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BS EN 61800-7-204:2016 – TC:2020 Edition

BS EN 61800-7-204:2016 – TC:2020 Edition

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Tracked Changes. Adjustable speed electrical power drive systems – Generic interface and use of profiles for power drive systems. Profile type 4 specification

Published By Publication Date Number of Pages
BSI 2020 830
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IEC 61800-7-204:2015 specifies profile type 4 for power drive systems (PDS). Profile type 4 can be mapped onto different communication network technologies. This edition includes the following significant technical change with respect to the previous edition: – update of drive parameters and their specification.

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PDF Pages PDF Title
448 English
CONTENTS
485 FOREWORD
487 INTRODUCTION
490 Figures
Figureย 1 โ€“ Structure of IECย 618007
491 1 Scope
2 Normative references
3 Terms, definitions and abbreviated terms
3.1 Terms and definitions
496 3.2 Abbreviated terms
497 4 General
5 Data types
6 Short description of SERCOS data exchange
6.1 General
Tables
Table 1 โ€“ Data types
498 6.2 Synchronization
7 Drive application functions
7.1 Drive operation modes
7.1.1 Operation mode selections
Table 2 โ€“ Elements of an IDN
500 Table 3 โ€“ Structure of drive operation modes
502 7.1.2 Torque/force control
Figure 2 โ€“ Block diagram of operation modes
503 Figure 3 โ€“ Block diagram of torque/force control
504 7.1.3 Velocity control
Figure 4 โ€“ Block diagram of Velocity control
506 Figure 5 โ€“ Adaptation of the velocity loop proportional gain
Figure 6 โ€“ Adaptation of the velocity loop integral action time
507 7.1.4 Position control
508 Table 4 โ€“ Codes of operation mode position control
510 7.1.5 Interpolation and positioning
Figure 7 โ€“ Block diagram Interpolation
511 Table 5 โ€“ Codes of operation mode Interpolation
512 Figure 8 โ€“ Block diagram Positioning
513 Table 6 โ€“ Codes of operation mode positioning
514 7.2 Drive state machine
7.2.1 Description of the FG Drive state machine
Figure 9 โ€“ Block transitions
516 7.2.2 Start-up
Figure 10 โ€“ Drive state machine
517 7.2.3 Shut-down
Figure 11 โ€“ Bit sequence during start-up
518 Figure 12 โ€“ Bit sequence during shut-down
519 7.3 Drive parameters
7.3.1 Motor parameters (FG Motor)
7.3.2 Amplifier parameters (FG Amplifier)
Figure 13 โ€“ Bit sequence for C1D error
520 7.3.3 Motor feedback parameters (FG Motor feedback)
7.3.4 External feedback parameters (FG External feedback)
7.3.5 Mechanical parameters (FG Mechanics)
521 7.3.6 Power parameters (FG_Power_Limit)
7.3.7 Acceleration parameters (FG Acceleration limit)
7.3.8 Drive specifically diagnosis parameters (FG Drive diagnosis)
522 7.3.9 Temperature parameters with warning and shut-down diagnostics (FG_Drive_Warning)
7.4 Drive synchronous operation (FG Drive synchronous operation)
7.4.1 General
523 7.4.2 Synchronization of the synchronous spindle to the lead spindle with a fixed angular offset
Figure 14 โ€“ Synchronous spindle operation diagram
524 Figure 15 โ€“ Velocity diagram for lead and synchronous spindle
525 7.4.3 New synchronous position offset after synchronization
7.4.4 New speed ratio after synchronization
Figure 16 โ€“ Position feedback diagram for lead and synchronous spindle
526 7.5 Homing
7.5.1 Description of FG Drive homing
7.5.2 Drive controlled homing
527 Figure 17 โ€“ Bit sequence for drive controlled homing
Figure 18 โ€“ Drive controlled homing diagram
528 7.5.3 Control unit controlled homing
529 Figure 19 โ€“ Bit sequence for control unit controlled homing (case 1)
Figure 20 โ€“ Bit sequence for control unit controlled homing (case 2.1)
530 Figure 21 โ€“ Bit sequence for control unit controlled homing (case 2.2)
531 Figure 22 โ€“ Incremental feedback system
Figure 23 โ€“ Distance-coded feedback system
532 7.5.4 Set absolute position
Figure 24 โ€“ Bit sequence to activate the displacement to the referenced system
534 Tableย 7 โ€“ Drive operating states
535 7.6 Cyclic Marker Detection (FG Cyclic marker detection)
Figureย 25 โ€“ Sequence of set absolute position procedure command
536 7.7 Modification of the coordinate system (FG Modify coordinate system)
537 7.8 Spindle positioning procedure (FG Position spindle)
7.8.1 General
7.8.2 Start conditions of spindle positioning
Figureย 26 โ€“ Modification of coordinate system
538 Figureย 27 โ€“ Velocity diagram for spindle positioning
Figure 28 โ€“ Velocity diagram for spindle positioning
539 7.8.3 New position values while the procedure command is active
7.8.4 Switching the positioning mode angle position/relative offset while the procedure command is active
Figure 29 โ€“ Velocity diagram for spindle positioning
Figure 30 โ€“ Bit sequence while writing new position values (S00153 or S00180)
540 7.9 Velocity window
Figure 31 โ€“ Bit sequence for switching spindle positioning mode
Figure 32 โ€“ Velocity window
541 7.10 Park axis procedure command (FG Park axis)
Figure 33 โ€“ nfeedback = ncommand depiction
542 7.11 Move to Positive stop (FG Positive stop)
7.12 Parameter sets and gear ratios
7.12.1 Definition of FG Parameter sets
Figure 34 โ€“ Bit sequence for park axis
Figure 35 โ€“ Bit sequence for positive stop drive
543 7.12.2 Switching of parameter sets and gear ratio
7.13 Gear engaging procedure command (FG Gear engaging)
Figure 36 โ€“ Bit sequence for switching parameter sets and/or gear ratio
544 Figure 37 โ€“ Gear engaging
545 7.14 Position switches (FG Position switch)
7.14.1 General
546 7.14.2 Position switch mode
7.14.3 Cam switch mode
Figure 38 โ€“ Position switch mode
547 8 Scaling of operation data
8.1 General
Figure 39 โ€“ Cam switch mode
548 8.2 Scaling of position data
8.2.1 Description of FG Scale position
8.2.2 No scaling of position data
8.2.3 Scaling of linear position data
Figure 40 โ€“ Position data scaling type diagram
549 8.2.4 Scaling of rotational position data
8.3 Scaling of velocity data
8.3.1 Description of FG Scale velocity
Table 8 โ€“ Scaling of linear position data
Table 9 โ€“ Preferred scaling of rotational position data
550 8.3.2 No scaling of velocity data
8.3.3 Scaling of linear velocity data
Figure 41 โ€“ Velocity data scaling type diagram
Table 10 โ€“ Preferred scaling of linear velocity data
551 8.3.4 Scaling of rotational velocity data
8.4 Scaling of torque/force data
8.4.1 Description of FG Scale torque
Table 11 โ€“ Preferred scaling of rotational velocity data
552 8.4.2 Percentage scaling of torque/force data
8.4.3 Scaling of force data
Figure 42 โ€“ Torque/force data scaling type diagram
Table 12 โ€“ Scaling of force data
553 8.4.4 Scaling of torque data
8.5 Scaling of acceleration data and jerk data
8.5.1 Description of FG Scale acceleration
Table 13 โ€“ Scaling of torque data
554 8.5.2 No scaling of acceleration data and jerk data
8.5.3 Scaling of linear acceleration/jerk data
Figure 43 โ€“ Acceleration/jerk data scaling type diagram
Table 14 โ€“ Scaling of linear acceleration/jerk data
555 8.5.4 Scaling of rotational acceleration/jerk data
8.5.5 Scaling of ramp time
Table 15 โ€“ Scaling of rotational acceleration/jerk data
Table 16 โ€“ Scaling of ramp time
556 8.6 Polarities
8.7 Scaling of temperature data
Figure 44 โ€“ Polarity parameter
557 9 Status codes of drives
9.1 Overview
Table 17 โ€“ Drive specific status codes
561 9.2 Priority of diagnosis classes
562 10 Drive classes
10.1 Overview
