CiA 402 Controller Based Mode
Software manual
en
03/2014
V 6.0-C
Software manual CiA 402 Controller Based Mode
Table of contents
1
General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2
Basic information about CBM . . . . . . . . . . . . . . . . . . . . . . 7
3
CBM commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
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1
General Information
Software manual CiA 402 Controller Based Mode
1
General Information
Overview of sections
1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Other manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Technical support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Important information and conventions . . . . . . . . . . . . . . . 5
1.4.1
Safety instructions and pictograms . . . . . . . . . . . . . . . . . . . . . . 5
1.4.2
Abbreviations, formula symbols and indices. . . . . . . . . . . . . . . 5
1.5 Instructions for use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5.1
Using the software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5.2
Product maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
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General Information
Software manual CiA 402 Controller Based Mode
Using the Controller Based Mode (CBM) application in the SD6 drive controller,
you can implement applications with synchronized, cyclic assignment of
reference values by a Motion-Control unit (type MC6, for example).
1.1
About this manual
This manual describes control of the CBM drive controller, operating modes
and functions. It also describes projecting and setup of the application and
drive controller in the DriveControlSuite commissioning software and how to
place the drive and control unit in operation.
The manufacturer-specific jogging (tip) operating mode is available with the
CBM application for commissioning, emergency mode and for maintenance
and repair work. You can also use different operating mode as specified by
CANopen device profile CiA 402. This makes the Homing mode available for
referencing. In Production mode choose between Interpolated position mode,
Cyclic synchronous position mode, Cyclic synchronous velocity mode or Cyclic
synchronous torque mode. Associated with each operating mode is the
corresponding control mode of the drive (position, velocity, or torque control).
In accordance with CiA 402 you can use the Touch probe function with CBM
for the position measurement with a binary signal.
1.2
Other manuals
The documentation items listed in the table below provide relevant information
about the drive controller, fieldbus communication and the Motion Controller.
All published versions can be found at www.stoeber.de.
Device/software
Documentation
Contents
ID
SD6 drive controllers Manual
Technical data,
installation,
connection, setup,
commissioning and
customer service
442425
SD6 drive controllers Commissioning
instructions
Installation and
functional test
442536
EtherCAT
Operating manual
Installation,
connection, setup,
commissioning and
customer service
442515
Motion Controller
MC6
Operating manual
Projecting, installation, 442460
connection, setup,
customer service and
maintenance
This documentation applies to the following devices:
• Drive controller SD6 software version 6.0-C or higher
1.3
What is new?
Version
Date
Changes
V 6.0-C
03/2014
General corrections
Technical support
If you have technical questions that are not answered by this document, please
contact:
• Phone: +49 7231 582-3060
• E-mail: applications@stoeber.de
If you have questions about training sessions, please contact:
• E-mail: training@stoeber.de
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General Information
Software manual CiA 402 Controller Based Mode
1.4
Important information and conventions
1.4.1
Safety instructions and pictograms
The devices can represent a source of danger. Therefore observe
• the safety guidelines, technical rules and regulations given in the following
sections
• and points.
1.4.2
Abbreviations, formula symbols and indices
The following abbreviations, formula symbols and indices are used in this
documentation.
Abbreviations
CAN
Controller Area Network
CBM
Controller Based Mode
CiA
Can in Automation
csp
Cyclic synchronous position mode
cst
Cyclic synchronous torque mode
csv
Cyclic synchronous velocity mode
hm
Homing mode
Drive follows
Drive follows the command value
IGB
Integrated Bus
ip
Interpolation position mode
LS
Limit switch
Warning
neg
negative
means that there may be a serious danger of death
pos
positive
 if the stated precautionary measures are not taken.
RS
Reference switch
S
Switch
SW
Reference value
ZP
Zero pulse
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG shall assume no liability for
damage resulting from failure to comply with the instruction manual or relevant
regulations. We reserve the right to make technical changes for the purpose of
improving the devices.
The following conventions apply to the safety instructions used in this
documentation:
WARNING!
Information
refers to important information about the product or serves to
emphasize a section in the documentation to which the reader
should pay special attention.
Formula symbol
F
Force
M
Torque/moment
Indices
hex
ID 442454.01
Hexadecimal
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General Information
Software manual CiA 402 Controller Based Mode
1.5
Instructions for use
1.5.1
Using the software
The DriveControlSuite software package can be used to select the application
and adjust the parameters and signal monitoring of the 6th generation of
STÖBER drive controllers. The functionality is specified by selecting an
application and transmitting these data to an drive controller.
The software is the property of STÖBER ANTRIEBSTECHNIK GmbH + Co.
KG and is copyrighted. The software is licensed for the user.
The software is only provided in machine-readable form. STÖBER
ANTRIEBSTECHNIK GmbH + Co. KG gives the customer a non-exclusive
right to use the software (license) provided it has been legitimately obtained.
The customer is authorized to use the software for the above activities and
functions and to make copies of the software, including a backup copy for
support of this use, and to install same.
The conditions of this license apply to each copy. The customer promises to
affix the copyright notation to each copy of the software and all other property
notations.
The customer is not authorized to use, copy, change or pass on/transmit the
software for purposes other than those in these regulations. The customer is
also not authorized to convert the software (i. e., reverse assembly, reverse
compilation) or to compile it in any other way. The customer is also not
authorized to issue sublicenses for the software, or to rent or lease it out.
1.5.2
cases, the error cannot be immediately corrected, STÖBER
ANTRIEBSTECHNIK GmbH + Co. KG will provide an intermediate solution
which may require the customer to comply with special operation regulations.
A claim to error correction only exists when the reported errors are reproducible
or can be indicated with machine-generated outputs. Errors must be reported
in a reconstructable form and provide information which is useful to error
correction.
The obligation to correct errors ceases to exist for software which the customer
changes or edits in any way unless the customer can prove that such action is
not the cause of the reported error.
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will keep the respective valid
software versions in an especially safe place (fireproof data safe, bank deposit
box).
Product maintenance
The obligation to maintain refers to the two latest software versions created by
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG and approved for use.
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will either correct software
errors or will provide the customer with a new software version. This choice will
be made by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. If, in individual
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
2
Basic information about CBM
Overview of sections
2.1 Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.1
Device state machine according to CiA 402 . . . . . . . . . . . . . . . 8
2.1.2
Controlword and Statusword. . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Operating modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2.1
Jogging mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2.1.1
Relevant parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2.1.2
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2.1.3
Control commands and status information. . . . . . . . . . 16
2.2.2
Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.2.1
Input and output signals . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.2.2
Relevant parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2.2.3
Reference position . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2.2.4
Referencing methods . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2.2.5
Control commands and status information. . . . . . . . . . 32
2.2.3
Interpolated position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.2.4.4
2.2.5
Control commands and status information . . . . . . . . .43
Cyclic synchronous velocity mode . . . . . . . . . . . . . . . . . . . .43
2.2.5.1
Input and output signals . . . . . . . . . . . . . . . . . . . . . . .43
2.2.5.2
Relevant parameters . . . . . . . . . . . . . . . . . . . . . . . . .43
2.2.5.3
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
2.2.5.4
Control commands and status information . . . . . . . . .47
2.2.6
Cyclic synchronous torque mode . . . . . . . . . . . . . . . . . . . . .47
2.2.6.1
Input and output signals . . . . . . . . . . . . . . . . . . . . . . .47
2.2.6.2
Relevant parameters . . . . . . . . . . . . . . . . . . . . . . . . .47
2.2.6.3
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
2.2.6.4
Control commands and status information . . . . . . . . .51
2.3 Feed forward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
2.3.1
Control-unit-generated external feed forward . . . . . . . . . . . .51
2.3.2
Drive-generated internal feed forward. . . . . . . . . . . . . . . . . .52
2.3.3
Without feed forward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
2.3.4
Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
2.4 Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
2.4.1
Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
2.5 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
2.2.3.1
Input and output signals . . . . . . . . . . . . . . . . . . . . . . . . 32
2.2.3.2
Relevant parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.2.3.3
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.5.1.1
Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . .55
2.2.3.4
Control commands and status information. . . . . . . . . . 38
2.5.1.2
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
2.2.4
Touch probe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
Cyclic synchronous position mode . . . . . . . . . . . . . . . . . . . . . 38
2.2.4.1
Input and output signals . . . . . . . . . . . . . . . . . . . . . . . . 38
2.2.4.2
Relevant parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.2.4.3
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
This section contains essential information about the basic settings that must
be considered in each project for the drive controller and adjusted for your
application. The section describes control of the drive controller and the
available operating modes and also covers feed forward and interpolation. A
description of the CiA-402-compliant Touch probe function is also included.
2.1
Controller
The CBM application is based on the internationally standardized CANopen
device profile CiA 402 for electrical drives. The SD6 drive controller is
controlled accordingly with CiA-402-compliant control and status words.
2.1.1
Device state machine according to CiA 402
The illustration below shows the device states and possible changes in state in
accordance with CiA 402.
Fig. 2-1 Device state machine according to CiA 402
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Software manual CiA 402 Controller Based Mode
The table below shows the conditions for changes in the state machine.
Change of state
Conditions
0
Device start-up > self test
Control board power supply turned on.
1
Self test > switch on disable
Self test completed without errors
AND initialization complete.
2
Switch on disable > ready to switch on
Enable active
AND DC link charged
AND command Shutdown
AND safety technology deactivated
AND IGB motion bus inactive OR (IGB motion bus active AND (IGB state = 3:IGB motion bus OR IGB exception
mode active OR Local mode active)).
3
Ready to switch on > switched on
Enable active
AND command Switch on
4
Switched on > operation enabled
Enable active
AND command Enable operation
5
Operation enabled > switched on
Enable active
AND command Disable operation
6
Switched on > ready to switch on
Enable active
AND command Shutdown
7
Ready to switch on > switch on disable
Enable inactive
OR DC link not charged
OR command Quick stop
OR command Disable voltage
OR safety technology active
OR (IGB motion bus active AND IGB state not equal to 3:IGB motion bus AND IGB exception mode inactive AND
Local mode inactive)
8
Operation enabled > ready to switch on
Shutdown command
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Software manual CiA 402 Controller Based Mode
Change of state
Conditions
9
Operation enabled > switch on disable
Enable inactive
OR command Disable voltage
OR safety technology active
10
Switched on > switch on disable
Enable inactive
OR DC link not charged
OR command Quick stop
OR command Disable voltage
OR safety technology active
OR (IGB motion bus active AND IGB state not equal to 3:IGB motion bus AND IGB exception mode inactive AND
Local mode inactive)
11
Operation enabled > quick stop
Command Quick stop
OR (Enable inactive AND Quick stop with enable off signal active)
12
Quick stop > switch on disable
Quick stop complete
OR DC link below 130 V
OR safety technology active
OR command Disable voltage
13
All states > fault response active
Fault detected
14
Fault response active > fault
Fault response complete
15
Fault > switch on disable
Command Fault reset (positive edge)
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
The device state machine must receive specific commands for changes of
state. The commands are given as a bit combination in the control word in
accordance with CiA402 (parameter A515 Control word). The table below
shows the states of the bits in A515 and how they are combined for commands
(bits marked with X are irrelevant).
