches must be mounted in a position far enough away from the mechanical stop to allow for an adequate stopping distance. • You must release the limit switches before you can use them. Failure to follow these instructions can result in death, serious injury or equipment damage.

During movements the two limit switches are monitored via the input signals LIMP and LIMN. If the drive hits a limit switch, the motor stops. Trig- gering of the limit switch is signaled. The parameters IOsigLimP and IOsigLimN are used to release the input signals LIMP and LIMN and the evaluation is set to active 0 or active 1. If possible, use normally closed contacts so that a wire break can be signaled as an error.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOsigLimN Signal evaluation for negative limit switch - UINT16 CANopen 3006:Fh 0 UINT16 Modbus 1566 - 0 / Inactive: Inactive 1 R/W 1 / Normally Closed: Normally closed NC - 2 per. 2 / Normally Open: Normally open NO -

IOsigLimP Signal evaluation for positive limit switch - UINT16 CANopen 3006:10h 0 UINT16 Modbus 1568 - 0 / Inactive: Inactive 1 R/W 1 / Normally Closed: Normally closed NC - 2 per. 2 / normally open: Normally open NO -

IOsigRef Signal evaluation for reference switch - UINT16 CANopen 3006:Eh 1 UINT16 Modbus 1564 - 1 / Normally Closed: Normally closed NC 1 R/W 2 / Normally Open: Normally open NO - 2 per. The reference switch is only active while a - reference movement to the reference switch is processed.

Moving drive out The drive can be moved away from the limit switch range to the movement range in the operating mode Jog. 0098441113504, V2.00, 08.2010 240 Brushless DC drive 0098441113504, V2.00, 08.2010 ... Monitoring internal signals 8.6.1.3 L1A8Operation BLP14A Brushless DCdrive Brushless STA- STA- -TPA _Temp_act_PA - - _I2t_act_M - - PA_T_warn - - PA_T_max HMI menu Parameter name STA- STA- -i2TM _I2t_mean_M HMI menu Parameter name - - TPA i2TM Temperature monitoring urn vrodo oo % Current overload ofmotor stage Temperature ofpower threshold warning Unit stage powerof temperature Maximum permissible °C Current power temperature stage Description ecito Unit Description urn odo oo % Current load motor of I 2 t monitoring with sensors can be too sluggish. I monitoring temperature currents, peak device high If the with operates troller switches off. The device signals a temperature error. switches temperature troller off. a device The signals value for more than 5 seconds,the power stage isdisabled and the con- generates message. awarning If the temperatureexceeds the limit component approachespermissibleits temperaturelimit, the device temperaturevalues limit set. are If permanently the temperatureof a Sensors monitor the temperature of the motor and the power stage.The value when the I anticipate in temperaturea rise and to reduce the current to the nominal with maximumperformance again. When the value fallsbelow the limitvalue, thedevice can beoperated 2 t limit valuet limit isexceeded. - 0 - - 0 - °C - 0 - °C - 0 - Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value - 0 - 2 t monitoring allows the controller to - - R/- INT16 INT16 - per. R/- INT16 INT16 - per. R/- INT16 INT16 - - R/- INT16 INT16 Expert Persistent R/W type Data Expert Persistent R/W type Data - - R/- INT16 INT16 CANopen 301C:19 CANopen CANopen 3010:6 CANopen 3010:7 CANopen 301C:10 CANopen via fieldbus Parameter address via fieldbus Parameter address Modbus 4108 Modbus 4110 Modbus 7200 Modbus 7220 Modbus 7218 CANopen 301C:1A CANopen 241 h h h h h 8 Operation BLP14A

Following error The drive monitors the so-called position deviation at 1 ms intervals. The position deviation is the difference between the current reference position and the actual position. If the value of this position difference exceeds the limit value set in parameter SPV_P_maxDiff, this will cause an immediate stop (following error) with an error class that can be parameterized. Select the limit value in the parameter SPV_P_maxDiff considerably greater than the maximum position deviation that may occur during operation. This way, a following error will only occur in the case of errors, for example, in the case of excessively high external load torques. The maximum control deviation that occurred during operation can be determined with the parameter _p_DifPeak; it can be compared to the maximum permissible position deviation. This allows you to determine how far away the product was from the shut-off limit. In addition, you can change the error class for a following error, see also chapter 8.6.1 "Monitoring functions".

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_p_DifPeak Value of the maximum tracking error of the revolution UINT32 CANopen 3011:Fh position controller 0.0000 UINT32 Modbus 4382 - - R/W The tracking error is the current position con- - 429496.7295 - trol deviation minus the position control devi- - ation caused by the speed. See SPV_p_maxDiff for more information. A write access resets this value.

_p_dif Current deviation between reference and revolution INT32 CANopen 60F4:0h actual position -214748.3648 INT32 Modbus 7716 STA- - PDiF - R/- Corresponds to the current control deviation STA- - PDiF 214748.3647 - of the position controller without considera- - tion of any dynamic components. Please note the difference in terms of SPV_p_maxDiff.

SPV_p_maxDiff Max. permissible tracking error of the posi- revolution UINT32 CANopen 6065:0h tion controller 0.0001 UINT32 Modbus 4636 - 1.0000 R/W The tracking error is the current position con- - 200.0000 per. trol deviation minus the position control devi- - ation caused by the speed. Actually, only the position control deviation caused by the torque request is used for tracking error monitoring. 0098441113504, V2.00, 08.2010 242 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - _SigActive - - _WarnActive STA- STA- -SiGS _SigLatched HMI menu Parameter name - SiGS Monitoring parameters Monitoring codes. for bit See _SigLatched onthe moredetails signals ofmonitoring Current status bit codes. See _WarnLatched for onthe more details Active bit-coded warnings, Unit Description Monitoring functions areproduct-dependent. functions Monitoring (for31: System error Bit example, watchdog) parameter error) (hardware booting System error Bit 30: or Bit 29:EEPROM error Reserved Bit 28: Reserved Bit 27: Reserved Bit 26: Reserved Bit 25: InputsSTOBit 24: different Bit 23:Maximum velocity exceeded FollowingBit 22: error motor) (power stage, Overtemperature Bit 21: 24VDC Undervoltage Bit 20: Bit 19:Motor encoder error Motor circuit Bit 18: overcurrent/short error Motor Bit 17: connection missing phase Mains Bit 16: Overvoltage DCbusBit 15: DC bus Undervoltage Bit 14: Reserved Bit 13: ProfibusBit 12: error Reserved Bit 11: mode Error operating Bit 10: current Bit 9:Frequency of reference too high signal error Bit 8:Ethernet Bit 7:CANerror Bit 6:RS485 error Bit 5:Reserved Bit 4:Inputs STO are0 Bit 3:Quick Stop viafieldbus ing) Bit 2:Outof (SW limit switches,range tun- Bit 1:Limitswitches (LIMP/LIMN/REF) error General Bit 0: Bit assignments: 1: Activated activated 0: Not status: Signal signals Savedmonitoring statusof various objects. The device status and operating state can be monitored by means of - 0 - - - 0 - - Maximum value Factory setting Minimum value - 0 - - - - R/- UINT32 UINT32 - - R/- UINT16 UINT16 Expert Persistent R/W type Data - - R/- UINT32 UINT32 CANopen 301C:7 CANopen CANopen 301C:B CANopen via fieldbus Parameter address CANopen 301C:8 CANopen Modbus 7184 Modbus 7182 Modbus 7190 243 h h h 8 Operation BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_WarnLatched Saved warnings, bit-coded - UINT16 CANopen 301C:Ch - UINT16 Modbus 7192 STA- - WRNS Saved warning bits are deleted in the case of 0 R/- a FaultReset. STA- - WRNS - - Bits 10, 11, 13 are deleted automatically. - Signal status: 0: Not activated 1: Activated

Bit assignments: Bit 0: General warning (see _LastWarning) Bit 1: Temperature of power stage high Bit 2: Temperature of motor high Bit 3: Reserved Bit 4: Power stage overload (I2t) Bit 5: Motor overload (I2t) Bit 6: Braking resistor overload (I2t) Bit 7: CAN warning Bit 8: Motor encoder warning Bit 9: RS485 protocol warning Bit 10: STO_A (PWRR_A) and/or STO_B (PWRR_B) Bit 11: DC bus undervoltage/missing mains phase Bit 12: Profibus warning Bit 13: Position not yet valid (position capture still running) Bit 14: Ethernet warning Bit 15: Reserved

Monitoring functions are product-dependent.

_actionStatus Action word - UINT16 CANopen 301C:4h - UINT16 Modbus 7176 - Signal status: 0 R/- 0: not activated - - - 1: activated - Bit 0: Warning Bit 1: Error class 1 Bit 2: Error class 2 Bit 3: Error class 3 Bit 4: Error class 4 Bit 5: Reserved Bit 6: Drive is at standstill (<9 [1/min]) Bit 7: Drive rotates clockwise Bit 8: Drive rotates counter-clockwise Bit 9: Reserved Bit 10: Reserved Bit 11: Profile generator idle (reference speed is 0) Bit 12: Profile generator decelerates Bit 13: Profile generator accelerates Bit 14: Profile generator moves at constant speed Bit 15: Reserved

_StopFault Number of last error causing a stop - UINT16 CANopen 603F:0h - UINT16 Modbus 7178 FLT- - STPF Number of the most recent error. 0 R/- FLT- - STPF - - - 0098441113504, V2.00, 08.2010 244 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - SPV_Flt_pDiff HMI menu Parameter name Setting error responses 3 /Error Class3 2 /Error Class2 1 /Error Class1 Error responseto following error ecito Unit Description : Error class 3 : Error class 2 : Error class 1 ments. lowsyou to tune theerror response of the device to operation require- the error classcanbe set for anumber of monitoring functions. This al- The responses of the device to errors are subdivided into error classes; 3 3 1 - Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 Expert Persistent R/W type Data CANopen 3005:B CANopen via fieldbus Parameter address Modbus 1302 245 h 8 Operation BLP14A

8.6.2 Scaling

@ WARNING UNEXPECTED MOVEMENT CAUSED BY CHANGED SCALING Changing the scaling changes the effect of the values in user-defined units. The same user-defined units cause different movements when the scaling is changed. • Note that scaling affects all relationships between the user- defined units and the movements. • Check the parameters with user-defined units. Failure to follow these instructions can result in death, serious injury or equipment damage.

Description Scaling translates user units to internal units of the device, and vice versa. The device saves position values in user-defined units.

User defined Scaling Internal units units

_p_refusr _p_ref Position Operating Scaling- mode M 3~ factor in _p_actusr _p_act Internal Motor units E position

Figure 8.37 Scaling 0098441113504, V2.00, 08.2010 246 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - POSscaleNum - - POSscaleDenom HMI menu Parameter name due to the calculation of an internal factor. of internal an calculation due tothe limitvaluesUser-defined may reduced be valuetor issupplied. numera- the activatedwhen is A newscaling [usr] units User-defined ------revolutionsMotor [U] factor: thescaling Specification of Position scaling: Numerator tor valuetor issupplied. numera- the activatedwhen is A newscaling description. Refer tonumerator (POSscaleNum) for a Position scaling: Denominator Unit Description Default scaling Scaling factorScaling olutions and the required user-definedunits[usr]. The scaling factor isthe relationship between the number of motor rev- previously. must beset inaccordancewith the settings used same positioning commandsaretoused, be the scaling by existingan device, If devicethis if the isreplaced and enabled. is power stage the bled. Values in user-defined units are converted to units internal when The scalingfactor can onlybechanged the when power stagedisa- is exceeded. limit the working range. Anerror issignaled when the working range is integer values. be only tor can A sc When specifying the scalingfactor, note that numeratoranddenomina- numerator value.the POSscaleDenom The scalingfactor is setusing the parameters factor ofthe scaling Representation 8.38 Figure fault scaling. A value of 16384 user-defined units per motor revolution isset as the de- Scaling factor . A new scaling factor is activated when you specify 2147483647 1 1 revolution 2147483647 16384 1 usr Maximum value Factory setting Minimum value = Change oftheuserposition[usr] Motor revolutions aling factor less - per. R/W INT32 INT32 - per. R/W INT32 INT32 Expert Persistent R/W type Data POSscaleNum than 1/131072will CANopen 3006:8 CANopen CANopen 3006:7 CANopen via fieldbus Parameter address Modbus 1550 Modbus 1552 and 247 h h 8 Operation BLP14A

Examples Various situations can be distinguished as far as setting user-defined units is concerned. • Scaling corresponds to default scaling 1 motor revolution = 16384 user-defined units => Movements to every motor position are possible.

• Scaling is less than the default scaling 1 motor revolution = for example, 4096 user-defined units => Movements to every fourth motor position are possible.

The following persistent parameters must be adapted in addition to the user-defined values to obtain the same movement of the motor after changing the scaling factor: HMoutdisusr, HMdisusr, HMp_homeusr, HMsrchdisusr, JOGstepusr, SPVswLimPusr and SPVswLimNusr. If the parameters are not adjusted, this may, for example, cause an incorrect reference movement since the distance to the switching point of the limit switch or reference switch is no longer sufficient to leave the switching range. Example 1 Positioning by 1111 user-defined units is to correspond to 3 motor revolutions. This results in

3 rev Scaling factor = 1111 usr

Figure 8.39 Calculation of the scaling factor, example 1

If you now start relative positioning by 900 user-defined units, the motor moves by 900 usr * 3/1111 rev/usr = 2.4302 revolutions. Example 2 Calculation of a scaling factor in length units: 1 motor revolution corresponds to a distance of 100 mm. Each user-defined unit [usr] is to correspond to one step of 0.01 mm. This means: 1 usr = 0.01 mm * 1 rev / 100 mm =1/10000 revolutions.

1 rev Scaling factor = 10000 usr

Figure 8.40 Calculation of the scaling factor, example 2

Example 3 Setting positioning in 1/1000 rad 1rad = 1 rev/(2*π) π = 3.1416 (rounded) User value = 1 usr Device value = 1/(2*π*1000) U

1 rev 1 rev 10 rev Scaling factor = = = 2*3,1416*1000 usr 6283,2 usr 62832 usr

Figure 8.41 Calculation of the scaling factor, example 3 0098441113504, V2.00, 08.2010 248 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation Motion profile 8.6.3 BLP14A Brushless DCdrive Brushless - - RAMPacc - - RAMPdecel HMI menu Parameter name Ramp steepness Profile generator ceeaino rfl eeao min ofprofilegenerator Acceleration eeeaino rfl eeao min Unit generator Deceleration ofprofile Description Ramp shape RAMPdecel parameter the via per time unit. The ramp steepness can be set for the acceleration ramp The steepnessthe oframp the speed changes determines of the motor movement of the drive. as theramp shape.The profile settings are valid forboth directions of A linear ramp for the acceleration and decelerationphases isavailable values of the ramp function are the ramp shape and the ramp steepness. rampa as scribed function the of profile generator. The characteristic The accelerationand deceleration behaviorof the motor be can de- transformed into amotor movement. The valuesof the profile generator plus the valueslimitation arejerk of a pendingon the selectedoperating mode. de- profile amotion values calculate these to uses generator profile The Targetposition target or velocityare inputvalues specified by the user. Figure 8.42 Acceleration and deceleration and ramps deceleration Acceleration 8.42 Figure v RAMPacc . RAMPacc _n_actRAMP Maximum value Factory setting Minimum value 3000000 750 750 3000000 600 30 -1 -1 /s /s andfor the deceleration ramp via Expert Persistent R/W type Data - per. R/W UINT32 UINT32 - per. R/W UINT32 UINT32 RAMPn_max via fieldbus Parameter address CANopen 6084:0 CANopen 6083:0 CANopen Modbus 1558 Modbus 1556 RAMPdecel t 249 h h 8 Operation BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 RAMPn_max Ref. velocity limitation for op. modes with min UINT32 CANopen 607F:0h profile generation 60 UINT16 Modbus 1554 - 13200 R/W The parameter is active in the following oper- - 13200 per. ating modes: - - Profile Position - Profile Velocity - Homing - Jog

If a greater reference velocity is set in one of these operating modes, it is automatically limited to RAMPn_max. This way, commissioning at limited velocity is easier to perform.

Jerk limitation Jerk limitation removes sudden changes in the acceleration to obtain smooth, virtually jerk-free changes of the speed of rotation.

t Figure 8.43 Speed curve with and without (dotted) jerk limitation

The jerk limitation is activated and adjusted via the parameter RAMP_TAUjerk. The end of the movement (x_end = 1) is not signaled until the target position at the end of the jerk limitation has been reached. 0098441113504, V2.00, 08.2010 250 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - RAMP_TAUjerk HMI menu Parameter name ing mode is inactive is (x_end=1). mode ing Adjustments theoperat- onlybemade if can - Homing - Jog - Profile Position - Profile Velocity following the in modes: Processing operating -standstill Deceleration -deceleration speed Constant Acceleration - constant speed -acceleration Standstill lowing transitions: fol- the during reference generation position of the (jerk) change Limits the acceleration 128 / 128 64 / 32 / 16 / 8 / 4 / 2 / 1 / 0 /Off limitation Jerk ecito Unit Description : 8ms : 4ms : 2ms : 1ms : Off : 64 : 64 ms : 32 ms : 16 ms : 128ms 128 0 0 ms Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 Expert Persistent R/W type Data CANopen 3006:D CANopen via fieldbus Parameter address Modbus 1562 251 h 8 Operation BLP14A

8.6.4 Quick Stop

Function principle A Quick Stop stops the motor. The current movement is stopped. A Quick Stop can be triggered by an error of error classes 1 or 2 or via a fieldbus command. In the event of an error response to an error of error class 1, the power stage remains enabled. In the case of error class 2, the power stage is disabled after the drive has come to a standstill. The motor can be decelerated via a deceleration ramp or a maximum current. Use the parameter LIM_QStopReact to set the type of deceleration. ̈ Set the type of deceleration with the LIM_QStopReact parameter. ̈ Use parameter RAMPquickstop to set a required deceleration ramp or parameter LIM_I_maxQSTP to set a required maximum current.

Overvoltage The drive absorbs the excess braking energy. If the DC bus voltage exceeds the permissible limit the power stage is disabled and the device signals "DC bus overvoltage". The motor coasts down without braking. Resetting a "Quick Stop" A "Quick Stop" must be reset by a "Fault Reset". If a "Quick Stop" has been triggered by the positive or negative limit switch, moving back to the movement range is possible by means of the operating mode Jog.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

LIM_I_maxQSTP Current limitation for Quick Stop Apk UINT16 CANopen 3011:5h - UINT16 Modbus 4362 SET- - LiQS Max. current during braking via torque ramp - R/W due to an error of error classes 1 or 2 and SET- - LiQS - per. when a software stop is triggered. - Maximum and default settings depend on the motor and the power stage (settings M_I_max and PA_I_max)

In increments of 0.01Apk 0098441113504, V2.00, 08.2010 252 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation Halt 8.6.5 BLP14A Brushless DCdrive Brushless - - RAMPdecel SET- SET- -LihA LIM_I_maxHalt HMI menu Parameter name - LihA Function principle eeeaino rfl eeao min generator Deceleration ofprofile ecito Unit Description In increments of 0.01Apk of increments In (settings M_I_maxand PA_I_max) powerthe stage and motor the default on and Maximum depend settings terminated. is mode operating an when braking after Haltor currentduring Max. forlimitation Current Halt Overvoltage celeration. parameter the Use current. The motor canbe decelerateddecelerationavia ramp or amaximum standstill. Positionactivate controlis a to drive comes the once performed is adjustment position Internal resumed. stopsA Halt the motor. The current movement isinterrupted;becan it ̈ ̈ signals "DCbus overvoltage". The motor coasts down without braking. ceeds thelimit permissible the powerstage isdisabled and the device The driveabsorbsthe excess braking energy. If the DCbus voltage ex- sioningsoftware or input signal commis- as activatedby (such be any source can function "Halt" The celerates again. drive continues todecelerateuntil sumed. If the "Halt" request isalready cleared deceleration, during the movement isre- interrupted the cleared, are requests "Halt" the When power stage remainingenabled. parameter parameter Use parameter ter. Set the type of decelerationwith the LIM_I_maxHalt RAMPdecel Maximum value Factory setting Minimum value - - - 3000000 750 750 A pk -1 /s LIM_HaltReaction to setarequired deceleration ramp or HALT to set a required maximum current. arequiredmaximumset to it comes to a standstill and then ac- and toastandstill it comes d andthemotoris ). LIM_HaltReaction Expert Persistent R/W type Data - per. R/W UINT16 UINT16 - per. R/W UINT32 UINT32 to set the type of de- of type the set to via fieldbus Parameter address CANopen 3011:6 CANopen 6084:0 CANopen Modbus 4364 Modbus 1558 stopped with the with stopped parame- 253 h h 8 Operation BLP14A

8.6.6 Standstill window

The standstill window allows you to monitor whether the motor has reached the target position. If the control deviation _p_dif of the position controller remains in the standstill window after the end of the movement for the period STANDpwinTime, the device signals the end of processing (x_end = 0- >1).

_p_dif STANDpwinTime

0 t 2 * STANDp_win 1 1 0

Figure 8.44 Standstill window

(1) Target position reached The parameters STANDp_win and STANDpwinTime specify the size of the window. The parameter STANDpwinTout can be used to set the period of time after which an error is signaled if the standstill window was not reached.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

STANDp_win Standstill window, permissible control devia- revolution UINT32 CANopen 6067:0h tion 0.0000 UINT16 Modbus 4370 - 0.0010 R/W The control deviation for the standstill win- - 3.2767 per. dow time must be within this range for a - standstill of the drive to be detected.

Processing of the standstill window must be activated via the parameter 'STANDpwin- Time.

STANDpwinTime Standstill window, time ms UINT16 CANopen 6068:0h 0 UINT16 Modbus 4372 - 0: Monitoring of standstill window deacti- 0 R/W vated - 32767 per. >0: Time in ms during which the control devi- - ation must be in the standstill window 0098441113504, V2.00, 08.2010 254 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - STANDpwinTout HMI menu Parameter name finished processing. finished generatorhas profile the orwhen is reached (reference tion controller) ofposition position posi- target the when starts Unit Time monitoring via STANDp_win STANDpwinTime.and window valuesStandstill processing areset >0 : Timeout timeinms deactivated monitoring 0 :Timeout ing Timeout time for window standstill monitor- Description 16000 0 0 ms Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 Expert Persistent R/W type Data CANopen 3011:B CANopen via fieldbus Parameter address Modbus 4374 255 h 8 Operation BLP14A

8.6.7 Setting the digital signal inputs and signal outputs

@ WARNING UNINTENDED BEHAVIOR OF INPUTS AND OUTPUTS The functions of the inputs and outputs depend on the selected operating mode and the settings of the corresponding parameters. • Verify that the wiring is appropriate for the settings. • Only start the system if there are no persons or obstructions in the hazardous area. • When commissioning, carefully run tests for all operating states and potential fault situations. Failure to follow these instructions can result in death, serious injury or equipment damage.

Description Different signal functions can be assigned to the digital signal inputs and digital signal outputs. The parameters IOfunct_LI1, IOfunct_LI2 and IOfunct_LI4 are available for signal inputs. The parameters IOfunct_LO1, and IOfunct_LO2 are available for signal outputs. The optional "I/O expansion interface" provides the additional parameters IOfunct_XL1 ... IOfunct_XLI6, IOfunct_XLO1_OUT and IOfunct_XLO2_OUT. Depending on the start-up operating mode, functions are assigned to the digital signal inputs and signal outputs. The signal input ENABLE is an exception. The function "Enable" is permanently assigned to this input, see chapter 8.3 "Operating states". Setting can only be changed if power stage is disabled. Changed settings become active the next time the product is switched on. The STO safety function is permanently assigned to the digital signal inputs STO_A and STO_B. 0098441113504, V2.00, 08.2010 256 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - _IO_LI_act - - _IO_LO_act HMI menu Parameter name ... Bit 9:XLI2 Bit 8:XLI1 ... Bit 1:LI2 Bit 0:LI1 Bit assignments: inputs Status ofdigital ... Bit 9:XLO2_OUT Bit 8:XLO1_OUT ... Bit 1:LO2_OUT Bit 0:LO1_OUT Bit assignments: outputs Status ofdigital Unit Description Current state The parameters thestatusthe of digitalsignal inputs and the digital signal outputs. _IO_LI_act - 0 - - - 0 - - Maximum value Factory setting Minimum value and _IO_LO_act - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 Expert Persistent R/W type Data can be canto used read CANopen 3008:F CANopen CANopen 3008:10 CANopen via fieldbus Parameter address Modbus 2080 Modbus 2078 257 h h 8 Operation BLP14A

Factory settings local control mode The table below shows the factory settings for local control mode depending on the start-up operating mode.

Pin Jog Current Control Speed Control Motion Sequence Signal CN3.9 Jog negative No function / free availa- No function / free availa- Reference switch (REF) LI1 ble ble CN3.3 Jog positive Fault reset Fault reset Negative limit switch LI2 (LIMN) CN3.10 Enable 1) Enable 1) Enable 1) Enable 1) LI3 CN3.4 Jog fast/slow Halt Halt DataSet Start LI4 CN4.7 No function / free availa- No function / free availa- No function / free availa- DataSet Select XLI1 ble ble ble CN4.2 No function / free availa- No function / free availa- No function / free availa- DataSet Bit0 XLI2 ble ble ble CN4.8 No function / free availa- No function / free availa- No function / free availa- DataSet Bit1 XLI3 ble ble ble CN4.3 No function / free availa- No function / free availa- No function / free availa- DataSet Bit2 XLI4 ble ble ble CN4.9 No function / free availa- No function / free availa- No function / free availa- DataSet Bit3 XLI5 ble ble ble CN4.4 No function / free availa- No function / free availa- No function / free availa- No function / free availa- XLI6 ble ble ble ble CN3.8 No fault No fault No fault No fault LO1_OUT CN3.2 Active Active Active Active LO2_OUT CN4.6 No function / free availa- No function / free availa- No function / free availa- DataSet start acknowl- XLO1_OUT ble ble ble edge CN4.1 No function / free availa- No function / free availa- No function / free availa- DataSet trigger output XLO2_OUT ble ble ble 1) Function cannot be changed.