Table 18 โ€“ Overview on diagnosis classes
563 11 Identification numbers in numerical order
Figure 45 โ€“ General IDN structure
Table 19 โ€“ Detailed IDN structure
564 Table 20 โ€“ IDN list in numerical order
578 12 Description of identification numbers
12.1 IDN S00005 Minimum feedback processing time (t5)
12.1.1 Attributes
12.1.2 Description
12.2.2 Description
12.2 IDN S00007 Feedback acquisition capture point (t4)
12.2.1 Attributes
Table 21 โ€“ Attributes of IDN S00005
Table 22 โ€“ Attributes for IDN S00007
579 12.3 IDN S00011 Class 1 diagnostic (C1D)
12.3.1 Attributes
12.3.2 Description
Table 23 โ€“ Attributes of IDN S00011
580 Table 24 โ€“ Structure of C1D
581 12.4 IDN S00012 Class 2 diagnostic (C2D)
12.4.1 Attributes
12.4.2 Description
Table 25 โ€“ Attributes of IDN S00012
582 Table 26 โ€“ Structure of C2D
583 12.5 IDN S00013 Class 3 diagnostic (C3D)
12.5.1 Attributes
12.5.2 Description
Table 27 โ€“ Attributes of IDN S00013
584 12.6 IDN S00015 Telegram type
12.6.1 Attributes
12.6.2 Description
Table 28 โ€“ Structure of C3D
Table 29 โ€“ Attributes of IDN S00015
585 Table 30 โ€“ Structure of telegram type of CP16/1 and CP16/2
586 12.7 IDN S00016 Configuration list of AT
12.7.1 Attributes
Tableย 31 โ€“ Structure of telegram type of CP16/3
587 12.7.2 Description
12.8 IDN S00017 IDN-list of all operation data
12.8.1 Attributes
12.8.2 Description
12.9 IDN S00018 IDN-list of operation data for CP2
12.9.1 Attributes
Table 32 โ€“ Attributes of IDN S00016
Table 33 โ€“ Attributes of IDN S00017
588 12.9.2 Description
12.10 IDN S00019 IDN-list of operation data for CP3
12.10.1 Attributes
12.10.2 Description
12.11 IDN S00020 IDN-list of operation data for CP4
12.11.1 Attributes
Table 34 โ€“ Attributes for IDN S00018
Table 35 โ€“ Attributes for IDN S00019
589 12.11.2 Description
12.12 IDN S00021 IDN-list of invalid operation data for CP2
12.12.1 Attributes
12.12.2 Description
12.13 IDN S00022 IDN-list of invalid operation data for CP3
12.13.1 Attributes
Table 36 โ€“ Attributes for IDN S00020
Table 37 โ€“ Attributes for IDN S00021
590 12.13.2 Description
12.14 IDN S00023 IDN-list of invalid operation data for CP4
12.14.1 Attributes
12.14.2 Description
12.15 IDN S00025 IDN-list of all procedure commands
12.15.1 Attributes
Table 38 โ€“ Attributes for IDN S00022
Table 39 โ€“ Attributes for IDN S00023
591 12.15.2 Description
12.16 IDN S00026 Configuration list for signal status word
12.16.1 Attributes
12.16.2 Description
12.17 IDN S00027 Configuration list for signal control word
12.17.1 Attributes
Table 40 โ€“ Attributes for IDN S00025
Table 41 โ€“ Attributes for IDN S00026
592 12.17.2 Description
12.18 IDN S00030 Manufacturer version
12.18.1 Attributes
12.18.2 Description
12.19 IDN S00031 Hardware version
12.19.1 Attributes
Table 42 โ€“ Attributes for IDN S00027
Table 43 โ€“ Attributes for IDN S00030
593 12.19.2 Description
12.20 IDN S00032 Primary operation mode
12.20.1 Attributes
12.20.2 Description
12.21 IDN S00033 Secondary operation mode 1
12.21.1 Attributes
Table 44 โ€“ Attributes for IDN S00031
Table 45 โ€“ Attributes for IDN S00032
594 12.21.2 Description
12.22 IDN S00034 Secondary operation mode 2
12.22.1 Attributes
12.22.2 Description
Table 46 โ€“ Attributes for IDN S00033
Table 47 โ€“ Attributes for IDN S00034
595 12.23 IDN S00035 Secondary operation mode 3
12.23.1 Attributes
12.23.2 Description
12.24 IDN S00036 Velocity command value
12.24.1 Attributes
12.24.2 Description
Table 48 โ€“ Attributes for IDN S00035
Table 49 โ€“ Attributes for IDN S00036
596 12.25 IDN S00037 Additive velocity command value
12.25.1 Attributes
12.25.2 Description
12.26 IDN S00038 Positive velocity limit value
12.26.1 Attributes
Table 50 โ€“ Attributes for IDN S00037
Table 51 โ€“ Attributes for IDN S00038
597 12.26.2 Description
12.27 IDN S00039 Negative velocity limit value
12.27.1 Attributes
12.27.2 Description
12.28 IDN S00040 Velocity feedback value 1
12.28.1 Attributes
Table 52 โ€“ Attributes for IDN S00039
Table 53 โ€“ Attributes for IDN S00040
598 12.28.2 Description
12.29 IDN S00041 Homing velocity
12.29.1 Attributes
12.29.2 Description
12.30 IDN S00042 Homing acceleration
12.30.1 Attributes
Table 54 โ€“ Attributes for IDN S00041
Table 55 โ€“ Attributes for IDN S00042
599 12.30.2 Description
12.31 IDN S00043 Velocity polarity parameter
12.31.1 Attributes
12.31.2 Description
Table 56 โ€“ Attributes for IDN S00043
Table 57 โ€“ Structure of velocity polarity parameter
600 12.32 IDN S00044 Velocity data scaling type
12.32.1 Attributes
12.32.2 Description
Table 58 โ€“ Attributes for IDN S00044
601 12.33 IDN S00045 Velocity data scaling factor
12.33.1 Attributes
12.33.2 Description
Table 59 โ€“ Structure of velocity data scaling type
Table 60 โ€“ Attributes for IDN S00045
602 12.34 IDN S00046 Velocity data scaling exponent
12.34.1 Attributes
12.34.2 Description
12.35 IDN S00047 Position command value
12.35.1 Attributes
Table 61 โ€“ Attributes for IDN S00046
Table 62 โ€“ Structure of the scaling exponent
603 12.35.2 Description
12.36 IDN S00048 Additive position command value
12.36.1 Attributes
12.36.2 Description
Table 63 โ€“ Attributes for IDN S00047
Table 64 โ€“ Attributes for IDN S00048
604 12.37 IDN S00049 Positive position limit value
12.37.1 Attributes
12.37.2 Description
12.38 IDN S00050 Negative position limit value
12.38.1 Attributes
Table 65 โ€“ Attributes for IDN S00049
605 12.38.2 Description
12.39 IDN S00051 Position feedback value 1 (motor feedback)
12.39.1 Attributes
Table 66 โ€“ Attributes for IDN S00050
606 12.39.2 Description
12.40 IDN S00052 Reference distance 1
12.40.1 Attributes
12.40.2 Description
Table 67 โ€“ Attributes for IDN S00051
Table 68 โ€“ Attributes for IDN S00052
607 12.41 IDN S00053 Position feedback value 2 (external feedback)
12.41.1 Attributes
12.41.2 Description
12.42 IDN S00054 Reference distance 2
12.42.1 Attributes
Table 69 โ€“ Attributes for IDN S00053
Table 70 โ€“ Attributes for IDN S00053
608 12.42.2 Description
12.43 IDN S00055 Position polarity parameters
12.43.1 Attributes
12.43.2 Description
Table 71 โ€“ Attributes for IDN S00055
609 12.44 IDN S00057 Position window
12.44.1 Attributes
12.44.2 Description
Table 72 โ€“ Structure of velocity polarity parameter
Table 73 โ€“ Attributes for IDN S00057
610 12.45 IDN S00058 Reversal clearance
12.45.1 Attributes
12.45.2 Description
12.46 IDN S00059 Position switch flag parameter
12.46.1 Attributes
12.46.2 Description
Table 74 โ€“ Attributes for IDN S00058
Table 75 โ€“ Attributes for IDN S00059
611 12.47 IDN S00060 to S00075 Position switch points on 1-16
12.47.1 Attributes
12.47.2 Description
Table 76 โ€“ Structure of the position switch flag parameter
Table 77 โ€“ Attributes of IDN S00060 to S00075
612 12.48 IDN S00076 Position data scaling type
12.48.1 Attributes
12.48.2 Description
Table 78 โ€“ Attributes for IDN S00076
613 12.49 IDN S00077 Linear position data scaling factor
12.49.1 Attributes
Table 79 โ€“ Structure of position data scaling type
Table 80 โ€“ Attributes for IDN S00077
614 12.49.2 Description
12.50 IDN S00078 Linear position data scaling exponent
12.50.1 Attributes
12.50.2 Description
12.51 IDN S00079 Rotational position resolution
12.51.1 Attributes
Table 81 โ€“ Attributes for IDN S00078
Table 82 โ€“ Structure of position data scaling type
615 12.51.2 Description
12.52 IDN S00080 Torque command value
12.52.1 Attributes
12.52.2 Description
12.53 IDN S00081 Additive torque command value
12.53.1 Attributes
Table 83 โ€“ Attributes for IDN S00079