Bit of the control word (A515 control word)
Bit 7
Bit 3
Bit 2
Bit 1
Bit 0
Fault
reset
Enable
operation
Quick
stop
Enable
voltage
Switch
on
Shutdown
0
X
1
1
0
Switch on
0
0
1
1
1
Disable voltage
0
X
X
0
X
Quick stop
0
X
0
1
X
Disable operation
0
0
1
1
1
Enable operation
0
1
1
1
1
Pos. of
edge
X
X
X
X
Command
Fault reset
2.1.2
Controlword.
ID 442454.01
control word
version 0
Comment
0
Switch on
—
1
Enable voltage
—
2
Quick stop
—
3
Enable operation
—
4
Operation mode
specific
Homing
mode
1: Start
Homing
5
Operation mode
specific
ip
csp csv cst
1: Enable
—
interpolation
—
—
Jogging
mode
1: TipPos
Homing
mode
ip
csp csv cst
Jogging
mode
—
—
—
1:TipNeg
—
6
Operation mode
specific
7
Fault reset
8
Optional
No function
9
Operation mode
specific
No function
10 Reserved
Controlword and Statusword
The control unit sends a control word to the drive controller and receives the
status word as confirmation. The control word triggers the change in state in
the state machine. The functions of bits 4, 5, 6 and 9 in the control word as well
as bits 12 and 13 in the status word depend on which operating mode is
selected. The different operating modes are explained on the following pages.
A515
Bit Description
—
No function
—
Reserved
11 Manufacturer
specific
Axis Selector bit 0 (if A63 Axis selector0 source =
2:parameter)
12 Manufacturer
specific
Axis Selector bit 1 (if A64 Axis selector1 source =
2:parameter)
13 Manufacturer
specific
Axis Disable (if A65 Axis disable source =
2:parameter)
14 Manufacturer
specific
Brake control (if F92[0] Brake control source =
1:external): 1 = Release brake
15 Manufacturer
specific
No function
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
Corresponds to object index 6040hex subindex 0hex Controlword in accordance
with CiA 402.
A516
Bit Description
version 0
Statusword
Statusword.
Bit Description
Comment
14 Manufacturer
specific
PLL A298 bit 0
15 Manufacturer
specific
PLL A298 bit 1
Corresponds to object index 6041hex subindex 0hex Statusword in accordance
with CiA 402.
Comment
0 Ready to switch on
—
1 Switched on
—
2 Operation enabled
—
3 Fault
—
Different operating modes are available with the CBM application.
4 Voltage enabled
—
5 Quick stop
—
6 Switch on disabled
—
7 Warning
—
This manufacturer-specific operating mode for commissioning,
emergency mode and for maintenance or repair work:
• -1: Jogging mode
Control-independent movement of the drive.
8 Manufacturer
—
10 Target reached
—
11 Internal limit active
—
Homing
mode
ip
1:
1: ip
Homing active
attained
13 Operation mode
specific
ID 442454.01
csp
csv
Operating modes
You can also use the following operating modes with CBM in accordance with
CANopen device profile CiA 402.
Message
9 Remote
12 Operation mode
specific
2.2
cst
1: Drive follows
Homing
mode
ip
csp
csv
cst
1:
Homing
error
—
1:
Following
error
—
—
Jogging
mode
—
Jogging
mode
—
For referencing:
• 6: Homing mode
Control-independent referencing of the drive. The drive calculates the
necessary motion profiles independently.
In production mode:
•
7: Interpolated position mode 
Cyclic position assignment by the control unit. Position-controlled drive.
•
8: Cyclic synchronous position mode 
Cyclic position assignment by the control unit. Position-controlled drive.
•
9: Cyclic synchronous velocity mode 
Cyclic velocity assignment by the control unit. Velocity-controlled drive.
•
10: Cyclic synchronous torque mode 
Cyclic torque assignment by the control unit. Torque-controlled drive.
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
You can choose the desired operating mode in parameter A541 Modes of
operation. The currently active operating mode that appears in the display of
the drive controller is controlled by A542 Modes of operation display.
A541
version 1
Modes of operation
7: Interpolated Position Mode
8: Cyclic synchronous position mode
9: Cyclic synchronous velocity mode
10: Cyclic synchronous torque mode
Operating mode.
Value
Description
-1
Jogging mode
6
Homing mode
7
Interpolated position mode
8
Cyclic synchronous position mode
9
Cyclic synchronous velocity mode
2.2.1
Modes of operation display
Jogging mode
You can use Jogging mode to move the drive independently of the control unit,
for example during commissioning, in emergency mode, or for setup and repair
work.
2.2.1.1
10
Cyclic synchronous torque mode
Corresponds to object index 6060hex subindex 0hex Modes of operation in
accordance with CiA 402.
A542
6: Homing Mode
version 0
Currently active operating mode.
Feedback for operating mode. Assigned by A541.
Corresponds to object index 6061hex subindex 0hex Modes of operation display
in accordance with CiA 402.
Relevant parameters
The following parameters are relevant for Jogging mode:
I26
tip mode of operation
version 0
Selection of control mode in which jogging is performed.
WARNING!
Personal injury and material damage due to falling loads.
In control mode I26 = 0: Velocity control lowers a gravity-loaded axis.
 With gravity-loaded axes use control mode I26 = 1: Position control.
-1: Jogging mode
0: no mode assigned
1: Profile Position Mode
This operating mode is not supported.
2: Velocity Mode
This operating mode is not supported.
3: Profile Velocity Mode
This operating mode is not supported.
4: Torque Profile Mode
This operating mode is not supported.
0: speed control
The drive controller performs the following
commands:
• TipPositive
• TipNegative
5: inactive
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Software manual CiA 402 Controller Based Mode
1: position ctrl
I12
The drive controller performs the following
commands:
• TipPositive
• TipNegative
• TipStepPositive
• TipStepNegative
tip speed
version 0
Speed in Jogging mode.
I12 is limited by I10.
I10
maximal speed
version 0
Maximum velocity as a limit for
• CiA 402 Homing mode: A587
• CiA 402 Jogging mode: I12
Information
The limit is set without event 54:following error occurring.
I45
A604
From firmware 6.0-B: If the motor and position encoder are separated, I88
and E91 x I240[1] are checked.
tip acceleration
Max acceleration
version 2
Maximum acceleration.
The minimum is determined from A604 and A605 and is used as the maximum
acceleration and deceleration for the Homing and Jogging modes.
Corresponds to object index 60C5hex subindex 0hex Max acceleration in
accordance with CiA 402.
A605
Max deceleration
version 2
Maximum deceleration.
The minimum is determined from A604 and A605 and is used as the maximum
acceleration and deceleration for the Homing and Jogging modes.
Corresponds to object index 60C6hex subindex 0hex Max deceleration in
accordance with CiA 402.
Quick stop deceleration
version 1
Quick stop deceleration.
Corresponds to object index 6085hex subindex 0hex Quick stop deceleration in
accordance with CiA 402.
The measured velocity is equivalent to I88.
I13
version 0
Deceleration in Jogging mode.
I45 is limited in the Controller Based Mode application by A604 and A605.
A578
Triggering limit for event 56:Overspeed:
• I10 x 1.111 > measured velocity.
tip deceleration
version 0
I18
tip jerk
version 0
Jerk in Jogging mode.
I18 is limited by I16.
Acceleration in Jogging mode.
I13 is limited in the Controller Based Mode application by A604 and A605.
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Software manual CiA 402 Controller Based Mode
I16
version 0
maximal jerk
version 0
Max torque
Maximum permitted torque of the drive.
The amount of the drive torque is limited to this value.
Corresponds to object index 6072hex subindex 0hex Max torque in accordance
with CiA 402.
A571
A564
2.2.1.2
1
2
3
n
Bit
Description
Comment
0 to 5
Reserved
Reserved
6
Velocity polarity
Not used
7
Position polarity 0: Target and actual position are multiplied by 1
-I12
Taste
1: Target and actual position are multiplied by -1
Corresponds to object index 607Ehex subindex 0hex Polarity in accordance with
CiA 402.
Position actual value
version 1
Actual value of the position.
Corresponds to object index 6064hex subindex 0hex Position actual value in
accordance with CiA 402.
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Function
+I12
Polarity of the axis model.
A545
version 0
Torque actual value
Actual value of the torque/force.
Corresponds to object index 6077hex subindex 0hex Torque actual value in
accordance with CiA 402.
version 0
Polarity
version 1
Velocity actual value
Actual value of the velocity.
Corresponds to object index 606Chex subindex 0hex Velocity actual value in
accordance with CiA 402.
Maximum jerk as a limit for
• CiA 402 Homing mode: I44
• CiA 402 Jogging mode: I18
A559
A553
Taste
1
2
3
1
0
1
0
I13 Tip acceleration
I45 Tip deceleration
I18 Tip jerk
If signal TipPos is set to 1, the drive accelerates with ramp I13 and jerk limit I18
to velocity I12. If signal TipPos is set to 0, the drive brakes with ramp I45 to a
complete stop.
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Software manual CiA 402 Controller Based Mode
If signal TipNeg is active, the drive will accelerate to -I12. The same applies to
acceleration and jerk.
The active operating mode is output in A542 Modes of operation display. If
Jogging mode is active, the display contains as information -1: Jogging.
The following operating-mode-specific bits are assigned in the Statusword:
If signals TipPos and TipNeg are set to 1 at the same time, the drive brakes to
a complete stop:
A516 Statusword
+I12
Bit
Designation
Description
12
Operation mode specific The bit is always equal to zero in jogging
mode.
n
2.2.2
During the referencing in Homing mode, the reference system of the machine
and controller are absolutely matched to each other. The drive is only able to
perform absolute movements in the referenced state (movements to defined
positions).