When the start-up operating mode is changed and after switching the device off and on, the factory settings are assigned to the signal inputs and signal outputs. 0098441113504, V2.00, 08.2010 258 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless Factory settings, fieldbuscontrol mode The table below shows thefactory settings for fieldbus control mode. )Functioncannot bechanged. 1) XLO2_OUT CN4.1 XLO1_OUT CN4.6 LO2_OUT CN3.2 LO1_OUT CN3.8 XLI6 CN4.4 XLI5 CN4.9 XLI4 CN4.3 XLI3 CN4.8 XLI2 CN4.2 XLI1 CN4.7 LI4 CN3.4 LI3 CN3.10 LI2 CN3.3 LI1 CN3.9 Signal Pin No function No function / free available No function / free available Active No fault No function / free available No function / free available No function / free available No function / free available No function / free available No function / free available Halt Positive limitswitch (LIMP) Negative limitswitch (LIMN) Reference switch (REF) Function 1) 259 8 Operation BLP14A

8.6.7.1 Description of functions of the signal inputs

Setting can only be changed if power stage is disabled. Changed settings become active the next time the product is switched on. No function / free available The function "No function / free available" has no device-internal functionality. The signal input can be read as required via the parameter _IO_LI_act. Fault reset An error message is reset with the function, see chapter An error message is reset with the function, see chapter 8.3 "Operating states". Enable The power stage is enabled with the function, see chapter 8.3 "Operat- ing states". Halt The function triggers a "Halt", see chapter 8.6.5 "Halt". Enable positive motor move The function enables or disables positive negative reference values via a position switch. When the switching point of the positive position switch is overtraveled, the positive reference values are disabled and the motor is stopped. Only negative reference values are accepted until the motor has moved back over the switching point. The function is available in the operating modes Speed Control and Jog. It requires properly wired position switches. Enable negative motor move The function works like the function "Enable positive motor move"; however, in this case, negative reference values are enabled or disabled via a position switch. Jog positive The function performs a jog movement in positive direction of movement, see chapter 8.5.1 "Operating mode Jog". Jog negative The function performs a jog movement in negative direction of movement, see chapter 8.5.1 "Operating mode Jog". Jog fast/slow The function switches between slow and fast jog, see chapter 8.5.1 "Op- erating mode Jog". Automatic/Manual The function "Automatic/Manual" allows you to start a jog movement in the operating mode Motion Sequence. For this function to work, the functions "Jog positive", "Jog negative" and, if required, "Jog fast/slow" must have been configured appropriately. DataSet Start This function fulfils the global transition condition for the operating mode Motion Sequence, see chapter 8.4.1 "Starting the operating mode". DataSet Select When a sequence waits for a transition condition, a data set can be selected with the "DataSet Select" function. The data set is started if the global transition condition is fulfilled. Reference switch (REF) The function defines the way the reference switch operates. See chapter 8.5.7 "Operating mode Homing". Positiv limit switch (LIMP) The function defines the way the positive limit switch operates. See chapter 8.5.7 "Operating mode Homing" and chapter 8.6.1.2 "Position- ing range". Negative limit switch (LIMN) The function defines the way the negative limit switch operates. See chapter 8.5.7 "Operating mode Homing" and chapter 8.6.1.2 "Position- ing range". 0098441113504, V2.00, 08.2010 260 Brushless DC drive 0098441113504, V2.00, 08.2010 ... Configuration of signalinputs 8.6.7.2 L1A8Operation BLP14A Brushless DCdrive Brushless aae eet--- - - Select DataSet aae tr - - - Start DataSet Jog fast/slow Jog negativeJog nbengtv oo oe-- - - Jog positive - Enable negativemove motor Enable positivemotor move Halt reset Fault ucinJgCretCnrlSedCnrlMotion Sequence Speed Control Current Control Jog No function / free available Function aae i3------Bit3 DataSet Bit2 DataSet Bit1 DataSet Bit0 DataSet LI1 LI1 I I I LI1 LI1 LI4 LI2 LI4 LI2 LI1 LI4 LI2 XLI1 LI1 , , , , LI2 LI2 LI2 LI2 ... trol mode. trol The following table provides anoverview of thefunctions infieldbus con- modedepending operating on the start-up mode. The following tableprovides overview an ofthefunctions inlocalcontrol IOfunct_XLI6 interface provides the additional parameters used to assign functions to the digitalinputs. The optional I/O expansion The parameters Negative limit switch (LIMN) Negative limit switch (LIMP) Reference switch (REF) Halt No function No function / free available Halt ucinInputs No function / free available Function XLI6 , , , , LI4 LI4 LI4 LI4 , ------LI1 IOfunct_LI1 . , LI2 , I LI1 LI4 LI2 LI3 LI1 LI4 LI1 LI4 LI1 , IOfunct_LI2 LI1 LI1 , , LI2 LI2 , , , LI2 LI2 LI2 , , LI4 LI4 , , , LI4 LI4 I LI1 LI4 , , XLI1 XLI1 IOfunct_XLI1 and ...... IOfunct_LI4 LI1 XLI1 LI1 XLI1 XLI1 XLI1 XLI1 - - XLI1 XLI1 XLI1 XLI1 XLI1 XLI6 XLI6 , , , , , LI2 LI2 LI2 LI2 LI2 ...... XLI6 XLI6 XLI6 XLI6 XLI6 XLI6 XLI6 XLI6 XLI6 XLI6 , , , , , ...... LI4 LI4 LI4 LI4 LI4 , , , are are 261 8 Operation BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOfunct_LI1 Function Input LI1 - UINT16 CANopen 3007:1h nonE - UINT16 Modbus 1794 I-O- - Li1 1 / Free available / : Available as 0 R/W required I-O- - Li1 FrES - per. 2 / Fault reset / : Reset fault (local con- - trol mode only) 4 / Halt / hALt: Halt 6 / Enable positive motor move / PoSM: Enable positive motor movement (local control mode only) 7 / Enable negative motor move / nEGM: Enable negative motor movement (local control mode only) 9 / Jog positive / JoGP: Jog positive 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 20 / Reference switch (REF) / rEF: Refer- ence switch (REF) 21 / Positive limit switch (LIMP) / LiMP: Positive limit switch (LIMP) 22 / Negative limit switch (LIMN) / LiMn: Negative limit switch (LIMN)

IOfunct_LI2 Function Input LI2 - UINT16 CANopen 3007:2h nonE - UINT16 Modbus 1796 I-O- - Li2 1 / Free available / : Available as 0 R/W required I-O- - Li2 FrES - per. 2 / Fault reset / : Reset fault (local con- - trol mode only) 4 / Halt / hALt: Halt 6 / Enable positive motor move / PoSM: Enable positive motor movement (local control mode only) 7 / Enable negative motor move / nEGM: Enable negative motor movement (local control mode only) 9 / Jog positive / JoGP: Jog positive 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 20 / Reference switch (REF) / rEF: Refer- ence switch (REF) 21 / Positive limit switch (LIMP) / LiMP: Positive limit switch (LIMP) 22 / Negative limit switch (LIMN) / LiMn: Negative limit switch (LIMN) 0098441113504, V2.00, 08.2010 262 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless I-O- I-O- - oLi1 IOfunct_XLI1 I-O- I-O- - Li4 IOfunct_LI4 HMI menu Parameter name - - oLi1 Li4 Negative limit switch (LIMN) 22 / Negative limit switch (LIMN) / Positive limitswitch(LIMP) 21 / Positive limit switch (LIMP) / ence switch (REF) manual mode 19 /Automatic/Manual / data set Bit3 selection 18 /DataSet Bit3 / data set Bit2 selection 17 /DataSet Bit2 / data set Bit1 selection 16 /DataSet Bit1 / data set Bit0 selection 15 /DataSet Bit0 / selection set sequence: data ecito Unit Description 20 / Reference switch20 /Reference / (REF) selection set sequence: data 14 / DataSet Select / Select 14 /DataSet request start / 13 /DataSetStart 11 / Jog fast/slow / / 10 /Jognegative / 9 /Jogpositive required available1 /Free / Input XLI1 Module Function 4 / Halt / only) mode trol 2 /Fault / reset required available1 /Free / LI4 Input Function 6 / Enable 6 /Enable positive motormove / 14 / DataSet Select / Select 14 /DataSet request start / 13 /DataSetStart 11 / Jog fast/slow / / 10 /Jognegative / 9 /Jogpositive only) mode trol Enable negative movement motor con- (local motormove 7 /Enable negative / only) mode trol Enable positive motor movement (local con- hALt : Halt FrES JoGP JoGP dSb3 dSb2 dSb1 dSb0 nonE nonE JoGn JoGn dStA dStA JoGF JoGF : Reset fault: Reset con- (local dSEL dSEL : Jogpositive : Jogpositive : Motion sequence: sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion : Available as : Available as : Jognegative : Jognegative : Motion sequence: sequence: : Motion : Motion sequence: sequence: : Motion : Jogfast/slow : Jogfast/slow Auto : Motion : Motion : Automatic/ rEF : Refer- PoSM LiMP nEGM LiMn : : : : - 0 - - - 0 - - Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W type Data CANopen 3007:4 CANopen CANopen 3007:19 CANopen via fieldbus Parameter address Modbus 1800 Modbus 1842 263 h h 8 Operation BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOfunct_XLI2 Function Module Input XLI2 - UINT16 CANopen 3007:1Ah nonE - UINT16 Modbus 1844 I-O- - oLi2 1 / Free available / : Available as 0 R/W required I-O- - oLi2 JoGP - per. 9 / Jog positive / : Jog positive - 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 15 / DataSet Bit0 / dSb0: Motion sequence: data set selection Bit0 16 / DataSet Bit1 / dSb1: Motion sequence: data set selection Bit1 17 / DataSet Bit2 / dSb2: Motion sequence: data set selection Bit2 18 / DataSet Bit3 / dSb3: Motion sequence: data set selection Bit3 19 / Automatic/Manual / Auto: Automatic/ manual mode

IOfunct_XLI3 Function Module Input XLI3 - UINT16 CANopen 3007:1Bh nonE - UINT16 Modbus 1846 I-O- - oLi3 1 / Free available / : Available as 0 R/W required I-O- - oLi3 JoGP - per. 9 / Jog positive / : Jog positive - 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 15 / DataSet Bit0 / dSb0: Motion sequence: data set selection Bit0 16 / DataSet Bit1 / dSb1: Motion sequence: data set selection Bit1 17 / DataSet Bit2 / dSb2: Motion sequence: data set selection Bit2 18 / DataSet Bit3 / dSb3: Motion sequence: data set selection Bit3 19 / Automatic/Manual / Auto: Automatic/ manual mode

IOfunct_XLI4 Function Module Input XLI4 - UINT16 CANopen 3007:1Ch nonE - UINT16 Modbus 1848 I-O- - oLi4 1 / Free available / : Available as 0 R/W required I-O- - oLi4 JoGP - per. 9 / Jog positive / : Jog positive - 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 15 / DataSet Bit0 / dSb0: Motion sequence: data set selection Bit0 16 / DataSet Bit1 / dSb1: Motion sequence: data set selection Bit1 17 / DataSet Bit2 / dSb2: Motion sequence: data set selection Bit2 18 / DataSet Bit3 / dSb3: Motion sequence: data set selection Bit3 19 / Automatic/Manual / Auto: Automatic/ manual mode 0098441113504, V2.00, 08.2010 264 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless I-O- I-O- - oLi6 IOfunct_XLI6 I-O- I-O- - oLi5 IOfunct_XLI5 HMI menu Parameter name - - oLi6 oLi5 ecito Unit Description manual mode 19 /Automatic/Manual / data set Bit3 selection 18 /DataSet Bit3 / data set Bit2 selection 17 /DataSet Bit2 / data set Bit1 selection 16 /DataSet Bit1 / data set Bit0 selection 15 /DataSet Bit0 / selection set sequence: data manual mode 19 /Automatic/Manual / data set Bit3 selection 18 /DataSet Bit3 / data set Bit2 selection 17 /DataSet Bit2 / data set Bit1 selection 16 /DataSet Bit1 / data set Bit0 selection 15 /DataSet Bit0 / selection set sequence: data 14 / DataSet Select / Select 14 /DataSet request start / 13 /DataSetStart 11 / Jog fast/slow / / 10 /Jognegative / 9 /Jogpositive required available1 /Free / Input XLI6 Module Function / Select 14 /DataSet request start / 13 /DataSetStart 11 / Jog fast/slow / / 10 /Jognegative / 9 /Jogpositive required available1 /Free / Input XLI5 Module Function JoGP JoGP dSb3 dSb2 dSb1 dSb0 dSb3 dSb2 dSb1 dSb0 nonE nonE JoGn JoGn dStA dStA JoGF JoGF dSEL dSEL : Jogpositive : Jogpositive : Motion sequence: sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion : Available as : Available as : Jognegative : Jognegative : Motion sequence: sequence: : Motion sequence: : Motion : Jogfast/slow : Jogfast/slow Auto Auto : Motion : Motion : Automatic/ : Automatic/ Maximum value Factory setting Minimum value - 0 - - - 0 - - Expert Persistent R/W type Data - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 via fieldbus Parameter address CANopen 3007:1E CANopen 3007:1D CANopen Modbus 1852 Modbus 1850 265 h h 8 Operation BLP14A

8.6.7.3 Description of functions of the signal outputs

Setting can only be changed if power stage is disabled. Changed settings become active the next time the product is switched on. No function / free available The function "No function / free available" lets you directly set an output via parameter IO_LO_set. No fault The function indicates the operating state 9 Fault, see chapter 8.3.2 "In- dicating the operating states". Active The function indicates the operating state 6 Operation Enabled, see chapter 8.3.2 "Indicating the operating states". Motor move disable The function indicates whether a reference value is supplied for movement in a disabled direction of movement. The functions "Enable positive motor move" or "Enable negative motor move" must be configured for this. Halt acknowledge The function shows that the function "Halt" has been triggered and the motor is at a standstill. Brake release The function offers the option of using the signal as a control signal for a holding brake. The holding brake can be directly connected to signal output LO1_OUT. There is no voltage reduction. DataSet start acknowledge The processing status is returned with the function "DataSet Start Ac- knowledge". This function is comparable to the x_end bit of parameter DCOMstatus. See Figure 8.25 "Handshake with sequential processing mode". DataSet trigger output The corresponding signal output can be controlled directly by every data set. The behavior of the signal output at the start and the end of each data set can be defined for each data set. This function can be used to trigger or switch external actuators. This way, special handshake requests can be implemented. See chapter 8.5.6.2 "Structure of a data set". This function is only available in the processing mode "Sequential Data Set Selection". Motor standstill The function "Motor Standstill" provides information on whether the motor is at a standstill; it can be used, for example as a feedback for a PLC. 0098441113504, V2.00, 08.2010 266 Brushless DC drive 0098441113504, V2.00, 08.2010 ... Configuration ofsignal the outputs 8.6.7.4 L1A8Operation BLP14A Brushless DCdrive Brushless aae rge upt------output trigger DataSet - Motion Sequence acknowledge start DataSet Speed Control - Current Control Brake release acknowledgeHalt Motor move disable Jog Active faultNo No function / free available Function Motor standstill LO2_OUT LO1_OUT LO2_OUT LO1_OUT LO2_OUT LO1_OUT LO2_OUT LO1_OUT XLO2_OUT XLO1_OUT LO2_OUT LO1_OUT LO2_OUT LO1_OUT Theoutputs signal mode. trol The following table provides anoverview of thefunctions infieldbus con- modedepending operating on the start-up mode. The following tableprovides overview an ofthefunctions inlocalcontrol IOfunct_XLO2 The parameters nectionthe with I/O expansionsignal interface. Motor standstill Brake release Halt acknowledgeHalt Active No fault ucinoutputs No function / free available Function , , , , , , , , LO1_OUT LO1_OUT LO1_OUT LO1_OUT LO1_OUT LO2_OUT LO2_OUT LO2_OUT LO2_OUT XLO2_OUT XLO1_OUT LO2_OUT LO1_OUT LO2_OUT are usedto assignfunctionsto the digital outputs. IOfunct_LO1 XLO1_OUT , , , , , , , , LO1_OUT LO1_OUT LO1_OUT LO1_OUT LO1_OUT LO1_OUT and , LO2_OUT LO1_OUT LO2_OUT LO1_OUT LO2_OUT LO1_OUT LO2_OUT LO1_OUT LO2_OUT LO1_OUT XLO2_OUT XLO1_OUT LO2_OUT LO1_OUT LO2_OUT LO1_OUT IOfunct_LO2 XLO2_OUT , , , , , LO2_OUT LO2_OUT LO2_OUT LO2_OUT LO2_OUT , , , , , , , , , are only available in con- , , XLO1_OUT IOfunct_XLO1 XLO1_OUT LO2_OUT LO1_OUT XLO2_OUT XLO1_OUT LO2_OUT LO1_OUT - LO2_OUT LO1_OUT LO2_OUT LO1_OUT LO2_OUT LO1_OUT LO2_OUT LO1_OUT XLO2_OUT XLO1_OUT LO2_OUT LO1_OUT XLO2_OUT LO2_OUT LO1_OUT , XLO2_OUT , , , , , , , , , , , , , , and 267 8 Operation BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOfunct_LO1 Function Output LO1_OUT - UINT16 CANopen 3007:9h nonE - UINT16 Modbus 1810 I-O- - Lo1 1 / Free available / : Available as 0 R/W required I-O- - Lo1 nFLt - per. 2 / No fault / : No fault - 3 / Active / Acti: Ready 4 / Motor move disable / MdiS: Direction of movement disabled 9 / Halt acknowledge / hALt: Halt confirmation 10 / Brake release / brAK: Holding brake control 11 / DataSet start acknowledge / dSAc: Motion sequence: acknowledgement of start request 12 / DataSet trigger output / trot: Motion sequence: trigger output 13 / Motor standstill / MStd: Motor standstill

IOfunct_LO2 Function Output LO2_OUT - UINT16 CANopen 3007:Ah nonE - UINT16 Modbus 1812 I-O- - Lo2 1 / Free available / : Available as 0 R/W required I-O- - Lo2 nFLt - per. 2 / No fault / : No fault - 3 / Active / Acti: Ready 4 / Motor move disable / MdiS: Direction of movement disabled 9 / Halt acknowledge / hALt: Halt confirmation 10 / Brake release / brAK: Holding brake control 11 / DataSet start acknowledge / dSAc: Motion sequence: acknowledgement of start request 12 / DataSet trigger output / trot: Motion sequence: trigger output 13 / Motor standstill / MStd: Motor standstill

IOfunct_XLO1 Function Module Output XLO1_OUT - UINT16 CANopen 3007:21h nonE - UINT16 Modbus 1858 I-O- - oLo1 1 / Free available / : Available as 0 R/W required I-O- - oLo1 dSAc - per. 11 / DataSet start acknowledge / : - Motion sequence: acknowledgement of start request 12 / DataSet trigger output / trot: Motion sequence: trigger output

IOfunct_XLO2 Function Module Output XLO2_OUT - UINT16 CANopen 3007:22h nonE - UINT16 Modbus 1860 I-O- - oLo2 1 / Free available / : Available as 0 R/W required I-O- - oLo2 dSAc - per. 11 / DataSet start acknowledge / : - Motion sequence: acknowledgement of start request 12 / DataSet trigger output / trot: Motion sequence: trigger output 0098441113504, V2.00, 08.2010 268 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation Reversal ofdirection 8.6.8 BLP14A Brushless DCdrive Brushless DRC- PRoT - DRC- POSdirOfRotat HMI menu Parameter name - PRoT time. active isswitched until the unit onthenext NOTE: not do become settings Changed and viceversa. to thepositiveconnected limit switch input a movement positivein must be direction NOTE: switch Thelimit with reached which is shaft theflange). the motor at of end at the (as you clockwise look rotates At positive reference values, the motor clockwise ecito Unit Clockwise / 1 /Counter 0 /Clockwise / of of rotation Definition direction Description CLW : Clockwise tionmovement of to Connect the limit switch thatlimits tive until after the deviceswitched is offandon again. eter The direction of movement of the motor can be inverted with the param- motor motor Inverting the direction of movement changes the absolute position of the eter valuescan beused unchanged. If the direction of movement of the motor must be reversed, the param- sition ing rangefor negative direction of movementto CCLW POSdirOfRotat _p_actusr _p_absworkusr : Counter- determined by device. the determined LIMP . Note that changedsettings do not become ac- 1 0 0 - Maximum value Factory setting Minimum value read from the encoder as well asthe actual po- . Connect thelimitswitch. Connect work- the thatlimits the working range forpositive direc- - per. R/W UINT16 UINT16 Expert Persistent R/W type Data LIMN CANopen 3006:C CANopen via fieldbus Parameter address Modbus 1560 . 269 h 8 Operation BLP14A

Therefore, set the direction of movement during commissioning to the direction that will be used for later operation of this motor.

Positions values

0 U - 4096 U 4096 U Mechanical revolutions

_p_actusr _p_absworkusr

Figure 8.45 Position values without reversal of direction

Position values

0 U

- 4096 U 4096 U Mechanical revolutions

_p_actusr _p_absworkusr

Figure 8.46 Position values with reversal of direction 0098441113504, V2.00, 08.2010 270 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation Checksum readvalue 8.6.9 BLP14A Brushless DCdrive Brushless - - _PARchecksum HMI menu Parameter name edprmtrceku - Read parameterchecksum ecito Unit Description Function Notes sults in a changed checksum. sults inachanged A differentversion firmware with achanged number of parameters re- different checksums. Different CANaddresse and node IDs in the individual devices result in devices. of replacements master controller. Thisallows fordetectiona of parameter changesor A checksumthe indevice canread be compared and valuea to inthe higher. and version available 1.20 is function firmware This of as 65535 - 0 Maximum value Factory setting Minimum value - - R/- UINT16 UINT16 Expert Persistent R/W type Data CANopen 3004:F CANopen via fieldbus Parameter address Modbus 1054 271 h 8 Operation BLP14A

8.6.10 Delay time for "Target Reached" and "Homing Attained"

This function is available as of firmware version 1.20 and higher.

Function For the bit "Target Reached" in the status word 6041h:0, a minimum delay time can be set by means of the parameter MinTimeAckBitLow. In the operating mode Profile Position, the bit "Target Reached" is set to "0" when a movement is started. The bit remains "0" for the time set as the delay time even if the movement has already terminated. In the operating mode Homing, the minimum delay time affects the "Homing Attained" bit. Notes The delay time is only processed in the operating state Operation Ena- bled and in the case of HALT. In the case of an error or when the power stage is disabled, the delay time is not considered.

1 B

MinTimeAckBitLow

2 B

Figure 8.47 Parameterizable delay time

(1) Without delay time (2) With delay time (A) Movement (shorter than cycle time of PLC) (B) Feedback via the bits of DCOMstatus (Target Reached, Hom- ing Attained) (C) DCOMstatus (Target Reached, Homing Attained) from the perspective of the PLC (D) PLC cycle 0098441113504, V2.00, 08.2010 272 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation BLP14A Brushless DCdrive Brushless - - Low MinTimeAckBit- HMI menu Parameter name also be processed using the time. the set using also be processed will formation or'homing_attained' 'ref_ok' set. In these two cases, thefeedback infor- referencevalue is specific position a when movement of homing the ing processing and active also is timesetting The minimum dur- set toLow for 20ms. Acknowledgefor bit active movement be will Value for minimum time =20 ms Actual movement time = 5 ms Example: movement time. movement only by willbe processed the value,time theacknowledge bitfor theactive movementis the time If acknowledge beincreased. will value, fortime time the active the movement the movement If set the islessthan time acknowledge. Value Minimumtimefor >0: active movement by movement actual time. Value Inactive. 0: Acknowledge isgenerated bit edge Minimum time for movement active acknowl- ecito Unit Description greater than the set 16383 0 0 - Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 Expert Persistent R/W type Data CANopen 3006:24 CANopen via fieldbus Parameter address Modbus 1608 273 h 8 Operation BLP14A

8.6.11 Storing user-specific values

This function is available as of firmware version 1.20 and higher. Function 4 parameters (32 bits) allow you to store user-specific values in the device (persistent). The values can be stored to the EEPROM. The parameter PARfactorySet (reset to factory values) lets you restore the default values.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_UserAppMem1 User application memory 1 - UINT32 CANopen 3001:1Fh - UINT32 Modbus 318 - This memory area can be used to save user- 0 R/W specific values persistently in the drive. - - per. The values can be reset to the factory set- - tings.

_UserAppMem2 User application memory 2 - UINT32 CANopen 3001:20h - UINT32 Modbus 320 - This memory area can be used to save user- 0 R/W specific values persistently in the drive. - - per. The values can be reset to the factory set- - tings.

_UserAppMem3 User application memory 3 - UINT32 CANopen 3001:21h - UINT32 Modbus 322 - This memory area can be used to save user- 0 R/W specific values persistently in the drive. - - per. The values can be reset to the factory set- - tings.

_UserAppMem4 User application memory 4 - UINT32 CANopen 3001:22h - UINT32 Modbus 324 - This memory area can be used to save user- 0 R/W specific values persistently in the drive. - - per. The values can be reset to the factory set- - tings. 0098441113504, V2.00, 08.2010 274 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A8Operation Restoringdefaultvalues 8.6.12 BLP14A 8.6.12.2 Restoring the factory settings factory the Restoring 8.6.12.2 parameters user-defined Resetting 8.6.12.1 Brushless DCdrive Brushless Factoryvia commissioning settings - - PARuserReset DRC- FCS - DRC- PARfactorySet HMI menu Parameter name HMI menu Parameter name - FCS EEPROM! NOTE: new savedThe are not settings tothe - Type of encoder - I/Ofunctions - Device control parameters - Communication of: rese parameters are All default values. Bit 0=1:Set parameters to persistent Reset userparameters ecito Unit Description when switchedwhen the unit is onthenext time. NOTE: Thedefault becomesactive only parameter and0isreturned. read is Unit the when The saving iscomplete process the commissioning software.or the HMI settings ispossible thefactory Restoring via aresavedthese to theEEPROM. defaultAll parameters settotheir are values, 1 /Yes / 0 /No / (defaultRestore factory settings values) Description software No YES : No : Yes and on again. The new settings only become active until after the device is switched off Factory Settings. The parameter valuesarereset the to defaultvalues. The factory settingsareloaded viathe menuConfiguration items => The parameter default values,parameters. except for communication the Parameter parameter valuesfor set adevice asaconfiguration file. The commissioningsoftware allowsyou to save the process. The parametervalues set bytheuser are lost inthis ̈ The parametervalues are reset to the default values. t withtheexception flicts byflicts simultaneous access. Disconnect the product from the the fieldbus inorder to avoid con- PARuserReset PARfactorySet 7 - 0 - Maximum value Factory setting Minimum value 3 - 0 - Maximum value Factory setting Minimum value is used to reset the parameter values the parameter to the toreset used is is used to restore the factory settings. settings. factory the restore to is used - - R/W UINT16 UINT16 Expert Persistent R/W type Data - - R/W Expert Persistent R/W type Data CANopen 3004:8 CANopen via fieldbus Parameter address via fieldbus Parameter address Modbus 1040 275 h 8 Operation BLP14A 0098441113504, V2.00, 08.2010 276 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A9Examples Wiring examples 9.1 Examples 9 BLP14A Brushless DCdrive Brushless ~ ~ 24Vdc 48Vdc 24/ + - + - + + + + "Jog fast/slow" "Jog negative" "Jog positive" "No Fault" LO2_OUT LO1_OUT "Enable" +24VDC "Active" STO_B STO_A 0VDC 0VDC LI4 LI3 LI2 LI1 VDC Safety function STO isnotusedto 24V and bridged • effect Hall with sensors Motor • Inputs and outputs with factorysettings intheoperating modeJog • Local controlmode inthe operating mode Jog • The followingillustration example shows awiring with: Figure 9.1 Local control intheoperating mode Local Jog control mode 9.1 Figure CN1.1 CN3.5 CN3.11 CN3.2 CN3.4 CN3.10 CN3.3 CN3.12 CN3.6 CN1.2 CN3.8 CN3.9 CN1 CN3 CN6 CN7 CN6.4 CN6.3 CN6.2 CN6.1 CN7.4 CN7.6 CN7.5 CN7.3 CN7.2 CN7.1 HALL_5VOUT HALL_0V HALL_W HALL_V HALL_U SHLD SHLD W V U dc 3~ M E 9 277 9 Examples BLP14A

The following illustration shows a wiring example with: • Fieldbus control mode • Inputs and outputs with factory settings in Fieldbus control mode • Safety function STO with EMERGENCY STOP button and EMER- GENCY STOP safety relay module • Motor with Hall effect sensors and incremental encoder • Braking Resistor Controller UBC60 (accessory)

UBC 60 CN5 CN1 CN5.2 CAN_H VDC CN1.1 CAN_L CANopen ~ + CN5.4 24/ - 0VDC CN1.2 CN5.5 CAN_0V 48Vdc CN5.3 SHLD

CN3 CN3 +24VDC CN3.6 CN3.7 ANA1+ ~ + + CN3.12 10V - 0VDC CN3.1 ANA1- - 24Vdc + REF LI1 CN3.9 CN8 - CN8.1 ENC_A CN8.2 ENC_B + LIMN LI2 CN3.3 CN8.3 ENC_I - CN8.4 ENC_5V ENC_A + CN8.5 LIMP LI3 CN3.10 ENC_B - CN8.6 CN8.7 ENC_I CN8.8 ENC_0V LI4 + "Halt" CN3.4 CN7 CN7.1 HALL_U LO1_OUT CN7.2 HALL_V "No Fault" CN3.8 CN7.3 HALL_W LO2_OUT CN7.5 HALL_0V CN3.2 "Active" CN7.6 HALL_5VOUT CN7.4 SHLD E CN6 CN6.1 U STO_A CN3.11 CN6.2 V M 3~ STO_B CN3.5 CN6.3 W CN6.4 SHLD

Figure 9.2 Wiring example fieldbus control mode.

The following illustration shows a wiring example with: • Local control mode in operating mode Motion Sequence • Inputs and outputs with factory settings in operating mode Motion Sequence • Motor with Hall effect sensors

• Safety function STO is not used and bridged to 24Vdc 0098441113504, V2.00, 08.2010 278 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A9Examples BLP14A Brushless DCdrive Brushless ~ ~ 24Vdc 48Vdc 24/ + - + - + + + + - - LIMN REF "Jog fast/slow" "No Fault" LO2_OUT LO1_OUT "Enable" +24VDC "Active" STO_B STO_A 0VDC 0VDC LI4 LI3 LI2 LI1 VDC 2 PLC BLP14 (2) (1) intheoperating mode Local Jog control mode 9.3 Figure CN3.3 CN3.9 CN3.5 CN3.11 CN3.2 CN3.4 CN3.10 CN3.12 CN3.6 CN1.2 CN1.1 CN3.8 CN1 CN3 1 CN6 CN7 CN4 CN7.3 CN7.2 CN7.1 CN4.1 CN4.6 CN4.4 CN4.9 CN4.3 CN4.8 CN4.2 CN4.7 CN6.4 CN6.3 CN6.2 CN6.1 CN7.4 CN7.6 CN7.5 HALL_W HALL_V HALL_U HALL_5VOUT HALL_0V XLO2_OUT XLO1_OUT XLI6 XLI5 XLI4 XLI3 XLI2 XLI1 SHLD SHLD W V U "DataSet trigger output" "DataSet trigger acknowledge" "DataSet start "No function/freeavailable" "DataSet Bit3" "DataSet Bit2" "DataSet Bit1" "DataSet Bit0" "DataSet Select" 3~ M E 2 279 9 Examples BLP14A

9.2 Wiring STO

Using the safety functions integrated in this product requires careful planning. See chapter 5.4 "Safety function STO ("Safe Torque Off")", page 110 for additional information.