Table 84 โ€“ Attributes for IDN S00080
616 12.53.2 Description
12.54 IDN S00082 Positive torque limit value
12.54.1 Attributes
12.54.2 Description
12.55 IDN S00083 Negative torque limit value
12.55.1 Attributes
Table 85 โ€“ Attributes for IDN S00081
Table 86 โ€“ Attributes for IDN S00082
617 12.55.2 Description
12.56 IDN S00084 Torque feedback value
12.56.1 Attributes
12.56.2 Description
12.57 IDN S00085 Torque polarity parameter
12.57.1 Attributes
Table 87 โ€“ Attributes for IDN S00083
Table 88 โ€“ Attributes for IDN S00084
618 12.57.2 Description
12.58 IDN S00086 Torque/force data scaling type
12.58.1 Attributes
Table 89 โ€“ Attributes for IDN S00085
Table 90 โ€“ Structure of torque polarity parameter
619 12.58.2 Description
12.59 IDN S00091 Bipolar velocity limit value
12.59.1 Attributes
Table 91 โ€“ Attributes for IDN S00086
Table 92 โ€“ Structure of torque/force data scaling type
620 12.59.2 Description
12.60 IDN S00092 Bipolar torque limit value
12.60.1 Attributes
12.60.2 Description
12.61 IDN S00093 Torque/force data scaling factor
12.61.1 Attributes
Table 93 โ€“ Attributes for IDN S00091
Table 94 โ€“ Attributes for IDN S00092
621 12.61.2 Description
12.62 IDN S00094 Torque/force data scaling exponent
12.62.1 Attributes
12.62.2 Description
Table 95 โ€“ Attributes for IDN S00093
Table 96 โ€“ Attributes for IDN S00094
Table 97 โ€“ Structure of the torque/force data scaling exponent
622 12.63 IDN S00095 Diagnostic message
12.63.1 Attributes
12.63.2 Description
12.64 IDN S00097 Mask class 2 diagnostic
12.64.1 Attributes
12.64.2 Description
Table 98 โ€“ Attributes for IDN S00095
Table 99 โ€“ Attributes for IDN S00097
623 12.65 IDN S00098 Mask class 3 diagnostic
12.65.1 Attributes
12.65.2 Description
12.66 IDN S00099 Reset class 1 diagnostic
12.66.1 Attributes
Table 100 โ€“ Structure of Mask C2D
Table 101 โ€“ Attributes for IDN S00098
Table 102 โ€“ Structure of Mask C3D
624 12.66.2 Description
12.67 IDN S00100 Velocity loop proportional gain
12.67.1 Attributes
12.67.2 Description
Table 103 โ€“ Attributes for IDN S00099
Table 104 โ€“ Attributes for IDN S00100
625 12.68 IDN S00101 Velocity loop integral action time
12.68.1 Attributes
12.68.2 Description
12.69 IDN S00102 Velocity loop differential time
12.69.1 Attributes
12.69.2 Description
12.70 IDN S00103 Modulo value
12.70.1 Attributes
Table 105 โ€“ Attributes for IDN S00101
Table 106 โ€“ Attributes for IDN S00102
626 12.70.2 Description
Table 107 โ€“ Attributes for IDN S00103
627 12.71 IDN S00104 Position loop KV-factor
12.71.1 Attributes
12.71.2 Description
12.72 IDN S00105 Position loop integral action time
12.72.1 Attributes
12.72.2 Description
12.73 IDN S00106 Current loop proportional gain 1
12.73.1 Attributes
Table 108 โ€“ Attributes for IDN S00104
Table 109 โ€“ Attributes for IDN S00105
628 12.73.2 Description
12.74 IDN S00107 Current loop integral action time 1
12.74.1 Attributes
12.74.2 Description
12.75 IDN S00108 Feedrate override
12.75.1 Attributes
Table 110 โ€“ Attributes for IDN S00106
Table 111 โ€“ Attributes for IDN S00107
629 12.75.2 Description
12.76 IDN S00109 Motor peak current
12.76.1 Attributes
12.76.2 Description
12.77 IDN S00110 Amplifier peak current
12.77.1 Attributes
Table 112 โ€“ Attributes for IDN S00108
Table 113 โ€“ Attributes for IDN S00109
630 12.77.2 Description
12.78 IDN S00111 Motor continuous stall current
12.78.1 Attributes
12.78.2 Description
12.79 IDN S00112 Amplifier rated current
12.79.1 Attributes
Table 114 โ€“ Attributes for IDN S00110
Table 115 โ€“ Attributes for IDN S00111
631 12.79.2 Description
12.80 IDN S00113 Maximum motor speed
12.80.1 Attributes
12.80.2 Description
12.81 IDN S00114 Load limit of the motor
12.81.1 Attributes
Table 116 โ€“ Attributes for IDN S00112
Table 117 โ€“ Attributes for IDN S00113
632 12.81.2 Description
12.82 IDN S00115 Position feedback 2 type
12.82.1 Attributes
Table 118 โ€“ Attributes for IDN S00114
Table 119 โ€“ Attributes for IDN S00115
633 12.82.2 Description
Table 120 โ€“ Structure of Position Feedback 2 Type
634 12.83 IDN S00116 Resolution of feedback 1
12.83.1 Attributes
12.83.2 Description
12.84 IDN S00117 Resolution of feedback 2
12.84.1 Attributes
12.84.2 Description
Table 121 โ€“ Attributes for IDN S00116
Table 122 โ€“ Attributes for IDN S00117
635 12.85 IDN S00119 Current loop proportional gain 2
12.85.1 Attributes
12.85.2 Description
12.86 IDN S00120 Current loop integral action time 2
12.86.1 Attributes
12.86.2 Description
12.87 IDN S00121 Input revolutions of load gear
12.87.1 Attributes
Table 123 โ€“ Attributes for IDN S00119
Table 124 โ€“ Attributes for IDN S00120
636 12.87.2 Description
12.88 IDN S00122 Output revolutions of load gear
12.88.1 Attributes
12.88.2 Description
12.89 IDN S00123 Feed constant
12.89.1 Attributes
Table 125 โ€“ Attributes for IDN S00121
Table 126 โ€“ Attributes for IDN S00122
637 12.89.2 Description
12.90 IDN S00124 Standstill window
12.90.1 Attributes
12.90.2 Description
12.91 IDN S00125 Velocity threshold (nx)
12.91.1 Attributes
Table 127 โ€“ Attributes for IDN S00123
Table 128 โ€“ Attributes for IDN S00124
638 12.91.2 Description
12.92 IDN S00126 Torque threshold (Tx)
12.92.1 Attributes
12.92.2 Description
12.93 IDN S00129 Manufacturer class 1 diagnostic
12.93.1 Attributes
Table 129 โ€“ Attributes for IDN S00125
Table 130 โ€“ Attributes for IDN S00126
639 12.93.2 Description
12.94 IDN S00130 Probe value 1 positive edge
12.94.1 Attributes
Table 131 โ€“ Attributes for IDN S00129
Table 132 โ€“ Structure of manufacturer Class 1 diagnostic
640 12.94.2 Description
12.95 IDN S00131 Probe value 1 negative edge
12.95.1 Attributes
12.95.2 Description
Table 133 โ€“ Attributes for IDN S00130
Table 134 โ€“ Attributes for IDN S00131
641 12.96 IDN S00132 Probe value 2 positive edge
12.96.1 Attributes
12.96.2 Description
12.97 IDN S00133 Probe value 2 negative edge
12.97.1 Attributes
Table 135 โ€“ Attributes for IDN S00132
Table 136 โ€“ Attributes for IDN S00133
642 12.97.2 Description
12.98 IDN S00134 Drive control (Master control word)
12.98.1 Attributes
12.98.2 Description
Table 137 โ€“ Attributes for IDN S00134
643 Table 138 โ€“ Structure of Drive control field (CP16/1, CP16/2 and CP12)
645 12.99 IDN S00135 Drive status word
12.99.1 Attributes
Table 139 โ€“ Structure of Drive control field (CP16/3)
646 12.99.2 Description
Table 140 โ€“ Attributes for IDN S00135
647 Table 141 โ€“ Structure of Drive status field (CP16/1, CP16/2 and CP12)
649 12.100 IDN S00136 Acceleration limit value
12.100.1 Attributes
Table 142 โ€“ Structure of Drive status field (CP16/3)
650 12.100.2 Description
12.101 IDN S00137 Deceleration limit value
12.101.1 Attributes
12.101.2 Description
12.102 IDN S00138 Bipolar acceleration limit value
12.102.1 Attributes
Table 143 โ€“ Attributes for IDN S00136
Table 144 โ€“ Attributes for IDN S00137
651 12.102.2 Description
12.103 IDN S00139 Park axis
12.103.1 Attributes
12.103.2 Description
Table 145 โ€“ Attributes for IDN S00138
Table 146 โ€“ Attributes for IDN S00139
652 12.104 IDN S00140 Controller type
12.104.1 Attributes
12.104.2 Description
12.105 IDN S00141 Motor type
12.105.1 Attributes
12.105.2 Description
12.106 IDN S00142 Application type
12.106.1 Attributes
Table 147 โ€“ Attributes for IDN S00140
Table 148 โ€“ Attributes for IDN S00141
653 12.106.2 Description
12.107 IDN S00144 Signal status word / Producer RTB word container
12.107.1 Attributes
12.107.2 Description
Table 149 โ€“ Attributes for IDN S00142