-I12
1
0
1
0
Taste
Taste
2.2.1.3
Homing mode
Information
For all graphical displays of axes in this section, the smallest
position value is on the left, the largest on the right. Accordingly
positive motion moves to the right, negative to the left.
Control commands and status information
Setting up the operating mode in DriveControlSuite
To move the drive in jogging mode, enter a value of -1 in parameter A541
Modes of operation.
2.2.2.1
Input and output signals
A515 Controlword (6040h)
The following operating-mode-specific bits are assigned in the Controlword:
A541 Modes of operation (6060h)
A515 Controlword
A569 Home offset (607Ch)
Bit
Designation
Description
A586 Homing method (6098h)
4
Operation mode specific
1: TipPos
A587 Homing speeds (6099h)
5
Operation mode specific
1: TipNeg
ID 442454.01
Homing
method
A588 Homing acceleration (609Ah)
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
2.2.2.2
Relevant parameters
Information
The limit is set without event 54:following error occurring.
The following parameters are relevant for Homing mode:
A586
Homing method
version 0
Referencing methods.
Corresponds to object index 6098hex subindex 0hex Homing method in
accordance with CiA 402.
A569
Home offset
version 1
Reference position.
The reference position is used as the new actual position in referencing.
Corresponds to object index 607Chex subindex 0hex Home offset in accordance
with CiA 402.
A587[0]
Homing speeds speed during search for switch
version 0
Speed when searching for the reference switch during referencing.
Corresponds to object index 6099hex subindex 1hex Speed during search for
switch in accordance with CiA 402.
A587[1]
Homing speeds speed during search for zero
version 0
Speed when searching for the encoder zero pulse during referencing.
Corresponds to object index 6099hex subindex 2hex Speed during search for
zero in accordance with CiA 402.
I10
maximal speed
Maximum velocity as a limit for
• CiA 402 Homing mode: A587
• CiA 402 Jogging mode: I12
ID 442454.01
version 0
Triggering limit for event 56:Overspeed:
• I10 x 1.111 > measured velocity.
The measured velocity is equivalent to I88.
From firmware 6.0-B: If the motor and position encoder are separated, I88
and E91 x I240[1] are checked.
A588
Homing acceleration
version 1
Acceleration during referencing.
Corresponds to object index 609Ahex subindex 0hex Homing acceleration in
accordance with CiA 402.
A604
Max acceleration
version 2
Maximum acceleration.
The minimum is determined from A604 and A605 and is used as the maximum
acceleration and deceleration for the Homing and Jogging modes.
Corresponds to object index 60C5hex subindex 0hex Max acceleration in
accordance with CiA 402.
A605
Max deceleration
version 2
Maximum deceleration.
The minimum is determined from A604 and A605 and is used as the maximum
acceleration and deceleration for the Homing and Jogging modes.
Corresponds to object index 60C6hex subindex 0hex Max deceleration in
accordance with CiA 402.
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Software manual CiA 402 Controller Based Mode
I44
homing jerk
version 0
Jerk during referencing.
I44 is limited by I16 .
I16
maximal jerk
I102
Max torque
version 0
version 0
Information
The limit switch inputs are LOW-active, i.e. cable-break-proof. A
LOW level leads to a fault 53:limit switch.
If there is no limit switch present, the limit switch can be deactivated
by selecting 1: High.
Maximum permitted torque of the drive.
The amount of the drive torque is limited to this value.
Corresponds to object index 6072hex subindex 0hex Max torque in accordance
with CiA 402.
I101
/HW-Limit-Switch positive source
version 0
Source for the positive limit switch.
The positive limit switch can be used to limit the range of motion in positive
direction.
The limit switch signal can be observed in I441.
Information
The limit switch inputs are LOW-active, i.e. cable-break-proof. A
LOW level leads to a fault 53:limit switch.
If there is no limit switch present, the limit switch can be deactivated
by selecting 1: High.
ID 442454.01
version 0
Source for the negative limit switch.
The negative limit switch can be used to limit the range of motion in negative
direction.
The limit switch signal can be observed in I442.
Maximum jerk as a limit for
• CiA 402 Homing mode: I44
• CiA 402 Jogging mode: I18
A559
/HW-Limit-Switch negative source
I103
reference switch source
version 0
Source for the reference switch.
The reference switch is used to detect the reference position during
referencing.
The reference switch signal can be observed in I448.
2.2.2.3
Reference position
The reference position is the value that is set in the reference point. The
reference point is determined by the referencing method, which is described in
greater detail on the following pages.
Position A569 Home offset = 2.50 m is assigned to the reference point by
means referencing.
When the reference has been set, the drive comes to a complete stop just after
the reference position.
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Software manual CiA 402 Controller Based Mode
2.2.2.4
Referencing methods
You can implement the following referencing method, which are described in
greater detail on the following pages.
Switch position (S) and initial direction of
travel when the switch is not activated
Referencing
Reference to
method
Zero pulse Limit switch Torque/force (M/F)
—
yes
yes
5
yes
—
17
—
yes
—
Negative limit switch, negative initial
movement.
21
—
—
—
Negative reference switch, negative initial
movement.
—
Negative reference switch, encoder zero pulse, 
negative initial movement.
2
yes
yes
—
Positive limit switch, 
encoder zero pulse, 
positive initial movement.
3
yes
—
—
Positive reference switch, encoder zero pulse, 
positive initial movement.
18
—
yes
—
Positive limit switch, 
positive initial movement.
19
—
—
—
Positive reference switch, positive initial
movement.
7
yes
—
—
Centrally arranged reference switch, 
encoder zero pulse, 
positive initial movement.
23
—
—
—
Centrally arranged reference switch, 
positive initial movement.
S
ID 442454.01
Negative limit switch, encoder zero pulse, 
negative initial movement.
1
S
S
Description
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
Switch position (S) and initial direction of
travel when the switch is not activated
Referencing
Reference to
method
Zero pulse Limit switch Torque/force (M/F)
11
yes
—
—
Centrally arranged reference switch, 
encoder zero pulse, 
negative initial movement.
27
—
—
—
Centrally arranged reference switch, 
negative initial movement.
33
yes
—
—
Encoder zero pulse, 
negative initial movement.
34
yes
—
—
Encoder zero pulse, 
positive initial movement.
37 (35)
—
—
—
Set reference
(method was moved from 35 to 37).
-1
—
—
yes
Torque/force stop, positive initial movement.
-3
yes
—
yes
Torque/force stop, negative initial movement.
-2
—
—
yes
Torque/force stop, encoder zero pulse, 
positive initial movement.
-4
yes
—
yes
Torque/force stop, encoder zero pulse, 
negative initial movement.
S
M/F
M/F
ID 442454.01
Description
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Software manual CiA 402 Controller Based Mode
2.2.2.4.1
Referencing method 1
Referencing method 1 is characterized by the following features:
• Negative limit switch
• Encoder zero pulse
• Negative initial movement
LS-
2.2.2.4.2
Referencing method 2
Referencing method 2 is characterized by the following features:
• Positive limit switch
• Encoder zero pulse
• Positive initial movement
LS+
LS-
LS+
1
2
ZP
ZP
LS-
LS+
Sequence
1. The drive starts in negative direction with ramp A588 and speed A587.0.
2. The drive turns around on the negative limit switch and changes to speed
A587.1.
3. When the zero pulse is detected, the reference is set.
4. The drive comes to a complete stop with ramp A588.
Sequence
1. The drive starts in positive direction with ramp A588 and speed A587.0.
2. The drive turns around on the positive limit switch and changes to speed
A587.1.
3. When the zero pulse is detected, the reference is set.
4. The drive comes to a complete stop with ramp A588.
ID 442454.01
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Software manual CiA 402 Controller Based Mode
2.2.2.4.3
Referencing method 3
Referencing method 3 is characterized by the following features:
• Positive reference switch
• Encoder zero pulse
• Positive initial movement
2.2.2.4.4
Referencing method 5
Referencing method 5 is characterized by the following features:
• Negative reference switch
• Encoder zero pulse
• Negative initial movement
RS
RS
I
II
3
3
I
II
5
5
ZP
ZP
RS
RS
Sequence
Case I: The drive has not activated the reference switch yet.
1. The drive starts in positive direction with ramp A588 and speed A587.0.
2. The drive turns around on the reference switch and changes to speed
A587.1.
3. When the zero pulse is detected, the reference is set.
4. The drive comes to a complete stop with ramp A588.
Sequence
Case I: The drive has not activated the reference switch yet.
1. The drive starts in negative direction with ramp A588 and speed A587.0.
2. The drive turns around on the reference switch and changes to speed
A587.1.
3. When the zero pulse is detected, the reference is set.
4. The drive comes to a complete stop with ramp A588.
Case II: The drive is already located on the reference switch.
1. The drive starts in negative direction with ramp A588 and speed A587.1.
2. After the negative edge of the reference switch, the reference is set when
the zero pulse is detected.
3. The drive comes to a complete stop with ramp A588.
Case II: The drive is already located on the reference switch.
1. The drive starts in positive direction with ramp A588 and speed A587.1.
2. After the negative edge of the reference switch, the reference is set when
the zero pulse is detected.
3. The drive comes to a complete stop with ramp A588.
ID 442454.01
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Software manual CiA 402 Controller Based Mode
2.2.2.4.5
Referencing method 7
Referencing method 7 is characterized by the following features:
• Centrally arranged reference switch
• Encoder zero pulse
• Positive initial movement
LS-
I
II
III
RS
LS+
7
7
7
3. After the negative edge of the reference switch, the reference is set when
the zero pulse is detected.
4. The drive comes to a complete stop with ramp A588.
Case II: The drive is already located on the reference switch.
1. The drive starts in negative direction with ramp A588 and speed A587.1.
2. After the negative edge of the reference switch, the reference is set when
the zero pulse is detected.
3. The drive comes to a complete stop with ramp A588.
Case III: The drive is located between the reference switch and the positive
limit switch.
1. The drive starts in positive direction with ramp A588 and speed A587.0.
2. The drive turns around on the positive limit switch.
3. With a positive edge of the reference switch, the drive changes to speed
A587.1.
4. After the negative edge of the reference switch, the reference is set when
the zero pulse is detected.
5. The drive comes to a complete stop with ramp A588.
ZP
RS
LS+
Sequence
Case I: The drive is located between the negative limit switch and the reference
switch.