9.3 Sample settings

9.3.1 Standardized operating modes

9.3.1.1 Operating mode Profile Position

PDO2 must be activated for the operating mode Profile Position operating mode. After the activation, movement parameters such as ramps and speeds can be set. Example Node address 1 Work step Object COB ID / data Value

̈ Activate R_PDO2 1401:1h 601 / 23 01 14 01 01 03 00 04 0400 0301h ୵ 581 / 60 01 14 01 00 00 00 00

̈ Activate T_PDO2 1801:1h 601 / 23 01 18 01 81 02 00 04 0400 0281h ୵ 581 / 60 01 18 01 00 00 00 00 -1 ̈ Set acceleration ramp to 2000 min *s 6083h 601 / 23 83 60 00 D0 07 00 00 0000 07D0h ୵ 581 / 60 83 60 00 00 00 00 00 -1 ̈ Set deceleration ramp to 4000 min *s 6084h 601 / 23 84 60 00 A0 0F 00 00 0000 0FA0h ୵ 581 / 60 84 60 00 00 00 00 00 -1 ̈ Limit reference velocity to 6000 min 607Fh 601 / 23 7F 60 00 70 17 00 00 0000 1770h ୵ 581 / 60 7F 60 00 00 00 00 00 -1 ̈ Set reference velocity to 4000 min 6081h 601 / 23 81 60 00 A0 0F 00 00 0000 0FA0h ୵ 581 / 60 81 60 00 00 00 00 00 ̈ NMT Start remote node 0 / 01 00 ୵ T_PDO1 with status word 181 / 31 66 ̈ Enable power stage with PDO1 201 / 00 00 201 / 06 00 201 / 0F 00 ୵ T_PDO1 (state: Operation Enabled) 181 / 37 46

̈ Starting the operating mode 6060h 601 / 2F 60 60 00 01 00 00 00 01h ୵ 581 / 60 60 60 00 00 00 00 00 0098441113504, V2.00, 08.2010 280 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A9Examples BLP14A Brushless DCdrive Brushless )The operatingstate must bechecked until the device hasactivated thespecified 1) ̈ ୵ ୵ ̈ ୵ ̈ / data COB ID step Work operating mode. 301 /4F0030 75 00 PDO2: NewSetpoint=0 281 /375630 75 00 Position reached 281 /375600 00 T_PDO2 with status word and position actual value 301 /5F0030 75 00 NewSetpoint=1 with relative position Set PDO2: 581 /4F6160 00 01 Operating mode active 601 /406160 00 Check operating state 1) 01 6061 Value Object h h 281 9 Examples BLP14A

9.3.1.2 Operating mode Profile Velocity

PDO3 must be activated for the operating mode Profile Velocity. Example Node address 1 Work step Object COB ID / data Value

̈ Activate R_PDO3 1402:1h 601 / 23 02 14 01 01 04 00 04 0400 0401h ୵ 581 / 60 02 14 01 00 00 00 00

̈ Activate T_PDO3 1802:1h 601 / 23 02 18 01 81 03 00 04 0400 0381h ୵ 581 / 60 02 18 01 00 00 00 00 -1 ̈ Set acceleration ramp to 2000 min *s 6083h 601 / 23 83 60 00 D0 07 00 00 0000 07D0h ୵ 581 / 60 83 60 00 00 00 00 00 -1 ̈ Set deceleration ramp to 10000 min *s 6084h 601 / 23 84 60 00 10 27 00 00 0000 2710h ୵ 581 / 60 84 60 00 00 00 00 00 -1 ̈ Limit reference velocity to 10000 min 607Fh 601 / 23 7F 60 00 10 27 00 00 0000 2710h ୵ 581 / 60 7F 60 00 00 00 00 00 ̈ NMT Start remote node 0 / 01 00 ୵ T_PDO1 with status word 181 / 31 66 ̈ Enable power stage with PDO1 201 / 00 00 201 / 06 00 201 / 0F 00 ୵ T_PDO1 (state: Operation Enabled) 181 / 37 46

̈ Starting the operating mode 6060h 601 / 2F 60 60 00 03 00 00 00 03h ୵ 581 / 60 60 60 00 00 00 00 00 1) ̈ Check operating state 6061h 601 / 40 61 60 00 00 00 00 00 ୵ Operating mode active 581 / 4F 61 60 00 03 00 01 00 03h ̈ PDO3: Transmit reference velocity 1000 min-1 401 / 0F 00 E8 03 00 00 ୵ T_PDO2 with status word and velocity actual value 381 / 37 02 00 00 00 00 ୵ Reference velocity reached 381 / 37 06 E8 03 00 00 1) The operating state must be checked until the device has activated the specified operating mode. 0098441113504, V2.00, 08.2010 282 Brushless DC drive 0098441113504, V2.00, 08.2010 9.3.1.3 Operating mode Homing mode Operating 9.3.1.3 L1A9Examples BLP14A Brushless DCdrive Brushless ExampleNode address 1 with PDO1. The operating modeparameterized Homing is with SDOs and activated )The operatingstate must bechecked until the device hasactivated thespecified 1) ୵ ̈ ୵ ̈ ୵ ̈ ୵ ̈ ୵ ̈ ୵ ̈ ୵ ̈ ୵ ̈ / data COB ID step Work ୵ operating mode. 201 /0F00 201 /0600 201 /00 Enable power stage with PDO1 181 /3166 word with status T_PDO1 node remote Start NMT 581 /6099 02 00 601 /239960 02 0A00 Reference velocityfor movement 10min 581 /6099 01 00 601 /239960 01 6400 min Reference velocityfor move 181 /37D6 TPDO1 reference movement terminated 181 /3702 Referencemovement activeTPDO1 201 /1F00 start) Reference movement with(HomingPDO1 operation 581 /6098 00 601 /2F9860 00 11 Select method for reference movement,LimN (17) 581 /4F6160 00 0601 Operating mode active 601 /406160 00 Check operating state 581 /60 00 601 /2F60 00 06 the operatingStarting mode 181 /3746 T_PDO1 (state: Operation Enabled) 0 /0100 -1 1) ment to limit switchment to 100 -1 0000 000A 0000 6099:2 0064 0000 6099:1 11 6098 06 6061 06 6060 Value Object h h h h h h h h 283 h h 9 Examples BLP14A

9.3.2 Vendor-specific operating modes

9.3.2.1 Operating mode Current Control

Example Node address 1 Work step Object COB ID / data Value

̈ R_PDO4 Mapping: Number of mapped objects = 0 1603:0h 601 / 2F 03 16 00 00 00 00 00 00h ୵ 581 / 60 03 16 00 00 00 00 00 ̈ R_PDO4 First parameter = CUR_I_target (3020:4h) 1603:1h 601 / 23 03 16 01 10 04 20 30 3020 0410h ୵ 581 / 60 03 16 01 00 00 00 00

̈ R_PDO4 Number of mapped objects = 1 1603:0h 601 / 2F 03 16 00 01 00 00 00 01h ୵ 581 / 60 03 16 00 00 00 00 00

̈ T_PDO4 Mapping: Number of mapped objects = 0 1A03:0h 601 / 2F 03 1A 00 00 00 00 00 00h ୵ 581 / 60 03 1A 00 00 00 00 00

̈ T_PDO4 First parameter = _p_actusr (6064:0) 1A03:1h 601 / 23 03 1A 01 20 00 64 60 6064 0020h ୵ 581 / 60 03 1A 01 00 00 00 00

̈ T_PDO4 Number of mapped objects = 1 1A03:0h 601 / 2F 03 1A 00 01 00 00 00 01h ୵ 581 / 60 03 1A 00 00 00 00 00

̈ Activate R_PDO4 (COB ID) 1403:1h 601 / 23 03 14 01 01 05 00 04 0400 0501h ୵ 581 / 60 03 14 01 00 00 00 00

̈ Activate T_PDO4 (COB ID) 1803:1h 601 / 23 03 18 01 81 04 00 04 0400 0481h ୵ 581 / 60 03 18 01 00 00 00 00

̈ Reference value via parameter 301B:10h 601 / 2B 1B 30 10 02 00 00 00 02h ୵ 581 / 60 1B 30 10 00 00 00 00 ̈ NMT Start remote node 0 / 01 00 ୵ T_PDO1 with status word 181 / 31 66 ̈ Enable power stage with PDO1 201 / 00 00 201 / 06 00 201 / 0F 00 ୵ T_PDO1 (state: Operation Enabled) 181 / 37 46

̈ Starting the operating mode 6060h 601 / 2F 60 60 00 FD 00 00 00 -03h ୵ 581 / 60 60 60 00 00 00 00 00 0098441113504, V2.00, 08.2010 284 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A9Examples BLP14A Brushless DCdrive Brushless )The operatingstate must bechecked until the device hasactivated thespecified 1) ୵ ̈ ୵ ̈ / data COB ID step Work operating mode. 481 /00CE09 00 T_PDO4 with current position 501 /E803 PDO4 transmit reference current 1000(10A) 581 /4F6160 00 FD01 Operating mode active 601 /406160 00 Check operating state 1) -03 6061 Value Object h h 285 9 Examples BLP14A

9.3.2.2 Operating mode Speed Control

Example Node address 1 Work step Object COB ID / data Value

̈ R_PDO4 Mapping: Number of mapped objects = 0 1603:0h 601 / 2F 03 16 00 00 00 00 00 00h ୵ 581 / 60 03 16 00 00 00 00 00 ̈ R_PDO4 First parameter = SPEEDn_target (3021:4h) 1603:1h 601 / 23 03 16 01 10 04 21 30 3021 0410h ୵ 581 / 60 03 16 01 00 00 00 00

̈ R_PDO4 Number of mapped objects = 1 1603:0h 601 / 2F 03 16 00 01 00 00 00 01h ୵ 581 / 60 03 16 00 00 00 00 00

̈ T_PDO4 Mapping: Number of mapped objects = 0 1A03:0h 601 / 2F 03 1A 00 00 00 00 00 00h ୵ 581 / 60 03 1A 00 00 00 00 00

̈ T_PDO4 First parameter = _p_actusr (6064:0) 1A03:1h 601 / 23 03 1A 01 20 00 64 60 6064 0020h ୵ 581 / 60 03 1A 01 00 00 00 00

̈ T_PDO4 Number of mapped objects = 1 1A03:0h 601 / 2F 03 1A 00 01 00 00 00 01h ୵ 581 / 60 03 1A 00 00 00 00 00

̈ Activate R_PDO4 (COB ID) 1403:1h 601 / 23 03 14 01 01 05 00 04 0400 0501h ୵ 581 / 60 03 14 01 00 00 00 00

̈ Activate T_PDO4 (COB ID) 1803:1h 601 / 23 03 18 01 81 04 00 04 0400 0481h ୵ 581 / 60 03 18 01 00 00 00 00 ̈ NMT Start remote node 0 / 01 00 ୵ T_PDO1 with status word 181 / 31 66 ̈ Enable power stage with PDO1 201 / 00 00 201 / 06 00 201 / 0F 00 ୵ T_PDO1 (state: Operation Enabled) 181 / 37 46

̈ Starting the operating mode 6060h 601 / 2F 60 60 00 FC 00 00 00 -04h ୵ 581 / 60 60 60 00 00 00 00 00 1) ̈ Check operating state 6061h 601 / 40 61 60 00 00 00 00 00 ୵ Operating mode active 581 / 4F 61 60 00 FC 00 01 00 -04h

̈ Reference value via parameter 301B:11h 601 / 2B 1B 30 11 02 00 00 00 02h ୵ 581 / 60 1B 30 11 00 00 00 00 0098441113504, V2.00, 08.2010 286 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A9Examples BLP14A Brushless DCdrive Brushless )The operatingstate must bechecked until the device hasactivated thespecified 1) ୵ ̈ / data COB ID step Work operating mode. 481 /6E9704 00 T_PDO4 with current position 501 /E803 reference min velocity transmit 1000 PDO4 -1 Value Object 287 9 Examples BLP14A

9.3.2.3 Operating mode Jog

Example Node address 1 Work step Object COB ID / data Value -1 ̈ Speed of rotation slow movement to 100 min 3029:4h 601 / 2B 29 30 04 64 00 00 00 0064h ୵ 581 / 60 29 30 04 00 00 00 00 -1 ̈ Speed of rotation fast movement to 250 min 3029:5h 601 / 2B 29 30 05 FA 00 00 00 00FAh ୵ 581 / 60 29 30 05 00 00 00 00 ̈ NMT Start remote node 0 / 01 00 ୵ T_PDO1 with status word 181 / 31 66 ̈ Enable power stage with PDO1 201 / 00 00 201 / 06 00 201 / 0F 00 ୵ T_PDO1 (state: Operation Enabled) 181 / 37 46

̈ Starting the operating mode 6060h 601 / 2F 60 60 00 FF 00 00 00 -01h ୵ 581 / 60 60 60 00 00 00 00 00 1) ̈ Check operating state 6061h 601 / 40 61 60 00 00 00 00 00 ୵ Operating mode active 581 / 4F 61 60 00 FF 00 01 00 -01h

̈ Jog movement (direction of movement clockwise, 301B:9h slow) 01h 601 / 2B 1B 30 09 01 00 00 00 ୵ 581 / 60 1B 30 09 00 00 00 00 ୵ T_PDO1 with status word181 / 37 02

̈ Jog movement (direction of movement clockwise, 301B:9h fast) 05h 601 / 2B 1B 30 09 05 00 00 00 ୵ 581 / 60 1B 30 09 00 00 00 00 ୵ T_PDO1 with status word 181 / 37 42 1) The operating state must be checked until the device has activated the specified operating mode. 0098441113504, V2.00, 08.2010 288 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting Error indication 10.1 Diagnostics andtroubleshooting 10 BLP14A Brushless DCdrive Brushless Asynchronous errors Synchronous errors • Error number is written to parameter parameter to is written number Error • Transition to operating state"Quick Stop"or to operating state • inthe following indicated are way:errors Asynchronous rorresponseinitiated is an if asynchronous error occurs. temperature) or by external monitoring (for example, limit switch). An er- Asynchronous errorsaretriggered by monitoring (forinternal example, numbers. See chapter 10.3 "Tableof error numbers" for adescription of the error warethe and fieldbus. displaycan 10 errormess last the The last cause of error and the last 10 error messages are stored. You agnostics and troubleshooting". For a detailed of description the synchronous errors, see chapter 10 "Di- parameter unknown to Access • Invalid action command orcontrol command processingduring • Parameter valueoutside the permissible valuerange • Error execution during an of action commandor control command • mand. They comprise, for instance: Synchronous errors occur as "Fault". directerrors inresponsefieldbusa to com- ages usingages the commissioningsoft- StopFault 10 289 10 Diagnostics and troubleshooting BLP14A

10.1.1 State diagram

Motor without current

Switching on

1 Start

T0 2 Not Ready To Switch On

3 Switch On Disabled T15

T9 T2 T7 T12 4 T10 Ready To Switch On

T8 T3 T6

5 9 Switched On Fault

T14 8 T4 T5 Fault Reaction Active T16 Operation Enabled 6 7 Quick Stop Active RUN/HALT T13

T11 Error Class 1 Error Class 2, 3, (4)

Motor under current

Operating state State transition Error

Figure 10.1 State diagram 0098441113504, V2.00, 08.2010 290 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting BLP14A Brushless DCdrive Brushless T7 T6 T5 T4 T3 T2 T1 T0 tion Transi- T10 T9 T8 4 5 6 5 4 3 2 1 state Operating 5 6 6 -> -> -> -> -> -> -> -> -> -> -> 3 2 3 4 5 6 5 4 3 3 4 Operating states State transitions • Actual velocity: Actual min >1000 • STO 0V = signals • Undervoltage • FieldbusShutdown command: "Halt" with canceled command is Motion • FieldbusDisable command: Operation • Enable Operation Fieldbuscommand: • Automatic transition • • Fieldbus command: Switch On orEnable FieldbusSwitch command: • for Request power enabling the stage • undervoltage No • Parameter successfully initialized • Deviceelectronics successfully initialized • Condition /event • Fieldbus command: FieldbusDisable command: Voltage • • Fieldbus command: FieldbusDisable command: Voltage Power disabled. isimmediately stage • Request for disabling thepower stage • FieldbusDisable command: Voltage • Request for disabling thepower stage • FieldbusShutdown command: • Operation velocity:Actual min <1000 Encoder successfully checked Fieldbus command: FieldbusShutdown command: STO +24V = signals (for example by external driving force) )2) 1) as aresponsea to monitoring signal. State transitions are triggered by an input signal, afieldbus command or 9 8 7 6 5 4 Description 3 2 1 state Operating Fault Error response terminated response Error activeis response Error "Quick executed isbeing Stop" Fault Power stageisswitched on Power stageisenabled Active Reaction Fault Active Stop Quick Thepower is to switch stage ready on. voltagesupply switched Controller on Enabled Operation power enablethe Impossibleto stage On Switched On Switch To Ready Thepower is to stage switchnot ready on Disabled On Switch On Switch To Ready Not Start -1 -1 3) Power disabled stage brakeHolding isapplied brakeHolding (if isreleased available) parametersarecheckedUser-defined Power is enabled stage Response - Power disabled. is immediately stage Power stageisdisabled active is mode operating Selected Electronics are initialized 291 10 Diagnostics and troubleshooting BLP14A

Transi- Operating Condition / event 1) 2) Response tion state T11 6 -> 7 • Error of error class 1 Motion command is canceled with "Quick Stop".

• Error of error classes 3 or 4 T15 9-> 3 • Function: "Fault Reset" Error is reset (cause of error must be corrected). T16 7 -> 6 • Function: "Fault reset"

Error class The product triggers an error response if an error occurs. Depending upon the severity of the error, the device responds in accordance with one of the following error classes:

Error Response Meaning class 0 Warning A monitoring function has detected a problem. No interruption of the movement. 1 "Quick Stop" Motor stops with "Quick Stop", the power stage remains enabled. 2"Quick Stop" Motor stops with "Quick Stop", the power stage is with switch-off disabled after standstill has been achieved. 3 Fatal error The power stage is immediately disabled without stopping the motor first. 4 Uncontrolled The power stage is immediately disabled without operation stopping the motor first. The error can only be reset by switching off the product. 0098441113504, V2.00, 08.2010 292 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting BLP14A Brushless DCdrive Brushless Error response died and aFaultmust Reset executed. be To exit the the exit To to power Subsequently, stage. changes state operating the ample deceleration and stopping with "Quick Stop" or disabling the theerror response,vice cancelsthe motion commandforandstarts ex- An error can betriggered by a temperature sensor, for example. The de- react. must as occurrencesoon as an signals aninternal error to which the device The state transition T13 (error class2, 3 or 4) initiates an error response tion STO Safety4 or 3, func- State 2 Error class 9 Fault operating state, the causethe of error must bereme- x x from ->to -> -> 8 ->9 8 Response even "Quickif is Stop" still active. Powerdisabledimmediately, is stage Power disabled stage brakeHolding is applied Stop movement with"Quick Stop" 9 Fault. 293 10 Diagnostics and troubleshooting BLP14A

10.1.2 Error indication with LEDs

Overview The illustration below shows an overview of the status LEDs.

OK ERR BUS_RUN BUS_ERR

Figure 10.2 Overview of status LEDs

Operating states The LEDs "OK" (green) and "ERR" (red) indicate error messages and warnings. They show the operating states in coded form.

1s OK ERR

Figure 10.3 Operating states via LEDs

Operating states (A) 1 Start 2 Not Ready To Switch On (B) 3 Switch On Disabled (C) 4 ReadyToSwitchOn 5 Switched On (D) 6 Operation Enabled (E) 7 Quick Stop Active 8 Fault Reaction Active (F) 9 Fault (G) Firmware not available (H) Internal error 0098441113504, V2.00, 08.2010 294 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting BLP14A Brushless DCdrive Brushless G F E D C B A H Fieldbus communication Fieldbus U_U BUS_ERR BUS_RUN states of the fieldbus communication. "BUS_RUN"The LEDs (green) and "BUS_ERR" (red) showtheNMT H Incorrectsettings, for example,node invalid address notreceived was message SYNC Monitoring event (Node Guarding) (H) (G) Warning limit reached,for example after 16 incorrect trans- (F) transmission incorrect 32 after example for isBUS-OFF, CAN (E) (D) Pre-Operational state NMT the is in Device "BUS_ERR" LED STOPPED is intheNMTstate Device OPERATIONAL is intheNMTstate Device (C) (B) (A) "BUS_RUN"LED Fieldbus viaLEDs communication 10.4 Figure mission attempts attempts. within the configured period configured the within 295 10 Diagnostics and troubleshooting BLP14A

10.1.3 Error indication using the commissioning software

࡯ You need a PC with the commissioning software and a working connection to the product. ̈ Select "Diagnostics - Error memory". A dialog box which shows the error messages is displayed.

The commissioning software shows a 4 digit error number in the list of the error memory with a prefixed "E". The error messages are displayed along with the status, error class, time when the error occurred and a short description. The "Additional information " lets you verify the exact conditions when the error occurred. ̈ Correct the error and reset the current error message with the "Reset" button on the command bar of the program. 0098441113504, V2.00, 08.2010 296 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting Error indicationviathefieldbus 10.1.4 BLP14A Brushless DCdrive Brushless - - FLT_del_err - - FLT_MemReset HMI menu Parameter name Last cause oferror cause Last returned after a read access. read a after returned if a0is processiscompleted The clearing errormemory inthe 1: entries all Delete Clear errormemory error entry. Unit tooldest pointer read 1: Set errormemory pointer read error memory Reset Description Error memory numberthere additionalreturned, is no 0is error entry. entry. Anew read access delivers the next error entry. If the error can be read.error The entry read pointer is automatically set to the next FLT_MemReset onlycan bereadThe sequentially. error memory The parameter memory: error the manage even ifthe device isswitchedoff. The isan oferror errorthe memory history last 10 errors; it is not cleared stored. is error triggering information.the In caseof subsequent errors, onlythe numberthe of occurs, the along error towritten with the other is error status memory last error. If thereis noerror, the valuethe ofparameter Ifis 0.erroran The parameter 10 10th error entry. error the 10th entries, error of 10 case the In ... errorentry, 2nd latermessage errorentry, 1st message oldest 10 ... 2 Meaning 1 Position oftheentry _StopFault must be used to reset the read pointer. Then the first pointer.first read the the Then reset to used be must 1 - 0 - 1 - 0 - Maximum value Factory setting Minimum value most recent message is contained here. iscontained most recentmessage allows youto read the errornumber the of The followingparameters allow you to - - R/W UINT16 UINT16 - - R/W UINT16 UINT16 Expert Persistent R/W type Data CANopen 303B:4 CANopen CANopen 303B:5 CANopen via fieldbus Parameter address Modbus 15114 Modbus 15112 297 h h 10 Diagnostics and troubleshooting BLP14A

An error entry consists of several pieces of information which can be read using different parameters. When you read an error entry, the error number must be read first with the parameter FLT_err_num.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

FLT_err_num Error number - UINT16 CANopen 303C:1h 0 UINT16 Modbus 15362 - Reading this parameter copies the entire - R/- error entry (error class, time of occurrence of - 65535 - error, ...) to an intermediate memory from - which all elements of the error can then be read.

In addition, the read pointer of the error memory is automatically set to the next error entry.

FLT_class Error class - UINT16 CANopen 303C:2h 0 UINT16 Modbus 15364 - Value 0: Warning (no response) - R/- Value 1: Error (Quick Stop -> state 7) - 4 - Value 2: Error (Quick Stop -> state 8, 9) - Value 3: Fatal error (state 9, can be acknowledged) Value 4: Fatal error (state 9, cannot be acknowledged)

FLT_Time Error time s UINT32 CANopen 303C:3h 0 UINT32 Modbus 15366 - With reference to operating hours counter - R/- - 536870911 - -

FLT_Qual Error additional information - UINT16 CANopen 303C:4h 0 UINT16 Modbus 15368 - This entry contains additional information on - R/- the error, depending on the error number. - 65535 - Example: a parameter address -

10.1.4.1 Message objects

A number of objects provide information on the operating state and on errors:

•Object Statusword (6041h) Operating states, see product manual

•Object EMCY (80h+ Node-ID) Error message from a device with error and error code, see chapter

•Object Error register (1001h) Error

•Object Error code (603Fh) Error code of the most recent error • Devices use the special SDO error message ABORT to signal errors in exchanging messages via SDO. 0098441113504, V2.00, 08.2010 298 Brushless DC drive 0098441113504, V2.00, 08.2010 0143Error register 10.1.4.3 0144Error table code 10.1.4.4 0142Messages onthe devicestatus 10.1.4.2 L1A10Diagnostics andtroubleshooting BLP14A Brushless DCdrive Brushless Asynchronous errors Synchronous errors The object driveStat (2041 7of the object ... Asynchronous errorsarealso signaled viabits 5 EMCY message. device movement,an the the of transmits interruption an cause that The error code is evaluated with the object occurs. error an as soon as table. is set code 0 Bit ror bit-coded form. The exact causeoferror with thebecan determined er- the meaning of the error code. error the of meaning the movement. SeetheTroubleshooting chapter of the product manualfor imal value. The error code indicates the cause of the last interruption of objecttheDSP402 of device profile, and outputas afour-digit hexadec- bit 3, Fault, 3, bit object the of as soon asadevice error occurs. Anasynchronous error issignaledvia Asynchronous errors are signaled by the monitoring units in the device synchronous errors. for of list register" a "Error 10.1.4.3 invalid or chapter See errors data. sage thatcannotbe evaluated. Possibletransmissioncauses comprise The device signals asynchronous error directly as aresponse to ames- evaluation and handling of errors. Synchronous and asynchronouserrors -Reserved Vendor-specific errormessage Reserved communication error Network Manufacturer-specific Errorexecution during Reserved asper device profile 7 Reserved Device profile-specific 6- Communication 5 errorhasoccurred An Meaning 4 3- 2- error Generic 1- 0 Message Bit Error register(1001 h ) . statusword (6041 h ) indicateserror the of adevice in are of distinguished interms error code (603F h ) . In the case of errors errors caseof the . In h ) , an , an 299 10 Diagnostics and troubleshooting BLP14A

10.1.4.5 SDO error message ABORT

An SDO error message is generated as a response to an SDO transmission error. The cause of error is contained in error code, bytes 4 to byte 7.

Client Server

Error response 0 1 2 3 456 7 ccdIdx Idx Sidx Data COB ID LSB MSB

ccd: 80 Byte 4...7 Error code

Figure 10.5 SDO error message as a response to an SDO message

The table below lists the error messages that may occur during data exchange with the product.

Error code Meaning

0503 0000h Toggle bit not toggled

0504 0000h Time-out during SDO transfer

0504 0001h Command specifier CS incorrect or unknown

0504 0005h No memory available

0601 0000h Access to object not possible

0601 0001h No read access, because write-only object (wo)

0601 0002h No write access, because read object (ro)

0602 0000h Object does not exist in object dictionary

0604 0041h Object does not support PDO mapping

0604 0042h PDO mapping: Number or length of objects exceed the byte length of the PDO

0604 0043h Parameters are incompatible

0604 0047h Device detects internal incompatibility

0606 0000h Hardware error, access denied

0607 0010h Data type and parameter length do not match

0607 0012h Data type does not match, parameter too long

0607 0013h Data type does not match, parameter too short

0609 0011h Subindex not supported

0609 0030h Value range of parameter too large (relevant only for write access)

0609 0031h Parameter values too great

0609 0032h Parameter values too small

0609 0036h Upper value is less than lower value

0800 0000h General error

0800 0020h Data can neither be transmitted to the application nor saved.

0800 0021h Local control mode, data can neither be transmitted nor saved. 0098441113504, V2.00, 08.2010 300 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting BLP14A Brushless DCdrive Brushless 0800 xxxx 0800 0800 0023 Meaning 0800 0022 Error code h h h number of the device. Seeerrorcodetable. Manufacturer-specific error, error the to xxxxcorresponds file) (for example, from generation dataerroroccursduring if not does dictionary Object state. betransmittednorsavedData canneither this devicein exist be generated orcannot 301 10 Diagnostics and troubleshooting BLP14A

10.2 Troubleshooting

10.2.1 Fieldbus communication

A properly operating fieldbus is essential for evaluating operating and error messages. Checking connections If the product cannot be addressed via the fieldbus, first check the connections. Check the following connections: ̈ System power supply ̈ Supply connections ̈ Fieldbus cables and wiring ̈ Fieldbus connection

Also verify correct wiring of the limit switches and the terminating resistors. Fieldbus function test If the connections are correct, check the settings for the fieldbus addresses. After correct configuration of the transmission data, test fieldbus mode. ̈ In addition to the master, activate a bus monitor that, as a passive device, displays messages. ̈ Switch the supply voltage off and on. ̈ Observe the network messages that are generated briefly after the supply voltage is switched on. A bus monitor can be used to record the elapsed time between messages and the relevant information in the messages.

