ETG.6010_V1i0i0_D_D_CiA402_ImplDirective

ForETGinternaluseonly!Donotdistribute!ImplementationDirectiveforCiA402DriveProfileDirectiveforusingIEC61800-7-201withinEtherCAT-basedservodrivesDocument:ETG.6010D(D)V1.0.0Nomenclature:ETG-NumberETG.6010TypeD(Directive)State(D)(Draft)VersionV1.0.0Createdby:ETGContact:[e-mail].6010_V1i0i0_D_D_CiA402_ImplDirectiveDate25.01.2011ETG.6010CiA402ImplementationDirective2LEGALNOTICETrademarksandPatentsEtherCAT®isaregisteredtrademarkandpatentedtechnology,licensedbyBeckhoffAutomationGmbH,Germany.Otherdesignationsusedinthispublicationmaybetrademarkswhoseusebythirdpartiesfortheirownpurposescouldviolatetherightsoftheowners.DisclaimerThedocumentationhasbeenpreparedwithcare.Thetechnologydescribedis,however,constantlyunderdevelopment.Forthatreasonthedocumentationisnotineverycasecheckedforconsistencywithperformancedata,standardsorothercharacteristics.Intheeventthatitcontainstechnicaloreditorialerrors,weretaintherighttomakealterationsatanytimeandwithoutwarning.Noclaimsforthemodificationofproductsthathavealreadybeensuppliedmaybemadeonthebasisofthedata,diagramsanddescriptionsinthisdocumentation.Copyright©EtherCATTechnologyGroup01/2011.Thereproduction,distributionandutilizationofthisdocumentaswellasthecommunicationofitscontentstootherswithoutexpressauthorizationisprohibited.Offenderswillbeheldliableforthepaymentofdamages.Allrightsreservedintheeventofthegrantofapatent,utilitymodelordesign.ETG.6010CiA402ImplementationDirective3DOCUMENTHISTORYVersionComment0.1.1Firstdraft0.1.2DraftforETGTaskForceCiA4020.1.3Changesdueto1stTaskForceMeetinguptochapter7.3FGTorque0.1.4Changesdueto2ndTaskForceMeetingrestofdocument0.1.5Changesdueto3rdTaskForceMeeting0.1.6Changesdueto4thTaskForceMeeting0.1.7Linenumbersandformatting0.2.0PublishedforreviewintheETG0.2.1AdditionalObjects0x60E4and0x60E5(chapter9.1.1and9.1.2)submittedtotheCiA402SIG0.2.2ChangesduetoCiASIGandWGDrivesProfile0.2.3Severalchanges,MainchangesinHomingmode,Endlesspositioning0.2.4DraftversionforreviewwithinETG0.2.6-QuickStopstateisoptional,sofar“notsupported”(5.1)-FGPosition,FGVelocity,FGTorquereplacedbycsp,csv,cstmodedescription(6.1,6.2,6.3),noFunctionGroupanymore-additionalmodeCyclicsynchronoustorquewithcommutationangle(6.4)-Homing:Method35becomesobsolete,NewMethods37,38instead(Error!Referencesourcenotfound.,7.3.1,7.3.2)-calculationofHomeOffset,ZeroPositionandHomepositioncorrected(7.3.3)-Touchprobesourceasnewobject(7.4.2)-Touchprobetimestamplatchfunctionadded(7.4.4)-Touchprobeedgecounteradded(7.4.5)-AdditionalSensorinformationinextrachapter9,definitioncompletedChangedocumenttypetoDirectiveduetobindingcharacterofthedefinitions.1.0.0changesduetoWGfeedbackETG.6010_CiA402_V0i2i6_Draft_Comment-Resolution.pdfETG.6010CiA402ImplementationDirective4CONTENTSLEGALNOTICEDOCUMENTHISTORY2DOCUMENTHISTORY31Scope91.1IEC61800-7102References113TermsandDefinitions124Errorcodesanderrorbehavior135Controllingthepowerdrivesystem145.1Statemachine145.2Controlword(Object0x6040)155.3Statusword(Object0x6041)166ModesofOperation176.1Cyclicsynchronouspositionmode(csp)186.2Cyclicsynchronousvelocitymode(csv)206.3Cyclicsynchronoustorquemode(cst)226.4Cyclicsynchronoustorquemodewithcommutationangle(cstca)246.4.1Generalinformation246.4.2Generaldefinitions256.4.3Functionaldescription256.4.4Object60EAh:Commutationangle266.5Object6502h:Supporteddrivemodes266.6Object60D9h:SupportedFunctions276.7Object60DAh:Functionsettings276.8SwitchingbetweenOperationmodes296.8.1Staticsettingofoperationmode296.8.2Dynamicchangeofoperationmodeinstateoperation297FunctionGroups317.1General317.2FunctionGroupTorqueLimiting317.2.1Object60E0h:Positivetorquelimitvalue317.2.2Object60E1h:Negativetorquelimitvalue327.3Homing337.3.1HomingMethod35:Homingoncurrentposition337.3.2HomingMethod36:Homingwithtouch-probe337.3.3Calculationofpositionactualvaluebyhomingprocess337.3.4Homingobjectlist347.3.5Object60E3h:SupportedHomingMethods347.4FunctionGroupTouchProbe36ETG.6010CiA402ImplementationDirective57.4.1Object60B8h:Touchprobefunction377.4.2Object60D0h:Touchprobesource377.4.3Object60B9h:Touchprobestatus397.4.4Touchprobetimestamplatch417.4.5Touchprobeedgecounterforcontinuousmode427.4.6ApplicationExample:Controllerbased“homing”withtouchprobe458FactorGroup479Supportofadditionalsensorinterfaces489.1.1Object60E4h:Additionalpositionactualvalue499.1.2Object60E5h:Additionalvelocityactualvalue509.1.3Object60E6h:Additionalpositionencoderresolution–encoderincrements519.1.4Object60EBh:Additionalpositionencoderresolution–Motorrevolutions529.1.5Object60E7h:Additionalvelocityencoderresolution-Encoderincrementspersecond539.1.6Object60ECh:Additionalvelocityencoderresolution–Motorrevolutionspersecond549.1.7Object60E8h:Additionalgearratio–Motorrevolutions559.1.8Object60EDh:Additionalgearratio–Shaftrevolutions569.1.9Object60E9h:Additionalfeedconstant–Feed579.1.10Object60EEh:Additionalfeedconstant–Shaftrevolutions5810Endlesspositioning5911Processdataobjects(PDO)6111.1DeviceType6112Synchronization6213Objectlist6314Appendix6714.1EtherCATTechnologyGroup(ETG)67ETG.6010