1. The drive starts in positive direction with ramp A588 and speed A587.0.
2. The drive turns around on the reference switch and changes to speed
A587.1.
ID 442454.01
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
2.2.2.4.6
Referencing method 11
Referencing method 11 is characterized by the following features:
• Centrally arranged reference switch
• Encoder zero pulse
• Negative initial movement
LS-
RS
LS+
11
I
II
III
11
11
ZP
3. After the negative edge of the reference switch, the reference is set when
the zero pulse is detected.
4. The drive comes to a complete stop with ramp A588.
Case II: The drive is already located on the reference switch.
1. The drive starts in positive direction with ramp A588 and speed A587.1.
2. After the negative edge of the reference switch, the reference is set when
the zero pulse is detected.
3. The drive comes to a complete stop with ramp A588.
Case III: The drive is located between the negative limit switch and the
reference switch.
1. The drive starts in negative direction with ramp A588 and speed A587.0.
2. The drive turns around on the negative limit switch.
3. With a positive edge of the reference switch, the drive changes to speed
A587.1.
4. After the negative edge of the reference switch, the reference is set when
the zero pulse is detected.
5. The drive comes to a complete stop with ramp A588.
RS
LSSequence
Case I: The drive is located between the reference switch and the positive limit
switch.
1. The drive starts in negative direction with ramp A588 and speed A587.0.
2. The drive turns around on the reference switch and changes to speed
A587.1.
ID 442454.01
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Software manual CiA 402 Controller Based Mode
2.2.2.4.7
Referencing method 17
Referencing method 17 is characterized by the following features:
• Negative limit switch
• Negative initial movement
LS-
2.2.2.4.8
Referencing method 18
Referencing method 18 is characterized by the following features:
• Positive limit switch
• Positive initial movement
LS-
LS+
LS+
17
18
LS-
LS+
Sequence
1. The drive starts in negative direction with ramp A588 and speed A587.0.
2. The drive turns around on the negative limit switch and changes to speed
A587.1.
3. When the negative limit switch edge is detected, the reference is set.
4. The drive comes to a complete stop with ramp A588.
Sequence
1. The drive starts in positive direction with ramp A588 and speed A587.0.
2. The drive turns around on the positive limit switch and changes to speed
A587.1.
3. When the negative limit switch edge is detected, the reference is set.
4. The drive comes to a complete stop with ramp A588.
ID 442454.01
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Software manual CiA 402 Controller Based Mode
2.2.2.4.9
Referencing method 19
Referencing method 19 is characterized by the following features:
• Positive reference switch
• Positive initial movement
2.2.2.4.10
Referencing method 21
Referencing method 21 is characterized by the following features:
• Negative reference switch
• Negative initial movement
RS
I
II
RS
I
21
19
19
II
21
RS
RS
Sequence
Case I: The drive has not activated the reference switch yet.
1. The drive starts in positive direction with ramp A588 and speed A587.0.
2. The drive turns around on the reference switch and changes to speed
A587.1.
3. When the negative reference switch edge is detected, the reference is set.
4. The drive comes to a complete stop with ramp A588.
Sequence
Case I: The drive has not activated the reference switch yet.
1. The drive starts in negative direction with ramp A588 and speed A587.0.
2. The drive turns around on the reference switch and changes to speed
A587.1.
3. When the negative reference switch edge is detected, the reference is set.
4. The drive comes to a complete stop with ramp A588.
Case II: The drive is already located on the reference switch.
1. The drive starts in negative direction with ramp A588 and speed A587.1.
2. When the negative reference switch edge is detected, the reference is set.
3. The drive comes to a complete stop with ramp A588.
Case II: The drive is already located on the reference switch.
1. The drive starts in positive direction with ramp A588 and speed A587.1.
2. When the negative reference switch edge is detected, the reference is set.
3. The drive comes to a complete stop with ramp A588.
ID 442454.01
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Software manual CiA 402 Controller Based Mode
2.2.2.4.11
Referencing method 23
Referencing method 23 is characterized by the following features:
• Centrally arranged reference switch
• Positive initial movement
LS-
I
II
III
RS
LS+
23
23
Case II: The drive is already located on the reference switch.
1. The drive starts in negative direction with ramp A588 and speed A587.1.
2. When the negative reference switch edge is detected, the reference is set.
3. The drive comes to a complete stop with ramp A588.
Case III: The drive is located between the reference switch and the positive
limit switch.
1. The drive starts in positive direction with ramp A588 and speed A587.0.
2. The drive turns around on the positive limit switch.
3. With a positive edge of the reference switch, the drive changes to speed
A587.1.
4. When the negative reference switch edge is detected, the reference is set.
5. The drive comes to a complete stop with ramp A588.
23
RS
LS+
Sequence
Case I: The drive is located between the negative limit switch and the reference
switch.
1. The drive starts in positive direction with ramp A588 and speed A587.0.
2. The drive turns around on the reference switch and changes to speed
A587.1.
3. When the negative reference switch edge is detected, the reference is set.
4. The drive comes to a complete stop with ramp A588.
ID 442454.01
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
2.2.2.4.12
Referencing method 27
Referencing method 27 is characterized by the following features:
• Centrally arranged reference switch
• Negative initial movement
LS-
I
II
III
RS
LS+
27
27
Case II: The drive is already located on the reference switch.
1. The drive starts in positive direction with ramp A588 and speed A587.1.
2. When the negative reference switch edge is detected, the reference is set.
3. The drive comes to a complete stop with ramp A588.
Case III: The drive is located between the negative limit switch and the
reference switch.
1. The drive starts in negative direction with ramp A588 and speed A587.0.
2. The drive turns around on the negative limit switch.
3. With a positive edge of the reference switch, the drive changes to speed
A587.1.
4. When the negative reference switch edge is detected, the reference is set.
5. The drive comes to a complete stop with ramp A588.
27
RS
LSSequence
Case I: The drive is located between the reference switch and the positive limit
switch.
1. The drive starts in negative direction with ramp A588 and speed A587.0.
2. The drive turns around on the reference switch and changes to speed
A587.1.
3. When the negative reference switch edge is detected, the reference is set.
4. The drive comes to a complete stop with ramp A588.
ID 442454.01
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Software manual CiA 402 Controller Based Mode
2.2.2.4.13
Referencing methods 33 and 34
Referencing method 33 is characterized by the following features:
• Encoder zero pulse
• Negative initial movement
2.2.2.4.14
Sequence
The position where the drive is located is set as the reference position. No
movement takes place.
Referencing method 34 is characterized by the following features:
• Encoder zero pulse
• Positive initial movement
33
34
ZP
Referencing method 35
Information
The Homing method 35 was moved by the EtherCAT User Group
from 35 to 37, Homing method 35 was reserved.
Switch to Homing method 37 (supported from firmware 6.0-C).
However, the previous behavior of Homing method 35 will continue
to be supported until a new functionality is defined.
2.2.2.4.15
Referencing method 37
Sequence
The position where the drive is located is set as the reference position. No
movement takes place.
Sequence
Referencing method 33:
1. The drive starts in negative direction with ramp A588 and speed A587.1.
2. When the zero pulse is detected, the reference is set.
3. The drive comes to a complete stop with ramp A588.
Referencing method 34:
1. The drive starts in positive direction with ramp A588 and speed A587.1.
2. When the zero pulse is detected, the reference is set.
3. The drive comes to a complete stop with ramp A588.
ID 442454.01
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Software manual CiA 402 Controller Based Mode
2.2.2.4.16
Referencing method -1
Referencing method -1 is characterized by the following features:
• Torque/force stop
• Positive initial movement
2.2.2.4.17
Referencing method -2
Referencing method -2 is characterized by the following features:
• Torque/force stop
• Negative initial movement
1
Sequence
1. The drive starts in positive direction with the ramp set in A588 and at the
speed set in A587.0.
2. If the torque limit set in I28 is interrupted for at least the time set in I29 or
more, the reference is set.
3. Reference values are ramped to zero with a value set in A588.
ID 442454.01
2
Sequence
1. The drive starts in negative direction with the ramp set in A588 and at the
speed set in A587.0.
2. If the torque limit set in I28 is interrupted for at least the time set in I29 or
more, the reference is set.
3. Reference values are ramped to zero with a value set in A588.
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Software manual CiA 402 Controller Based Mode
2.2.2.4.18
Referencing method -3
Referencing method -3 is characterized by the following features:
• Torque/force stop
• Encoder zero pulse
• Positive initial movement
2.2.2.4.19
Referencing method -4
Referencing method -4 is characterized by the following features:
• Torque/force stop
• Encoder zero pulse
• Negative initial movement
4
3
ZP
ZP
Sequence
1. The drive starts in positive direction with the ramp set in A588 and at the
speed set in A587.0.
2. If the torque limit set in I28 is reached or exceeded without interruption for
at least the time set in I29, the reference values are ramped to zero with
the value set in A588.
3. The drive moves in negative direction with the ramp set in A588 and at the
speed set in A587.1.
4. When the zero pulse is detected, the reference is set.
5. The drive comes to a complete stop with the ramp set in A588.
Sequence
1. The drive starts in negative direction with the ramp set in A588 and at the
speed set in A587.0.
2. If the torque limit set in I28 is reached or exceeded without interruption for
at least the time set in I29, the reference values are ramped to zero with
the value set in A588.
3. The drive moves in positive direction with the ramp set in A588 and at the
speed set in A587.1.
4. When the zero pulse is detected, the reference is set.
5. The drive comes to a complete stop with the ramp set in A588.
ID 442454.01
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Software manual CiA 402 Controller Based Mode
2.2.2.5
Control commands and status information
Setting up the operating mode in DriveControlSuite
To move the drive in Homing mode, enter a value of 6 in parameter A541
Modes of operation.
The following operating-mode-specific bits are assigned in the Controlword:
Information
Note that in Interpolated position mode, instead of a set of reference
values, only one reference value can be assigned.
2.2.3.1
Input and output signals
2.2.3.2
Relevant parameters
A515 Controlword
Bit
Designation
Description
4
Operation mode specific
Start referencing 
(1: Homing start)
The active operating mode is output in A542 Modes of operation display. If
Homing mode is active, the display contains as information 6: Homing mode.
The following operating-mode-specific bits are assigned in the Statusword:
A516 Statusword
Bit
Designation
12
Operation mode specific Referencing successfully completed 
(Homing attained)
13
Operation mode specific Error during referencing 
(Homing error)
2.2.3
Description
Interpolated position mode
You can use Interpolated position mode to implement cyclic position
assignment with the control unit. Position control is performed in the drive.