Addressing, parameterization If it is impossible to connect to a device, check the following: ̈ Addressing Each network device must have a unique address. ̈ Parameterization "Vendor ID" and "Product Code" must match the values stored in the EDS file. 0098441113504, V2.00, 08.2010 302 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting Troubleshooting oferrors by sorted error bit 10.2.2 BLP14A Brushless DCdrive Brushless 5D u vrotg 3DCbus overvoltage, deceleration 3 Power supply incor- stage 16 overvoltage bus DC 15 2 DCbus undervoltage Reserved 14 Reserved 13 11 thecur- Error processing reference Incorrect signals 10 Reserved 9 8 fieldbus error, RS485 Mod- Reserved 6 5 Movement exceeded range 0 2 Limit switch (LIMP/LIMN/ error General 1 0 bit Error 20 Undervoltage controller controller Undervoltage 20 signals encoder Motor 19 overload cur- Motor (phase 18 Connectiontomotor(motor 17 QikSo"vafedu 1 Fieldbuscommand Inputs 1 "Quick fieldbus via Stop" 4 3 rect mode rent operating toohigh) (frequency bus are "0" ing) ing) switch,(software limit tun- Error REF) Meaning supply voltagesupply inoperativetion connec- or encoder error high) rent too tation) commu- interrupted, phase STO_A and and STO_B

par. For see additional information detailed 3 error Processing 2 STO safety wasfunction trig- 3 oo o nmvmn ag Che not movement Motor in range 1 switch Limit is orwas activated, 1 class 3-4 No signal from Nosignal motor encoder, 3-4 3 I or phase circuit motor in Short 3 1) _SigLatched parameter the using read be can bits error bits. The error called To facilitatetroubleshooting, er the too fast value for switching off the drive DC bus voltage below threshold value for "Quick Stop" DC bus voltage below threshold gered Frequency too high, interference EMC requirements, EMC exceed donot maxi- Frequency interference too high, Modbus only, RS485 cation, for example of fieldbus communi-Interruption as Troubleshooting interrupted line Cause encoder damaged encoder low). motor torque (motor current too exceedstorque the External Motor damaged. cableencoder nected voltage con- Supply correctly not circuit Sort fallen below theminimum value voltagesupply has Controller 2 t monitoring for motor Reduce load, use a motor with a greater amotorwithgreater use load, Reduce formotor monitoring t . Signal state "1" indicates an error or message. warning braking resistor Extend process,braking useexternal Checkvoltageincrease supply / in the errormemory information Check door,guard cabling mum frequency (technical data) (technical mum frequency parameters. fieldbus, check communication the Check the fieldbus cables, check the cableto limitswitch special message inerrormemory, check toaxisrange. data positioning Check Move drive intomovementrange, match replace cablereplace Check encodercable, check encoder, motor current. the orincrease torque external Reduce Replace motor. cable.or encoder motorcableCheck replace connections, installation Check and fuse nominal power changes voltage for short-term dips during load voltage.Check supply controller Check drive again ror numbers are bycategorized so- ck movement the range,the home 303 10 Diagnostics and troubleshooting BLP14A

Error Meaning Error Cause Troubleshooting bit class 21 Temperature too high 3 Power stage overheated Reduce duty cycle for peak current, (power stage, braking reduce load or peak torque resistor or motor) Allow motor to cool down, reduce load, Motor overheated use motor with greater nominal power, Temperature sensor not con- check/replace motor encoder cables nected 22 Following error par. 1) Following error Reduce external load or acceleration, 1-3 error response is adjustable via Flt_pDiff 24 Inputs STO_A and STO_B 4 Interruption of the signal wires Check signal cable and signal connec- are different tion, check signal source, replace 25..28 Reserved 29 EEPROM error 3-4 Checksum in EEPROM incorrect Run a "First Setup", save the user- defined parameters to the EEPROM, contact your local sales office 30 System start-up error 3-4 Cause of error as indicated Resolution depends on indicated cause (hardware or parameter of error error) 31 Internal system error 4 Internal system error Switch device off and on, replace device (for example watchdog) Comply with EMC measures, switch System error, for example, divi- device off and on, contact your local sion by 0 or timeout checks, sales office inadequate EMC 1) par. = can be parameterized 0098441113504, V2.00, 08.2010 304 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting Table oferror numbers 10.3 BLP14A Brushless DCdrive Brushless E 1107 - - Access via other interface viaother Access blocked - allowed Command not while power activestage is - - authorization) (no access accessdenied Write E 1107 - - Parameter (READ only) permissible not write E 1106 - - Parameter does not exist E 1104 - - Parameter does not exist E 1103 - - Parameter range of out permissible E 1102 - - E 1101 - cause and Description, correctives Bit E 1100 Class Error number Check the channel that that blocksCheck channel the the access. and fieldbus accesswas at the sametime). tried by occupied (forAccess channel another ex Disable the power thecommand. repeat stage and Enabled orQuick StopActive). allowedCommand not while the power stage levelrequired. access is expert write The Parameter level.expert accessible at only read-only. arenot only to parametersthat Write accessto read onlyparameter.Write different a Select par by management: signaled Error parameter different a (index).Select parameter by Parameter signaled management: Error parameter (index) does not exist. value The entered value must bewithin the permissible range. value for range permissible parameter.the this wasof value outside The entered rameter rameter Theof cause the errorfor each error messagecontained is inthe pa- Information onerrorbits and troubleshooting canbe found onpage303. Error number categories: errorclass, the errorbe classcan parameterized. the error numbers and theirmeanings. If"par." isshownalong with the xxCommunication Motormovement Interface, wiring Software E Bxxx Hardware E Axxx Temperature E 7xxx Voltage E 6xxx Overcurrent E 5xxx General E 4xxx E 3xxx E 2xxx Range E 1xxx Error number FLT_err_num ameter (subindex). inthe form of acode. The table below shows the Parameter (subindex) notexist.does ample: Commissioning software isactive Commissioning ample: is enabled stateOperation (operating 305 10 Diagnostics and troubleshooting BLP14A

Error number Class Bit Description, cause and correctives E 110B 3 30 Configuration error (additional info=Modbus register address) Error detected during parameter check (for example, reference velocity value for operating mode Profile Position is greater than maximum allowed velocity of drive). Value in additional error information shows the Modbus register address of the parameter where the initialization error was detected. E 110D 1 0 Basic configuration of drive required after factory setting The First Setup (FSU) was not run at all or not completed. Perform a First Setup. E 110E - - Parameter changed that requires a restart of the drive Only displayed by the commissioning software. A parameter modification requires the drive to be switched off and on. Restart the drive to activate the parameter functionality. Check the chapter Parameters for the parameter that requires a restart of the drive. E 1300 3 4 Safety function STO activated (STO_A, STO_B) The safety function STO was activated in the operating state Operation Enabled. Check the wiring of the inputs of the STO safety function and reset the error. E 1301 4 24 STO_A and STO_B different level The levels of the inputs STO_A and STO_B were different for more than 1 second. The drive has to be switched off and the reason fixed (for example, check whether EMERGENCY STOP is active) before it is switched on. E 1311 - - The selected signal input function or signal output function cannot be configured The selected signal input function or signal output function cannot be used in the selected operating mode. Select another function or change the operating mode. E 1312 - - Limit switch or reference switch signal not defined for signal input function Reference movements require limit switches. These limit switches are not assigned to inputs. Assign the signal input functions Positive Limit Switch, Negative Limit Switch and Reference Switch. E 1B03 4 30 Encoder is not supported by current firmware or damaged E 2300 3 18 Power stage overcurrent Motor short circuit and disabling of the power stage. Motor phases are inverted. Check the motor power connection. E 3200 3 15 DC bus overvoltage Excessive regeneration during braking. Check deceleration ramp, check rating of drive and braking resistor. E 3201 3 14 DC bus undervoltage (shutdown threshold) Power supply loss, poor power supply. Check mains supply. E 3202 2 14 DC bus undervoltage (Quick Stop threshold) Power supply loss, poor power supply. Check mains supply. 0098441113504, V2.00, 08.2010 306 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting BLP14A Brushless DCdrive Brushless Error number Class Bit Description, cause cause and Description, correctives Bit Class Error number E 733C 4 19 Hall sensor initialization error. initialization Hallsensor 19 encoder. errorincremental Initialization 4 19 E 733C range permissible outside offset current Motor 4 30 Invalid motor data E 7340 4 30 E 7123 4 invalid Systemerror: power data stage 30 E 7122 parameter in selection Error 4 - error phase connection Motor E 7100 - 17 Motor overload (I2t) warning E 610D 3 5 Device overtemperature 0 E 5600 21 Power overloadstage warning (I2t) E 4302 3 4 E 4200 Warning power stage overtemperature 0 1 E 4102 0 Power overtemperature stage 21 E 4101 (warning) DC bus undervoltage 3 11 E 4100 0 E 3206 Check hall signal connection and hall parameter settings. hall and connection Check signal hall for settings Incorrect 'M properly. connected not Hall signals in properly. not plugged connector Hall sensor inoperative. encoder Incremental connected. properly not signals encoder Incremental properly.in plugged not connector encoder Incremental thedevice.or replace Contact support technical isinoperative. circuit measurement current Motor themotor.or replace Contact support technical data. memory in internal error is stored in motor encoder corrupt, data Motor thedevice.or replace Contact support technical data. Power indevice datastored stage iscorr Check value the to be written. value selected. parameter Wrong Check of motor phases. connection motor phase.Missing has exceededThe current value thenominal for time. anextendedof period Check fan, improve the cabinet. in dissipation theheat Ambi overtemperature: Board Check rating, reducecycle time. has exceededThe current value thenominal for time. anextendedof period Check fan, the improve in the cabinet. dissipation theheat dust. Transistorsfan high, inoperative, too is is temperature Ambient overtemperature: Check fan, the improve in the cabinet. dissipation theheat dust. Transistorsfan high, inoperative, too is is temperature Ambient overtemperature: Check supply. mains Power loss, powersupply poor/incorrect supply. _hallpos' or 'M_shift'. or _hallpos' ent temperature toohigh. is ent temperature upt (wrong CRC), error in internal memory memory errorininternal upt (wrongCRC), 307 10 Diagnostics and troubleshooting BLP14A

Error number Class Bit Description, cause and correctives E 733D 4 19 Incremental encoder initialization error. Incorrect setting in parameter 'M_SensorLines' E 733E 4 19 Incorrect interpretation of the Hall signals. Hall sensor connector not plugged in properly. Hall signals not connected properly. Incorrect settings for 'M_hallpos' or 'M_shift'. Check hall signal connection and hall parameter settings. E 7500 0 9 RS485/Modbus: overrun error EMC; cabling problem. Check cables. E 7501 0 9 RS485/Modbus: framing error EMC; cabling problem. Check cables. E 7502 0 9 RS485/Modbus: parity error EMC; cabling problem. Check cables. E 7503 0 9 RS485/Modbus: receive error EMC; cabling problem. Check cables. E 8120 0 7 CANopen: CAN Controller in Error Passive Too many error frames have been detected. Check CAN bus installation. E 8130 2 7 CANopen: Heartbeat or Life Guard error The bus cycle time of the CANopen master is higher than the programmed heartbeat or node guard time. Check the CANopen configuration, increase the heartbeat or node guard time. E 8140 - - CANopen: CAN controller was in 'bus-off', communication is possible again E 8141 2 7 CANopen: CAN controller is in 'bus-off' Too many error frames have been detected, CAN devices with different baud rates. Check CAN bus installation. E 8201 0 7 CANopen: RxPDO1 could not be processed Error while processing Receive PDO1: PDO1 contains invalid value. Check RxPDO1 content (application). E 8202 0 7 CANopen: RxPDO2 could not be processed Error while processing Receive PDO2: PDO2 contains invalid value. Check RxPDO2 content (application). E 8203 0 7 CANopen: RxPDO3 could not be processed Error while processing Receive PDO3: PDO3 contains invalid value. Check RxPDO3 content (application). E 8204 0 7 CANopen: RxPDO4 could not be processed Error while processing Receive PDO4: PDO4 contains invalid value. Check RxPDO4 content (application) E A067 3 0 Invalid entry in data set table (additional info = data set number) 0098441113504, V2.00, 08.2010 308 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting BLP14A Brushless DCdrive Brushless E A302 1 1 Stop Stop by positive limitswitch 1 Drive state Quickin operating Active Stop 1 - E A302 - afterHALT Braking procedure request still active - E A301 - E A300 30--Power not stage enabled - Enabled Operation state operating in Drive not - - E A310 Faultstate operating in Drive is Fault or Active Reaction - - A309 E - software stop Stop by internal - A308 E - Stop by software user-initiated stop 3 E A307 Power beenable cannot stage 1 - E A306 - Stop by negative switch limit 1 E A305 1 E A303 cause and Description, correctives Bit Class Error number operation operation of limitswitch positiveThe limitswitch was activated be Drive withQuickstopped Stop command. Error witherrorclass1occurred. Wait standstill. until motor hascometo a complete Wait for stopbefore complete removing HALT signal. New commandwas sentbefore motor standst HALT was removed soon. too Check limitswitch connection. and function Check application. diagram. power the enabled, which refer stage is in state operating drive state toan Set to the Operation Enabled orQuick StopActive). thepower usedbecause Command cannot be state Operation driveEnabled to operating Set andrepeat the command. Enabled (for example, theoperating a command to change mode). thedriv A command was that requires sent Fault command error with Reset. Check so errorcode (HMI orcommissioning with errorclass2or occurred. Error higher Fault command with condition Reset. break Clear activationcommand. the to response the as sent is error code software stop.internal The activation ofanew isnotpossible, mode operating the Jog, and the mode Homing In theoperating Fault command with condition Reset. break Clear to theactivation command. possible, not vation is new mode of a operating Quick operatingDrive state isin StopActive Refer tothe state diagram. ToReady On. Switch Not state enablepower operating to the the An attemptwasFieldbus: in made stage oflimitswitmisoperation negativeThe switch limit was activated Check limitswitch connection. and function Check application. or signal disturbance. orsignal ch or signal disturbance.ch orsignal d in the current operating d inthecurrentoperating state because movementbecause wasrange exceeded, cause movement was range exceeded, mis- e to be in the operating operating state Operation the e to be in due to a software stop request. Theacti- asoftware request. to stop due ftware), remove erro movement is internally interrupted by an interrupted movement internally is ill ill was after a HALT reached request. the errorcodeissent theresponse as stage is not enabled(operating state is not stage r condition and clear 309 10 Diagnostics and troubleshooting BLP14A

Error number Class Bit Description, cause and correctives E A313 - - Position overtraveled, reference point is therefore no longer defined (ref_ok=0) The movement range limits were exceeded which resulted in a loss of the reference point. An absolute movement cannot be made before a new reference point is defined. Define a new reference point by means of the operating mode Homing. E A314 - - No reference point Command needs a defined reference point (ref_ok=1). Define a new reference point by means of the operating mode Homing. E A315 - - Homing active Command cannot be used while the operating mode Homing is active. Wait until reference movement is finished. E A317 - - Motor is not at a standstill Command sent which is not allowed when the motor is not at a standstill. For example: - Change of software limit switches - Change of handling of monitoring signals - Setting of reference point - Teach in of data set Wait until the motor has come to a standstill (x_end = 1). E A318 - - Operating mode active (x_end=0) Activation of a new operating mode is not possible while the current operating mode is still active. Wait until the command in the operating mode has finished (x_end=1) or terminate current operating mode with HALT command. E A31B - - HALT requested Command not allowed while a HALT is requested. Clear HALT request and repeat command. E A31C - - Invalid position setting with software limit switch Value for negative (positive) software limit switch is greater (less) than value for positive (negative) software limit switch. Set correct position values. E A31D - - Velocity range overflow (CTRL_n_max) The velocity was set to a value greater than the maximum permissible velocity in parameter CTRL_n_max. Increase the value of parameter CTRL_n_max or reduce the velocity value. E A31E 1 2 Stop by positive software limit switch Impossible to execute command because positive software limit switch was overtraveled. Return to the permissible range. E A31F 1 2 Stop by negative software limit switch Impossible to execute command because negative software limit switch was overtraveled. Return to the permissible range. 0098441113504, V2.00, 08.2010 310 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting BLP14A Brushless DCdrive Brushless 3B11 Negative limit switch trigge 10 1 Positivemovement of negativedirection switch with limit triggered E A32B 10 1 positive onesignal More than limitswit 10 A32A E 1 A329 E Reference movement to reference switch 10 1 E A328 cause and Description, correctives Bit Class Error number 3711 Reference movement to reference switch 10 1 E A327 3611 Reference switch found not between po 10 enabled not Limit switch approached be to 1 10 E A326 1 info (additional homing errornumber) = detailed during Error 10 A325 E 1 Following error E A324 22 par. E A320 Check the wiring and 24VDC supply voltage. supply and24VDC Check wiring the switches toolow. Reference switch orlimitswitch notc active nected to the negativeto the switch).nected limit Activate movementa jog withnegative move of Checklimit switch. function and correctconnection tion of movement). to negative limit switch) andactivate the positive switch limit (switch direc- inopposite reference movement negative di with Start ence switch. positiveof limit switch, and wiring Check function the negative limit switch andrefer- (parameter RAMPdecel). velocityReduce for reference movement deceleration HMn)orincrease (parameter switch overtraveld. of reference Search switchreversal without travel of limitswitch orreference switch theposit of and wiring Check function the with positive switch limit (negat reference of Search switch reversal without vation oflimit switch nected to the positive limit switch). Activate movementa jog withpositive move of Checklimit switch. function and correct connection of movement). positive switch) limit activateand the negative reference movementStart withpositive dire Check the function and wiring thereferenceof switch. and wiring Check function the Reference switch inoperative connected. ornotcorrectly Enable 'IOsigLimN'. switch limit or 'IOsigLimP' via Homing to positive limit switch or Possible A325,E E suberrorcodes:E orE A326, E A327, A328 A329. infoadditional inthe errormemory. Homing movement was by stopped error,an by reason is indicated the detailed the viaparameter canbeadjusted Flt_pDiff. response Error Use a differently rated drive, if necessary. oracceleration. load external Reduce high. aretoo oracceleration load External red withpositivered dire ive switch) limit activated. negative limit switch is disabled. onnected correctly voltageor supply correctly onnected for ch/negative switch/reference limit switch signal sitive limitswitch and negative limit switch without reversal without over- results of direction ive switch limit (negativelimit switch). without reversalwithout inacti- results of direction rection (forrection example referencemovement ction (forction example reference movement to of direction in positive in (negative) of direction direction ment (target limit (target ment of direction with limit switchof withlimit direction or reference ment (target limit switch limit ment (target must be con- limit switch (switch ction ofmovement switch must becon- in opposite direction direction in opposite 311 10 Diagnostics and troubleshooting BLP14A

Error number Class Bit Description, cause and correctives E A32C 1 10 Reference switch error (switch signal briefly enabled or switch overtraveled) Switch signal disturbance. Motor subjected to vibration or shock when stopped after activation of the switch signal. Check supply voltage, cabling and function of switch. Check motor reaction after stopping and optimize controller settings. E A32D 1 10 Positive limit switch error (switch signal briefly enabled or switch overtraveled) Switch signal disturbance. Motor subjected to vibration or shock when stopped after activation of the switch signal. Check supply voltage, cabling and function of switch. Check motor reaction after stopping and optimize controller settings. E A32E 1 10 Negative limit switch error (switch signal briefly enabled or switch overtraveled) Switch signal disturbance. Motor subjected to vibration or shock when stopped after activation of the switch signal. Check supply voltage, cabling and function of switch. Check motor reaction after stopping and optimize controller settings. E A330 - - Reference movement to index pulse cannot be reproduced. Index pulse is too close to the switch The position difference between the index pulse and the switching point is insuffi- cient. Increase the distance between the index pulse and the switching point. If possible, the distance between the index pulse and the switching point should be a half motor revolution. E A332 1 10 Jog error (additional info = detailed error number) Jog movement was stopped by error. For additional info, check the detailed error number in the error memory. E A334 2 0 Timeout Standstill Window monitoring Position deviation after movement greater than standstill window. This may have been caused by an external load. Check load. Check settings for standstill window (parameters STANDp_win, STANDpwinTime and STANDpwinTout). Optimize controller settings. E A335 1 10 Processing only possible in fieldbus control mode Reference movement started in local control mode (homing not possible if 'DEVcmdinterf' is not set to a fieldbus device, no limit switches). DEVcmdinterf' must be set to a fieldbus device. E A337 0 10 Operating mode cannot be continued Continuation of interrupted movement in operating mode Profile Position is impossible because another operating mode had been active in the meantime. In the operating mode Motion Sequence, continuation is impossible if a motion blend was interrupted. E A33A - - Reference point is not defined (ref_ok=0) No homing done and no motor with absolute encoder connected. Homing position lost because the working position range was left. Start homing. Use motor with multiturn encoder if no homing is to be done. 0098441113504, V2.00, 08.2010 312 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A10Diagnostics andtroubleshooting BLP14A Brushless DCdrive Brushless 3B32 Motor isblocked high. istoo orexternal load 22 3 E A33B 2209RS485/Modbus: warning Nodeguard 9 0 RS485/Modbus: error Nodeguard 6 E B202 RS485/Modbus: error Protocol 2 9 RS485/Modbus: unknown service E B201 0 9 B200 E 0 Target velocity blendwas at reached motion not position. Positionpassed been blend already motion has of 0 E B100 - 1 - info errornumber) (additional =detailed modeMotion Sequence in operating Error E A342 10 A341 E Position ofmotion blend movement theactive in the range of not movement 1 - Nomovement activated E A340 - - E A33F blend Motion isalready active - notavailable Function - incurrentoperating mode E A33E - - - E A33D E A33C cause and Description, correctives Bit Class Error number Stepper motor: detectionwithindexStall puls Stepper motor: Blocking withparameterSPV_t_block. detection DCmotor: Brushless Increase current settings. load. Reduce values. acceleration/deceleration Reduce and rotorangle. parameter MBnode_guard monitoring time). monitoring MBnode_guard parameter Modbuson the Check masteror application was detected. (parameter MBnode_g monitoring Connection time). monitoring MBnode_guard parameter Modbuson the Check masteror application was detected. (parameter MBnode_g monitoring Connection le Wrong error: protocol Logical Check the Modbuson application master. was received. Modbus service Unsupported blend. motion the ramp velocityReduce sothat the target reached. blend motion was ofthe The position overtraveled, velocity target the was not movementThe current beyond passed has themotionblend. position of the Verifyinformation. error by additional checking error the the for on the error. details memory was mode Motion Sequence byThe stopped operating anerror. Check the error Check themotionblend position movementof the current the and range. blend motion isout ofthe The position a movement before blendactivated.motion Start is the movement. blendwithout Activation motion of a Wait for blend comple to motion the blend not yet reached) current blend of the motion motion of blend (endposition Change motion during Activation of whichisnot a function Check the Modbuson application master. ngth orunsupport te before the next setting position. available inthecurrentoperating mode. side of the current movement the of side range. velocity at ofthe isreached the position change value (set to 0ms or increase the increase 0msor valueto (set change the increase 0msor valueto (set change e detectedadeviation uard) is <>0ms and a nodeguard event nodeguard a and is <>0ms uard) event nodeguard a and is <>0ms uard) ed subfunction. of magnetic field field of magnetic 313 10 Diagnostics and troubleshooting BLP14A

Error number Class Bit Description, cause and correctives E B400 2 7 CANopen: NMT reset with power stage enabled NMT Reset command is received while drive is in operating state Operation Enabled. Disable the power stage before sending a NMT reset command. E B401 2 7 CANopen: NMT reset with power stage enabled NMT Stop command is received while drive is in operating state Operation Enabled. Disable the power stage before sending a NMT Stop command. 0098441113504, V2.00, 08.2010 314 Brushless DC drive 0098441113504, V2.00, 08.2010 11Representation oftheparameters 11.1 11Parameters Parameters 11 BLP14A Brushless DCdrive Brushless Entering values Entering Input examples: Input decimalapoint.All decimal places must beentered. Please note that parameter values are entered viathe fieldbus without identification, the default valuesofparameter. a and the properties The way parameters are shown provides information required for unique for operating the product. This chapter provides an overview .0 .0 1000 50 2357 20 1.000 23.57 5.0 Fieldbus 20 1.000 Commissioning software 23.57 5.0 20 Value injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these When commissioning, carefully tests run for all operating states • the systemif there are Only nopersonsor start obstructions in • Neverchange aparameteryou unless understand its meaning. • or signalsdeactivate or monitoring functions. ters. Unsuitable parameter valuesunintended can trigger movements The behavior of the drive systemis governed by numerous parame- UNINTENDED BEHAVIOR CAUSEDBY PARAMETERS and potential faultsituations. the hazardous area. @ WARNING of the parameters whichcanbe used 11 315 11 Parameters BLP14A

11.1.1 Explanation of the parameter representation

Structure of the parameter representation:

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

Example_Name Brief description (cross-reference) Apk UINT32 Fieldbus 1234 0.00 R/W Selection values 3.00 per. 1 / Selection value1: Explanation 1 300.00 - 2 / Selection value2: Explanation 2 Further description and details

Parameter name The parameter name uniquely identifies a parameter. Description Short description (cross reference) The short description contains information on the parameter and a cross reference to the page that describes the use of the parameter. Selection values In the case of parameters which offer a selection of settings, the value to be entered via the fieldbus and the designation of the value for input via the commissioning software and the HMI are specified. 1 = Value via fieldbus Selection value1 = Selection value via commissioning software Further description and details Provides further information on the parameter. Unit The unit of the value. Minimum value The minimum value which can be entered. Factory setting Factory settings when the product is shipped Maximum value The maximum value which can be entered. Data type If the minimum and the maximum values are not explicitly indicated, the valid range of values is determined by the data type.

Data type Byte Minumum value Maximum value INT8 1 Byte / 8 Bit -128 127 UINT8 1 Byte / 8 Bit 0 255 INT16 2 Byte / 16 Bit -32768 32767 UINT16 2 Byte / 16 Bit 0 65535 INT32 4 Byte / 32 Bit -2147483648 2147483647 UINT32 4 Byte / 32 Bit 0 4294967295 0098441113504, V2.00, 08.2010 316 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless Parameter address Persistent R/W Class.Instance.Attribute • The address consists of: fieldbus. the via parameter the access to used is dress Eachparameter hasauniqueparameter address. The parameter ad- whether it remains inafter the memory the device is switched off . i.e. persistent, is parameter valuethe "per."of the whether indicates values"R/W" can beread and written. "R/"valuesonlycan beread values write and/or read Indicates 317 11 Parameters BLP14A

11.2 List of parameters

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 _acc_pref Acceleration of reference value for profile min /s INT32 CANopen 301F:9h generator - INT32 Modbus 7954 - 0 R/- Sign according to the changed speed value: - - - - Increased speed: Positive sign Reduced speed: Negative sign

_AccessInfo Current access channel for action objects - UINT16 CANopen 3001:Ch - UINT16 Modbus 280 - Low byte : 0 R/- Value 0 : Used by channel in high byte - - - Value 1 : Exclusively used by channel in high - byte

High byte: Current assignment of access channel Value 0: reserved Value 1: IO Value 2: HMI Value 3: Modbus RS485 Value 4: CANopen Value 5: CANopen via second SDO channel Value 6: Profibus Value 7: DeviceNet Value 8: reserved Value 9: Ethernet Values 10 ... 15: Modbus TCP 0098441113504, V2.00, 08.2010 318 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - _DCOMopmd_act - - _actionStatus HMI menu Parameter name STA- STA- -iACT _Idq_act - - _Id_ref - - _Id_act STA- STA- -i2TM _I2t_mean_M - - _I2t_act_M - - iACT i2TM See DCOMopmode forDCOMopmode See coding (195) Activemode operating Reserved Bit 15: speed Profilegenerator Bit 14: Profilegenerator accelerates Bit 13: Profilegenerator decelerates Bit 12: 0) is speed (reference Profilegenerator idle Bit 11: Reserved Bit 10: Bit 9:Reserved Bit 8:Drive rotates counter-clockwise Bit 7:Drive rotates clockwise Bit 6:Drive (<9 [1/min]) is atstandstill Bit 5:Reserved Bit 4:Error class 4 Unit Bit 3:Error class 3 Bit 2:Error class 2 Bit 1:Error class 1 Bit 0:Warning 1: activated activated 0: not status: Signal (244) Action word Description In increments of 0.01Apk of increments In weakening) field (d component, Reference current motor 0.01Apk of increments In d-component current motor Actual % (241) Current overload ofmotor In increments of 0.01Apk of increments In nents and q-components) Total motor current(vector sum d-compo- % (241) Current load motor of movesconstant at 6 - -6 - - 0 - - Maximum value Factory setting Minimum value A A - 0 - - 0.00 - - 0.00 - - 0.00 - A - 0 - pk pk pk - - R/- INT16 INT8 - - R/- UINT16 UINT16 Expert Persistent R/W type Data - - R/- INT16 INT16 - - R/- INT16 INT16 - - R/- INT16 INT16 - - R/- INT16 INT16 - - R/- INT16 INT16 CANopen 6061:0 CANopen 301C:4 CANopen via fieldbus Parameter address CANopen 301C:19 CANopen CANopen 301E:3 CANopen 301E:11 CANopen 301E:2 CANopen Modbus 7176 Modbus Modbus 7686 Modbus 7714 Modbus 7684 Modbus 7220 Modbus 7218 Modbus 6920 Modbus CANopen 301C:1A CANopen 319 h h h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_IO_LI_act Status of digital inputs (257) - UINT16 CANopen 3008:Fh - UINT16 Modbus 2078 - Bit assignments: 0 R/- Bit 0: LI1 - - - Bit 1: LI2 - ... Bit 8:XLI1 Bit 9:XLI2 ...