Table 150 โ€“ Attributes for IDN S00144
654 12.108 IDN S00145 Signal control word / Consumer RTB word container
12.108.1 Attributes
12.108.2 Description
12.109 IDN S00146 Control unit controlled homing procedure command
12.109.1 Attributes
Table 151 โ€“Structure of producer RTB word container
Table 152 โ€“ Attributes for IDN S00145
Table 153 โ€“Structure of consumer RTB word container
655 12.109.2 Description
12.110 IDN S00147 Homing parameter
12.110.1 Attributes
12.110.2 Description
Table 154 โ€“ Attributes for IDN S00146
Table 155 โ€“ Attributes for IDN S00147
656 12.111 IDN S00148 Drive controlled homing procedure command
12.111.1 Attributes
Table 156 โ€“ Structure of homing parameter
657 12.111.2 Description
12.112 IDN S00149 Positive drive stop procedure command
12.112.1 Attributes
Table 157 โ€“ Attributes for IDN S00148
658 12.112.2 Description
12.113 IDN S00150 Reference offset 1
12.113.1 Attributes
Table 158 โ€“ Attributes for IDN S00149
Table 159 โ€“ Attributes for IDN S00150
659 12.113.2 Description
12.114 IDN S00151 Reference offset 2
12.114.1 Attributes
12.114.2 Description
12.115 IDN S00152 Position spindle procedure command
12.115.1 Attributes
Table 160 โ€“ Attributes for IDN S00151
Table 161 โ€“ Attributes for IDN S00152
660 12.115.2 Description
12.116 IDN S00153 Spindle angle position
12.116.1 Attributes
12.116.2 Description
12.117 IDN S00154 Spindle positioning parameter
12.117.1 Attributes
Table 162 โ€“ Attributes for IDN S00153
661 12.117.2 Description
12.118 IDN S00155 Friction torque compensation
12.118.1 Attributes
Table 163 โ€“ Attributes for IDN S00154
Table 164 โ€“ Structure of spindle position parameter
662 12.118.2 Description
12.119 IDN S00156 Velocity feedback value 2
12.119.1 Attributes
12.119.2 Description
12.120 IDN S00157 Velocity window
12.120.1 Attributes
Table 165 โ€“ Attributes for IDN S00155
Table 166 โ€“ Attributes for IDN S00156
663 12.120.2 Description
12.121 IDN S00158 Power threshold (Px)
12.121.1 Attributes
12.121.2 Description
12.122 IDN S00159 Monitoring window
12.122.1 Attributes
Table 167 โ€“ Attributes for IDN S00157
Table 168 โ€“ Attributes for IDN S00158
664 12.122.2 Description
12.123 IDN S00160 Acceleration data scaling type
12.123.1 Attributes
Table 169 โ€“ Attributes for IDN S00159
Table 170 โ€“ Attributes for IDN S00160
665 12.123.2 Description
12.124 IDN S00161 Acceleration data scaling factor
12.124.1 Attributes
Table 171 โ€“ Structure of the acceleration data scaling type
666 12.124.2 Description
12.125 IDN S00162 Acceleration data scaling exponent
12.125.1 Attributes
12.125.2 Description
Table 172 โ€“ Attributes for IDN S00161
Table 173 โ€“ Attributes for IDN S00162
Table 174 โ€“ Structure of the Scaling Exponent
667 12.126 IDN S00163 Weight counterbalance
12.126.1 Attributes
12.126.2 Description
12.127 IDN S00164 Acceleration feedback value 1
12.127.1 Attributes
12.127.2 Description
Table 175 โ€“ Attributes for IDN S00163
Table 176 โ€“ Attributes for IDN S00164
668 12.128 IDN S00165 and S00166 Distance-coded reference marks A and B
12.128.1 Attributes
12.128.2 Description
12.129 IDN S00167 Frequency limit of feedback 1
12.129.1 Attributes
12.129.2 Description
Table 177 โ€“ Attributes for IDN S00165
Table 178 โ€“ Attributes for IDN S00167
669 12.130 IDN S00168 Frequency limit of feedback 2
12.130.1 Attributes
12.130.2 Description
12.131 IDN S00169 Probe control parameter
12.131.1 Attributes
12.131.2 Description
Table 179 โ€“ Attributes for IDN S00168
Table 180 โ€“ Attributes for IDN S00169
670 12.132 IDN S00170 Probing cycle procedure command
12.132.1 Attributes
12.132.2 Description
Table 181 โ€“ Structure of the probe control parameter
Table 182 โ€“ Attributes for IDN S00170
671 12.133 IDN S00171 Calculate displacement procedure command
12.133.1 Attributes
12.133.2 Description
12.134 IDN S00172 Displacement to the referenced system procedure command
12.134.1 Attributes
Table 183 โ€“ Attributes for IDN S00171
672 12.134.2 Description
12.135 IDN S00173 Marker position A
12.135.1 Attributes
Table 184 โ€“ Attributes for IDN S00172
673 12.135.2 Description
12.136 IDN S00174 Marker position B
12.136.1 Attributes
Table 185 โ€“ Attributes for IDN S00173
Table 186 โ€“ Attributes for IDN S00174
674 12.136.2 Description
12.137 IDN S00175 Displacement parameter 1
12.137.1 Attributes
12.137.2 Description
12.138 IDN S00176 Displacement parameter 2
12.138.1 Attributes
Table 187 โ€“ Attributes for IDN S00175
675 12.138.2 Description
12.139 IDN S00177 Absolute distance 1
12.139.1 Attributes
12.139.2 Description
12.140 IDN S00178 Absolute distance 2
12.140.1 Attributes
Table 188 โ€“ Attributes for IDN S00176
Table 189 โ€“ Attributes for IDN S00177
676 12.140.2 Description
12.141 IDN S00179 Probe status
12.141.1 Attributes
12.141.2 Description
Table 190 โ€“ Attributes for IDN S00178
Table 191 โ€“ Attributes for IDN S00179
677 12.142 IDN S00180 Spindle relative offset
12.142.1 Attributes
12.142.2 Description
Table 192 โ€“ Structure of Probe Status
Table 193 โ€“ Attributes for IDN S00180
678 12.143 IDN S00181 Manufacturer class 2 diagnostic
12.143.1 Attributes
12.143.2 Description
12.144 IDN S00182 Manufacturer class 3 diagnostic
12.144.1 Attributes
Table 194 โ€“ Attributes for IDN S00181
Table 195 โ€“ Structure of Manufacturer C2D
679 12.144.2 Description
12.145 IDN S00183 Synchronization velocity window
12.145.1 Attributes
Table 196 โ€“ Attributes for IDN S00182
Table 197 โ€“ Structure of Manufacturer C3D
Table 198 โ€“ Attributes for IDN S00183
680 12.145.2 Description
12.146 IDN S00184 Synchronization velocity error limit
12.146.1 Attributes
12.146.2 Description
12.147 IDN S00189 Following distance
12.147.1 Attributes
Table 199 โ€“ Attributes for IDN S00184
681 12.147.2 Description
12.148 IDN S00190 Drive controlled gear engaging procedure command
12.148.1 Attributes
12.148.2 Description
Table 200 โ€“ Attributes for IDN S00189
Table 201 โ€“ Attributes for IDN S00190
682 12.149 IDN S00191 Cancel reference point procedure command
12.149.1 Attributes
12.149.2 Description
12.150 IDN S00192 IDN-list of all backup operation data
12.150.1 Attributes
Table 202 โ€“ Attributes for IDN S00191
Table 203 โ€“ Attributes for IDN S00192
683 12.150.2 Description
12.151 IDN S00193 Positioning jerk
12.151.1 Attributes
12.151.2 Description
12.152 IDN S00194 Acceleration command value
12.152.1 Attributes
Table 204 โ€“ Attributes for IDN S00193
Table 205 โ€“ Attributes for IDN S00194
684 12.152.2 Description
12.153 IDN S00195 Acceleration feedback value 2
12.153.1 Attributes
12.153.2 Description
12.154 IDN S00196 Motor rated current
12.154.1 Attributes
Table 206 โ€“ Attributes for IDN S00195
Table 207 โ€“ Attributes for IDN S00196
685 12.154.2 Description
12.155 IDN S00197 Set coordinate system procedure command
12.155.1 Attributes
12.155.2 Description
12.156 IDN S00198 Initial coordinate value
12.156.1 Attributes
Table 208 โ€“ Attributes for IDN S00197
686 12.156.2 Description
12.157 IDN S00199 Shift coordinate system procedure command
12.157.1 Attributes
12.157.2 Description
Table 209 โ€“ Attributes for IDN S00198
Table 210 โ€“ Attributes for IDN S00199
687 12.158 IDN S00200 Amplifier warning temperature
12.158.1 Attributes
12.158.2 Description
12.159 IDN S00201 Motor warning temperature
12.159.1 Attributes
Table 211 โ€“ Attributes for IDN S00200
688 12.159.2 Description
12.160 IDN S00202 Cooling error warning temperature
12.160.1 Attributes
12.160.2 Description