The control includes a reference position (with a time stamp) and if applicable
a reference speed that is processed as a feed forward. The application
interpolates the reference values and forwards them to the position control
system. Acceleration and brake ramps or jerk limits are not taken into
consideration.
ID 442454.01
The following parameters are relevant for Interpolated position mode:
A601
Interpolation data record
version 1
Reference value in the Interpolated position operating mode.
The active operating mode is displayed in A542 Modes of operation display.
Only one reference position is supported. The object Index 60C1hex subindex
0hex Highest sub-index supported is permanently set to 1 internally.
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Corresponds to object index 60C1hex subindex 1hex Interpolation data record
in accordance with CiA 402.
A545
Position actual value
version 1
Actual value of the position.
Corresponds to object index 6064hex subindex 0hex Position actual value in
accordance with CiA 402.
A546
Following error window
version 1
Window for the maximum permitted following error.
If the following error exceeds the maximum permitted following error A546 for
an amount of time greater than A547, event 54:following error is triggered.
Information
A546 must not exceed the value 231-1 = 2147483647!
Corresponds to object index 6065hex subindex 0hex Following error window in
accordance with CiA 402.
A570
Software position limit
version 1
Software limit switches.
• Element 0: Negative software limit switch.
Corresponds to object index 607Dhex subindex 0hex Min position limit value
in accordance with CiA 402.
• Element 1: Positive software limit switch.
Corresponds to object index 607Dhex subindex 1hex Max position limit value in
accordance with CiA 402.
A571
version 0
Polarity
Polarity of the axis model.
Bit
Description
Comment
0 to 5
Reserved
Reserved
6
Velocity polarity Not used
7
Position polarity 0: Target and actual position are multiplied by 1
1: Target and actual position are multiplied by -1
A547
Following error time out
version 0
Warning time for the maximum permitted following error.
If the following error exceeds the maximum permitted following error A546 for
an amount of time greater than A547, event 54:following error is triggered.
Corresponds to object index 6066hex subindex 0hex Following error time out in
accordance with CiA 402.
A632
Following error actual value
version 1
Current value of the following error.
Corresponds to object index 60F4hex subindex 0hex Following error actual
value in accordance with CiA 402.
ID 442454.01
Corresponds to object index 607Ehex subindex 0hex Polarity in accordance with
CiA 402.
A592
Velocity offset
version 0
Velocity offset, which is used differently depending on the active operating
mode A542 Modes of operation display.
Operating mode in
Use
accordance with CiA 402
csp:
Speed feed forward
ip:
Speed feed forward
csv:
The total of A592 Velocity offset and A638 Target
velocity is used as the velocity reference value.
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
Corresponds to object index 60B1hex subindex 0hex Velocity offset in
accordance with CiA 402.
A553
Velocity actual value
version 1
Actual value of the velocity.
Corresponds to object index 606Chex subindex 0hex Velocity actual value in
accordance with CiA 402.
A536
Quick stop option code
Quick stop deceleration
version 1
Quick stop deceleration.
Corresponds to object index 6085hex subindex 0hex Quick stop deceleration in
accordance with CiA 402.
A593
version 1
Torque offset
Torque/force offset, which is used differently depending on the active operating
mode A542 Modes of operation display.
Operating mode in
Use
accordance with CiA 402
csp:
Torque/force feed forward
ip:
Torque/force feed forward
csv:
The total of A593 Torque offset and A558 Target
torque is used as the torque/force reference
value.
ID 442454.01
A559
Max torque
version 0
Maximum permitted torque of the drive.
The amount of the drive torque is limited to this value.
Corresponds to object index 6072hex subindex 0hex Max torque in accordance
with CiA 402.
version 0
Response to a request for a quick stop.
A quick stop is performed if command Quick stop has been activated in A515.
Corresponds to object index 605Ahex subindex 0hex Quick stop option code in
accordance with CiA 402.
A578
Corresponds to object index 60B2hex subindex 0hex Torque offset in
accordance with CiA 402.
A564
Torque actual value
version 0
Actual value of the torque/force.
Corresponds to object index 6077hex subindex 0hex Torque actual value in
accordance with CiA 402.
A602
Interpolation time period
version 0
cycle time of the control unit.
Corresponds to object index 60C2hex subindex 0hex Highest sub-index
supported in accordance with CiA 402.
Control cycle time = Time period value (A602[0]) * 10Time index(A602[1]) [sec]
The cycle time of the control unit is displayed in A291. It can also be entered
there directly. In that case A602 does not need to be written.
Information
Note that the control cycle time should be the same as the cycle
time A150 of the drive controller or whole multiples of it.
Information
Note that A291 Cycle time control is limited to values between 250
µs and 32 ms.
Because of this only certain value pairs may be entered in A602.
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
Permitted value pairs for A602.
A603
A602[1]
A602[2]
A291
-3
1 ≤ x ≤ 32
1000 µs ... 32000 µs
-4
3 ≤ x ≤ 255
300 µs
... 25500 µs
-5
25 ≤ x ≤ 255
250 µs
... 2550 µs
-6
250 ≤ x ≤ 255
250 µs
... 255 µs
A602[0]
Interpolation time period time period value
version 0
Time period of the control unit cycle time.
Corresponds to object index 60C2hex subindex 1hex Interpolation time period
value in accordance with CiA 402.
A602[1]
Interpolation time period time index
version 0
Time index of the control unit cycle time.
Corresponds to object index 60C2hex subindex 2hex Interpolation time index in
accordance with CiA 402.
A291
cycle time control
version 0
Cycle time of fieldbus synchronization signals as the assigned value for the
PLL. Simultaneously the cycle time of the cyclic position specification of the
external control and the interpolation time of the device internal fine
interpolator.
A600
Interpolation sub mode select
version 0
Operating mode of the fine interpolator.
Only linear interpolation is supported.
Corresponds to object index 60C0hex subindex 0hex Interpolation sub mode
select in accordance with CiA 402.
ID 442454.01
Interpolation data configuration
version 0
Configuration of the interpolation of the reference value for the position in
operating mode Interpolated position mode.
Corresponds to object index 60C4hex subindex 0hex Interpolation data
configuration in accordance with CiA 402.
A603[0]
Interpolation data configuration Maximum buffer version 1
size
Maximum buffer size for reference positions.
Since only one reference position is supported, the buffer is always 1.
Corresponds to object index 60C4hex subindex 1hex Maximum buffer size in
accordance with CiA 402.
A603[1]
Interpolation data configuration Actual buffer
size
version 1
Current buffer size for reference positions.
Since only one reference position is supported, the buffer is always 1.
Corresponds to object index 60C4hex subindex 2hex Actual buffer size in
accordance with CiA 402.
A603[2]
Interpolation data configuration Buffer
organisation
version 0
Buffer organization for reference positions.
Since only one reference position is supported, the parameter has no function.
Corresponds to object index 60C4hex subindex 3hex Buffer organisation in
accordance with CiA 402.
A603[3]
Interpolation data configuration Buffer position
version 0
Buffer position for reference positions.
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
Since only one reference position is supported, the parameter has no function.
Corresponds to object index 60C4hex subindex 4hex Buffer position in
accordance with CiA 402.
A603[4]
Interpolation data configuration Size of data
record
version 0
Size of the data record for reference positions.
Since only one reference position is supported, the parameter has no function.
Corresponds to object index 60C4hex subindex 5hex Size of data record in
accordance with CiA 402.
A603[5]
Interpolation data configuration Buffer clear
version 0
Empty buffer.
Since only one reference position is supported, the parameter has no function.
Corresponds to object index 60C4hex subindex 6hex Buffer clear in accordance
with CiA 402.
ID 442454.01
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
2.2.3.3
ID 442454.01
Function
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
2.2.3.4
Control commands and status information
Setting up the operating mode in DriveControlSuite
To move the drive in Interpolated position mode, enter a value of 7 in parameter
A541 Modes of operation.
2.2.4.1
A567 Target position (607Ah)
Grenzfunktion
A568 Position range limit (607Bh)
A570 Software position limit (607Dh)
The following operating-mode-specific bits are assigned in the Controlword:
A515 Controlword
Input and output signals
Multiplikator
A571 Polarity
(607Eh)
A546 Following error window (6065h)
Bit
Designation
Description
A547 Following error time out (6066h) [ms]
4
Operation mode specific
Enable interpolation
(1: Enable interpolation)
A592 Velocity offset (60B1h)
Regelungsfunktion
des
Antriebsreglers
A578 Quick-stop deceleration (6085h)
A536 Quick-stop option code (605Ah)
The active operating mode is output in A542 Modes of operation display. If
Interpolated position mode is active, the display contains as information 7:
Interpolated position mode.
A602.x Interpolation time period (60C2h)
A559 Max torque (6072h)
The following operating-mode-specific bits are assigned in the Statusword:
2.2.4.2
A516 Statusword
The following parameters are relevant for Cyclic synchronous position mode:
Bit
Designation
12
Operation mode specific Interpolated position mode active
(ip active)
2.2.4
Description
Cyclic synchronous position mode
You can use Cyclic synchronous position mode to implement cyclic position
assignment with a control unit. Position control is performed in the drive.
The control includes a reference position (with a time stamp) and if applicable
a reference speed that is processed as a feed forward. The application
interpolates the reference values and forwards them to the position control
system. Acceleration and brake ramps or jerk limits are not taken into
consideration.
A567
Relevant parameters
Target position
version 1
Reference value in the Cyclic synchronous position operating mode.
The active operating mode is displayed in A542 Modes of operation display.
Corresponds to object index 607Ahex subindex 0hex Target position in
accordance with CiA 402.
A545
Position actual value
version 1
Actual value of the position.
Corresponds to object index 6064hex subindex 0hex Position actual value in
accordance with CiA 402.
A571
Polarity
version 0
Polarity of the axis model.
ID 442454.01
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
Corresponds to object index 60F4hex subindex 0hex Following error actual
value in accordance with CiA 402.
Bit
Description
Comment
0 to 5
Reserved
Reserved
6
Velocity polarity
Not used
7
Position polarity 0: Target and actual position are multiplied by 1
A570
1: Target and actual position are multiplied by -1
Corresponds to object index 607Ehex subindex 0hex Polarity in accordance with
CiA 402.
A546
Following error window
version 1
Window for the maximum permitted following error.