_IO_LO_act Status of digital outputs (257) - UINT16 CANopen 3008:10h - UINT16 Modbus 2080 - Bit assignments: 0 R/- Bit 0: LO1_OUT - - - Bit 1: LO2_OUT - ... Bit 8: XLO1_OUT Bit 9: XLO2_OUT ...

_Iq_act Actual motor current q-component Apk INT16 CANopen 301E:1h - INT16 Modbus 7682 - In increments of 0.01Apk 0.00 R/- - - - -

_Iq_ref Reference motor current (q component, gen- Apk INT16 CANopen 301E:10h erating torque) - INT16 Modbus 7712 STA- - iQRF 0.00 R/- In increments of 0.01Apk STA- - iQRF - - -

_LastWarning Number of last warning - UINT16 CANopen 301C:9h - UINT16 Modbus 7186 - Number of the most recent warning. 0 R/- If the warning becomes inactive again, the - - - number is memorized until the next Fault - Reset. Value 0: No warning occurred -1 _n_act Actual speed of rotation (207) min INT32 CANopen 606C:0h - INT16 Modbus 7696 STA- - NACT 0 R/- STA- - NACT - - - -1 _n_actRAMP Actual velocity of profile generator (207) min INT32 CANopen 606B:0h - INT32 Modbus 7948 - 0 R/------1 _n_pref Velocity of reference value for profile genera- min INT32 CANopen 301F:7h tor - INT32 Modbus 7950 - 0 R/------1 _n_ref Reference speed of rotation min INT16 CANopen 301E:7h - INT16 Modbus 7694 - 0 R/- - - - - 0098441113504, V2.00, 08.2010 320 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless STA- STA- -PACu _p_actusr - - _p_actRAMPusr - - _p_act STA- STA- -oPh _OpHours - - _n_targetRAMP HMI menu Parameter name - - _p_tarRAMPusr - - _p_refusr - - _p_ref - - _p_DifPeak STA- STA- -PDiF _p_dif - - - PACu oPh PDiF In user-defined units user-defined In Inc (204) profile generator position of Actual units internal position in Actual Unit min Target velocity generator ofprofile Description In user units user In values received. position and absolute relativetor,of the basis the on calculated genera- valueprofile position ofthe Absolute Target ofprofile generator position (236) units Reference inuser-defined position Inc units Reference ininternal position accessthis value.resets A write forSee SPV_p_maxDiff more information. byation caused the speed. devi- control deviation position trol minusthe tracking con- The position erroristhecurrent (242) controller position Value maximumtrackingof the of the error culpsto nue-eie nt 24 usr (204) units user-defined position in Actual s hourscounter Operating SPV_p_maxDiff. of difference terms the in note Please components. of any dynamic tion controll of the position controldeviation to the current Corresponds (242) position actual Current deviation between reference and er without considera- er without - 0 - usr - 0 - Maximum value Factory setting Minimum value - 0 - usr - 0 - usr - 0 - 429496.7295 - 0.0000 revolution - 0 - - 0 - - 0 - 214748.3647 - -214748.3648 revolution -1 - - R/- INT32 INT32 - - R/- INT32 INT32 Expert Persistent R/W type Data - - R/- INT32 INT32 - - R/- INT32 INT32 - - R/- INT32 INT32 - - R/W UINT32 UINT32 - - R/- INT32 INT32 - - R/- INT32 INT32 - - R/- UINT32 UINT32 - - R/- INT32 INT32 CANopen 301F:2 CANopen 6063:0 CANopen via fieldbus Parameter address CANopen 301F:1 CANopen 301E:C CANopen 301E:9 CANopen 3011:F CANopen CANopen 301F:5 CANopen CANopen 6064:0 CANopen 301C:A CANopen Modbus 7940 Modbus 7700 Modbus 7188 Modbus 7946 Modbus Modbus 7938 Modbus 7704 Modbus 7698 Modbus 4382 Modbus 7716 Modbus 7706 Modbus CANopen 60F4:0 CANopen 321 h h h h h h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_PARchecksum Read parameter checksum - UINT16 CANopen 3004:Fh 0 UINT16 Modbus 1054 - - R/- - 65535 - -

_prgNoDEV Firmware program number - UINT16 CANopen 3001:1h - UINT16 Modbus 258 INF- - _PNR Example: PR840.1 0.0 R/- The value is provided as a decimal value: INF- - _PNR - - 8401 -

_prgVerDEV Firmware version number - UINT16 CANopen 3001:2h - UINT16 Modbus 260 INF- - _PVR Example: V4.201 0.000 R/- The value is provided as a decimal value: INF- - _PVR - - 4201 -

_serialNoDEV Device serial number - UINT32 CANopen 3001:17h 0 UINT32 Modbus 302 - Serial number: Unique number for identifica- - R/- tion of the product - 4294967295 per. -

_SigActive Current status of monitoring signals (243) - UINT32 CANopen 301C:7h - UINT32 Modbus 7182 - See _SigLatched for more details on the bit 0 R/- codes. - - - - 0098441113504, V2.00, 08.2010 322 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless FLT- FLT- - STPF _StopFault STA- STA- -SiGS _SigLatched HMI menu Parameter name - - _Ud_ref STA- STA- -TPA _Temp_act_PA - - - STPF SiGS TPA ecito Unit Description In increments of 0.1V of increments In Reference motor voltage d-component Number of the Number ofthe most recenterror. (244) astop causing Number oflast error areproduct-dependent. functions Monitoring (for31: Systemerror Bit example, watchdog) parameter error) (hardware booting System error Bit 30: or Bit 29:EEPROM error Reserved Bit 28: Reserved Bit 27: Reserved Bit 26: Reserved Bit 25: InputsSTOBit 24: different Bit 23:Maximum velocity exceeded FollowingBit 22: error motor) (power stage, Overtemperature Bit 21: 24VDC Undervoltage Bit 20: Bit 19:Motor encoder error Motor circuit Bit 18: overcurrent/short error Motor Bit 17: connection missing phase Mains Bit 16: Overvoltage DCbusBit 15: DC bus Undervoltage Bit 14: Reserved Bit 13: ProfibusBit 12: error Reserved Bit 11: mode Error operating Bit 10: current Bit 9:Frequency of reference too high signal error Bit 8:Ethernet Bit 7:CANerror Bit 6:RS485 error Bit 5:Reserved Bit 4:Inputs STO are0 Bit 3:Quick Stop viafieldbus ing) Bit 2:Outof (SW limit switches,range tun- Bit 1:Limitswitches (LIMP/LIMN/REF) error General Bit 0: Bit assignments: 1: Activated activated 0: Not status: Signal (243) signals Savedmonitoring statusof urn oe tg eprtr 21 °C (241) Current power temperature stage Maximum value Factory setting Minimum value - 0.0 - V - 0 - - - 0 - - - 0 - Expert Persistent R/W type Data - - R/- INT16 INT16 - - R/- UINT32 UINT32 - - R/- UINT16 UINT16 - - R/- INT16 INT16 via fieldbus Parameter address CANopen 301E:5 CANopen CANopen 301C:8 CANopen CANopen 603F:0 CANopen Modbus 7184 Modbus Modbus 7690 Modbus 7200 Modbus 7178 Modbus CANopen 301C:10 CANopen 323 h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_UDC_act Voltage at DC bus V UINT16 CANopen 301C:Fh - UINT16 Modbus 7198 STA- - uDCA DC bus voltage 0.0 R/- in increments of 0.1 V STA- - uDCA - - -

_Udq_ref Total motor voltage (vector sum d-compo- V INT16 CANopen 301E:6h nents and q-components) - INT16 Modbus 7692 - 0.0 R/- Square root of ( _Uq_ref2 + _Ud_ref2) - - - - In increments of 0.1V

_Uq_ref Reference motor voltage q-component V INT16 CANopen 301E:4h - INT16 Modbus 7688 - In increments of 0.1V 0.0 R/- - - - -

_VoltUtil Degree of utilization of DC bus voltage % INT16 CANopen 301E:13h - INT16 Modbus 7718 - With a value of 100%, the drive operates at 0 R/- the voltage limit. - - - -

_WarnActive Active warnings, bit-coded (243) - UINT16 CANopen 301C:Bh - UINT16 Modbus 7190 - See _WarnLatched for more details on the 0 R/- bit codes. - - - - 0098441113504, V2.00, 08.2010 324 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - AbsHomeRequest STA- STA- -WRNS _WarnLatched HMI menu Parameter name SET- SET- -A1iS ANA1_I_scale STA- STA- -A1AC ANA1_act - - AccessLock - - - WRNS A1iS A1AC 1 /Yes 0 /No (205) only after homing positioning Absolute Unit Description HALT) belocked. cannot (suchas signals input of the Processing - Asecond fieldbus - HMI software - Commissioning parameter: with this device following viathe channels access The fieldbus can lock active accessthe to channels 1: Lock access other channels access other 0: Release (183) Locking otheraccesschannels Bit 6: Braking resistor overloadBit 6:Braking resistor (I overload (I Motor Bit 5: Monitoring functions areproduct-dependent. functions Monitoring Reserved Bit 15: warning Ethernet Bit 14: running) still 13: PositionBit not yet valid capture (position ProfibusBit 12: warning phase mains DCbusBit 11: undervoltage/missing (PWRR_B) Bit 10:STO_A (PWRR_ warning Bit 9:RS485 protocol warning encoder Bit 8:Motor Bit 7:CANwarning Bit 4:Power overload stage (I Bit 3:Reserved Bit 2: Temperature of motor high Bit 1:Temperature powerof high stage (see _LastWarning) Bit 0:General warning Bit assignments: 1: Activated activated 0: Not status: Signal automatically. 11,13aredeleted Bits 10, a FaultReset. of Savedin thecase bitsaredeleted warning (244) Savedbit-coded warnings, evaluationsignal. analog of the anegative youBy using sign, the caninvert ANA1 at 10V Reference valueop. in Control Current mode mV Analog1: Value ofinput voltage : No : Yes 2 t) A) and/or A) and/or STO_B 2 t) 2 t) 1 0 0 - Maximum value Factory setting Minimum value 1 - 0 - - 0 - - 300.00 3.00 -300.00 A 10000 - -10000 pk - per. R/W UINT16 UINT16 Expert Persistent R/W type Data - - R/W UINT16 UINT16 - - R/- UINT16 UINT16 - per. R/W INT16 INT16 - - R/- INT16 INT16 CANopen 3006:16 CANopen via fieldbus Parameter address CANopen 3001:1E CANopen CANopen 301C:C CANopen CANopen 3020:3 CANopen Modbus 7192 Modbus Modbus 8198 Modbus 2306 Modbus 316 Modbus 1580 Modbus CANopen 3009:1 CANopen 325 h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 ANA1_n_scale Reference value in operating mode speed min INT16 CANopen 3021:3h control at 10V at ANA1 -30000 INT16 Modbus 8454 SET- - A1NS 3000 R/W The internal maximum speed is limited to the SET- - A1NS 30000 per. current setting in CTRL_n_max. - By using a negative sign, you can invert the evaluation of the analog signal.

ANA1_offset Analog 1: Offset voltage mV INT16 CANopen 3009:Bh -5000 INT16 Modbus 2326 SET- - A1oF The analog input ANA1 is corrected/offset by 0 R/W the offset value. If you have defined a zero SET- - A1oF 5000 per. voltage window, this window is effective in - the zero pass range of the corrected analog input ANA1.

ANA1_win Analog 1: Zero voltage window mV UINT16 CANopen 3009:9h 0 UINT16 Modbus 2322 SET- - A1WN Threshold value up to which an input voltage 0 R/W value is treated as 0 V. SET- - A1WN 1000 per. Example: Value 20, this means a range from - -20 ... +20 mV is treated as 0 mV.

ANAX1_act Voltage value analog input XANA1 mV INT16 CANopen 3009:Ch -10000 INT16 Modbus 2328 STA- - A3AC - R/- STA- - A3AC 10000 - -

BRK_status Status of holding brake - UINT16 CANopen 3008:Bh 0 UINT16 Modbus 2070 - Value 0: Applied 0 R/- Value 1: Released - 2 - Value 2: Not available -

BRK_tclose Time delay for applying the holding brake ms UINT16 CANopen 3005:8h 0 UINT16 Modbus 1296 DRC- - BTCL 0 R/W DRC- - BTCL 1000 per. - 0098441113504, V2.00, 08.2010 326 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - CanDiag COM- CoBD COM- - CANbaud COM- CoAD COM- - CANadr DRC- BTRE - DRC- BRK_trelease HMI menu Parameter name - - CANpdo4Event - - - CoBD CoAD BTRE causing stop causing error from CPD 0x0800 error indication softwarerx/tx overrun0x0400 queue CAN bus-off0x0200 in lost CAN 0x0100 message level CAN 0x0080 warning set received msgwithwrong state heartbeat 0x0040 expired) orlifeguard error (timer heartbeat 0x0020 for error RxPDO4 pms write 0x0010 for error RxPDO3 pms write 0x0008 for error RxPDO2 pms write 0x0004 for error RxPDO1 pms write 0x0002 error for pms read 0x0001 TxPDO word diagnostic CANopen Unit Description Bit 4..15: reserved PDO4 object Bit 3=1:fourth PDO4 object third Bit 2=1: Bit 1=1:second PDO4 object object PDO4 first Bit 0=1: event: an trigger of values object the Changes in eventPDO4 mask time active isswitched until the unit onthenext NOTE: not do become settings Changed switchvalue viarotary selected = rate switch Baud -> >0 (Baud) Rotary value parameter ofuser = rate switch Baud -> 0 = (Baud) Rotary Read access: 1000 / / 1MB 500 / kB/ 500 250 / kB/ 250 125 / kB/ 125 50 / 50 kB / 50 / kB (162) Baudrate CANopen anNMTreset. after until or time active isswitched until the unit onthenext NOTE: not do become settings Changed Value switch from rotary switch = >0:NodeID Rotary (NodeID) = Parameter value switch = 0:NodeID (NodeID) Rotary = Read access: Valid127 numbers): to 1 (node addresses (162) number) (node address CANopen ms delaybrake Time holding forthe releasing 50 1000 : 50kBaud 500 250 125 : 500 kBaud : 500 kBaud : 250 : 125 kBaud : 125 : 1MBaud - 0 - - Maximum value Factory setting Minimum value 15 15 0 - 1000 125 50 - 127 127 1 - 1000 0 0 - - R/- UINT16 UINT16 Expert Persistent R/W type Data - - R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 CANopen 3017:6 CANopen via fieldbus Parameter address CANopen 3017:5 CANopen CANopen 3017:3 CANopen CANopen 3017:2 CANopen 3005:7 CANopen Modbus 5894 Modbus 5892 Modbus 1294 Modbus Modbus 5898 Modbus 5900 Modbus 327 h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

CANrestore CANopen Restore - UINT16 CANopen 3017:8h on 0 UINT16 Modbus 5904 COM- - CoRS 0 / On / : CANopen Restore Default 0 R/W Parameter supported COM- - CoRS off 1 per. 1 / Off / : CANopen Restore Default - Parameter not supported Defines the behavior of the CANopen object 1011 (Restore Default parameter). This value must be set to 'Off' for Telemeca- nique PLCs 'Twido' and 'Mirano'.

CTRL_I_max Current limitation (164) Apk UINT16 CANopen 3012:1h 0.00 UINT16 Modbus 4610 SET- - iMAX The value must not exceed the maximum - R/W permissible current of the motor or the power SET- - iMAX 299.99 per. stage. - Default: M_I_max or PA_I_max, whichever is lowest

CTRL_KFPp Velocity feed-forward position controller % UINT16 CANopen 3012:8h 0.0 UINT16 Modbus 4624 - Overshoot of up to 110% is possible. 100.0 R/W - 110.0 per. -

CTRL_KPid Current controller d component P gain V/A UINT16 CANopen 3011:1h 0.5 UINT16 Modbus 4354 - This value is calculated on the basis of the - R/- motor parameters. - 1270.0 per. - In increments of 0.1V/A

CTRL_KPiq Current controller q component P gain V/A UINT16 CANopen 3011:3h 0.5 UINT16 Modbus 4358 - This value is calculated on the basis of the - R/- motor parameters. - 1270.0 per. - In increments of 0.1V/A -1 CTRL_KPn Velocity controller P gain (174) A/min UINT16 CANopen 3012:3h 0.0001 UINT16 Modbus 4614 - The default value is calculated on the basis - R/W of the motor parameters. - 1.2700 per. -

CTRL_KPp Position controller P gain (179) 1/s UINT16 CANopen 3012:6h 2.0 UINT16 Modbus 4620 - The default value is calculated. - R/W - 495.0 per. - -1 CTRL_n_max Speed limitation (165) min UINT16 CANopen 3012:2h 0 UINT16 Modbus 4612 SET- - NMAX The set value must not exceed the maximum - R/W motor speed. SET- - NMAX 13200 per. - Default: maximum motor speed (see M_n_max)

CTRL_Pcdamp Posicast filter: Damping % UINT16 CANopen 3012:14h 50.0 UINT16 Modbus 4648 - The filter is switched off at a value of 1000. 100.0 R/W - 100.0 per. expert 0098441113504, V2.00, 08.2010 328 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - CTRL_TNn - - CTRL_TNiq - - CTRL_TNid - - CTRL_TAUnref - - CTRL_Pcdelay - - DCOMcompatib - - CURreference - - CUR_I_target HMI menu Parameter name eoiycnrle nerlato ie(7)ms (174) Velocity integral time controller action 0.01ms of increments In parameters. motor valueThis the on the basis of iscalculated time action integral component q controller Current 0.01ms of increments In parameters. motor valueThis the on the basis of iscalculated time action integral component d controller Current (175) value filter timeconstantof Filter reference velocity The filter is switched off at a value of 0. Posicast Timedelay filter: ignored! If the device value this CANopen, not is is ToSwitchOn (4)for CANopendevices. states SwitchOnDisabled (3) and Ready- between statetransition the the Determines fieldbus) must viathe (state transition becontrolled 1 /Drivecom-conform automatically) performed 0 /Automatic 4 from 3to machin DriveCom state via parameter CUR_I_target 2 /Parameter 'currTarg' 10V interface ANA1 1 /AnalogInput 0 /None (194) Current Control Reference value sourcefor operating mode (194) control Reference ope in current Unit Description : None : Automatic (state transition is transition (state : Automatic : Reference value +/- via : Standard-compliant : Standard-compliant e: state transition transition e: state rating mode current : Reference value 327.67 9.00 0.00 327.67 - 0.13 ms 327.67 - 0.13 ms 327.67 9.00 0.00 ms 25.00 0.00 0.00 ms 1 0 0 - 2 0 0 - A Maximum value Factory setting Minimum value 300.00 0.00 -300.00 pk - per. R/W UINT16 UINT16 - per. R/- UINT16 UINT16 - per. R/- UINT16 UINT16 - per. R/W UINT16 UINT16 expert per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - - R/W UINT16 UINT16 Expert Persistent R/W type Data - - R/W INT16 INT16 CANopen 3012:4 CANopen 3011:4 CANopen 3011:2 CANopen 3012:9 CANopen 3012:15 CANopen CANopen 301B:13 CANopen 301B:10 CANopen via fieldbus Parameter address CANopen 3020:4 CANopen Modbus 4360 Modbus 4356 Modbus 4626 Modbus 4650 Modbus Modbus 6950 Modbus 6944 Modbus 8200 Modbus 4616 Modbus 329 h h h h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

DCOMcontrol Drivecom control word (191) - UINT16 CANopen 6040:0h - UINT16 Modbus 6914 - Refer to chapter Operation, Operating 0 R/W States, for bit coding information. - - - Bit 0: Switch on - Bit 1: Enable Voltage Bit 2: Quick Stop Bit 3: Enable Operation Bit 4..6: Operating mode specific Bit 7: Fault Reset Bit 8: Halt Bit 9..15: Reserved (must be 0)

DCOMopmode Operating mode (194) - INT8 CANopen 6060:0h -8 INT16 Modbus 6918 - DS402 operating modes: - R/W 1: Profile position - 6 - 3: Profile velocity - 6: Homing

------Manufacturer operating modes: -1: Jog -3: Current control -4: Speed control -8: Motion sequence

DCOMstatus Drivecom status word (189) - UINT16 CANopen 6041:0h - UINT16 Modbus 6916 - Refer to chapter Operation, State Machine 0 R/- for bit coding information. - - - Bit 0-3,5,6: Status bits - Bit 4: Voltage enabled Bit 7: Warning Bit 8: HALT request active Bit 9: Remote Bit 10: Target reached Bit 11: Reserved Bit 12: Operating mode specific Bit 13: x_err Bit 14: x_end Bit 15: ref_ok

DEVcmdinterf Specification of the control mode (159) - UINT16 CANopen 3005:1h NoNE 0 UINT16 Modbus 1282 - - DEVC 0 / None / : Undefined 0 R/W 1 / IODevice / io: Local control mode - - DEVC CANo 3 per. 2 / CANopen / : CANopen - 3 / Modbus / MoDB: Modbus NOTE: Changed settings do not become active until the unit is switched on the next time (exception: change of value 0, for "First Setup").

DEVSafetyReact Specific safety function response - UINT16 CANopen 3005:21h 0 UINT16 Modbus 1346 - 0 / Standard: Standard response 0 R/W 1 / Specific: Specific response: Error - 1 per. response in all states - 0098441113504, V2.00, 08.2010 330 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - FLT_Idq - - FLT_err_num - - FLT_del_err - - FLT_class HMI menu Parameter name - - FLT_Temp_DEV - - FLT_Qual INF- INF- -PoWo FLT_powerOn - - FLT_n - - FLT_MemReset - PoWo In increments of10mA increments In Motor currentaterror time entry. tothe nextset isautomatically error memory error of the pointer read the addition, In read. be can then ofthe error elements which all from error, memory ...)toanintermediate class, (error error entry the entire thisparametercopies Reading (298) Error number access. read a after returned if a0is processiscompleted The clearing errormemory inthe 1: entries all Delete (297) Clear errormemory Unit acknowledged) Value 4: Fatal error (state 9, be cannot edged) Value3: Fatalacknowl- be can 9, (state error Value 2: Error (Quick Stop ->state 9) 8, Value 1: Error (Quick Stop ->state 7) Valueresponse) 0: Warning (no (298) class Error Description eprtr fdvc terrtm °C Temperaturedevice of time at error aparameter address Example: the error, ontheerrornumber. depending on information additional contains entry This (298) information additional Error min Motor velocity at errortime error entry. tooldest pointer read 1: Set errormemory (297) pointer read error memory Reset ubro oe ncce - Number ofpower cycles on time of occurrence of time - 0.00 - A 65535 - 0 - 1 - 0 - 4 - 0 - Maximum value Factory setting Minimum value - 0 - 65535 - 0 - 1 - 0 - - 0 - 4294967295 - 0 -1 - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 - - R/W UINT16 UINT16 - - R/- UINT16 UINT16 Expert Persistent R/W type Data - - R/- INT16 INT16 - - R/- UINT16 UINT16 - - R/W UINT16 UINT16 - - R/- INT16 INT16 - - R/- UINT32 UINT32 CANopen 303C:9 CANopen 303C:1 CANopen 303B:4 CANopen 303C:2 CANopen via fieldbus Parameter address CANopen 303C:B CANopen 303C:4 CANopen 303B:5 CANopen CANopen 303C:8 CANopen Modbus 15362 Modbus 15112 Modbus 15364 Modbus 15382 Modbus 15368 Modbus 15108 Modbus 15376 Modbus 15114 Modbus 15378 CANopen 303B:2 CANopen 331 h h h h h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

FLT_Temp_PA Temperature of power stage at error time °C INT16 CANopen 303C:Ah - INT16 Modbus 15380 - 0 R/- - - - -

FLT_Time Error time (298) s UINT32 CANopen 303C:3h 0 UINT32 Modbus 15366 - With reference to operating hours counter - R/- - 536870911 - -

FLT_UDC DC bus voltage at error time V UINT16 CANopen 303C:7h - UINT16 Modbus 15374 - In increments of 100mV 0.0 R/- - - - -

FLTAmpOnCyc Number of cycles of enabling the power - UINT16 CANopen 303C:5h stage at error time - UINT16 Modbus 15370 - 0 R/- Number of cycles of enabling the power - - - stage from the time the power supply (con- - trol voltage) was switched on to the time the error occurred.

FLTAmpOnTime Time between enabling of power stage and s UINT16 CANopen 303C:6h occurrence of error - UINT16 Modbus 15372 - 0 R/- - - - -

HMdisREFtoIDX Distance from switching point to index revolution INT32 CANopen 3028:Ch pulse (232) - INT32 Modbus 10264 - 0.0000 R/- It allows to check the distance between the - - - index pulse and the switching point and - serves as a criterion for determining whether the reference movement with index pulse can be reproduced. In increments of 1/10000 revolutions

HMdisusr Distance from switching point (229) usr INT32 CANopen 3028:7h 1 INT32 Modbus 10254 - The distance from the switching point is 200 R/W defined as the reference point. - 2147483647 per. - The parameter is only effective during a reference movement without index pulse.

HMIDispPara HMI display when motor rotates - UINT16 CANopen 303A:2h STAT 0 UINT16 Modbus 14852 DRC- - SuPV 0 / DeviceStatus / : Device status 0 R/W (default) DRC- - SuPV NACT 2 per. 1 / n_act / : Current speed (n_act) - 2 / I_act / iACT: Current motor current

HMIlocked Lock HMI - UINT16 CANopen 303A:1h 0 UINT16 Modbus 14850 - 0 / Not Locked: HMI not locked 0 R/W 1 / Locked: HMI locked - 1 per. The following functions can no longer be - started when the HMI is locked: - Parameter change - Jog - Fault reset 0098441113504, V2.00, 08.2010 332 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - HMn_out - - HMmethod HMI menu Parameter name - - HMp_homeusr - - HMoutdisusr - - HMn RAMPn_max. the current parameterin setting to limited adjustablevalueThe is internally (227) switch Target velocityfor movingaway from switch inside Indexdistance inside: / pulse switch Indexoutside: outside / pulse distance not inv.: switchin inverted not Direction inv.: Invert direction in switch movement REF-: Search pos. in direction Search movementREF+: in pos. direction Abbreviations: 35: Position setting 34: Index pos. pulse direction 33: Index direction neg. pulse 30: REF-,inv., not outside inv., not 29: REF-, inside 28: REF-, inv.,inside inv.,27: REF-, outside notinv.,26: REF+, outside notinv.,25: REF+, inside inv., 24: REF+, inside inv., REF+, 23: outside 18: LIMP 17: LIMN withindex14: REF- pulse, notinv., outside withindex13: REF- notinv., pulse, inside Unit withindex12: REF- pulse, inv., inside withindex11: REF- pulse, inv., outside index with pulse, inv.,10: REF+ not outside 9: REF+ withindex pulse, inv., not inside 8: REF+ withindex pulse, inv., inside 7: REF+ withindex pulse, inv., outside index2: LIMPwith pulse 1: LIMN withindex pulse (226) method Homing Description point. referencethe set at automatically is position After asuccessful reference movement, this (228) Position at reference point ence movement withanerror. iscanceled here,refer- defined the distance the within switchingthe defined isnotfound point to search for the defined switching point. If switch,After detection of the the drive starts units user-defined in >0: Maximum distance inactivedistance of 0: Monitoring (228) point Maximumdistance for searchfor switching RAMPn_max. the current parameterin setting to limited adjustablevalueThe is internally (227) Target velocityfor switch the searching 35 18 1 - min Maximum value Factory setting Minimum value 2147483647 0 -2147483648 usr 2147483647 0 0 usr min 13200 60 1 3000 6 1 -1 -1 - - R/W INT16 INT8 Expert Persistent R/W type Data - per. R/W INT32 INT32 - per. R/W INT32 INT32 - per. R/W UINT16 UINT32 - per. R/W UINT16 UINT32 CANopen 6098:0 CANopen via fieldbus Parameter address CANopen 3028:B CANopen 3028:6 CANopen CANopen 6099:1 CANopen 6099:2 CANopen Modbus 6936 Modbus Modbus 10262 Modbus 10252 Modbus 10248 Modbus 10250 333 h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

HMp_setpusr Position for position setting (236) usr INT32 CANopen 301B:16h - INT32 Modbus 6956 - Position setting position for homing method 0 R/W 35 - - - -

HMsrchdisusr Maximum search distance after overtravel of usr INT32 CANopen 3028:Dh switch (228) 0 INT32 Modbus 10266 - 0 R/W 0: Search distance monitoring disabled - 2147483647 per. >0: Search distance in user units - The switch must be activated again within this search distance, otherwise the reference movement is canceled.