Table 212 โ€“ Attributes for IDN S00201
Table 213 โ€“ Attributes for IDN S00202
689 12.161 IDN S00203 Amplifier shut-down temperature
12.161.1 Attributes
12.161.2 Description
12.162 IDN S00204 Motor shut-down temperature
12.162.1 Attributes
Table 214 โ€“ Attributes for IDN S00203
690 12.162.2 Description
12.163 IDN S00205 Cooling error shut-down temperature
12.163.1 Attributes
12.163.2 Description
Table 215 โ€“ Attributes for IDN S00204
Table 216 โ€“ Attributes for IDN S00205
691 12.164 IDN S00206 Drive on delay time
12.164.1 Attributes
12.164.2 Description
12.165 IDN S00207 Drive off delay time
12.165.1 Attributes
Table 217 โ€“ Attributes for IDN S00206
Table 218 โ€“ Attributes for IDN S00207
692 12.165.2 Description
12.166 IDN S00208 Temperature data scaling type
12.166.1 Attributes
12.166.2 Description
12.167 IDN S00209 Lower adaptation limit
12.167.1 Attributes
Table 219 โ€“ Attributes for IDN S00208
Table 220 โ€“ Structure of temperature data scaling type
693 12.167.2 Description
12.168 IDN S00210 Upper adaptation limit
12.168.1 Attributes
12.168.2 Description
Table 221 โ€“ Attributes for IDN S00209
Table 222 โ€“ Attributes for IDN S00210
694 12.169 IDN S00211 Adaptation proportional gain
12.169.1 Attributes
12.169.2 Description
12.170 IDN S00212 Adaptation integral action time
12.170.1 Attributes
12.170.2 Description
Table 223 โ€“ Attributes for IDN S00211
Table 224 โ€“ Attributes for IDN S00212
695 12.171 IDN S00213 Engaging dither amplitude
12.171.1 Attributes
12.171.2 Description
12.172 IDN S00214 Average engaging speed
12.172.1 Attributes
12.172.2 Description
12.173 IDN S00215 Engaging dither period
12.173.1 Attributes
Table 225 โ€“ Attributes for IDN S00213
Table 226 โ€“ Attributes for IDN S00214
696 12.173.2 Description
12.174 IDN S00216 Switch parameter set procedure command
12.174.1 Attributes
12.174.2 Description
12.175 IDN S00217 Parameter set preselection
12.175.1 Attributes
Table 227 โ€“ Attributes for IDN S00215
Table 228 โ€“ Attributes for IDN S00216
697 12.175.2 Description
12.176 IDN S00218 Gear ratio preselection
12.176.1 Attributes
Table 229 โ€“ Attributes for IDN S00217
Table 230 โ€“ Structure of parameter set preselection
698 12.176.2 Description
12.177 IDN S00219 IDNโ€“list of parameter set
12.177.1 Attributes
Table 231 โ€“ Attributes for IDN S00218
Table 232 โ€“ Structure of the gear ratio preselection
699 12.177.2 Description
12.178 IDN S00220 Minimum spindle speed
12.178.1 Attributes
12.178.2 Description
Table 233 โ€“ Attributes for IDN S00219
Table 234 โ€“ Attributes for IDN S00220
700 12.179 IDN S00221 Maximum spindle speed
12.179.1 Attributes
12.179.2 Description
12.180 IDN S00222 Spindle positioning speed
12.180.1 Attributes
12.180.2 Description
Table 235 โ€“ Attributes for IDN S00221
Table 236 โ€“ Attributes for IDN S00222
701 12.181 IDN S00223 Drive controlled synchronous operation procedure command
12.181.1 Attributes
12.181.2 Description
12.182 IDN S00224 Lead spindle address
12.182.1 Attributes
Table 237 โ€“ Attributes for IDN S00223
Table 238 โ€“ Attributes for IDN S00224
702 12.182.2 Description
12.183 IDN S00225 Synchronous operation parameter
12.183.1 Attributes
12.183.2 Description
Table 239 โ€“ Attributes for IDN S00225
Table 240 โ€“ Structure of the synchronous operation parameter
703 12.184 IDN S00226 Lead spindle revolutions
12.184.1 Attributes
12.184.2 Description
12.185 IDN S00227 Synchronous spindle revolutions
12.185.1 Attributes
12.185.2 Description
Table 241 โ€“ Attributes for IDN S00226
Table 242 โ€“ Attributes for IDN S00227
704 12.186 IDN S00228 Synchronization position window
12.186.1 Attributes
12.186.2 Description
12.187 IDN S00229 Synchronization position error limit
12.187.1 Attributes
Table 243 โ€“ Attributes for IDN S00228
Table 244 โ€“ Attributes for IDN S00229
705 12.187.2 Description
12.188 IDN S00230 Synchronous position offset
12.188.1 Attributes
12.188.2 Description
12.189 IDN S00254 Actual parameter set
12.189.1 Attributes
Table 245 โ€“ Attributes for IDN S00230
Table 246 โ€“ Attributes for IDN S00254
706 12.189.2 Description
12.190 IDN S00255 Actual gear ratio
12.190.1 Attributes
12.190.2 Description
Table 247 โ€“ Structure of the actual parameter set
Table 248 โ€“ Attributes for IDN S00255
707 12.191 IDN S00256 Multiplication factor 1
12.191.1 Attributes
12.191.2 Description
12.192 IDN S00257 Multiplication factor 2
12.192.1 Attributes
Table 249 โ€“ Structure of the Actual Gear Ratio
Table 250 โ€“ Attributes for IDN S00256
708 12.192.2 Description
12.193 IDN S00258 Target position
12.193.1 Attributes
12.193.2 Description
Table 251 โ€“ Attributes for IDN S00257
Table 252 โ€“ Attributes for IDN S00258
709 12.194 IDN S00259 Positioning velocity
12.194.1 Attributes
12.194.2 Description
12.195 IDN S00260 Positioning acceleration
12.195.1 Attributes
12.195.2 Description
Table 253 โ€“ Attributes for IDN S00259
Table 254 โ€“ Attributes for IDN S00260
710 12.196 IDN S00261 Coarse position window
12.196.1 Attributes
12.196.2 Description
12.197 IDN S00262 Load defaults procedure command
12.197.1 Attributes
Table 255 โ€“ Attributes for IDN S00261
Table 256 โ€“ Attributes for IDN S00262
711 12.197.2 Description
12.198 IDN S00263 Load working memory procedure command
12.198.1 Attributes
12.198.2 Description
12.199 IDN S00264 Backup working memory procedure command
12.199.1 Attributes
Table 257 โ€“ Attributes for IDN S00263
712 12.199.2 Description
12.200 IDN S00265 Language selection
12.200.1 Attributes
12.200.2 Description
Table 258 โ€“ Attributes for IDN S00264
Table 259 โ€“ Attributes for IDN S00265
713 12.201 IDN S00266 List of available languages
12.201.1 Attributes
12.201.2 Description
Table 260 โ€“ Structure of the language selection: language codes
Table 261 โ€“ Attributes for IDN S00266
714 12.202 IDN S00267 Password
12.202.1 Attributes
12.202.2 Description
Table 262 โ€“ Attributes for IDN S00267
715 12.203 IDN S00268 Angular setting
12.203.1 Attributes
Figure 46 โ€“ Password modification
Table 263 โ€“ Attributes for IDN S00268
716 12.203.2 Description
12.204 IDN S00269 Storage mode
12.204.1 Attributes
12.204.2 Description
12.205 IDN S00270 IDN list of selected backup operation data
12.205.1 Attributes
Table 264 โ€“ Attributes for IDN S00269
Table 265 โ€“ Structure of Storage Mode
717 12.205.2 Description
12.206 IDN S00271 Drive ID
12.206.1 Attributes
12.206.2 Description
Table 266 โ€“ Attributes for IDN S00270
Table 267 โ€“ Attributes for IDN S00271
718 12.207 IDN S00272 Velocity window percentage
12.207.1 Attributes
12.207.2 Description
12.208 IDN S00273 Maximum drive off delay time
12.208.1 Attributes
12.208.2 Description
Table 268 โ€“ Attributes for IDN S00272
Table 269 โ€“ Attributes for IDN S00273
719 12.209 IDN S00275 Coordinate offset value
12.209.1 Attributes
12.209.2 Description
12.210 IDN S00276 Return to modulo range procedure command
12.210.1 Attributes
12.210.2 Description
Table 270 โ€“ Attributes for IDN S00275
Table 271 โ€“ Attributes for IDN S00276
720 12.211 IDN S00277 Position feedback 1 type
12.211.1 Attributes
12.211.2 Description
Table 272 โ€“ Attributes for IDN S00277
721 12.212 IDN S00278 Maximum travel range
12.212.1 Attributes
Table 273 โ€“ Structure of the position feedback 1 type
722 12.212.2 Description
12.213 IDN S00279 IDN list of password protected data
12.213.1 Attributes
12.213.2 Description
12.214 IDN S00280 Underflow threshold
12.214.1 Attributes
Table 274 โ€“ Attributes for IDN S00278
Table 275 โ€“ Attributes for IDN S00279