If the following error exceeds the maximum permitted following error A546 for
an amount of time greater than A547, event 54:following error is triggered.
Information
A546 must not exceed the value 231-1 = 2147483647!
Corresponds to object index 6065hex subindex 0hex Following error window in
accordance with CiA 402.
A547
Following error time out
version 0
Warning time for the maximum permitted following error.
If the following error exceeds the maximum permitted following error A546 for
an amount of time greater than A547, event 54:following error is triggered.
Corresponds to object index 6066hex subindex 0hex Following error time out in
accordance with CiA 402.
A632
Following error actual value
Current value of the following error.
ID 442454.01
version 1
Software position limit
version 1
Software limit switches.
• Element 0: Negative software limit switch.
Corresponds to object index 607Dhex subindex 0hex Min position limit value
in accordance with CiA 402.
• Element 1: Positive software limit switch.
Corresponds to object index 607Dhex subindex 1hex Max position limit value in
accordance with CiA 402.
A592
Velocity offset
version 1
Velocity offset, which is used differently depending on the active operating
mode A542 Modes of operation display.
Operating mode in
Use
accordance with CiA 402
csp:
Speed feed forward
ip:
Speed feed forward
csv:
The total of A592 Velocity offset and A638 Target
velocity is used as the velocity reference value.
Corresponds to object index 60B1hex subindex 0hex Velocity offset in
accordance with CiA 402.
A553
Velocity actual value
version 1
Actual value of the velocity.
Corresponds to object index 606Chex subindex 0hex Velocity actual value in
accordance with CiA 402.
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
A536
Quick stop option code
version 0
Response to a request for a quick stop.
A quick stop is performed if command Quick stop has been activated in A515.
Corresponds to object index 605Ahex subindex 0hex Quick stop option code in
accordance with CiA 402.
A578
Quick stop deceleration
version 1
Torque offset
A564
Torque/force offset, which is used differently depending on the active operating
mode A542 Modes of operation display.
Actual value of the torque/force.
Corresponds to object index 6077hex subindex 0hex Torque actual value in
accordance with CiA 402.
A602
Control cycle time = Time period value (A602[0]) * 10Time index(A602[1]) [sec]
The cycle time of the control unit is displayed in A291. It can also be entered
there directly. In that case A602 does not need to be written.
Information
Note that the control cycle time should be the same as the cycle
time A150 of the drive controller or whole multiples of it.
csp:
Torque/force feed forward
ip:
Torque/force feed forward
csv:
The total of A593 Torque offset and A558 Target
torque is used as the torque/force reference
value.
Corresponds to object index 60B2hex subindex 0hex Torque offset in
accordance with CiA 402.
Max torque
Maximum permitted torque of the drive.
The amount of the drive torque is limited to this value.
ID 442454.01
version 0
Interpolation time period
cycle time of the control unit.
Corresponds to object index 60C2hex subindex 0hex Highest sub-index
supported in accordance with CiA 402.
Operating mode in
Use
accordance with CiA 402
A559
version 0
Torque actual value
version 1
Quick stop deceleration.
Corresponds to object index 6085hex subindex 0hex Quick stop deceleration in
accordance with CiA 402.
A593
Corresponds to object index 6072hex subindex 0hex Max torque in accordance
with CiA 402.
version 0
Information
Note that A291 Cycle time control is limited to values between 250
µs and 32 ms.
Because of this only certain value pairs may be entered in A602.
Permitted value pairs for A602.
A602[1]
A602[2]
A291
-3
1 ≤ x ≤ 32
1000 µs ... 32000 µs
-4
3 ≤ x ≤ 255
300 µs
... 25500 µs
-5
25 ≤ x ≤ 255
250 µs
... 2550 µs
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
Permitted value pairs for A602.
A602[1]
A602[2]
A291
-6
250 ≤ x ≤ 255
250 µs
A602[0]
Interpolation time period time period value
... 255 µs
version 0
Time period of the control unit cycle time.
Corresponds to object index 60C2hex subindex 1hex Interpolation time period
value in accordance with CiA 402.
A602[1]
Interpolation time period time index
version 0
Time index of the control unit cycle time.
Corresponds to object index 60C2hex subindex 2hex Interpolation time index in
accordance with CiA 402.
A291
cycle time control
version 0
Cycle time of fieldbus synchronization signals as the assigned value for the
PLL. Simultaneously the cycle time of the cyclic position specification of the
external control and the interpolation time of the device internal fine
interpolator.
ID 442454.01
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
2.2.4.3
ID 442454.01
Function
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
2.2.4.4
Control commands and status information
2.2.5.1
Input and output signals
2.2.5.2
Relevant parameters
Setting up the operating mode in DriveControlSuite
To move the drive in Cyclic synchronous position mode, enter a value of 8 in
parameter A541 Modes of operation.
No mode-specific control commands need to be entered in Controlword A515
Controlword.
The active operating mode is output in A542 Modes of operation display. If
Cyclic synchronous position mode is active, the display contains as information
8: Cyclic synchronous position mode.
The following operating-mode-specific bits are assigned in the Statusword:
A516 Statusword
Bit
Designation
12
Operation mode specific Drive follows command value (reference
value).
13
Description
Operation mode specific Following error greater than limit value I21.
2.2.5
Cyclic synchronous velocity mode
You can use Cyclic synchronous velocity mode to implement cyclic velocity
assignment with a control unit. Speed control is performed in the drive.
The control unit contains a reference speed (with time stamp). The application
interpolates the reference values and forwards them to the speed control
system. Acceleration and brake ramps or jerk limits are not taken into
consideration.
The following parameters are relevant for Cyclic synchronous velocity mode:
A638
Target velocity
version 1
Velocity reference value in the Cyclic synchronous velocity operating mode.
The active operating mode is displayed in A542 Modes of operation display.
Corresponds to object index 60FFhex subindex 0hex Target velocity in
accordance with CiA 402.
A592
Velocity offset
version 1
Velocity offset, which is used differently depending on the active operating
mode A542 Modes of operation display.
Operating mode in
Use
accordance with CiA 402
ID 442454.01
csp:
Speed feed forward
ip:
Speed feed forward
csv:
The total of A592 Velocity offset and A638 Target
velocity is used as the velocity reference value.
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
Corresponds to object index 60B1hex subindex 0hex Velocity offset in
accordance with CiA 402.
A571
version 0
Polarity
Polarity of the axis model.
A593
version 1
Torque offset
Torque/force offset, which is used differently depending on the active operating
mode A542 Modes of operation display.
Bit
Description
Comment
Operating mode in
Use
accordance with CiA 402
0 to 5
Reserved
Reserved
csp:
Torque/force feed forward
6
Velocity polarity
Not used
ip:
Torque/force feed forward
7
Position polarity 0: Target and actual position are multiplied by 1
csv:
The total of A593 Torque offset and A558 Target
torque is used as the torque/force reference
value.
1: Target and actual position are multiplied by -1
Corresponds to object index 607Ehex subindex 0hex Polarity in accordance with
CiA 402.
A553
Velocity actual value
version 1
Actual value of the velocity.
Corresponds to object index 606Chex subindex 0hex Velocity actual value in
accordance with CiA 402.
A536
Quick stop option code
version 0
Response to a request for a quick stop.
A quick stop is performed if command Quick stop has been activated in A515.
Corresponds to object index 605Ahex subindex 0hex Quick stop option code in
accordance with CiA 402.
A578
Quick stop deceleration
A559
Max torque
version 0
Maximum permitted torque of the drive.
The amount of the drive torque is limited to this value.
Corresponds to object index 6072hex subindex 0hex Max torque in accordance
with CiA 402.
A564
Torque actual value
version 0
Actual value of the torque/force.
Corresponds to object index 6077hex subindex 0hex Torque actual value in
accordance with CiA 402.
version 1
Quick stop deceleration.
Corresponds to object index 6085hex subindex 0hex Quick stop deceleration in
accordance with CiA 402.
ID 442454.01
Corresponds to object index 60B2hex subindex 0hex Torque offset in
accordance with CiA 402.
A602
Interpolation time period
version 0
cycle time of the control unit.
Corresponds to object index 60C2hex subindex 0hex Highest sub-index
supported in accordance with CiA 402.
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
Control cycle time = Time period value (A602[0]) * 10Time index(A602[1]) [sec]
The cycle time of the control unit is displayed in A291. It can also be entered
there directly. In that case A602 does not need to be written.
Information
Note that the control cycle time should be the same as the cycle
time A150 of the drive controller or whole multiples of it.
A291
cycle time control
version 0
Cycle time of fieldbus synchronization signals as the assigned value for the
PLL. Simultaneously the cycle time of the cyclic position specification of the
external control and the interpolation time of the device internal fine
interpolator.
Information
Note that A291 Cycle time control is limited to values between 250
µs and 32 ms.
Because of this only certain value pairs may be entered in A602.
Permitted value pairs for A602.
A602[1]
A602[2]
A291
-3
1 ≤ x ≤ 32
1000 µs ... 32000 µs
-4
3 ≤ x ≤ 255
300 µs
... 25500 µs
-5
25 ≤ x ≤ 255
250 µs
... 2550 µs
-6
250 ≤ x ≤ 255
250 µs
... 255 µs
A602[0]
Interpolation time period time period value
version 0
Time period of the control unit cycle time.
Corresponds to object index 60C2hex subindex 1hex Interpolation time period
value in accordance with CiA 402.
A602[1]
Interpolation time period time index
version 0
Time index of the control unit cycle time.
Corresponds to object index 60C2hex subindex 2hex Interpolation time index in
accordance with CiA 402.
ID 442454.01
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
2.2.5.3
ID 442454.01
Function
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2
Basic information about CBM
Software manual CiA 402 Controller Based Mode
2.2.5.4
Control commands and status information
Setting up the operating mode in DriveControlSuite
To move the drive in Cyclic synchronous velocity mode, enter a value of 9 in
parameter A541 Modes of operation.
No mode-specific control commands need to be entered in Controlword A515
Control word.
The active operating mode is output in A542 Modes of operation display. If
Cyclic synchronous velocity mode is active, the display contains as information
9: Cyclic synchronous velocity mode.
2.2.6.2
Relevant parameters
The following parameters are relevant for Cyclic synchronous torque mode:
A558
version 1
Target torque
Reference value for torque / force in operating mode Cyclic synchronous
torque mode.
The active operating mode is displayed in A542 Modes of operation display.
Corresponds to object index 6071hex subindex 0hex Target torque in
accordance with CiA 402.