IO_AutoEnable Enabling the power stage at PowerOn - UINT16 CANopen 3005:6h off 0 UINT16 Modbus 1292 DRC- - ioAE 0 / Off / : Active Enable during power on 0 R/W does not activate the power stage. DRC- - ioAE on 2 per. 1 / On / : Active Enable during power on - activates the power stage. 2 / AutoOn / Auto: Power stage is automatically activated at power on.

IO_LO_set Setting the digital outputs directly - UINT16 CANopen 3008:11h - UINT16 Modbus 2082 - Write access to output bits is only active if 0 R/W the signal pin is available as an output and if - - - the function of the output was set to 'Availa- - ble as required'.

Coding of the individual signals: Bit 0: LO1_OUT Bit 1: LO2_OUT ... Bit 7: XLO1_OUT Bit 8: XLO2_OUT ...

IOdefaultMode Start-up operating mode for 'Local control - UINT16 CANopen 3005:3h mode' (161) 0 UINT16 Modbus 1286 DRC- - io-M 0 R/W 0 / None / NoNE: None DRC- - io-M CuRR 6 per. 1 / CurrentControl / : Current control - (reference value from ANA1) 2 / SpeedControl / SPED: Speed control (reference value from ANA1) 5 / Jog / Jog: Jog 6 / MotionSequence / MotS: Motion sequence NOTE: The operating mode is automatically activated as soon as the drive switches to the operating state Operation Enabled and 'IODevice / IO' is set in the parameter DEVc- mdinterf. 0098441113504, V2.00, 08.2010 334 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless I-O- I-O- - Li2 IOfunct_LI2 I-O- I-O- - Li1 IOfunct_LI1 HMI menu Parameter name - - Li2 Li1 Negative limit switch (LIMN) Negative limit switch (LIMN) 22 / Negative limit switch (LIMN) / Positive limitswitch(LIMP) 21 / Positive limit switch (LIMP) / ence switch (REF) 22 / Negative limit switch (LIMN) / Positive limitswitch(LIMP) 21 / Positive limit switch (LIMP) / ence switch (REF) ecito Unit Description 20 / Reference switch20 /Reference / (REF) selection set sequence: data switch20 /Reference / (REF) selection set sequence: data 4 / Halt / only) mode trol 2 /Fault / reset required available1 /Free / (262) LI2 Input Function 4 / Halt / only) mode trol 2 /Fault / reset required available1 /Free / (262) LI1 Input Function 6 / Enable 6 /Enable positive motormove / 6 /Enable positive motormove / 14 / DataSet Select / Select 14 /DataSet request start / 13 /DataSetStart 11 / Jog fast/slow / / 10 /Jognegative / 9 /Jogpositive only) mode trol Enable negative movement motor con- (local motormove 7 /Enable negative / only) mode trol Enable positive motor movement (local con- / Select 14 /DataSet request start / 13 /DataSetStart 11 / Jog fast/slow / / 10 /Jognegative / 9 /Jogpositive only) mode trol Enable negative movement motor con- (local motormove 7 /Enable negative / only) mode trol Enable positive motor movement (local con- hALt hALt : Halt : Halt FrES FrES JoGP JoGP nonE nonE JoGn JoGn dStA dStA JoGF JoGF : Reset fault: Reset con- (local fault: Reset con- (local dSEL dSEL : Jogpositive : Jogpositive : Available as : Available as : Jognegative : Jognegative : Motion sequence: sequence: : Motion sequence: : Motion : Jogfast/slow : Jogfast/slow : Motion : Motion rEF rEF : Refer- : Refer- PoSM PoSM LiMP LiMP nEGM nEGM LiMn LiMn : : : : : : : : - 0 - - - 0 - - Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W type Data CANopen 3007:2 CANopen 3007:1 CANopen via fieldbus Parameter address Modbus 1794 Modbus Modbus 1796 Modbus 335 h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOfunct_LI4 Function Input LI4 (263) - UINT16 CANopen 3007:4h nonE - UINT16 Modbus 1800 I-O- - Li4 1 / Free available / : Available as 0 R/W required I-O- - Li4 FrES - per. 2 / Fault reset / : Reset fault (local con- - trol mode only) 4 / Halt / hALt: Halt 6 / Enable positive motor move / PoSM: Enable positive motor movement (local control mode only) 7 / Enable negative motor move / nEGM: Enable negative motor movement (local control mode only) 9 / Jog positive / JoGP: Jog positive 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 20 / Reference switch (REF) / rEF: Refer- ence switch (REF) 21 / Positive limit switch (LIMP) / LiMP: Positive limit switch (LIMP) 22 / Negative limit switch (LIMN) / LiMn: Negative limit switch (LIMN)

IOfunct_LO1 Function Output LO1_OUT (268) - UINT16 CANopen 3007:9h nonE - UINT16 Modbus 1810 I-O- - Lo1 1 / Free available / : Available as 0 R/W required I-O- - Lo1 nFLt - per. 2 / No fault / : No fault - 3 / Active / Acti: Ready 4 / Motor move disable / MdiS: Direction of movement disabled 9 / Halt acknowledge / hALt: Halt confirmation 10 / Brake release / brAK: Holding brake control 11 / DataSet start acknowledge / dSAc: Motion sequence: acknowledgement of start request 12 / DataSet trigger output / trot: Motion sequence: trigger output 13 / Motor standstill / MStd: Motor standstill

IOfunct_LO2 Function Output LO2_OUT (268) - UINT16 CANopen 3007:Ah nonE - UINT16 Modbus 1812 I-O- - Lo2 1 / Free available / : Available as 0 R/W required I-O- - Lo2 nFLt - per. 2 / No fault / : No fault - 3 / Active / Acti: Ready 4 / Motor move disable / MdiS: Direction of movement disabled 9 / Halt acknowledge / hALt: Halt confirmation 10 / Brake release / brAK: Holding brake control 11 / DataSet start acknowledge / dSAc: Motion sequence: acknowledgement of start request 12 / DataSet trigger output / trot: Motion sequence: trigger output 13 / Motor standstill / MStd: Motor standstill 0098441113504, V2.00, 08.2010 336 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless I-O- I-O- - oLi3 IOfunct_XLI3 I-O- I-O- - oLi2 IOfunct_XLI2 I-O- I-O- - oLi1 IOfunct_XLI1 HMI menu Parameter name - - - oLi3 oLi2 oLi1 manual mode 19 /Automatic/Manual / data set Bit3 selection 18 /DataSet Bit3 / data set Bit2 selection 17 /DataSet Bit2 / data set Bit1 selection 16 /DataSet Bit1 / data set Bit0 selection 15 /DataSet Bit0 / selection set sequence: data manual mode 19 /Automatic/Manual / data set Bit3 selection 18 /DataSet Bit3 / data set Bit2 selection 17 /DataSet Bit2 / data set Bit1 selection 16 /DataSet Bit1 / data set Bit0 selection 15 /DataSet Bit0 / selection set sequence: data manual mode 19 /Automatic/Manual / data set Bit3 selection 18 /DataSet Bit3 / data set Bit2 selection 17 /DataSet Bit2 / data set Bit1 selection 16 /DataSet Bit1 / data set Bit0 selection 15 /DataSet Bit0 / selection set sequence: data ecito Unit Description 14 / DataSet Select / Select 14 /DataSet request start / 13 /DataSetStart 11 / Jog fast/slow / / 10 /Jognegative / 9 /Jogpositive required available1 /Free / (264) Input XLI3 Module Function / Select 14 /DataSet request start / 13 /DataSetStart 11 / Jog fast/slow / / 10 /Jognegative / 9 /Jogpositive required available1 /Free / (264) Input XLI2 Module Function / Select 14 /DataSet request start / 13 /DataSetStart 11 / Jog fast/slow / / 10 /Jognegative / 9 /Jogpositive required available1 /Free / (263) Input XLI1 Module Function JoGP JoGP JoGP dSb3 dSb2 dSb1 dSb0 dSb3 dSb2 dSb1 dSb0 dSb3 dSb2 dSb1 dSb0 nonE nonE nonE JoGn JoGn JoGn dStA dStA dStA JoGF JoGF JoGF dSEL dSEL dSEL : Jogpositive : Jogpositive : Jogpositive : Motion sequence: sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion sequence: : Motion : Available as : Available as : Available as : Jognegative : Jognegative : Jognegative : Motion sequence: sequence: : Motion sequence: : Motion sequence: : Motion : Jogfast/slow : Jogfast/slow : Jogfast/slow Auto Auto Auto : Motion : Motion : Motion : Automatic/ : Automatic/ : Automatic/ - 0 - - - 0 - - - 0 - - Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W type Data CANopen 3007:1B CANopen 3007:1A CANopen 3007:19 CANopen via fieldbus Parameter address Modbus 1844 Modbus 1842 Modbus Modbus 1846 Modbus 337 h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOfunct_XLI4 Function Module Input XLI4 (264) - UINT16 CANopen 3007:1Ch nonE - UINT16 Modbus 1848 I-O- - oLi4 1 / Free available / : Available as 0 R/W required I-O- - oLi4 JoGP - per. 9 / Jog positive / : Jog positive - 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 15 / DataSet Bit0 / dSb0: Motion sequence: data set selection Bit0 16 / DataSet Bit1 / dSb1: Motion sequence: data set selection Bit1 17 / DataSet Bit2 / dSb2: Motion sequence: data set selection Bit2 18 / DataSet Bit3 / dSb3: Motion sequence: data set selection Bit3 19 / Automatic/Manual / Auto: Automatic/ manual mode

IOfunct_XLI5 Function Module Input XLI5 (265) - UINT16 CANopen 3007:1Dh nonE - UINT16 Modbus 1850 I-O- - oLi5 1 / Free available / : Available as 0 R/W required I-O- - oLi5 JoGP - per. 9 / Jog positive / : Jog positive - 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 15 / DataSet Bit0 / dSb0: Motion sequence: data set selection Bit0 16 / DataSet Bit1 / dSb1: Motion sequence: data set selection Bit1 17 / DataSet Bit2 / dSb2: Motion sequence: data set selection Bit2 18 / DataSet Bit3 / dSb3: Motion sequence: data set selection Bit3 19 / Automatic/Manual / Auto: Automatic/ manual mode

IOfunct_XLI6 Function Module Input XLI6 (265) - UINT16 CANopen 3007:1Eh nonE - UINT16 Modbus 1852 I-O- - oLi6 1 / Free available / : Available as 0 R/W required I-O- - oLi6 JoGP - per. 9 / Jog positive / : Jog positive - 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 15 / DataSet Bit0 / dSb0: Motion sequence: data set selection Bit0 16 / DataSet Bit1 / dSb1: Motion sequence: data set selection Bit1 17 / DataSet Bit2 / dSb2: Motion sequence: data set selection Bit2 18 / DataSet Bit3 / dSb3: Motion sequence: data set selection Bit3 19 / Automatic/Manual / Auto: Automatic/ manual mode 0098441113504, V2.00, 08.2010 338 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - IOsigLimP - - IOsigLimN I-O- I-O- - oLo2 IOfunct_XLO2 I-O- I-O- - oLo1 IOfunct_XLO1 HMI menu Parameter name - - JOGstepusr JOG- JOG- - NSLW JOGn_slow JOG- JOG- - NFST JOGn_fast - - JOGactivate - - IOsigRef - - - - oLo2 oLo1 NSLW NFST 2 /normally open 1 /Normally Closed 0 /Inactive (227) switch evaluationSignal for positive limit 2 / Normally Open 1 /Normally Closed 0 /Inactive (227) switch evaluationSignal for negative limit Unit Description >0: Positioning cycle jog per distance activation0: Direct of continuous movement (198) movement to continuous Jog distance prior Bit 2:0=slow 1=fast Bit 1:negative rotation direction of Bit 0:positive ofrotation direction (198) Activation of mode Jog operating is processed. reference movement to thereference switch The reference switch is activeonly a while 2 / Normally Open 1 /Normally Closed (227) evaluationSignal for reference switch sequence: trigger output trigger sequence: 12 /DataSet output / trigger request acknowledgement sequence: ofstart Motion acknowledge / start 11 /DataSet required available1 /Free / (268) XLO2_OUT Output Module Function output trigger sequence: 12 /DataSet output / trigger request acknowledgement sequence: ofstart Motion acknowledge / start 11 /DataSet required available1 /Free / (268) XLO1_OUT Output Module Function RAMPn_max. the current parameterin setting to limited adjustablevalueThe is internally (198) forSpeed slow jog RAMPn_max. the current parameterin setting to limited adjustablevalueThe is internally (198) forSpeed fastjog : Inactive : Inactive : Normally open NO open : Normally : Normally open NO open : Normally : Normally open NO open : Normally nonE nonE : Normally closed NC : Normally closed NC : Normally closed NC : Available as : Available as trot trot : Motion : Motion dSAc dSAc : : 2 1 0 - 2 1 0 - Maximum value Factory setting Minimum value 2147483647 20 0 usr 7 0 0 - 2 1 1 - 13200 60 1 13200 180 1 - 0 - - - 0 - - min min -1 -1 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W type Data - per. R/W INT32 INT32 - - R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 CANopen 3006:10 CANopen CANopen 3006:F CANopen via fieldbus Parameter address CANopen 3029:7 CANopen 301B:9 CANopen 3006:E CANopen CANopen 3029:4 CANopen 3029:5 CANopen CANopen 3007:22 CANopen 3007:21 CANopen Modbus 1566 Modbus 1860 Modbus 1858 Modbus Modbus 10510 Modbus 10504 Modbus 10506 6930 Modbus 1564 Modbus 1568 Modbus 339 h h h h h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

JOGtime Wait time prior to continuous ms UINT16 CANopen 3029:8h movement (198) 1 UINT16 Modbus 10512 - 500 R/W This time is only effective if you have set a - 32767 per. jog distance not equal to 0, otherwise the - drive immediately starts a continuous movement.

LIM_I_maxHalt Current limitation for Halt (253) Apk UINT16 CANopen 3011:6h - UINT16 Modbus 4364 SET- - LihA Max. current during braking after Halt or - R/W when an operating mode is terminated. SET- - LihA - per. - Maximum and default settings depend on the motor and the power stage (settings M_I_max and PA_I_max)

In increments of 0.01Apk

LIM_I_maxQSTP Current limitation for Quick Stop (252) Apk UINT16 CANopen 3011:5h - UINT16 Modbus 4362 SET- - LiQS Max. current during braking via torque ramp - R/W due to an error of error classes 1 or 2 and SET- - LiQS - per. when a software stop is triggered. - Maximum and default settings depend on the motor and the power stage (settings M_I_max and PA_I_max)

In increments of 0.01Apk

M_currcomp Current for cogging torque compensation A UINT16 CANopen 300D:1Fh 0.00 UINT16 Modbus 3390 DRC- - COMP 0.00 R/W DRC- - COMP 6.00 per. -

M_hallpos Hall sensor position - UINT16 CANopen 300D:1Eh 120 0 UINT16 Modbus 3388 DRC- - HALL 0 / 120° / : Position 120° 0 R/- 1 / 60° / 60: Position 60° DRC- - HALL 1 per. -

M_hallshift Hall sensor shift - UINT16 CANopen 300D:1Dh off - UINT16 Modbus 3386 DRC- - SSHI 0 / Direct / : Without shift - R/- 1 / Shifted / on: With shift DRC- - SSHI - per. -

M_I_0 Continuous stall current of motor Apk UINT16 CANopen 300D:13h - UINT16 Modbus 3366 - In increments of 0.01Apk - R/- - - - -

M_I_max Maximum current of motor Apk UINT16 CANopen 300D:6h - UINT16 Modbus 3340 INF- - MiMA In increments of 0.01Apk - R/- INF- - MiMA - - -

M_I_nom Nominal current of motor Apk UINT16 CANopen 300D:7h - UINT16 Modbus 3342 INF- - MiNo In increments of 0.01Apk - R/- INF- - MiNo - - - 0098441113504, V2.00, 08.2010 340 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - M_n_nom - - M_n_max - - M_L_q_EC - - M_kE_EC - - M_I2t - - M_SensorLines DRC- SENS - DRC- M_Sensor - - M_R_UV - - M_Polepair HMI menu Parameter name - SENS oia pe frtto fmtrmin rotationofmotor of speed Nominal motor rotationof of speed Maximum permissible mH 0.01 of increments In inductance connection Motor Voltage in Vpk at1000 1/min constant Voltage kEofmotor constant ms Maximum time for permissible M_I_max ubro ie fmtrecdr- encoder ofmotor Number oflines 10mOhm of increments In - resistance connection Motor of motor Number ofpole pairs Unit Description increment signals increment / 17 /Hall And Incremental / 16 /Hallsensor 0 /Unknown / (161) typeof Encoder motor none hall : Unknown : Hall signals : Hall hinc : Hall and : Hall min - - - mH ------Ω - - - Maximum value Factory setting Minimum value ------0 - - -1 -1 - - R/- UINT16 UINT16 expert - R/W UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 Expert Persistent R/W type Data - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 CANopen 300D:21 CANopen 300D:20 CANopen 300D:11 CANopen CANopen 300D:1B CANopen 300D:D CANopen 300D:14 CANopen via fieldbus Parameter address CANopen 300D:4 CANopen CANopen 300D:5 CANopen Modbus 3336 Modbus 3394 Modbus 3392 Modbus 3362 Modbus Modbus 3382 Modbus 3334 Modbus 3354 Modbus 3368 Modbus 3338 Modbus CANopen 300D:3 CANopen 341 h h h h h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

M_Type Motor type (160) - UINT32 CANopen 300D:2h none - UINT32 Modbus 3332 DRC- - MTYP 0 / None / : No motor selected - R/- 4334 / BDM4332 (RECM343/3 24V) / 4334: DRC- - MTYP - - BDM4332 (RECM343/3 24V) - 4338 / BDM4334 (RECM343/3 48V) / 4338: BDM4334 (RECM343/3 48V) 4344 / BDM4342 (RECM343/4 24V) / 4344: BDM4342 (RECM343/4 24V) 4348 / BDM4344 (RECM343/4 48V) / 4348: BDM4344 (RECM343/4 48V) 4534 / BDM4532 (RECM345/3 24V) / 4534: BDM4532 (RECM345/3 24V) 4538 / BDM4534 (RECM345/3 48V) / 4538: BDM4534 (RECM345/3 48V) 4544 / BDM4542 (RECM345/4 24V) / 4544: BDM4542 (RECM345/4 24V) 4548 / BDM4544 (RECM345/4 48V) / 4548: BDM4544 (RECM345/4 48V) 7224 / BDM7222 (RECM372/2 24V) / 7224: BDM7222 (RECM372/2 24V) 7228 / BDM7224 (RECM372/2 48V) / 7228: BDM7224 (RECM372/2 48V) 7244 / BDM7242 (RECM372/4 24V) / 7244: BDM7242 (RECM372/4 24V) 7248 / BDM7244 (RECM372/4 48V) / 7248: BDM7244 (RECM372/4 48V) 7424 / BDM7422 (RECM374/2 24V) / 7424: BDM7422 (RECM374/2 24V) 7428 / BDM7424 (RECM374/2 48V) / 7428: BDM7424 (RECM374/2 48V) 7444 / BDM7442 (RECM374/4 24V) / 7444: BDM7442 (RECM374/4 24V) 7448 / BDM7444 (RECM374/4 48V) / 7448: BDM7444 (RECM374/4 48V) 7528 / BDM7524 (RECM375/2 48V) / 7528: BDM7524 (RECM375/2 48V) 7548 / BDM7544 (RECM375/4 48V) / 7548: BDM7544 (RECM375/4 48V) 7728 / BDM7724 (RECM377/2 48V) / 7728: BDM7724 (RECM377/2 48V) 7748 / BDM7744 (RECM377/4 48V) / 7748: BDM7744 (RECM377/4 48V) 99999999 / User-defined Motor / uSEr: User-defined motor

M_U_nom Nominal voltage of motor V UINT16 CANopen 300D:Ah - UINT16 Modbus 3348 - Voltage in increments of 100mV - R/- - - - -

MBadr Modbus address (163) - UINT16 CANopen 3016:4h 1 UINT16 Modbus 5640 COM- - MBAD Valid addresses: 1 to 247 1 R/W COM- - MBAD 247 per. - 0098441113504, V2.00, 08.2010 342 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - MBnode_guard COM- MBFoCOM- - MBformat COM- MBWoCOM- - MBdword_order COM- MBBDCOM- - MBbaud HMI menu Parameter name - - - MBFo MBWo MBBD >0: Monitoring time >0: Monitoring 0: Inactive (default) guard Node Modbus guard node ecito Unit Description time active isswitched until the unit onthenext NOTE: not do become settings Changed 2 stop bits ity bit, 4 /8BitNoParity 2Stop / bit stop bit, 1 parity 3 /8Bit OddParity 1Stop/ bit stop bit, 1 parity 8Bit EvenParity2 / / 1Stop 1 stop ity bit, bit 1 /8BitNoParity 1Stop / format Modbus data nique) Low word first HMI(Telemeca- ->Premium, High word first -> Modicon Quantum High word firstorlow word first / 1 /LowHigh / 0 /HighLow values) Modbus for word order double bit (32 words time active isswitched until the unit onthenext NOTE: not do become settings Changed / /38400 38400 / /19200 19200 / 9600 / 9600 (163) Modbus rate Baud 9.6 Lohi hiLo 38.4 19.2 : 9600 : 9600 Baud : LowWord-HighWord : HighWord-LowWord : 38400 Baud : 38400 Baud : 19200 8N2 8N1 8o1 8E1 : 8bits, no par- : 8bits, no par- : 8bits, odd : 8bits, even 10000 0 0 ms Maximum value Factory setting Minimum value 4 2 1 - 1 0 0 - 38400 19200 9600 - - - R/W UINT16 UINT16 Expert Persistent R/W type Data - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 CANopen 3016:6 CANopen via fieldbus Parameter address CANopen 3016:5 CANopen 3016:7 CANopen 3016:3 CANopen Modbus 5642 Modbus 5646 Modbus 5638 Modbus Modbus 5644 Modbus 343 h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

MinTimeAckBit- Minimum time for movement active acknowl- - UINT16 CANopen 3006:24h Low edge bit 0 UINT16 Modbus 1608 0 R/W - Value 0: Inactive. Acknowledge is generated 16383 per. by actual movement time. - - Value >0: Minimum time for active movement acknowledge.

If the movement time is less than the set time value, the time for the active movement acknowledge will be increased. If the movement time is greater than the set time value, the acknowledge bit for the active movement will be processed only by the movement time.

Example: Actual movement time = 5 ms Value for minimum time = 20 ms Acknowledge bit for active movement will be set to Low for 20 ms.

The minimum time setting is also active during processing of the homing movement and when a specific reference position value is set. In these two cases, the feedback information for 'ref_ok' or 'homing_attained' will also be processed using the set time.

MSMactNum Current data set number - INT16 CANopen 302D:4h -1 INT16 Modbus 11528 - -1: Operating mode inactive or no data set -1 R/- triggered yet - 15 - >0: Number of the currently started data set -

MSMavailCnt Number of available data sets - UINT16 CANopen 302D:Fh 16 UINT16 Modbus 11550 - Number of data sets that are available. 16 R/- - 16 - -

MSMcurNextCond Current transition condition - UINT16 CANopen 302D:9h 0 UINT16 Modbus 11538 - 0 / Rising Edge: Rising edge 4 R/- 1 / Falling Edge: Falling edge - 7 - 2 / 1-level: 1 level - 3 / 0-level: 0 level 4 / Global Next Condition: Global transition condition (see MSMglobalCond) 5 / Auto: Auto 6 / Blended Move Typ A: Blended movement a 7 / Blended Move Typ B: Blended movement b Shows the transition condition which must be met for the next data set to be triggered. Coding corresponds to the definition in the parameter 'MSMdataNextCond' -1 MSMdataAcc Acceleration (212) min /s UINT32 CANopen 302D:14h 0 UINT32 Modbus 11560 - 0: Use of current acceleration, no change 0 R/W >0: Special acceleration value, see parame- - 3000000 per. ter RAMPacc for adjustment range - 0098441113504, V2.00, 08.2010 344 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - MSMdataOutEnd - - MSMdataNextCond - - MSMdataNext - - MSMdataDelay - - MSMdataDec HMI menu Parameter name - - MSMdataSpeed - - MSMdataOutStrt ing mode 'sequential selection'. 'sequential mode ing setting is only effectiveThis process- inthe 3 /Inverted Level 2 /0-level 1 /1-level 0 /Unchanged Level data set is finished a processing of when processing Output selection'. 'sequential mode ing setting is only effectiveThis process- inthe b ment 7 /Blended Move Typ B a ment 6 /Blended Move Typ A 5 /Auto (seeMSMglobalCond) condition 4 /GlobalNext Condition 3 /0-level 2 /1-level 1 /Falling Edge 0 /Rising Edge (214) Transition condition selection'. 'sequential mode ing setting is only effectiveThis process- inthe (212) dataset Number ofsubsequent selection'. 'sequential mode ing setting is only effectiveThis process- inthe Unit movement.the of wait termination msafter Additional timein (212) Wait time forRAMPdecel range ter adjustment >0: Special deceleration value, seeparame- change no deceleration, current of 0: Use (212) Deceleration Description search speed. to the homing of the case ence speed, in ments, value this to the refer-corresponds In the caseofrelative or absolutemove- (212) Speed selection'. 'sequential mode ing setting is only effectiveThis process- inthe 3 /Inverted Level 2 /0-level 1 /1-level 0 /Unchanged Level setisstarted adata when processing Output : Auto : 0 level: 0 level: 1 level: 0 level: 1 : 0 level: 0 level: 1 : Rising edge : Rising : Fallingedge : Inverted level : Inverted level : Unchanged level : Unchanged : Unchanged level : Unchanged : Blended move- : Blended move- : Blended : Global transition transition : Global 3 0 0 - 7 4 0 - 15 0 0 - 30000 0 0 ms min Maximum value Factory setting Minimum value min 3 0 0 - 3000000 0 0 13200 0 0 -1 -1 /s - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W type Data - per. R/W UINT16 UINT16 - per. R/W UINT32 UINT32 - per. R/W UINT16 UINT16 CANopen 302D:1A CANopen 302D:17 CANopen 302D:18 CANopen 302D:16 CANopen via fieldbus Parameter address CANopen 302D:19 CANopen CANopen 302D:15 CANopen CANopen 302D:13 CANopen Modbus 11566 Modbus 11568 Modbus 11564 Modbus 11562 Modbus 11558 Modbus 11570 Modbus 11572 345 h h h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

MSMdataTarget Target value of movement type (211) - INT32 CANopen 302D:12h -2147483648 INT32 Modbus 11556 - The value depends on the selected process- 0 R/W ing type (see MSMdataType for settings): - 2147483647 per. - None: no meaning - - Absolute positioning: absolute position in usr - Relative positioning: relative distance in usr - Reference movement: type of reference movement (see HMmethod) - Position setting: position setting position in usr

MSMdataType Selection of movement type (211) - UINT16 CANopen 302D:11h 0 UINT16 Modbus 11554 - 0 / None: None 0 R/W 1 / Absolute Positioning: Absolute position- - 4 per. ing - 2 / Relative Positioning: Relative positioning 3 / Homing: Homing 4 / Set Position: Position setting Sequential selection: Processing of wait time and transition condition only. Direct selection: Triggering of a data set without movement, but compliance with handshake mechanism.

MSMfeature Special setting - UINT16 CANopen 302D:Bh 0 UINT16 Modbus 11542 - Value 1: 0 R/W Only sequential selection: - 1 - No automatic transition. When a data set is - started, this value is used. The subsequent data set is triggered by a rising edge. If the movement is of type "Blended Movement", the complete blended movement is processed. After processing of the data set or in the case of a fault, the value is reset to 0.

MSMglobalCond Global transition condition (210) - UINT16 CANopen 302D:8h 0 UINT16 Modbus 11536 - 0 / Rising Edge: Rising edge 0 R/W 1 / Falling Edge: Falling edge - 3 per. 2 / 1-level: 1 level - 3 / 0-level: 0 level The global transition condition defines the way the start request is to be processed. This setting is used for the first start after activation of the operating mode. In addition, this setting can be used as transition condition in the individual data sets (default assignment).