723 12.214.2 Description
12.215 IDN S00281 Overflow threshold
12.215.1 Attributes
Table 276 โ€“ Attributes for IDN S00280
724 12.215.2 Description
12.216 IDN S00282 Positioning command value
12.216.1 Attributes
Table 277 โ€“ Attributes for IDN S00281
725 12.216.2 Description
12.217 IDN S00283 Current coordinate offset
12.217.1 Attributes
12.217.2 Description
Table 278 โ€“ Attributes for IDN S00282
Table 279 โ€“ Attributes for IDN S00283
726 12.218 IDN S00284 Secondary operation mode 4
12.218.1 Attributes
12.218.2 Description
12.219 IDN S00285 Secondary operation mode 5
12.219.1 Attributes
Table 280 โ€“ Attributes for IDN S00284
Table 281 โ€“ Attributes for IDN S00285
727 12.219.2 Description
12.220 IDN S00286 Secondary operation mode 6
12.220.1 Attributes
12.220.2 Description
12.221 IDN S00287 Secondary operation mode 7
12.221.1 Attributes
Table 282 โ€“ Attributes for IDN S00286
728 12.221.2 Description
12.222 IDN S00292 List of supported operation modes
12.222.1 Attributes
12.222.2 Description
Table 283 โ€“ Attributes for IDN S00287
Table 284 โ€“ Attributes for IDN S00292
729 12.223 IDN S00293 Selectively backup working memory procedure command
12.223.1 Attributes
12.223.2 Description
12.224 IDN S00294 Divider modulo value
12.224.1 Attributes
12.224.2 Description
Table 285 โ€“ Attributes for IDN S00293
Table 286 โ€“ Attributes for IDN S00294
730 12.225 IDN S00295 Drive enable delay time
12.225.1 Attributes
12.225.2 Description
12.226 IDN S00296 Velocity feed forward gain
12.226.1 Attributes
12.226.2 Description
Table 287 โ€“ Attributes for IDN S00295
Table 288 โ€“ Attributes for IDN S00296
731 12.227 IDN S00297 Homing distance
12.227.1 Attributes
12.227.2 Description
12.228 IDN S00298 Suggest home switch distance
12.228.1 Attributes
Table 289 โ€“ Attributes for IDN S00297
732 12.228.2 Description
12.229 IDN S00299 Home switch offset 1
12.229.1 Attributes
12.229.2 Description
Table 290 โ€“ Attributes for IDN S00298
Table 291 โ€“ Attributes for IDN S00299
733 12.230 IDN S00300 Real-time control bit 1
12.230.1 Attributes
12.230.2 Description
12.231 IDN S00301 Allocation of real-time control bit 1
12.231.1 Attributes
Table 292 โ€“ Attributes for IDN S00300
Table 293 โ€“ Structure of real-time control bit 1
734 12.231.2 Description
12.232 IDN S00302 Real-time control bit 2
12.232.1 Attributes
12.232.2 Description
Table 294 โ€“ Attributes for IDN S00301
Table 295 โ€“ Attributes for IDN S00302
735 12.233 IDN S00303 Allocation of real-time control bit 2
12.233.1 Attributes
12.233.2 Description
12.234 IDN S00304 Real-time status bit 1
12.234.1 Attributes
Table 296 โ€“ Structure of the real-time control bit 2
Table 297 โ€“ Attributes for IDN S00303
Table 298 โ€“ Attributes for IDN S00304
736 12.234.2 Description
12.235 IDN S00305 Allocation of real-time status bit 1
12.235.1 Attributes
12.235.2 Description
12.236 IDN S00306 Real-time status bit 2
12.236.1 Attributes
Table 299 โ€“ Structure of real-time status bit 1
Table 300 โ€“ Attributes for IDN S00305
737 12.236.2 Description
12.237 IDN S00307 Allocation of real-time status bit 2
12.237.1 Attributes
12.237.2 Description
Table 301 โ€“ Attributes for IDN S00306
Table 302 โ€“ Structure of Real-Time Status Bit 2
Table 303 โ€“ Attributes for IDN S00307
738 12.238 IDN S00308 Synchronization operation status
12.238.1 Attributes
12.238.2 Description
12.239 IDN S00309 Synchronization error status
12.239.1 Attributes
Table 304 โ€“ Attributes for IDN S00308
Table 305 โ€“ Structure of the synchronization Operation status
739 12.239.2 Description
12.240 IDN S00310 Overload warning
12.240.1 Attributes
Table 306 โ€“ Attributes for IDN S00309
Table 307 โ€“ Structure of the synchronization error status
740 12.240.2 Description
12.241 IDN S00311 Amplifier overtemperature warning
12.241.1 Attributes
Table 308 โ€“ Attributes for IDN S00310
Table 309 โ€“ Structure of Overload Warning
Table 310 โ€“ Attributes for IDN S00311
741 12.241.2 Description
12.242 IDN S00312 Motor overtemperature warning
12.242.1 Attributes
12.242.2 Description
Table 311 โ€“ Structure of amplifier overtemperature warning
Table 312 โ€“ Attributes for IDN S00312
742 12.243 IDN S00313 Cooling error warning
12.243.1 Attributes
12.243.2 Description
12.244 IDN S00315 Positioning velocity higher than n Limit
12.244.1 Attributes
Table 313 โ€“ Structure of motor overtemperature warning
Table 314 โ€“ Attributes for IDN S00313
Table 315 โ€“ Cooling error warning
743 12.244.2 Description
12.245 IDN S00323 Target position outside of travel range
12.245.1 Attributes
Table 316 โ€“ Attributes for IDN S00315
Table 317 โ€“ Structure of the warning positioning velocity > n Limit
744 12.245.2 Description
12.246 IDN S00328 Bit number allocation list for signal status word
12.246.1 Attributes
Table 318 โ€“ Attributes for IDN S00323
Table 319 โ€“ Structure of the warning target position outside of travel range
745 12.246.2 Description
12.247 IDN S00329 Bit number allocation list for signal control word
12.247.1 Attributes
12.247.2 Description
12.248 IDN S00330 Status ‘nfeedback = ncommand’
12.248.1 Attributes
Table 320 โ€“ Attributes for IDN S00328
Table 321 โ€“ Attributes for IDN S00329
746 12.248.2 Description
12.249 IDN S00331 Status ‘nfeedback = 0’
12.249.1 Attributes
Table 322 โ€“ Attributes for IDN S00330
Table 323 โ€“ Structure of status ‘nfeedback = ncommand’
747 12.249.2 Description
12.250 IDN S00332 Status ‘nfeedback < nx'
12.250.1 Attributes
Table 324 โ€“ Attributes for IDN S00331
Table 325 โ€“ Structure of status ‘nfeedback = 0
Table 326 โ€“ Attributes for IDN S00332
748 12.250.2 Description
12.251 IDN S00333 Status ‘T โ‰ฅ Tx’
12.251.1 Attributes
12.251.2 Description
Table 327 โ€“ Structure of status ‘nfeedback < nx'
Table 328 โ€“ Attributes for IDN S00333
749 12.252 IDN S00334 Status ‘T โ‰ฅTlimit’
12.252.1 Attributes
12.252.2 Description
12.253 IDN S00335 Status ‘ncommand > nlimit’
12.253.1 Attributes
Table 329 โ€“ Table 329 โ€“ Structure of status ‘T โ‰ฅ Tx’
Table 330 โ€“ Attributes for IDN S00334
Table 331 โ€“ Structure of status ‘T โ‰ฅ Tlimit’
750 12.253.2 Description
12.254 IDN S00336 Status ‘In position’
12.254.1 Attributes
Table 332 โ€“ Attributes for IDN S00335
Table 333 โ€“ Structure of Status ‘ncommand > nlimit’
Table 334 โ€“ Attributes for IDN S00336
751 12.254.2 Description
12.255 IDN S00337 Status ‘P โ‰ฅ Px’
12.255.1 Attributes
12.255.2 Description
Table 335 โ€“ Structure of status ‘in position’
Table 336 โ€“ Attributes for IDN S00337
752 12.256 IDN S00338 Status โ€œPosition feedback = active target positionโ€
12.256.1 Attributes
12.256.2 Description
Table 337 โ€“ Structure of status ‘P โ‰ฅ Px’
Table 338 โ€“ Attributes for IDN S00338
Table 339 โ€“ Structure of position feedback = active target position
753 12.257 IDN S00339 Status ‘nfeedback โ‰ค minimum spindle speed’
12.257.1 Attributes
12.257.2 Description
12.258 IDN S00340 Status ‘nfeedback โ‰ค maximum spindle speedโ€™
12.258.1 Attributes
Table 340 โ€“ Attributes for IDN S00339
Table 341 โ€“ Structure of ‘nfeedback โ‰ค minimum spindle speed’
754 12.258.2 Description
12.259 IDN S00341 Status โ€œIn coarse positionโ€
12.259.1 Attributes
Table 342 โ€“ Attributes for IDN S00340
Table 343 โ€“ Structure of ‘nfeedback โ‰ฅ maximum spindle speed’
755 12.259.2 Description
12.260 IDN S00342 Status โ€œTarget position attainedโ€
12.260.1 Attributes
Table 344 โ€“ Attributes for IDN S00341
Table 345 โ€“ Structure of Status โ€˜in positionโ€™
Table 346 โ€“ Attributes for IDN S00342