The following operating-mode-specific bits are assigned in the Statusword:
A516 Statusword
A593
Bit
Designation
12
Operation mode specific Drive follows the reference value (Drive
follows).
2.2.6
Description
Cyclic synchronous torque mode
Torque control takes place in the drive according to the cyclic torque
assignment by the control unit.
2.2.6.1
version 1
Torque offset
Torque/force offset, which is used differently depending on the active operating
mode A542 Modes of operation display.
Operating mode in
Use
accordance with CiA 402
csp:
Torque/force feed forward
ip:
Torque/force feed forward
csv:
The total of A593 Torque offset and A558 Target
torque is used as the torque/force reference
value.
Input and output signals
Corresponds to object index 60B2hex subindex 0hex Torque offset in
accordance with CiA 402.
A559
Max torque
version 0
Maximum permitted torque of the drive.
The amount of the drive torque is limited to this value.
Corresponds to object index 6072hex subindex 0hex Max torque in accordance
with CiA 402.
ID 442454.01
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
A564
Torque actual value
version 0
Actual value of the torque/force.
Corresponds to object index 6077hex subindex 0hex Torque actual value in
accordance with CiA 402.
A536
Quick stop option code
Quick stop deceleration
version 1
Quick stop deceleration.
Corresponds to object index 6085hex subindex 0hex Quick stop deceleration in
accordance with CiA 402.
A553
Velocity actual value
Description
7
Position polarity 0: Target and actual position are multiplied by 1
1: Target and actual position are multiplied by -1
Corresponds to object index 607Ehex subindex 0hex Polarity in accordance with
CiA 402.
A602
Control cycle time = Time period value (A602[0]) * 10Time index(A602[1]) [sec]
The cycle time of the control unit is displayed in A291. It can also be entered
there directly. In that case A602 does not need to be written.
Information
Note that the control cycle time should be the same as the cycle
time A150 of the drive controller or whole multiples of it.
version 1
version 0
Polarity
Polarity of the axis model.
Bit
Description
Comment
0 to 5
Reserved
Reserved
6
Velocity polarity
Not used
ID 442454.01
version 0
Interpolation time period
Cycle time of the control unit.
Corresponds to object index 60C2hex subindex 0hex Highest sub-index
supported in accordance with CiA 402.
Information
Note that A291 Cycle time control is limited to values between 250
µs and 32 ms.
Because of this only certain value pairs may be entered in A602.
Actual value of the velocity.
Corresponds to object index 606Chex subindex 0hex Velocity actual value in
accordance with CiA 402.
A571
Comment
version 0
Response to a request for a quick stop.
A quick stop is performed if command Quick stop has been activated in A515.
Corresponds to object index 605Ahex subindex 0hex Quick stop option code in
accordance with CiA 402.
A578
Bit
Permitted value pairs for A602.
A602[1]
A602[2]
A291
-3
1 ≤ x ≤ 32
1000 µs ... 32000 µs
-4
3 ≤ x ≤ 255
300 µs
... 25500 µs
-5
25 ≤ x ≤ 255
250 µs
... 2550 µs
-6
250 ≤ x ≤ 255
250 µs
... 255 µs
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
A602[0]
Interpolation time period time period value
version 0
Time period of the control unit cycle time.
Corresponds to object index 60C2hex subindex 1hex Interpolation time period
value in accordance with CiA 402.
A602[1]
Interpolation time period time index
version 0
Time index of the control unit cycle time.
Corresponds to object index 60C2hex subindex 2hex Interpolation time index in
accordance with CiA 402.
A291
cycle time control
version 0
Cycle time of fieldbus synchronization signals as the assigned value for the
PLL. Simultaneously the cycle time of the cyclic position specification of the
external control and the interpolation time of the device internal fine
interpolator.
ID 442454.01
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
2.2.6.3
Function
A558 Target
torque (6071h)
A593 Torque
offset (60B2h)
Moment
Grenz
fkt.
A559 Max torque
(6072h)
A602 Interpolation time
period (60C2h)
Momentenregelung
M
Verarbeitung
Grenz
fkt.
A559 Max
torque (6072h)
I10 Maximale
Geschwindigkeit
A578 Quick stop deceleration (6085h)
Enc
A571 Polarity
Multiplier
(607Eh)
A545 Position
actual value
(6064h)
A553 Velocity
actual value
(606Ch)
A536 Quick stop option code (605Ah)
A564 Torque
actual value
(6077h)
ID 442454.01
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Basic information about CBM
Software manual CiA 402 Controller Based Mode
2.2.6.4
Control commands and status information
Setting up the operating mode in DriveControlSuite
To move the drive in Cyclic synchronous torque mode, enter a value of 10 in
parameter A541 Modes of operation.
No mode-specific control commands need to be entered in Controlword A515
Controlword.
The active operating mode is output in A542 Modes of operation display . If
Cyclic synchronous torque mode is active, the display contains as information
10: Cyclic synchronous torque mode.
The following operating-mode-specific bits are assigned in the Statusword:
If your control unit calculates speed reference values, you should use them. If
your control unit only calculates position reference values, you can make use
of drive-controlled feed forward.
You may have to determine the optimum feed forward value for your system
using an iterative procedure. To optimize control response, you should in any
case consult the drive controller manual.
2.3.1
Control-unit-generated external feed forward
Use control-unit-generated external feed forward if you want to change the
feed forward during operation to achieve optimization of movement.
A516 Statusword
Bit
Designation
12
Operation mode specific Drive follows the reference value 
(Drive follows).
2.3
Description
Feed forward
Feed forward relieves the load on the position controller, thereby reducing the
following error.
You can implement feed forward with the following operating modes:
• Interpolated position mode
• cyclic synchronous position mode
You can select different settings:
• With control-unit-generated (external) feed forward
• With drive-generated (internal) feed forward
• Without feed forward
Moving with feed forward is preferable.
Setting up external feed forward in DriveControlSuite
• Set I25 Velocity feed forward to a value that is suitable for your application,
e. g. to 80 %.
• Activate external feed forward with I425 = 1: external - linear v+x or 3:
external - quadratic x.
• The control unit transfers A601 Interpolation data record and A592 Velocity
offset.
Xsoll cycl
Interpolation
1
Xsoll
Vsoll cycl
Interpolation
2
Vsoll
I25
Information
For multiple-axis movements, feed forward close to 100% is
necessary for the most accurate trajectory possible.
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2.3.2
Drive-generated internal feed forward
Use drive-generated internal feed forward if a feed forward should return the
desired results for the entire period of operation once it has been set.
Setting up internal feed forward in DriveControlSuite
• Set I25 Velocity feed forward to a value that is suitable for your application,
e. g. to 80 %.
• Activate internal feed forward with I425 = 0: internal - linear v+x or 2:
internal - linear x or 4: internal - quadratic x.
• The control unit transfers only A601 Interpolation data record.
Xsoll cycl
Interpolation
Xsoll
d/dt
Without feed forward
Deactivating feed forward in DriveControlSuite
• Set I25 Speed feed forward = 0 %.
• The control unit transfers only A601 Interpolation data record.
Interpolation
The following parameters are relevant for feed forward:
I25
speed feedforward
version 0
Velocity feed forward of the position controller.
The calculated velocity profile is switched to the output of the position
controller.
Speed feed forward relieves the load on the position controller, thereby
reducing the following error.
When I25 = 100 %, the drive moves at a constant speed without a stationary
following error, but it does tend to overshoot at the target position. Because of
this, I25 in most application is in the range of 60 ... 95 %.
In addition to reducing I25, overshooting in the target position can also
alleviated by increasing C32 (time constant I-part).
I425
Select this setting if the overall setting of the drive controller is sufficiently
optimized so that active feed forward would have an adverse affect on overall
control.
Xsoll cycl
Parameter overview
Vsoll
I25
2.3.3
2.3.4
Xsoll
speed feed forward - interpolation
version 1
Source of the velocity feed forward of the position controller and selection of
interpolation type for velocity and position.
The following sources are available for velocity feed forward:
• External assignment of feed forward.
Assignment for CiA 402 via A592 Velocity Offset.
The internal interface to the firmware is I426.
• Internally calculated velocity feed forward.
The following interpolation types are available for the position:
• Linear
• Quadratic
• Cubic
The velocity can only be interpolated linearly or interpolation is shut off.
Vsoll = 0
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Information
Note that changes in I425 do not take effect until after the axis is
turned off and back on.
0: internal - linear v+x
Speed feed forward is differentiated internally
from nominal position values I421.
For position and speed, intermediate values
are linearly interpolated independently of each
other at a 250-µs cycle.
1: external - linear v+x
Speed feed forward is written via fieldbus to
parameter I426.
For position and speed, intermediate values
are linearly interpolated independently of each
other at a 250-µs cycle.
2: internal - linear x
Speed feed forward is differentiated internally
from nominal position values I421.
No intermediate values are generated for
speed. Intermediate values for position are
interpolated at a 250-µs cycle.
3: external - quadratic x
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Speed feed forward is written via fieldbus to
parameter I426.
Intermediate values for speed are interpolated
at a 250-µs cycle. These interpolated speed
values are used to interpolate intermediate
values for the position quadratically in the
same cycle.
4: internal - quadratic x
Speed feed forward is differentiated internally
from nominal position values I421.
Intermediate values for speed are interpolated
at a 250-µs cycle. These interpolated speed
values are used to interpolate intermediate
values for the position quadratically in the
same cycle.
5: internal - cubic x
The position reference values I421 are
differentiated to obtain the acceleration and
intermediate values are interpolated linearly at
a 250-µs cycle. With these interpolated
acceleration values, speed feed forward is
interpolated in the same cycle quadratically
and intermediate values are interpolated for
the position cubically.
2.4
Interpolation
Interpolation is relevant for the following operating modes:
• Interpolated position mode
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode
Every bus cycle must return new reference values for interpolation. You can
adjust the interval over which this occurs in A602 Interpolation time period. The
value in A602 is transferred to A291. Note that A291 must be set equal to A150
or a multiple of it.
A291, A150 and the cycle time of the interpolation routine are used to calculate
how many individual increments a reference value difference must be
subdivided into. The interpolation routine changes the reference value for the
internal Internal one individual increment for each cycle.
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2.4.1
Parameter overview
The following parameters are relevant for interpolation:
A602
Interpolation time period
version 0
cycle time of the control unit.
Corresponds to object index 60C2hex subindex 0hex Highest sub-index
supported in accordance with CiA 402.