MSMnextNum Next data set to be triggered - INT16 CANopen 302D:5h -1 INT16 Modbus 11530 - -1: Operating mode inactive or no data set -1 R/- selected yet - 15 - >0: Number of the next data set to be trig- - gered 0098441113504, V2.00, 08.2010 346 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - MSMstartReq - - MSMsetNum - - MSMselEntry - - MSMprocMode HMI menu Parameter name - - MT_dismax - - MSMteachIn - - MSMstartType set. for adjusted canbespecially tion each data condi- Thetransition with MSMglobalCond. defined is condition start The condition. tion Triggering ortransi- start ofadatasetwith selection: Sequential must firstadjustedviaMSMsetNum. The number thedataset of to be triggered byedge. arising istriggered set The data Direct selection: (215) set for request of processing a data Start has yet parameter setthis been via Operatingmode inactive-1: set ornodata for case Special read MSNnextNum. changes access A write =1). (x_end set iscomplete current data ofthe is active processing and if bemade if nodataset setting This can only Number ofthe next dataset to betriggered. Selection adataset of to be started number must selected. be set data the corresponding orwritten, read Unit settable the data in Before be can an entry table setnumber indataset data Selection of 1 /Sequential 0 /Direct (209) mode Processing Description The valueThe switches 0 monitoring. off error class1isgenerated. of isexceeded,mum distance permissible an referencethe If maxi- valueactive the is and distance permissible Max. value. Otherwise, isused. '_p_actusr' parameter isused as position '_p_refusr' state In the operating table row. selected the in mustentered be Positioning' set tion, the data type 'Absolute referenced is drive addi- the In (ref_ok=1). TeachIn only allowedis and if atstandstill written. isto be into which the position The parameterspecifies the rowin the table set table. thecurrentuser Writes Take(TeachIn) over position current HALT with movementinterrupted movement2 /Continue halted 1 /Activate 0 /Deactivate sequence Activation of mode motion operating : Direct selection : Activate : Deactivate : Sequential selection : Sequential access to parameter: 'OperationEnable', the position position to thedata : Continue a 1 0 0 - 15 -1 -1 - 15 0 0 - 1 1 0 - Maximum value Factory setting Minimum value 999.9 1.0 0.0 revolution 15 0 0 - 2 0 0 - - - R/W UINT16 UINT16 - - R/W INT16 INT16 - - R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W type Data - - R/W UINT16 UINT16 - - R/W UINT16 UINT16 - - R/W UINT16 UINT16 CANopen 302D:3 CANopen 302D:6 CANopen 302D:10 CANopen 302D:7 CANopen via fieldbus Parameter address CANopen 302E:3 CANopen 302D:A CANopen 301B:1A CANopen Modbus 11532 Modbus 11552 Modbus 11534 Modbus 11782 Modbus 11540 6964 Modbus Modbus 11526 347 h h h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

PA_I_max Maximum current of power stage Apk UINT16 CANopen 3010:2h - UINT16 Modbus 4100 INF- - PiMA Current in increments of 10mA 0.00 R/- INF- - PiMA - per. -

PA_I_nom Nominal current of power stage Apk UINT16 CANopen 3010:1h - UINT16 Modbus 4098 INF- - PiNo Current in increments of 10mA 0.00 R/- INF- - PiNo - per. -

PA_T_max Maximum permissible temperature of power °C INT16 CANopen 3010:7h stage (241) - INT16 Modbus 4110 - 0 R/- - - per. -

PA_T_warn Temperature warning threshold of power °C INT16 CANopen 3010:6h stage (241) - INT16 Modbus 4108 - 0 R/- - - per. -

PA_U_maxDC Maximum permissible DC bus voltage V UINT16 CANopen 3010:3h - UINT16 Modbus 4102 - Voltage in increments of 100mV - R/- - - per. -

PA_U_minDC DC bus voltage low threshold for switching V UINT16 CANopen 3010:4h off the drive - UINT16 Modbus 4104 - - R/- Voltage in increments of 100mV - - per. -

PA_U_minStopDC DC bus voltage low threshold for Quick Stop V UINT16 CANopen 3010:Ah - UINT16 Modbus 4116 - If this threshold is reached, the drive per- - R/- forms a Quick Stop. - - per. Voltage in increments of 100mV -

PAR_CTRLreset Reset controller parameters - UINT16 CANopen 3004:7h no 0 UINT16 Modbus 1038 TUN- - RES 0 / : No - R/W 1 / yes: Yes TUN- - RES 1 - The controller parameters of the velocity - controller and the position controller are reset. The current controller is automatically adjusted under consideration of the connected motor.

PAReeprSave Save parameter values to EEPROM - UINT16 CANopen 3004:1h - UINT16 Modbus 1026 - Value 1: Save all persistent parameters - R/W - - - The currently set parameters are saved to - the non-volatile memory (EEPROM). The saving process is complete when the parameter is read and 0 is returned. 0098441113504, V2.00, 08.2010 348 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless DRC- PRoT - DRC- POSdirOfRotat DRC- FCS - DRC- PARfactorySet HMI menu Parameter name - - POSscaleDenom - - PARuserReset - - PRoT FCS time. active isswitched until the unit onthenext NOTE: not do become settings Changed and viceversa. to thepositiveconnected limit switch input a movement positivein must be direction NOTE: switch Thelimit with reached which is shaft theflange). the motor at of end at the (as you clockwise look rotates At positive reference values, the motor clockwise Unit Description tor valuetor is supplied. numera- the activatedwhen is A newscaling description. Refer tonumerator (POSscaleNum) for a (247) Position scaling: Denominator EEPROM! NOTE: new savedThe are not settings tothe - Type of encoder - I/Ofunctions - Device control parameters - Communication of: rese parameters are All default values. Bit 0=1:Set parameters to persistent (275) Reset userparameters 1 / Counter Clockwise / 1 /Counter 0 /Clockwise / (269) of of rotation Definition direction switchedwhen the unit is onthenext time. NOTE: Thedefault becomesactive only parameter and0isreturned. read is the when The saving iscomplete process the commissioning software.or the HMI settings ispossible thefactory Restoring via aresavedthese to the EEPROM. defaultAll parameters settotheir are values, 1 /Yes / 0 /No / (275) values) (defaultRestore factory settings No YES : No : Yes CLW : Clockwise t withtheexception CCLW : Counter- 1 0 0 - Maximum value Factory setting Minimum value 2147483647 16384 1 usr 7 - 0 - 3 - 0 - - per. R/W UINT16 UINT16 Expert Persistent R/W type Data - per. R/W INT32 INT32 - - R/W UINT16 UINT16 - - R/W CANopen 3006:C CANopen via fieldbus Parameter address CANopen 3006:7 CANopen 3004:8 CANopen Modbus 1040 Modbus Modbus 1550 Modbus 1560 Modbus 349 h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

POSscaleNum Position scaling: Numerator (247) revolution INT32 CANopen 3006:8h 1 INT32 Modbus 1552 - Specification of the scaling factor: 1 R/W - 2147483647 per. Motor revolutions [U] ------User-defined units [usr]

A new scaling is activated when the numerator value is supplied.

User-defined limit values may be reduced due to the calculation of an internal factor. -1 PPn_target Target velocity for operating mode Profile min UINT32 CANopen 6081:0h Position (205) 1 UINT32 Modbus 6942 - 60 R/W The adjusted value is internally limited to the - - - current parameter value in RAMPn_max. -

PPoption Options for operating mode profile - UINT16 CANopen 60F2:0h position (205) 0 UINT16 Modbus 6960 - 0 R/W Determines the reference position for rela- - 2 - tive positioning: - 0: Relative with reference to the previous target position of the motion profile generator 1: Not supported 2: Relative with reference to the actual position of the motor

PPp_targetusr Target position for operating mode Profile usr INT32 CANopen 607A:0h Position (205) - INT32 Modbus 6940 - 0 R/W Min./max values depend on: - - - - Scaling factor - - Software limit switches (if they are activated)

ProfileType Motion profile - INT16 CANopen 6086:0h 0 INT16 Modbus 6954 - 0: Linear 0 R/W - 0 - - -1 PVn_target Target velocity for operating mode Profile min INT32 CANopen 60FF:0h Velocity (207) - INT32 Modbus 6938 - 0 R/W The adjusted value is internally limited to the - - - current parameter value in RAMPn_max. - 0098441113504, V2.00, 08.2010 350 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - RAMPacc - - RAMP_TAUjerk - - RAMPn_max - - RAMPdecel HMI menu Parameter name ceeaino rfl eeao 29 min (249) ofprofilegenerator Acceleration inactive is (x_end=1). mode ing Adjustments theoperat- onlybemade if can - Homing - Jog - Profile Position - Profile Velocity following the in modes: Processing operating -standstill Deceleration -deceleration speed Constant Acceleration - constant speed -acceleration Standstill lowing transitions: fol- the during reference generation position of the (jerk) change Limits the acceleration 128 / 128 64 / 32 / 16 / 8 / 4 / 2 / 1 / 0 /Off (251) limitation Jerk easier to perform. to easier This way, commissioning atlimited velocityis limited toRAMPn_max. automatically modes,it is operating these reference greaterIf a velocity of one set in is - Jog - Homing - Profile Velocity - Profile Position ating modes: parameteris The active in the following oper- (250) generation profile Ref. velocity forlimitation op. with modes min (249) generator Deceleration ofprofile Unit Description : 8ms : 4ms : 2ms : 1ms : Off : 64 : 64 ms : 32 ms : 16 ms : 128ms 128 0 0 ms min Maximum value Factory setting Minimum value 13200 13200 60 3000000 750 750 3000000 600 30 -1 -1 -1 /s /s - per. R/W UINT16 UINT16 Expert Persistent R/W type Data - per. R/W UINT16 UINT32 - per. R/W UINT32 UINT32 - per. R/W UINT32 UINT32 CANopen 3006:D CANopen via fieldbus Parameter address CANopen 607F:0 CANopen 6084:0 CANopen 6083:0 CANopen Modbus 1562 Modbus Modbus 1554 Modbus 1558 Modbus 1556 Modbus 351 h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

RAMPsym Symmetrical ramp usr UINT16 CANopen 3006:1h - UINT16 Modbus 1538 - Acceleration and deceleration of the profile 0 R/W generator. The values are internally multi- - - - plied by 10 (example: 1 = 10 min-1/s). - Write access changes the values under RAMPacc and RAMPdecel. The limit values are checked on the basis of the values indicated for these parameters.

Read access returns the greater value from RAMPacc/RAMPdecel. If the value cannot be represented as a 16 bit value, the value is set to 65535 (maximum UINT16 value). -1 SPEEDn_target Reference velocity in operating mode Speed min INT16 CANopen 3021:4h Control (202) -30000 INT16 Modbus 8456 - 0 R/W The internal maximum speed is limited to the - 30000 - current setting in CTRL_n_max. -

SPEEDreference Reference value source for operating mode - UINT16 CANopen 301B:11h Speed Control (202) 0 UINT16 Modbus 6946 - 0 R/W 0 / None: None - 2 - 1 / Analog Input: Reference value via +/- - 10V interface ANA1 2 / Parameter 'speedTarg': Reference value via parameter SPEEDn_target

SPV_Flt_pDiff Error response to following error (245) - UINT16 CANopen 3005:Bh 1 UINT16 Modbus 1302 - 1 / Error Class 1: Error class 1 3 R/W 2 / Error Class 2: Error class 2 - 3 per. 3 / Error Class 3: Error class 3 -

SPV_p_maxDiff Max. permissible tracking error of the posi- revolution UINT32 CANopen 6065:0h tion controller (242) 0.0001 UINT32 Modbus 4636 - 1.0000 R/W The tracking error is the current position con- - 200.0000 per. trol deviation minus the position control devi- - ation caused by the speed. Actually, only the position control deviation caused by the torque request is used for tracking error monitoring.

SPV_SW_Limits Monitoring of software limit switches (239) - UINT16 CANopen 3006:3h 0 UINT16 Modbus 1542 - 0 / None: None 0 R/W 1 / SWLIMP: Activation of software limit - 3 per. switches positive direction - 2 / SWLIMN: Activation of software limit switches negative direction 3 / SWLIMP+SWLIMN: Activation of software limit switches both directions

Monitoring of software limit switches only works in case of successful homing (ref_ok = 1). 0098441113504, V2.00, 08.2010 352 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters BLP14A Brushless DCdrive Brushless - - STANDpwinTime - - STANDp_win - - SPVswLimPusr - - SPVswLimNusr - - SPV_t_block - - STANDpwinTout HMI menu Parameter name ation must be in ation must bein t devi- the control which >0: Timeinms during vated windowdeacti- standstill of 0: Monitoring (254) window,Standstill time Time. activated viatheparameter 'STANDpwin- window standstill mustof the Processing be ofthe drive standstill to bedetected. range for this dowmust be within time a deviation The control for thestandstill win- (254) deviation window, Standstill control permissible value.defined maximumuser- to the set automatically are range, limitswitch the the permissible limits valueIf a user-defined (239) switch Positive position limit for software limit SPVswLimPusr. of Referparameter todescription (239) switch Negative for limit position softwarelimit A value of0deactivated blocking monitoring. blocking error. parameter, a systemsignals the monitoring notmoveshaft does for thetimesetwiththis If, inspiteof maximum current,themotor blockingof time Response monitoring finished processing. finished generatorhas profile the orwhen is reached (reference tion controller) ofposition position posi- target the when starts Time monitoring via STANDp_win STANDpwinTime.and window valuesStandstill processing areset >0 : Timeout timeinms deactivated monitoring 0 :Timeout (255) monitoring Timeout time for window standstill Unit Description he standstill he standstill window entered is outside of entered is outside 32767 0 0 ms 3.2767 0.0010 0.0000 revolution - 2147483647 - usr - -2147483648 - usr 10000 100 0 ms 16000 0 0 ms Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT32 - per. R/W INT32 INT32 - per. R/W INT32 INT32 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W type Data CANopen 6068:0 CANopen 6067:0 CANopen 607D:2 CANopen 607D:1 CANopen 3005:18 CANopen CANopen 3011:B CANopen via fieldbus Parameter address Modbus 4370 Modbus 1544 Modbus 1546 Modbus 1328 Modbus Modbus 4374 Modbus 4372 Modbus 353 h h h h h h 11 Parameters BLP14A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

SuppDriveModes Supported operating modes as per DSP402 - UINT32 CANopen 6502:0h - UINT32 Modbus 6952 - Coding: 0 R/- Bit 0: Profile position - - - Bit 2: Profile velocity - Bit 5: Homing

Bit 16: Jog Bit 17: Electronic gear Bit 18: Current control Bit 19: Speed control Bit 20: Position control Bit 21: Manual tuning Bit 22: Oscillator mode

The availability of the individual bits is product-dependent. 0098441113504, V2.00, 08.2010 354 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A11Parameters Objects for PDOmapping 11.3 BLP14A Brushless DCdrive Brushless mapping. The table below shows anoverview of objects that can be used for PDO 6061 6060 6041 6040 3021:4 3020:4 301F:2 301E:3 301C:4 301B:9 3009:1 3008:10 3008:F 60FF 6084 6083 6081 607A 606C 6064 6063 ne:uidxOjc D Data type PDO Object 3006:1 Index:Subindex h h h h h h h h h h h h h h h h h h h h h h CMpoeRPOINT16 UINT16 R_PDO UINT16 T_PDO INT16 R_PDO INT16 DCOMopmode INT16 R_PDO DCOMstatus INT32 R_PDO T_PDO DCOMcontrol UINT16 T_PDO SPEEDn_target UINT16 INT16 CUR_I_target T_PDO R_PDO _p_actRAMPusr T_PDO _Idq_act UINT16 _actionStatus JOGactivate R_PDO ANA1_act _IO_LO_act _IO_LI_act RAMPsym V_agtRPOINT32 UINT32 R_PDO UINT32 R_PDO UINT32 R_PDO INT32 R_PDO INT32 PVn_target T_PDO INT32 INT32 RAMPdecel R_PDO RAMPacc T_PDO T_PDO PPn_target PPp_targetusr INT16 _n_act _p_actusr T_PDO _p_act _DCOMopomd_act 355 11 Parameters BLP14A

11.4 Assignment object group 6000h The product provides corresponding parameters for CANopen object groups 3000h and 6000h. The names of the parameters and the data type of the parameters may be different from the DS402 definition for object group 6000h. In this case, enter the data type according to the DS 402.

Index DSP 402 object name DSP 402 data type Parameter name

603F:0h Error code UINT16 _StopFault

6040:0h Control word UINT16 DCOMcontrol

6041:0h Status word UINT16 DCOMstatus

6060:0h Operating modes INT8 DCOMopmode

6061:0h Modes of Operation Display INT8 _DCOMopmd_act

6063:0h Position actual value int INT32 _p_act

6064:0h Position actual value INT32 _p_actusr

6065:0h Following error window UINT32 SPV_p_maxDiff

6067:0h Position window UINT32 STANDp_win

6068:0h Position window time UINT16 STANDpwinTime

606B:0h Velocity demand value INT32 _n_actRAMP

606C:0h Velocity actual value INT32 _n_act

607A:0h Target position INT32 PPp_targetusr

607D:1h Min position limit INT32 SPVswLimNusr

607D:2h Max position limit INT32 SPVswLimPusr

607F:0h Max profile velocity UINT32 RAMPn_max

6081:0h Profile Velocity UINT32 PPn_target

6083:0h Profile acceleration UINT32 RAMPacc

6084:0h Profile deceleration UINT32 RAMPdecel

6086:0h Motion profile type INT16 ProfileType

6098:0h Homing method INT8 HMmethod

6099:1h Homing speed during search for switch UINT32 HMn

6099:2h Homing speed during search for zero UINT32 HMn_out

60F2:0h Position Option Code UINT16 PPoption

60F4:0h Following error actual value INT32 _p_dif

60FF:0h Target velocity INT32 PVn_target

6502:0h Supported drive modes UINT32 SuppDriveModes 0098441113504, V2.00, 08.2010 356 Brushless DC drive 0098441113504, V2.00, 08.2010 22Connector 12.2 andspareparts 12Accessories Accessories 12.1 Accessoriesandspareparts 12 BLP14A Brushless DCdrive Brushless odn rk otolrHCVW3M3103 MNA3CS111 MNA3CS114 ACC3EA001 MNA3MFDINR1 VW3A8106 kit BLP,Connector CANopen/DeviceNet +I/O expansion kit BLP,Connector CANopen/DeviceNet to RS485 RS232 converter kit,bidirectional PC connection brake HBC Holding controller EMC kit (HMI) terminal Remote UBC60 Controller Braking Resistor forAdapter plate onDIN mounting rail Description Sourcecommissioning of software http://www.schneider-electric.com load from the internet. The latest versionthecommissioni of I/O expansion Female connector B2L, 10 Female10 B2L, connector Female 8 connector B2L, I/O expansion Female 5.08, Encoder 4pins header tyco/AMP Female 6 connector B2L, Female header, BL,5.08 effectHall sensors Motor RJ45 CAN Female 12 connector B2L, interface Signal Modbus 5.08, Female 2pins header supply Power stage einto Type (Weidmüller) Designation clamp pins, black, withtension clamp pins, black, withtension clamp pins, black, withtension GOLD black GOLD, flange gray, pins mm, 5 printed, clamp pins, black, withtension GOLD black ng softwareis available fordown- B2L 3.5/10BK SN B2L 3.5/8 SN BK B2L 3.5/6 SN BK AUBLZF 5.08/04/180F BK BED GR DN5.08/5/180F BLDZ B2L 3.5/12BK SN AUBLZF 5.08/02/180F BK MNA3CS013 VW3A31101 Order no. 12 357 12 Accessories and spare parts BLP14A 0098441113504, V2.00, 08.2010 358 Brushless DC drive 0098441113504, V2.00, 08.2010 13.1 Service address Service 13.1 disposal and maintenance 13Service, maintenanceanddisposal Service, 13 BLP14A Brushless DCdrive Brushless http://www.schneider-electric.com of a customer service Your sales office staffwillbeha Ifyou have any questions please contactyour office.sales pair. Also includethis information if you the product for return inspection or re- Yourown the assumptions cause concerning of the error • Previous and concomitantcircumstances • Type number) or error code flash LED (with oferror • number, number,(type, identification ...) serial DOM, Nameplate • Have thefollowingavailable: details Ifyou cannot resolve anerror yourselfplease contactyour sales office. accepted forrepairs made by unauthorized persons. center.customer service No The product may onlyrepaired be by aSchneider Electric injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these Do not connect the controller supply voltage or change its wiring • Verify correct connectionbefore switchingon. • Do not interrupt the negativeconnection between the powersup- • ageexcessively cancause voltages high at the signalconnections. Interruptions of the negative connection of the controller supply volt- DAMAGE TO SYSTEMCOMPONENTSANDLOSSOF CONTROL while the supply voltagewhile thesupply is present. ply unit andwith load afuseswitch. or fice in your in area. fice @ warrantyis orliability WARNING ppy togive you thenameof 13 359 13 Service, maintenance and disposal BLP14A

13.2 Maintenance

Check the product for pollution or damage at regular intervals.

13.2.1 Lifetime STO safety function

The STO safety function is designed for a lifetime of 20 years. After this period, the data of the safety function are no longer valid. The expiry date is determined by adding 20 years to the DOM shown on the nameplate of the product. ̈ This date must be included in the maintenance plan of the system. Do not use the safety function after this date.

Example The DOM on the nameplate of the product is shown in the format DD.MM.YY, for example 31.12.08. (31 December 2008). This means: Do not use the safety function after December 31, 2028. 0098441113504, V2.00, 08.2010 360 Brushless DC drive 0098441113504, V2.00, 08.2010 BLP14A 13 Service, maintenance and disposal and maintenance 13Service, Replacing devices 13.3 BLP14A Brushless DCdrive Brushless ̈ ̈ ̈ ̈ ̈ ̈ Observe the following procedure whenreplacing devices. used. Prepare a list with the parameters required for the functions injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these the systemif there are Only nopersonsor start obstructions in • Verify the functions after replacing the product andafter also • When commissioning, carefully tests run for all operating states • Verify that the stored data and settings are correct. • Do NOToperate the drivesystemwith unknown settings or data. • movements or responses to signals and disable monitoring functions. data orsettings. Unsuitable settingsdata or may unexpected trigger The behavior of the drive systemis governed by numerous stored UNINTENDED BEHAVIOR Commission the product asper chapter 7"Commissioning". 6"Installation". chapter asper newthe Install product product nameplate for later identification. Note the identification numberthe and number serial shown on the Label all connections and uninstall the product. (safety instructions). voltages. supply all Verifyoff Switch present voltagesare no that software, seechapter7.2.2"Lexium CTcommissioning software". Save the parameter settingsyour to thePC usingcommissioning the hazardous area. making changesthe tosettings or data. and potential error situations. @ WARNING 361 13 Service, maintenance and disposal BLP14A

13.4 Changing the motor

̈ Switch off all supply voltages. Verify that no voltages are present (safety instructions). ̈ Label all connections and uninstall the product. ̈ Note the identification number and the serial number shown on the product nameplate for later identification. ̈ Install the new product as per chapter 6 "Installation". ̈ Commission the product as per chapter 7 "Commissioning".

13.5 Shipping, storage, disposal

Note the ambient conditions in chapter 3.2 "Ambient conditions". Shipping The product must be protected against shocks during transportation. If possible, use the original packaging for shipping. Storage The product may only be stored in spaces where the specified permissible ambient conditions are met. Protect the product from dust and dirt. Disposal The product consists of various materials that can be recycled. Dispose of the product in accordance with local regulations. 0098441113504, V2.00, 08.2010 362 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A14Extract Extract for installation 14.1 Extract 14 BLP14A Brushless DCdrive Brushless you should know beforethe installation. starting The chaptercontains Engineering basic informationthat You may only perform install, co • nance. mainte- and commissioning installation, during occur hazards pected This chapter Extract does not re UNEXPECTED HAZARDS injury. Failure to follow these instructions will result in death or serious Carefullyread understand and the entire product manual. • uct ifuct you are aqualifiedtrained and technician. @ DANGER place the product manual. Unex- mmission and maintain the prod- the maintain and mmission 14 363 14 Extract BLP14A

14.1.1 Connection overview

The illustration below shows an overview of the connections.

CN4 5 10 4 9 CN6 3 8 2 7 1 6 14 1 2 CN1 3 2 CN3 3 7 1 1 8 2 4 2 9 3 10 4 11 5 CN7 12 6 4 1 CN2 5 2 CN5 8 6 3

1 1 CN8 2 5 1 6 2 3 7 3 4 8 4 5

Figure 14.1 Overview of the connections

Connection Assignment CN1 Power stage supply CN2 Commissioning interface CN3 I/O signal interface CN4 I/O expansion signal interface (optional) CN5 Fieldbus interface CN6 Motor connection CN7 Hall effect sensor interface CN8 Motor encoder 0098441113504, V2.00, 08.2010 364 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A14Extract BLP14A Brushless DCdrive Brushless N 11 10 9 CN3 8 CN3 7 CN3 CN3 CN3 N 12 CN3 6 CN3 1 S CN1 Pin Connection N eevdRsre - 5 4 3 CN7 2 CN7 1 CN7 4 CN7 3 CN7 2 CN6 1 CN6 Reserved 5 CN6 4 CN6 3 CN5 Reserved 2 CN5 1 CN5 10 CN5 9 CN5 8 CN4 7 CN4 6 CN4 5 CN4 4 CN4 3 CN4 2 CN4 1 CN4 CN4 CN4 N 5 4 3 CN3 2 CN3 1 CN3 8 CN3 7 CN3 5 CN2 4 CN2 2 CN2 CN2 CN1 STO_A LI3 LI1 LO1_OUT ANA1+ 0VDC +24VDC VDC HALL_0V SHLD HALL_W HALL_V HALL_U SHLD W V U CAN_0V CAN_L SHLD CAN_H XANA1+ XLI5 XLI3 XLI1 XLO1_OUT XANA1- XLI6 XLI4 XLI2 XLO2_OUT STO_B LI4 LI2 LO2_OUT ANA1- MOD_0V MOD+10V_OUT MOD_D0 MOD_D1 0VDC ga enn I/O Meaning ignal 2) iia nu I I O I input 3 Digital input 1 Digital 1 output Digital input 1 Analog aeyfnto T I I to Reference potential Safety STO function V 24 Safety STO function Power supply stage alsga I - I I - O O O CANlevel CANlevel to Reference potential - - connection Shield signal Hall signal Hall signal Hall I I connection Shield I Motor phase W I Motor phase V Motor phase CAN Reference potential I O Data, inverted I connection Shield I Data input XANA1 Analog O input XLI5 Digital input XLI3 Digital input XLI1 Digital XLO1_OUT output Digital to Reference potential input XLI6 Digital input XLI4 Digital input XLI2 Digital XLO2_OUT output Digital iia nu I I O O input 4 Digital level RS485 input 2 Digital 2 output Digital RS485 level to Reference potential to Reference potential mA 12 V supply, maximum 200 transmit/receiveBidirectional inverted signal, transmit/receiveBidirectional signal to Reference potential DC spl otg o h inlotusI supply voltage for outputs thesignal 1) +24VDC HALL_5VOUT XANA1+ ANA1+ MOD+10V_OUT VDC I O I - I O - 365 14 Extract BLP14A

Connection Pin Signal Meaning I/O

CN7 6 HALL_5VOUT 5VDC supply for Hall effect sensors O CN8 1 ENC_A Encoder signal channel A I CN8 2 ENC_B Encoder signal channel B I CN8 3 ENC_I Encoder signal channel I I

CN8 4 ENC_5V Encoder supply 5Vdc O CN8 5 ENC_A Channel A, inverted I CN8 6 ENC_B Channel B, inverted I CN8 7 ENC_I Channel I, inverted I CN8 8 ENC_0V Reference potential to ENC_5V - 1) Note the special requirements in terms of the power supply units. See 5.3 "External power supply units"(regeneration condition). 2) Do not bridge with supply voltage (regeneration). See 5.3.2 "Signal power supply". 0098441113504, V2.00, 08.2010 366 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A14Extract Wiring example 14.1.2 BLP14A Brushless DCdrive Brushless ~ ~ 24Vdc 48Vdc 24/ + - + - + + + + - - - LIMN LIMP REF UBC 60 "No Fault" LO2_OUT LO1_OUT +24VDC "Active" STO_B STO_A "Halt" 0VDC 0VDC LI3 LI2 LI1 LI4 VDC Braking Resistor ControllerUBC60 (accessory) • Motor witheffect Hall sensors and incremental encoder • Safety function STOSTOP withEMERGENCY button and EMER- • Inputs and outputs with factorysettings inFieldbus controlmode • Fieldbusmode control • The followingillustration example shows awiring with: Figure 14.2 Wiring example Wiring fieldbus controlmode. 14.2 Figure GENCY STOPGENCY safety relay module CN3.8 CN3.10 CN3.12 CN3.6 CN1.2 CN1.1 CN3.5 CN3.11 CN3.2 CN3.3 CN3.4 CN3.9 CN1 CN3 CN6 CN7 CN8 CN3 CN5 CN5.3 CN5.5 CN5.4 CN5.2 CN6.4 CN6.3 CN6.2 CN6.1 CN7.4 CN7.6 CN7.5 CN7.3 CN7.2 CN7.1 CN8.8 CN8.7 CN8.6 CN8.5 CN8.4 CN8.3 CN8.2 CN8.1 CN3.1 CN3.7 HALL_5VOUT HALL_0V HALL_W HALL_V HALL_U ENC_0V ENC_I ENC_A ENC_5V ENC_I ENC_B ENC_A SHLD ANA1- ANA1+ SHLD CAN_0V CAN_L CAN_H ENC_B SHLD W V U + - 10V CANopen 3~ M E 367 14 Extract BLP14A

14.2 Extract for commissioning

14.2.1 Setting the device address and baud rate

OFF OFFOFFOFF ON 142 3 142 3 142 3 S1 CANbaud 50 kBaud 125 kBaud 142 3 OFF ON 142 3 142 3 142 3 250 kBaud 500 kBaud 1000 kBaud

Figure 14.3 Parameter switch S1

In the case of switch settings 01 ... 06, the selected switch setting corresponds to the baud rate. If the switch setting is 0, the baud rate is set via the commissioning software. Setting the address Each device on the network is identified by a unique, adjustable node address. The illustration below shows the factory setting of the device address. ̈ Switch off all supply voltages. Verify that no voltages are present (safety instructions). ̈ Use parameter switches S2 and S3 to set the address.