756 12.260.2 Description
12.261 IDN S00343 Status โ€œInterpolator haltedโ€
12.261.1 Attributes
12.261.2 Description
Table 347 โ€“ Structure of status โ€˜target position attainedโ€™
Table 348 โ€“ Attributes for IDN S00343
757 12.262 IDN S00346 Positioning control
12.262.1 Attributes
12.262.2 Description
Table 349 โ€“ Structure of status ‘interpolator halted’
Table 350 โ€“ Attributes for IDN S00346
758 12.263 IDN S00347 Velocity error
12.263.1 Attributes
Table 351 โ€“ Structure of Positioning control
759 12.263.2 Description
12.264 IDN S00348 Acceleration feed forward gain
12.264.1 Attributes
12.264.2 Description
12.265 IDN S00349 Bipolar jerk limit
12.265.1 Attributes
Table 352 โ€“ Attributes for IDN S00347
Table 353 โ€“ Attributes for IDN S00348
760 12.265.2 Description
12.266 IDN S00356 Distance home switch โ€“ marker pulse
12.266.1 Attributes
12.266.2 Description
Table 354 โ€“ Attributes for IDN S00349
Table 355 โ€“ Attributes for IDN S00356
761 12.267 IDN S00357 Marker pulse distance
12.267.1 Attributes
12.267.2 Description
12.268 IDN S00358 Home switch offset 2
12.268.1 Attributes
12.268.2 Description
Table 356 โ€“ Attributes for IDN S00357
Table 357 โ€“ Attributes for IDN S00358
762 12.269 IDN S00359 Positioning deceleration
12.269.1 Attributes
12.269.2 Description
12.270 IDN S00360 and IDN S00361 MDT data containers A1 (4 byte) and B (4 byte)
12.270.1 Attributes
Table 358 โ€“ Attributes for IDN S00359
Table 359 โ€“ Attributes for IDN S00360, IDN S00361
763 12.270.2 Description
12.271 IDN S00362 and IDN S00363 MDT data container A and B list indexes
12.271.1 Attributes
12.271.2 Description
Table 360 โ€“ Attributes for IDN S00362, S00363
764 12.272 IDN S00364 and IDN S00365 AT data containers A1 (4 byte) and B (4 byte)
12.272.1 Attributes
Table 361 โ€“ MDT data container A list index structure
Table 362 โ€“ MDT data container B list index structure
Table 363 โ€“ Attributes for IDN S00364, IDN S00365
765 12.272.2 Description
12.273 IDN S00366 and IDN S00367 AT data container A and B list indexes
12.273.1 Attributes
12.273.2 Description
Table 364 โ€“ Attributes for IDN S00366, IDN S00367
766 12.274 IDN S00368 and IDN S00369 Data container A and B pointers
12.274.1 Attributes
Table 365 โ€“ AT data container A list index structure
Table 366 โ€“ AT data container B list index structure
Table 367 โ€“ Attributes for IDN S00368, S00369
767 12.274.2 Description
Table 368 โ€“ Data container A pointer structure
Table 369 โ€“ Data container B pointer structure
768 12.275 IDN S00370 MDT data container configuration list
12.275.1 Attributes
12.275.2 Description
12.276 IDN S00371 AT data container configuration list
12.276.1 Attributes
12.276.2 Description
Table 370 โ€“ Attributes for IDN S00370
Table 371 โ€“ Attributes for IDN S00371
769 12.277 IDN S00372 Drive Halt acceleration bipolar
12.277.1 Attributes
12.277.2 Description
12.278 IDN S00373 Service channel error list
12.278.1 Attributes
12.278.2 Description
Table 372 โ€“ Attributes for IDN S00372
Table 373 โ€“ Attributes for IDN S00373
770 12.279 IDN S00374 Procedure command error list
12.279.1 Attributes
12.279.2 Description
12.280 IDN S00375 Diagnostic numbers list
12.280.1 Attributes
Table 374 โ€“ Service channel error list structure
Table 375 โ€“ Attributes for IDN S00374
Table 376 โ€“ Procedure command error list structure
771 12.280.2 Description
12.281 IDN S00376 Baud rate
12.281.1 Attributes
12.281.2 Description
Table 377 โ€“ Attributes for IDN S00375
Table 378 โ€“ Attributes for IDN S00376
772 12.282 IDN S00377 Velocity feedback monitoring window
12.282.1 Attributes
12.282.2 Description
Table 379 โ€“ Baud rate structure
Table 380 โ€“ Attributes for IDN S00377
773 12.283 IDN S00378 Absolute encoder range 1
12.283.1 Attributes
12.283.2 Description
12.284 IDN S00379 Absolute encoder range 2
12.284.1 Attributes
Table 381 โ€“ Attributes for IDN S00378
774 12.284.2 Description
12.285 IDN S00380 DC bus voltage
12.285.1 Attributes
12.285.2 Description
12.286 IDN S00381 DC bus current
12.286.1 Attributes
Table 382 โ€“ Attributes for IDN S00379
Table 383 โ€“ Attributes for IDN S00380
775 12.286.2 Description
12.287 IDN S00382 DC bus power
12.287.1 Attributes
12.287.2 Description
12.288 IDN S00383 Motor temperature
12.288.1 Attributes
Table 384 โ€“ Attributes for IDN S00381
Table 385 โ€“ Attributes for IDN S00382
776 12.288.2 Description
12.289 IDN S00384 Amplifier temperature
12.289.1 Attributes
12.289.2 Description
12.290 IDN S00385 Active power
12.290.1 Attributes
Table 386 โ€“ Attributes for IDN S00383
Table 387 โ€“ Attributes for IDN S00384
777 12.290.2 Description
12.291 IDN S00386 Active position feedback value
12.291.1 Attributes
12.291.2 Description
12.292 IDN S00387 Power overload
12.292.1 Attributes
Table 388 โ€“ Attributes for IDN S00385
Table 389 โ€“ Attributes for IDN S00386
778 12.292.2 Description
12.293 IDN S00388 Braking current limit
12.293.1 Attributes
12.293.2 Description
12.294 IDN S00389 Effective current
12.294.1 Attributes
Table 390 โ€“ Attributes for IDN S00387
Table 391 โ€“ Attributes for IDN S00388
779 12.294.2 Description
12.295 IDN S00390 Diagnostic number
12.295.1 Attributes
12.295.2 Description
Table 392 โ€“ Attributes for IDN S00389
Table 393 โ€“ Attributes for IDN S00390
780 Table 394 โ€“ Prioritization of diagnostic events
781 12.296 IDN S00391 Position feedback monitoring window
12.296.1 Attributes
Table 395 โ€“ Structure of the diagnostic number
782 12.296.2 Description
12.297 IDN S00392 Velocity feedback filter
12.297.1 Attributes
12.297.2 Description
Table 396 โ€“ Attributes for IDN S00391
Table 397 โ€“ Attributes for IDN S00392
783 12.298 IDN S00393 Command value mode
12.298.1 Attributes
12.298.2 Description
12.299 IDN S00394 List IDN
12.299.1 Attributes
Table 398 โ€“ Attributes for IDN S00393
Table 399 โ€“ Command value mode structure
784 12.299.2 Description
12.300 IDN S00395 List index
12.300.1 Attributes
12.300.2 Description
12.301 IDN S00396 Number of list elements
12.301.1 Attributes
Table 400 โ€“ Attributes for IDN S00394
Table 401 โ€“ Attributes for IDN S00395
785 12.301.2 Description
12.302 IDN S00397 List segment
12.302.1 Attributes
12.302.2 Description
Table 402 โ€“ Attributes for IDN S00396
Table 403 โ€“ Attributes for IDN S00397
786 12.303 IDN S00398 IDN list of configurable data in the signal status word
12.303.1 Attributes
12.303.2 Description
12.304 IDN S00399 IDN list of configurable data in the signal control word
12.304.1 Attributes
12.304.2 Description
Table 404 โ€“ Attributes for IDN S00398
Table 405 โ€“ Attributes for IDN S00399
787 12.305 IDN S00400 Home switch
12.305.1 Attributes
12.305.2 Description
12.306 IDN S00401 Probe 1
12.306.1 Attributes
Table 406 โ€“ Attributes for IDN S00400
Table 407 โ€“ Structure of home switch
788 12.306.2 Description
12.307 IDN S00402 Probe 2
12.307.1 Attributes
Table 408 โ€“ Attributes for IDN S00401
Table 409 โ€“ Structure of Probe 1
Table 410 โ€“ Attributes for IDN S00402
789 12.307.2 Description
12.308 IDN S00403 Position feedback value status
12.308.1 Attributes
12.308.2 Description
Table 411 โ€“ Structure of Probe 2
Table 412 โ€“ Attributes for IDN S00403
790 Table 413 โ€“ Structure of position feedback values status
791 12.309 IDN S00404 Position command value status
12.309.1 Attributes
12.309.2 Description
12.310 IDN S00405 Probe 1 enable
12.310.1 Attributes
Table 414 โ€“ Attributes for IDN S00404
Table 415 โ€“ Structure of position command value status