A602[0]
If no new reference value is available yet in the first cycle after the last
individual increment, the reference value for the internal control must be
extrapolated with the previous step width. Extrapolation ends when a new
reference value is available or if the assigned maximum extrapolation time I423
has been exceeded. In the second case the drive controller switches to device
state malfunction. The display shows the event 78:Position limit cyclic with
cause 3:Maximum extrapolation time exceeded I423.
Interpolation time period time period value
version 0
Time period of the control unit cycle time.
Corresponds to object index 60C2hex subindex 1hex Interpolation time period
value in accordance with CiA 402.
A602[1]
Interpolation time period time index
version 0
Time index of the control unit cycle time.
Corresponds to object index 60C2hex subindex 2hex Interpolation time index in
accordance with CiA 402.
A291
cycle time control
version 0
Cycle time of fieldbus synchronization signals as the assigned value for the
PLL. Simultaneously the cycle time of the cyclic position specification of the
external control and the interpolation time of the device internal fine
interpolator.
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2.5
Functions
Bit
Description
10
The Touch probe 1 and 2 functions make it possible to apply position
measurement to a binary signal. Set the source of the signal for Touch probe 1
in I110 (for example binary input 1), for Touch probe 2 in I126.
0: Triggering to an external trigger signal (selection in I126)
1: Triggering to the zero pulse of the position encoder
11
Reserved
12
0: Triggering to turn off positive edge
1: Triggering to turn on positive edge
2.5.1.1
13
0: Triggering to turn off negative edge
1: Triggering to turn on negative edge
14, 15
Reserved
2.5.1
Touch probe
Parameter overview
The following parameter affect Touch probe 1 and 2:
A594
Touch probe function
version 0
Control word of the Touch probe function for position measurement.
Bit
Description
0
0: Touch probe 1 turned off
1: Touch probe 1 turned on
1
0: Triggering to the first event
1: Continuously triggering
2
0: Triggering to an external trigger signal (selection in I110)
1: Triggering to the zero pulse of the position encoder
3
Reserved
4
0: Triggering to turn off positive edge
1: Triggering to turn on positive edge
5
0: Triggering to turn off negative edge
1: Triggering to turn on negative edge
6, 7
Reserved
8
0: Touch probe 2 turned off
1: Touch probe 2 turned on
9
0: Triggering to the first event
1: Continuously triggering
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Information
Triggering to the encoder zero pulse must not be used at the same
time in Touch probe 1 and Touch probe 2.
If a touch probe is waiting for encoder zero pulse and referencing to
the encoder zero pulse takes place at the same time, the touch
probe will trigger the next encoder zero pulse after the referencing.
Triggering to the encoder zero pulse is handled during the
evaluation as a trigger event to the positive edge.
Corresponds to object index 60B8hex subindex 0hex Touch probe function in
accordance with CiA 402.
A595
Touch probe status
version 0
Status word of the Touch probe function for position measurement.
Bit
Description
0
0: Touch probe 1 is turned off
1: Touch probe 1 is turned on
1
0: There was no triggering to a positive edge
1: There was triggering to a positive edge
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Software manual CiA 402 Controller Based Mode
Bit
Description
2
0: There was no triggering to a negative edge
1: There was triggering to a negative edge
3-5
reserved
6, 7
2-bit counter, incremented 1 by touch probe every time triggering
occurs
8
0: Touch probe 2 is turned off
1: Touch probe 2 is turned on
9
0: There was no triggering to a positive edge
1: There was triggering to a positive edge
10
0: There was no triggering to a negative edge
1: There was triggering to a negative edge
11 - 13
reserved
A598
I110
version 1
Position value that was recorded for the last positive edge of the Touch probe
1 function.
Corresponds to object index 60BAhex subindex 0hex Touch probe position 1
positive value in accordance with CiA 402.
A597
Touch probe position 1 negative value
version 1
Position value that was recorded for the last negative edge of the Touch probe
1 function.
Corresponds to object index 60BBhex subindex 0hex Touch probe position 1
negative value in accordance with CiA 402.
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Touch probe position 2 negative value
version 1
Position value that was recorded for the last negative edge of the Touch probe
2 function.
Corresponds to object index 60BDhex subindex 0hex Touch probe position 2
negative value in accordance with CiA 402.
2-bit counter, incremented 2 by touch probe every time triggering
occurs
Corresponds to object index 60B9hex subindex 0hex Touch probe status in
accordance with CiA 402.
Touch probe position 1 positive value
version 1
Position value that was recorded for the last positive edge of the Touch probe
2 function.
Corresponds to object index 60BChex subindex 0hex Touch probe position 2
positive value in accordance with CiA 402.
A599
14, 15
A596
Touch probe position 2 positive value
posi latch execute source
version 0
Source for a trigger signal for the position measurement.
The signal serves as a trigger for the Touch probe 1 function in the Controller
Based Mode application. With I110 = 2:Parameter the signal is permanently set
to LOW level.
I126
Posi-Latch 2 Execute Quelle
version 0
Source for a trigger signal for the position measurement.
The signal serves as a trigger for the Touch probe 2 function in the Controller
Based Mode application. With I126 = 2:Parameter the signal is permanently set
to LOW level.
2.5.1.2
Function
The Touch probe function is explained here based on Touch probe 1. Touch
probe 2 functions in an identical manner and is controlled similarly to Touch
probe1 with bits 8 to 15 in parameter A594.
The function of Touch probe 1 is explained with several examples below.
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If Touch probe 1 is turned on (A594 bit 0 = 1), feedback is via A595 bit 0 = 1.
The function is set so that every event causes triggering (A594 bit 1 = 1).
Triggering to the positive edge and to the negative edge of the POSI-Latch
signal are both turned on (A594 bit 4 = 1 and bit 5 = 1). Accordingly the position
in A596 (positive edge) and A597 (negative edge) respectively is written for
each edge of the POSI-Latch signal.
The first write processes to A595 bit 1 = 1 (triggering to a positive edge
occurred) and bit 2 = 1 (triggering to a negative edge occurred) are displayed.
If Touch probe 1 is turned off (A594 bit 0 = 0), all status bits in A595 are reset.
The positions in A596 and A597 are retained.
Example 1
A594
Bit 0
Bit 1
Bit 4
Bit 5
POSI Latch
A595
Bit 0
Bit 1
Bit 2
A596
4
3
2
1
A597
4
3
2
1
t1
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t4
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In contrast to the first example, triggering in example 2 is only for the first event
(bit 1 = 0). Triggering to the positive edge of the POSI-Latch signal is turned off
and triggering to the negative edge is turned on (bit 4 = 0 and bit 5 = 1).
Accordingly the position for the first negative edge of the POSI-Latch signal (t2)
is written to A597 (negative edge).
Example 2
A594
Bit 0
Bit 1
Bit 4
Bit 5
POSI Latch
A595
Bit 0
Bit 1
Bit 2
A596
4
3
2
1
A597
4
3
2
1
t1
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In example 3 Touch probe 1 is turned on twice in the time period that is shown
(bit 0 = 1), and in each case triggering is to the first event (bit 1 = 0). Triggering
to the positive and negative edge of the POSI-Latch signal is turned on (bit 4 =
1 and bit 5 = 1). For the first negative edge of the POSI-Latch signal (t2) the
position is accordingly written to A597 (negative edge), for the second positive
edge (t3) to A596.
Example 3
A594
Bit 0
Bit 1
Bit 4
Bit 5
POSI Latch
A595
Bit 0
Bit 1
Bit 2
A596
4
3
2
1
A597
4
3
2
1
t1
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CBM commissioning
Software manual CiA 402 Controller Based Mode
3
CBM commissioning
Overview of sections
3.1 Projecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.2 Set up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.3 Put into operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
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CBM commissioning
Software manual CiA 402 Controller Based Mode
You can project the application and drive controller in the DriveControlSuite
commissioning software. You can also configure the drive and control unit there
before placing them both in operation.
3.1
Projecting
Information
Note that in accordance with CiA 402 you can only administer one
axis with the CBM application.
Projecting the CBM application and drive controller
1. Start the DriveControlSuite and click on 
Create new standard project.
2. Project view:
Select the axis and click on Projecting.
 The A : axis window appears.
3. Window A : Axis > Application tab:
Activate the check box for application 
1:CiA402 ControllerBasedMode in the current version and 
confirm with OK.
 You have projected the application for the axis.
4. Project view:
Select the drive controller and click on Projecting.
 The AR1 : drive controller1 window opens.
5. Window AR1 : Drive controller1 > Option modules tab:
In the Upper option module area, activate the check box for fieldbus
communication:
EC6A (EtherCAT) or
CA6A (CANopen)
6. Window AR1 : Drive controller1 > Device control unit tab:
Activate the appropriate device control unit for the previously selected
option module:
4:Device control unit EtherCAT CiA402 or
5:Device control unit CANopen CiA402 and
confirm with OK.
 You have now projected the drive controller.
3.2
Set up
To set up the drive and the control unit, follow these steps:
The following requirements apply:
• You have projected the application and the drive controller.
Setting up the drive and control unit
1. Start DriveControlSuite and open your project.
2. Project view:
Select the axis and click on Wizards.
 The window opens - Wizards - A : axis window appears.
3. Wizard A : Axis > Motor:
Parameterize the motor.
4. Wizard A : Axis > Axis model:
Parameterize the mechanical axis model.
5. Wizard A : Axis > Application:
Parameterize the application.
6. Project view:
Select the drive controller and click on Wizards.
 The Wizards - AR1 : Drive controller window opens.
7. Wizard AR1 : Drive controller1:
Parameterize the drive controller and fieldbus communication.
8. Transfer the project to the drive controller and save the project there.
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 You have set up the drive.
9. Set up the control unit. Follow the instructions in the manufacturer's
documentation, for example the MC6 operating instructions.
3.3
Put into operation
For commissioning of the drive and control unit, follow these steps:
The following requirements apply:
• You have set up the drive controller and the control unit.
Placing the drive and control unit in operation
1. Check the drive controller, its accessories and the control unit in the
control enclosure to ensure they are installed correctly.
2. Check all electrical connections to make certain the connection is made
correctly.
3. Turn on the power supply voltages.
4. Check to ensure communication is functioning correctly.
5. Check to ensure the parameterization of the motor, mechanical drive
model and drive controller is correct.
6. Check to ensure the drive and control unit are functioning properly.
 You have placed the drive and the control unit in operation.
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Notes
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