S2 S3

0 1 0 F 2 1 E 9 3 2

D 8 4

5 C 3

6 B

A 6 8 9 5

MSD LSD

Figure 14.4 Settings of the rotary switches

(S2) MSD (most significant digit) Determines the tens digit of the node address (S3) LSD (least significant digit) Determines the ones digit of the node address 0098441113504, V2.00, 08.2010 368 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A14Extract "First Setup" 14.2.2 BLP14A Brushless DCdrive Brushless "First Setup" via HMI via Setup" "First Factory setting Preparation Example Ifthe switchsetting is 0, the addressset via is the parameter responds to the address. In the case of switch settings 01 ... 127, the selected switch setting cor- Results in anaddresssetting of 118. Parameter switch 8 = S3 Parameter switch B = S2 The followingdiagram shows the sequence viathe HMI. ̈ ࡯ requir Setup"is A "First helps to avoid that 2devices onthe network have theaddress. same parameter the switch or the setting ther Switchsetting 0reads the parameter CANadr. To operatethedevice, ei- The factory setting for the device address is0in the parameter CANadr. on for thefirst time orafter the factorysettings have beenrestored. Switch onSwitch the controller supply voltage. with thePC commissioningsoftware mustbe connected. a exclusively HMI, the via commissioned be device to the not If is ed when the controller su controller the when ed CANadr must bechanged.This pply voltage switched is CANadr 369 . 14 Extract BLP14A

FSU-

ENT

ENT ENT DevC None ESC IO CANO MoDB

ENT ENT None MTYP 4334 ESC 4338 4344 ... 1 7748 USER

ENT ENT sens None ESC hall hinc 1

DEVC = IO DEVC = CANO DEVC = MoDB

ENT ENT ENT ENT ENT ENT IO-M none COAD 127 mbad 1 ESC ESC curr ESC sped jog 1 ENT ENT ENT ENT COBD 125 mbbd 9600 ESC ESC

SaVe

ENT

Figure 14.5 "First Setup" via HMI

(1) The next menu item can only be selected if the previous menu item has a valid value (≠none). Device control ̈ Use the parameter DEVcmdinterf (DEVC) to specify the control mode for the device. 0098441113504, V2.00, 08.2010 370 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A14Extract BLP14A Brushless DCdrive Brushless Hall effect sensor Baud rate and address via Start-up operatingStart-up mode Fieldbus ModbusFieldbus s/motor encoder parameters Motor type Motor M_hallshift M_R_UV M_Sensor ing parameters must be checkedadjusted: and must be set via the commissioning software or the fieldbus. The follow- In the caseof auser-specific motor, the appropriate motor-specific data set. matically is auto- data type, motor-specific the motor youa defined When select and changing operating modes". The operatingchapterin aredescribed modes 8.4 "Displaying, starting If nomotor encoder isconnected, selected,an encoder mustconnected be for operation. which may only be assigned once in the network. Eachdevice must have its own uniquenode address, ̈ ̈ ࡯ ̈ ࡯ ̈ ࡯ ̈ to the device. baud rate with the the rate with baud device activate the to whenever is mode switchedit is on. tion. func- its device indicate to the to and connected is encoder motor Use the parameter Specify the node address with the ( DEVcmdinerf parameter Use the parameter Parameter switch S3= S2and 0 Parameter switch S1= 0 DEVcmdinerf Use the ( DEVcmdinerf Use the parameter DEVC DEVC , = = M_I2t , MoDB IO IOdefaultMode M_n_max ) CANbaud , M_hallpos , ) M_I_0 = = = ModbusDevice CANopenDevice IODevice , MBbaud M_Type CANadr M_Sensor M_n_nom tothe specify baud rate. , M_Polepair , parameter ( parameter M_currcomp parameter ( parameter ( to specify the nodeaddress the and MTYP , ( M_I_max nonE SENS ) to specify the motor connected connected motor the ) to specify MBadr is selected. If isselected. , ) to specify whetherto specify) ornota M_SenssLine IO-M MBBD , , parameter( M_I_nom M_kE_EC )set to the operating ). hall , and M_U_nom , MBAD or M_L_q_EC hinc ) and the , are 371 . 14 Extract BLP14A

Storing the data CAUTION DAMAGE TO THE PRODUCT CAUSED BY POWER OUTAGE If the supply voltage becomes unavailable during an update, the product will be damaged and must be sent in for repair. • Do not switch off the supply voltage during the update. • Update the firmware only with a reliable supply voltage. Failure to follow these instructions can result in equipment damage.

̈ Store the entries when you are done. Commissioning software: Save your settings via "Configuration - Save to EEPROM" ୵ The device saves the settings to the EEPROM. A restart of the device is required for the changes to become effective. Further steps ̈ Attach a label to the device that contains information for servicing the device such as fieldbus type, fieldbus address and fieldbus baud rate. ̈ Make the settings described below for commissioning.

Note that you can only return to the "First Setup" by restoring the factory settings, see chapter 8.6.12.2 "Restoring the factory settings", page 275. 0098441113504, V2.00, 08.2010 372 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A14Extract Duplicating exis 14.2.3 BLP14A Brushless DCdrive Brushless Application and advantage and Application Export device settings Export Import device settings Import Prerequisites ting device settings a device in the form of a configuration file. file. configuration a of device form a the in The commissioning software installed on aPCcan save the settings of lervoltage supply mustbe switched onat the device. tothe be usedis Windows-based commissioning software. The control- Device type, motor type and device firmware must be identical. The tool TheSetup" "First not doeshave viathe HMI.tobe run • Multiple devices are to have thesettings, same forexample, when • that thefieldbus addressis copied along with this information. Youcopy can a stored configuration to adevicethe of same type.Note ̈ ̈ ̈ ̈ devices are replaced. Loadtheconfiguration to the device. desired configuration. In the commissioningsoftware, and load the select "File-Import" Choose themenu"File -Export". items ware. Loadtheconfiguration from the device intothecommissioning soft- 373 14 Extract BLP14A 0098441113504, V2.00, 08.2010 374 Brushless DC drive 0098441113504, V2.00, 08.2010 514Power 15.1.4 Force 15.1.3 Mass 15.1.2 15Glossary Length 15.1.1 Units andconversion tables 15.1 Glossary 15 BLP14A Brushless DCdrive Brushless slug W HP p oz lb oz lb mm cm m yd ft in N dyne g kg / 0.03108095 / 1.942559*10 / / 0.03108095 * 746 - 0.27801 * 9.807*10 * 4.448222 * 27801 * 980.7 * 444822.2 * 28.349524 * / 746 453.55358 * - - - 16 * 453.5924 * 28.349524 / 0.4535924 * / 453.55358 1.942559*10 * * 10 - / 16 0.03108095 * *914.4 - *1000 *304.79 *25.4 / 10 *91.44 - - *16 * 30.479 *100 *2.54 *0.9144 /1000 * 0.30479 /100 *0.0254 / 16 /914.4 - - /91.44 - 3 / /304.79 /36 0.9144 / /30.479 3 * /0.30479 / 25.4 - 12 / / 2.54 / 0.0254 * 36 * 12 - PW N dyne g p HP kg oz mm slug lb cm oz m lb yd ft in / 444822.2 / 27801 / 980.7 - / 100*10 / - /9.807*10 /980.7 - 0.27801 / 1000 * 27801 / / 4.448222 1000 / / 444822.2 - /14593.9 14.5939 / 28.34952 / 0.02834952 / / 453.59237 / 0.45359237 5 m / 0.9144 = 5.468 yd = 5.468 5 m/ 0.9144 conversion to yards[m] Example: [yd] of5meters unit(top row) with the formula (in the field). The valuethe in specified unit (left column) iscalculated for the desired -3 - * 14.5939 * 14593.9 * 14.5939 * - -3 -3 * 100*10 * 28.34952 * 0.02834952 * 3 - 15 3 -3 375 15 Glossary BLP14A

15.1.5 Rotation

min-1 (RPM) rad/s deg./s min-1 (RPM) -* π / 30 * 6 rad/s * 30 / π - * 57.295 deg./s / 6 / 57.295 -

15.1.6 Torque

lb·in lb·ft oz·in Nm kp·m kp·cm dyne·cm lb·in - / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*106 lb·ft * 12 - * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*106 oz·in / 16 / 192 - * 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5 Nm / 0.112985 / 1.355822 / 7.0616*10-3 - * 0.101972 * 10.1972 * 10*106 kp·m / 0.011521 / 0.138255 / 720.07*10-6 / 0.101972 - * 100 * 98.066*106 kp·cm / 1.1521 / 13.8255 / 72.007*10-3 / 10.1972 / 100 - * 0.9806*106 dyne·cm / 1.129*106 / 13.558*106 / 70615.5 / 10*106 / 98.066*106 / 0.9806*106 -

15.1.7 Moment of inertia

lb·in2 lb·ft2 kg·m2 kg·cm2 kp·cm·s2 oz·in2 lb·in2 - / 144 / 3417.16 / 0.341716 / 335.109 * 16 lb·ft2 * 144 - * 0.04214 * 421.4 * 0.429711 * 2304 kg·m2 * 3417.16 / 0.04214 - * 10*103 * 10.1972 * 54674 kg·cm2 * 0.341716 / 421.4 / 10*103 - / 980.665 * 5.46 kp·cm·s2 * 335.109 / 0.429711 / 10.1972 * 980.665 - * 5361.74 oz·in2 / 16 / 2304 / 54674 / 5.46 / 5361.74 -

15.1.8 Temperature

°F °C K °F - (°F - 32) * 5/9 (°F - 32) * 5/9 + 273.15 °C °C * 9/5 + 32 - °C + 273.15 K (K - 273.15) * 9/5 + 32 K - 273.15 -

15.1.9 Conductor cross section

AWG 12345678910111213 mm2 42.4 33.6 26.7 21.2 16.8 13.3 10.5 8.4 6.6 5.3 4.2 3.3 2.6

AWG 14 15 16 17 18 19 20 21 22 23 24 25 26 mm2 2.1 1.7 1.3 1.0 0.82 0.65 0.52 0.41 0.33 0.26 0.20 0.16 0.13 0098441113504, V2.00, 08.2010 376 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A15Glossary Terms andAbbreviations 15.2 BLP14A Brushless DCdrive Brushless Direction of movement of Direction Degree of protection Direction of of rotation Direction Factory setting Actual position Drive system Error class Fault reset Fatal error Fatal Encoder Client DOM EMC Error Fault CAN EDS ESD D dictionary. object server referenceis the point relationship. transmission thewith atransmission Starts to theserver; First transmitter, then recipient of fi communicate. 11898, allows drives and other devicesfrom different manufacturers to ( Current positionof moving components inthe drivesystem. breviations may have specific meanings with regardto thestandards. tinent standards on whichmany are based. and ab- terms Some terms See chapter 2.6 "Standardsandterminology" for informationthe onper- ( System consistingcontroller, of power stage and motor. you look at the end of the protruding motor shaft. Positive direction of rotation iswhen Rotation of the motor shaft in apositive or negative direction of rotation. clockwise asyou look at the end of the protruding motor shaft. Positive positive direction of movement iswhen the motor shaft rotates Rotation of the motor shaft in apositive or negative direction of rotation. objectsand water (for example: IP20). equipmentthethat describes protection againstthe ingress of foreign The degree of protectionstandardizeda is specification forelectrical 31.12.2009corresponds December to 31, 2009 31.12.09 corresponds to December 31, 2009 Example:: manufacture intheformatDD.MM. ( compatibility Electromagnetic dition and the specifiedor theoretically correctvalue or condition. Discrepancy between acomputed, observed or measured value or con- stalled inamotor, the encoder shows the angular positionthe of rotor. Sensor for detection of the angular position of arotating component. In- charges. processes and effects thedischarge during occurring of electric ror is no longer active. tected error is cleared by removing the cause of the error so that the er- A functionused to restore the driveto an operational stateafter ade- mon IndustrialProtocol (CIP). be found standards inthe such asIEC61800-7, pertinent ODVACom- Fault is a state that can be caused by an error. information can Further torthat so thepower stage mustbe immediately disabled. mo- fatal the of case able In control the error, to longer isno product the Factory settings when theproductis shipped specific responses to errors, for example by severity. Classification of errors into groups. The different error classes allow for C E e ate lectro lectronic ontroller ontroller o f s m tatic tatic anufacturing: The nameplate of the product shows the date of date the shows product the of nameplate The anufacturing: A D rea rea ata d ischarge)is the electrostatic dischargedescribes and N S heet); of contains aproduct. thespecific properties etwork), standardized openfieldbus as per ISO eldbus messages inthe client-server YY or in the format DD.MM.YYYY.YY orintheformat the motor shaft rotates clockwise as 377 15 Glossary BLP14A

Holding brake The holding brake in the motor has the task of holding the current motor position when the power stage is disabled, even if external forces act (for example, in the case of a vertical axis). The holding brake is not a safety function. The signals of the holding brake meet the PELV requirements. I/O Inputs/outputs I2t monitoring Anticipatory temperature monitoring. The expected temperature rise of components is calculated in advance on the basis of the motor current. If a limit value is exceeded, the drive reduces the motor current. Inc Increments Index pulse Signal of an encoder to reference the rotor position in the motor. The encoder returns one index pulse per revolution. Internal units Resolution of the power stage at which the motor can be positioned. In- ternal units are specified in increments. LED Light Emitting Diode Limit switch Switches that signal overtravel of the permissible range of travel. Master Active bus device that controls the data traffic on the network. NMT Network Management (NMT), part of the CANopen communication profile; tasks include initialization of the network and devices, starting, stopping and monitoring of devices Node guarding Monitoring of the connection to the slave at an interface for cyclic data traffic. PELV Protective Extra Low Voltage, low voltage with isolation. For more information: IEC 60364-4-41 PLC Programmable logic controller Parameter Device data and values that can be read and set (to a certain extent) by the user. Persistent Indicates whether the value of the parameter remains in the memory after the device is switched off. Power Removal, PWRR see STO Power stage The power stage controls the motor. The power stage generates current for controlling the motor on the basis of the positioning signals from the controller. Quick Stop Function which can be used for fast deceleration of the motor via a command or in the event of an error. RCD Residual Current Device

rms "Root Mean Square" value of a voltage (Vrms) or a current (Arms) RO , RW Read Only = Parameter can only be read Read/Write = Parameter can be read and written STO Safety Function "STO (Safe Torque Off)" as per IEC 61800-5-2. Scaling factor This factor is the ratio between an internal unit and a user-defined unit. Server First the transmitter, then the recipient of fieldbus messages in the client- server relationship; responds to the request of a client; the reference point is the server object dictionary 0098441113504, V2.00, 08.2010 378 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A15Glossary BLP14A Brushless DCdrive Brushless User-defined unit User-defined Slave address Warning Slave state. isnotA warning an error andnot does cause atransition of the operating function. by was problem amonitoring that detected apotential to alerts warning a context safetyof the instructions, outside used is term the If parameters. via Unit whose referencemotor to movement bybe can determined the user signmentof unique addresses. Communicationbetween masterand slave only possible is after the as- master. the to Passive bus device that receives control commands and provides data 379 15 Glossary BLP14A 0098441113504, V2.00, 08.2010 380 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A16Index Index 16 BLP14A Brushless DCdrive Brushless u rirto 41 arbitration Bus Braking ramp, see deceleration ramp Boot-up Boot Up Bit fields 41 identifier Bit field 41 data field Bit Before you begin setting rate Baud 156 baud rate Baud rate B 299 errors Asynchronous Assembling cables Analog module 166 testing inputs, Analog 21 Ambient conditions Address setting 58 transmission data Acyclic 207 velocity Actual Activating 357 Accessoriesspare and parts 357 Accessories 183 Access channels 203 Positioning Profile mode inoperating movement Absolute 300 298, ABORT 377 Abbreviations A Cable specifications 118 Cable shield C esg 59 Message 66 62, Message 41 Identifier 41 Data 17 Safety information 129 parameters With 129 Fieldbus 128, 130, 132, 134, 136, 139, 140,142 Motorphases 166 Analog input 22 site Installation 22 Connection 129 parameters With 51 PDO rtce al ntlain111 Protected cable installation 129 Modbus 16 381 16 Index BLP14A

Cables 31 CAN message 41 CAN 3.0A 41 CANopen Communication profile, NMT 61 Function 135 Message 41 Standards 10 State machine 59 terminating resistors 135 Category 0 stop 110 Category 1 stop 110 Cause of last error 297 ccd see Command code Certifications 21 Change Operating mode 195 Changing the motor 362 Changing the operating state 191 Client-Server 44 Client-server SDO data exchange 45 COB ID 41 EMCY object 60 For Node Guarding 64 of communication objects 42 SDO 46 SYNC object 58 COB Id bus arbitration 41 Identification of communication objects 41 tasks 41 Coding Command code 47, 48 Command code Read value 48 SDO 46 Write value 47 Command specifier 63 Commissioning 145 Analog inputs, testing 166 Controller structure 172 Default settings and optimization 178 device address 156 Direction of movement, test 171 Limit switches, testing 169 optimizing controller 172 Optimizing speed controller 174 Optimizing velocity controller 174 Safety function STO, test 170 Setting basic parameters 164 steps 156 Tools 149 commissioning baud rate 156 0098441113504, V2.00, 08.2010 382 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A16Index BLP14A Brushless DCdrive Brushless ylcdt rnmsin58 transmission data Cyclic Current controller 199, 284 Current control Current Controller parameter values, determination of Controller 122 Control cabinet 24,126, 364 Connection overview Connection monitoring Connection error Connection 13 Components and interfaces Communication relationship Communication profile Communication objects 150 CT Lexium software Commissioning 357 150, software Commissioning Data transmission length Data 43 frame Data Data D ucin172 Function 204 Position le for Controller parametervalues 174 Values 172 Structure 172 optimizing 63 NMT services 66 Heartbeat 65 Node Guarding 131 Signal interface (CN3) 138 (CN5) Motor 140 sensors(CN6) effect Hall 22 Ambient conditions 43 Producer - consumer 43 -slave Master 43 Client -server 38 DS301 40 Overview 41 Identification 51 PDO for 41 Controlling 42 COB IDs 174 function Step 173 signal value reference Setting 150 Prerequisites 150 Online help 296 Error indication lxbe50 Flexible 46 SDO 63 service NMT device the of 47 Writing 46 SDO 48 Reading 63 Persistent data srgdmcaia ytm 176 ss rigid mechanical systems 383 16 Index BLP14A

Acyclic 58 Cyclic 58 Synchronous 57 Deceleration ramp, setting 249 Declaration of conformity 15 Default values Restoring 275 Definition STO 110 Degree of protection 22 Determining controller parameter values Controller parameter values for rigid mechanical systems 176 Device Mounting 122, 123 device address 156 Device error Internal 59 Device overview 11 Device profile DS402 38 Devices Address 368 Diagnostics 289 Diagram A/B signals 141 dimensional drawing, see dimensions Dimensions 23 Direction of movement, test 171 Direction of rotation ->Direction of movement 171 Disposal 359, 362 DS301 communication profile 38 DS402 Device profile 38 E Electrical installation 124 EMC 118 EMCY COB ID of the object 60 Message 59 Object 59 object 40 Emergency object See EMCY object Emergency service 59 Encoder Motor encoder 141 EPLAN Macros 9 Equipotential bonding conductors 119 Error Evaluation 59 Response with SDO 48 Error class 186, 292 Error code 60 Table 299 Error handling 59 0098441113504, V2.00, 08.2010 384 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A16Index BLP14A Brushless DCdrive Brushless xenlpwrspl nt108 Externalpower supply unit 277 Examples Example 297 last Error, 293 187, response Error 60, 299 register Error 60 memory Error 289 Error indication G 10 Further reading 249 237, Functions 33 20, safety Functional function code 42 code Function Function Following error Setup First Fieldbus F HMI 63, 66 Heartbeat 18 Hazard categories 253 Halt H 375 Glossary etn o _D351 Setting for R_PDO3 42 Selection ofID aCOB 46 SDO message 39 Index and subindex entries 292 186, Meaning 294 LEDs 297 Fieldbus 296 software Commissioning tnsilwno 254 Standstill window 246 scaling 275 Restoring default values 252 Quick Stop 249 Motion profile 237 monitoring functions 253 Halt See Function code 269 Reversal of direction 242 function Monitoring 158, 369 Via HMI 157, 369 Preparation 297 Error indication eoetria 151 terminal Remote 151, 152 Menu structure 151 function 369 158, Setup First 66 Start of monitoring 66 NMT state evaluation 66 Mutual monitoring 385 16 Index BLP14A

Homing 224, 283 Homing by position setting Position setting 236 I I2t 241 Identification of communication objects 41 Index SDO 46 Installation electrical 124 mechanical 120 Installation site Ambient conditions 22 Intended use 17 Interface signal FAULT_RESET 252 Interruption of movement Cause 299 Introduction 11 IP degree of protection 22 J Jerk limitation 250 Jog 196, 288 L Layer model Application Layer 36 Data Link Layer 36 Physical Layer 36 LEDs Error indication 294 Lexium CT commissioning software 150 Life guarding 63 Limit switch Limit switch 240 Moving the drive away from the switch 240 Reference movement without index pulse 229 Limit switches, testing 169 Limit values Setting 164 M Macros EPLAN 9 Maintenance 359 Manuals Source 9 Master - Slave 43 Mechanical installation 120 Mechanical system, design for control system 175 Message 41 Boot-up 59 CANopen 41 EMCY 59 0098441113504, V2.00, 08.2010 386 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A16Index BLP14A Brushless DCdrive Brushless utmse aaiiy35 capability Multimaster 122 Mounting, mechanical 122 distances Mounting Motor encoder Motor cable 208 Motion Sequence 249 profile Motion 115, 237 Monitoring functions Monitoring Modbus Messages 35 communication Message-oriented 298 objects Message oeI 41 Node ID 63 Node guarding Node Guarding 42, 63 41, address Node NMT management Network N ucin141 Function 141 Encoder type 138 Connection 243 Parameters 138 Motor phases 129 Function 130 Connection 299 Synchronous errors 299 On the devicestatus 299 Error register(1001h) 299 Error(603Fh) code 299 Asynchronous errors 298 (6041h) word Status 298 Error register(1001h) 298 Error(603Fh) code 298 EMCY(80h+ nodeID) 46 SDO 51 PDO 64 63, NMT oncinerr65 error Connection 64 COB ID 64 message a of Structure 64 State of slave 62 State machine 40 services 61 Services 63 Recipienta of message 61 services Network 63 Message See NMT ntaiain62 Initialization 62 For devicecontrol 63 monitoring connection For 387 16 Index BLP14A

O Object groups Overview 37 Objects Standardized 39 Operating Mode Speed Control 201, 286 Operating mode Change 195 Current control 199, 284 Homing 224, 283 Jog 196, 288 Motion Sequence 208 Profile Position 203, 280 Profile Velocity 206, 282 Start 194 Operating modes 196 Starting and monitoring 58 Vendor-specific 284 Operating states 184 Operation 181 Optimization of default settings 178 Overview 148, 149 Communication objects 40 Connections 24, 126, 364 Object groups 37 Procedure for electrical installation 125 P Parameter Display via HMI 152 representation 315 Parameters 315 PDO 40, 50 Activating 51 Communication objects 51 Message 51 Producer-consumer 50 Receive PDOs 52 Settings 51 Start PDO 58 Time intervals 52 Transmit PDOs 53 PDO mapping 55 Static 55 Structure of entries 56 PELV power supply UL 31 Pollution degree 22 Pollution degree for UL 31 Position Current 204 Target 205 Position controller Function 173 optimizing 179 Position setting 236 0098441113504, V2.00, 08.2010 388 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A16Index BLP14A Brushless DCdrive Brushless rtce al ntlain111 installation cable Protected Profiles 206, 282 Profile Velocity 203, 280 Profile Position 249 generator Profile Producer-consumer 44 Producer-Consumer process data objects Object Data Process 35 Prioritization of messages Prerequisites 238 Positioning limits Positioning Response 35 Residual error probability Remote terminal 203 Relative movement inoperating modeProfile Position Reference value signal 175 Reference value filter Reference switch 229 Reference movement without index pulse 232 Reference movement withpulse index REF, seereferenceswitch Recipient 52 Receive PDOs 50 Realtime data exchange Ramp R_PDO R 252 Stop Quick 17 Qualification of personnel Q edrseii 38 Vendor-specific 38 standardized 57 SYNC 50 PDO 66 Heartbeat 59 EMCY see PDO see PDO 193 For setting theoperating mode 203 Triggering oSOerr48 error SDO to 151 HMI 173 Setting 230 Reference movement withoutpulse index 233 Reference movement with index pulse 63 message NMT an of 249 Steepness 249 shape 53 R_PDO4 52 R_PDO3 52 R_PDO2 52 R_PDO1 389 16 Index BLP14A

Reversal of direction 269 S Safe Torque Off 110 Definition 110 Safety disconnect moment 110 Safety function 110 Application examples 112 Category 0 stop 110 Category 1 stop 110 Definition 110 Definitions 110 Requirements 110 Safety function STO, test 170 Scaling 246 Scope of supply 12 SDO 40, 45 COB ID 46 Command code 46 Data 46 Data frame 46 Error message 298, 300 Error response 48 Index, Subindex 46 Message 46 Message types 45 Response 48 Transmission error 300 Service 359 Service address 359 Service Data Object See SDO Service data objects 40 See SDO Services EMCY 59 For connection monitoring 61 For device control 61 NMT 40, 61 Shield 118 Shipping 362 Signal interface Connection 132, 134 Software limit switch 239 Source Commissioning software 150, 357 EPLAN Macros 9 Manuals 9 Specification CAN 3.0A 41 Speed Control 201, 286 Speed controller Setting 174 Standstill window 254 Start Operating mode 194 Start-up operating mode 161, 371 0098441113504, V2.00, 08.2010 390 Brushless DC drive 0098441113504, V2.00, 08.2010 L1A16Index BLP14A Brushless DCdrive Brushless Synchronous object Synchronization 57 Synchronization 40,57 SYNC object 31 Surrounding air temperatureUL Subindex 362 Storage 110 STO 174 Step function 237 Status monitoring during operation 291 185, transitions State machine State 184 State diagram yecd 14 code Type 289, 302 Troubleshooting 53 Transmit PDOs 149 Tools forcommissioning Time values Time interval 377 Terms Terminating resistors 241 Temperature 21 Technical data Tasks 207 velocity Target 205 position Target T_PDO T UL U ros299 Errors 57 Data transmission See SYNCobject 57 values Time 50 PDO With 58 COB ID 46 SDO 110 Requirements 110 Definitions 112 examples Application 62 NMT 59 CANopen rosb i ls 303 Errorsbit by class 57 For synchronization 52 PDO 52 time Inhibit 66 Heartbeat 52 Event timer 135 CANopen 41 Id COB the of 54 T_PDO4 53 T_PDO3 53 T_PDO2 53 T_PDO1 391 16 Index BLP14A

Surrounding air temperature 31 UL, conditions for PELV power supply 31 Wiring 31 Units and conversion tables 375 V Velocity controller Function 172 Setting 174 Vendor-specific Operating modes 284 Profiles 38 Ventilation 122 W Wiring diagram Modbus 129 Motor phases 138 Power stage supply (CN1) 128 Signal interface 131, 133 Wiring UL 31 0098441113504, V2.00, 08.2010 392 Brushless DC drive