792 12.310.2 Description
12.311 IDN S00406 Probe 2 enable
12.311.1 Attributes
Table 416 โ€“ Attributes for IDN S00405
Table 417 โ€“ Structure of probe 1 enable
Table 418 โ€“ Attributes for IDN S00406
793 12.311.2 Description
12.312 IDN S00407 Homing enable
12.312.1 Attributes
12.312.2 Description
Table 419 โ€“ Structure of probe 2 enable
Table 420 โ€“ Attributes for IDN S00407
794 12.313 IDN S00408 Reference marker pulse registered
12.313.1 Attributes
12.313.2 Description
Table 421 โ€“ Structure of homing enable
Table 422 โ€“ Attributes for IDN S00408
Table 423 โ€“ Structure of reference marker pulse registered
795 12.314 IDN S00409 Probe 1 positive latched
12.314.1 Attributes
12.314.2 Description
12.315 IDN S00410 Probe 1 negative latched
12.315.1 Attributes
Table 424 โ€“ Attributes for IDN S00409
Table 425 โ€“ Structure of probe 1 positive latched
796 12.315.2 Description
12.316 IDN S00411 Probe 2 positive latched
12.316.1 Attributes
Table 426 โ€“ Attributes for IDN S00410
Table 427 โ€“ Structure of probe 1 negative latched
Table 428 โ€“ Attributes for IDN S00411
797 12.316.2 Description
12.317 IDN S00412 Probe 2 negative latched
12.317.1 Attributes
12.317.2 Description
Table 429 โ€“ Structure of probe 2 positive latched
Table 430 โ€“ Attributes for IDN S00412
798 12.318 IDN S00413 Bit number allocation of real-time control bit 1
12.318.1 Attributes
12.318.2 Description
12.319 IDN S00414 Bit number allocation of real-time control bit 2
12.319.1 Attributes
Table 431 โ€“ Structure of probe 2 negative latched
Table 432 โ€“ Attributes for IDN S00413
Table 433 โ€“ Attributes for IDN S00414
799 12.319.2 Description
12.320 IDN S00415 Bit number allocation of real-time status bit 1
12.320.1 Attributes
12.320.2 Description
12.321 IDN S00416 Bit number allocation of real-time status bit 2
12.321.1 Attributes
12.321.2 Description
Table 434 โ€“ Attributes for IDN S00415
Table 435 โ€“ Attributes for IDN S00416
800 12.322 IDN S00417 Positioning velocity threshold in modulo mode
12.322.1 Attributes
12.322.2 Description
12.323 IDN S00418 Target position window in modulo mode
12.323.1 Attributes
Table 436 โ€“ Attributes for IDN S00417
801 12.323.2 Description
12.324 IDN S00419 Positioning acknowledge
12.324.1 Attributes
12.324.2 Description
Table 437 โ€“ Attributes for IDN S00418
Table 438 โ€“ Attributes for IDN S00419
802 12.325 IDN S00429 Emergency stop deceleration
12.325.1 Attributes
12.325.2 Description
12.326 IDN S00430 Active target position
12.326.1 Attributes
Table 439 โ€“ Structure of positioning acknowledge
Table 440 โ€“ Attributes for IDN S00429
803 12.326.2 Description
12.327 IDN S00431 Spindle positioning acceleration bipolar
12.327.1 Attributes
Table 441 โ€“ Attributes for IDN S00430
Table 442 โ€“ Attributes for IDN S00431
804 12.327.2 Description
12.328 IDN S00432 Serial number drive control
12.328.1 Attributes
12.328.2 Description
12.329 IDN S00433 Serial number power stage
12.329.1 Attributes
12.329.2 Description
Table 443 โ€“ Attributes for IDN S00432
Table 444 โ€“ Attributes for IDN S00433
805 12.330 IDN S00434 Serial number motor
12.330.1 Attributes
12.330.2 Description
12.331 IDN S00435 Operating time drive control
12.331.1 Attributes
12.331.2 Description
12.332 IDN S00436 Operating time power stage
12.332.1 Attributes
Table 445 โ€“ Attributes for IDN S00434
Table 446 โ€“ Attributes for IDN S00435
806 12.332.2 Description
12.333 IDN S00437 Positioning status
12.333.1 Attributes
12.333.2 Description
Table 447 โ€“ Attributes for IDN S00436
Table 448 โ€“ Attributes for IDN S00437
807 Table 449 โ€“ Structure of positioning status
808 12.334 IDN S00438 Vendor name
12.334.1 Attributes
12.334.2 Description
12.335 IDN S00439 Vendor code
12.335.1 Attributes
12.335.2 Description
12.336 IDN S00440 Marker position feedback 1
12.336.1 Attributes
Table 450 โ€“ Attributes for IDN S00438
Table 451 โ€“ Attributes for IDN S00439
809 12.336.2 Description
12.337 IDN S00441 Marker position feedback 2
12.337.1 Attributes
12.337.2 Description
12.338 IDN S00442 Counter marker position feedback 1
12.338.1 Attributes
Table 452 โ€“ Attributes for IDN S00440
Table 453 โ€“ Attributes for IDN S00441
810 12.338.2 Description
12.339 IDN S00443 Counter marker position feedback 2
12.339.1 Attributes
12.339.2 Description
12.340 IDN S00446 Ramp reference velocity
12.340.1 Attributes
Table 454 โ€“ Attributes for IDN S00442
Table 455 โ€“ Attributes for IDN S00443
811 12.340.2 Description
12.341 IDN S00447 Set absolute position procedure command
12.341.1 Attributes
12.341.2 Description
Table 456 โ€“ Attributes for IDN S00446
Table 457 โ€“ Attributes for IDN S00447
812 12.342 IDN S00448 Set absolute position control word
12.342.1 Attributes
12.342.2 Description
Table 458 โ€“ Attributes for IDN S00448
813 12.343 IDN S00460 to S00475 Position switches (position switch points off 1-16)
12.343.1 Attributes
12.343.2 Description
12.344 IDN S00476 Position switch control
12.344.1 Attributes
Table 459 โ€“ Structure of set absolute position control
Table 460 โ€“ Attributes for IDN S00460 to S00475
814 12.344.2 Description
12.345 IDN S00477 Position switch hysteresis
12.345.1 Attributes
Table 461 โ€“ Attributes for IDN S00476
Table 462 โ€“ Structure of the position switch control
815 12.345.2 Description
12.346 IDN S00478 Limit switch status
12.346.1 Attributes
12.346.2 Description
Table 463 โ€“ Attributes for IDN S00476
Table 464 โ€“ Attributes for IDN S00478
816 12.347 IDN S00520 Axis control word
12.347.1 Attributes
12.347.2 Description
Table 465 โ€“ Structure of limit switch status
Table 466 โ€“ Attributes for IDN S00520
817 12.348 IDN S00521 Axis status word
12.348.1 Attributes
12.348.2 Description
Table 467 โ€“ Structure of the axis control word
Table 468 โ€“ Attributes for IDN S00521
818 12.349 IDN S00530 Clamping torque
12.349.1 Attributes
12.349.2 Description
12.350 IDN S00532 Limit switch control
12.350.1 Attributes
Table 469 โ€“ Structure of the axis status word
Table 470 โ€“ Attributes for IDN S00530
819 12.350.2 Description
12.351 IDN S00533 Motor continuous stall torque/force
12.351.1 Attributes
Table 471 โ€“ Attributes for IDN S00532
Table 472 โ€“ Structure of the limit switch control
820 12.351.2 Description
12.352 IDN S00534 Motor peak torque/force
12.352.1 Attributes
12.352.2 Description
12.353 IDN S00535 Active velocity feedback value
12.353.1 Attributes
Table 473 โ€“ Attributes for IDN S00533
Table 474 โ€“ Attributes for IDN S00534
821 12.353.2 Description
12.354 IDN S00536 Active acceleration feedback value
12.354.1 Attributes
12.354.2 Description
Table 475 โ€“ Attributes for IDN S00535
Table 476 โ€“ Attributes for IDN S00536
822 12.355 IDN S00822 Torque/force ramp reference
12.355.1 Attributes
12.355.2 Description
12.356 IDN S00823 Torque/force ramp time
12.356.1 Attributes
12.356.2 Description
12.357 IDN S00824 Torque/force status
12.357.1 Attributes
Table 477 โ€“ Attributes for IDN S00822
Table 478 โ€“ Attributes for IDN S00823
823 12.357.2 Description
12.358 IDN S00826 Torque/force window
12.358.1 Attributes
12.358.2 Description
Table 479 โ€“ Attributes for IDN S00824
Table 480 โ€“ Structure of the torque/force status
Table 481 โ€“ Attributes for IDN S00826
824 12.359 IDN S01601 List of drive classes & version
12.359.1 Attributes
12.359.2 Description
Table 482 โ€“ Attributes for IDN S01601
825 Table 483 โ€“ Structure of drive class & version
826 Bibliography

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