Commissioning
Described in this chapter is how you establish communication with the controller and set the necessary parameters to make the motor ready for operation.
CPB EtherCAT Technical Manual
- Technical Manual CPB
- Safety and warning notices
- Technical details and pin assignment
- Hardware installation
- Commissioning
- General concepts
- Operating modes
- Special functions
- EtherCAT
- Programming with NanoJ
- Description of the object dictionary
- 1000h Device Type
- 1001h Error Register
- 1003h Pre-defined Error Field
- 1008h Manufacturer Device Name
- 1009h Manufacturer Hardware Version
- 100Ah Manufacturer Software Version
- 1010h Store Parameters
- 1011h Restore Default Parameters
- 1018h Identity Object
- 1020h Verify Configuration
- 1600h Receive PDO 1 Mapping Parameter
- 1601h Receive PDO 2 Mapping Parameter
- 1602h Receive PDO 3 Mapping Parameter
- 1603h Receive PDO 4 Mapping Parameter
- 1A00h Transmit PDO 1 Mapping Parameter
- 1A01h Transmit PDO 2 Mapping Parameter
- 1A02h Transmit PDO 3 Mapping Parameter
- 1A03h Transmit PDO 4 Mapping Parameter
- 1C00h Sync Manager Communication Type
- 1C12h Sync Manager RxPDO Assignment
- 1C13h Sync Manager TxPDO Assignment
- 1C32h Output Sync Manager Synchronization
- 1C33h Input Sync Manager Synchronization
- 1F50h Program Data
- 1F51h Program Control
- 1F57h Program Status
- 2030h Pole Pair Count
- 2031h Max Motor Current
- 2034h Upper Voltage Warning Level
- 2035h Lower Voltage Warning Level
- 2036h Open Loop Current Reduction Idle Time
- 2037h Open Loop Current Reduction Value/factor
- 2038h Brake Controller Timing
- 2039h Motor Currents
- 203Ah Homing On Block Configuration
- 203Bh I2t Parameters
- 203Dh Torque Window
- 203Eh Torque Window Time Out
- 203Fh Max Slippage Time Out
- 2057h Clock Direction Multiplier
- 2058h Clock Direction Divider
- 205Ah Absolute Sensor Boot Value (in User Units)
- 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode
- 205Ch Virtual Encoder Configuration
- 2084h Bootup Delay
- 2101h Fieldbus Module Availability
- 2102h Fieldbus Module Control
- 2103h Fieldbus Module Status
- 2110h EtherCAT Slave Status
- 2290h PDI Control
- 2291h PDI Input
- 2292h PDI Output
- 2300h NanoJ Control
- 2301h NanoJ Status
- 2302h NanoJ Error Code
- 230Eh Timer
- 230Fh Uptime Seconds
- 2310h NanoJ Input Data Selection
- 2320h NanoJ Output Data Selection
- 2330h NanoJ In/output Data Selection
- 2400h NanoJ Inputs
- 2410h NanoJ Init Parameters
- 2500h NanoJ Outputs
- 2600h NanoJ Debug Output
- 2701h Customer Storage Area
- 2800h Bootloader And Reboot Settings
- 3202h Motor Drive Submode Select
- 3203h Feedback Selection
- 3204h Feedback Mapping
- 320Dh Torque Of Inertia Factor
- 3210h Motor Drive Parameter Set
- 3212h Motor Drive Flags
- 321Ah Current Controller Parameters
- 321Bh Velocity Controller Parameters
- 321Ch Position Controller Parameters
- 321Dh Pre-control
- 321Eh Voltage Limit
- 3220h Analog Input Digits
- 3221h Analog Inputs Control
- 3240h Digital Inputs Control
- 3241h Digital Input Capture
- 3242h Digital Input Routing
- 3243h Digital Input Homing Capture
- 3250h Digital Outputs Control
- 3252h Digital Output Routing
- 3260h Pwm Output 0
- 3261h Pwm Output 1
- 3273h Generic SPI Hardware Configuration
- 3274h Generic SPI Mosi Data
- 3275h Generic SPI Miso Data
- 3320h Analog Input Values
- 3321h Analog Input Offsets
- 3322h Analog Input Numerators
- 3323h Analog Input Denominators
- 3380h Feedback Sensorless
- 3390h Feedback Hall
- 33A0h Feedback Incremental A/B/I 1
- 33B0h Feedback SSI 1
- 33B1h Feedback SSI 2
- 3502h MODBUS Rx PDO Mapping
- 3602h MODBUS Tx PDO Mapping
- 3700h Deviation Error Option Code
- 3701h Limit Switch Error Option Code
- 4012h HW Information
- 4013h HW Configuration
- 4014h Operating Conditions
- 4021h Ballast Configuration
- 4040h Drive Serial Number
- 4041h Device Id
- 4042h Bootloader Infos
- 6007h Abort Connection Option Code
- 603Fh Error Code
- 6040h Controlword
- 6041h Statusword
- 6042h Vl Target Velocity
- 6043h Vl Velocity Demand
- 6044h Vl Velocity Actual Value
- 6046h Vl Velocity Min Max Amount
- 6048h Vl Velocity Acceleration
- 6049h Vl Velocity Deceleration
- 604Ah Vl Velocity Quick Stop
- 604Ch Vl Dimension Factor
- 605Ah Quick Stop Option Code
- 605Bh Shutdown Option Code
- 605Ch Disable Option Code
- 605Dh Halt Option Code
- 605Eh Fault Option Code
- 6060h Modes Of Operation
- 6061h Modes Of Operation Display
- 6062h Position Demand Value
- 6063h Position Actual Internal Value
- 6064h Position Actual Value
- 6065h Following Error Window
- 6066h Following Error Time Out
- 6067h Position Window
- 6068h Position Window Time
- 606Bh Velocity Demand Value
- 606Ch Velocity Actual Value
- 606Dh Velocity Window
- 606Eh Velocity Window Time
- 606Fh Velocity Threshold
- 6070h Velocity Threshold Time
- 6071h Target Torque
- 6072h Max Torque
- 6073h Max Current
- 6074h Torque Demand
- 6075h Motor Rated Current
- 6077h Torque Actual Value
- 607Ah Target Position
- 607Bh Position Range Limit
- 607Ch Home Offset
- 607Dh Software Position Limit
- 607Eh Polarity
- 607Fh Max Profile Velocity
- 6080h Max Motor Speed
- 6081h Profile Velocity
- 6082h End Velocity
- 6083h Profile Acceleration
- 6084h Profile Deceleration
- 6085h Quick Stop Deceleration
- 6086h Motion Profile Type
- 6087h Torque Slope
- 608Fh Position Encoder Resolution
- 6090h Velocity Encoder Resolution
- 6091h Gear Ratio
- 6092h Feed Constant
- 6096h Velocity Factor
- 6097h Acceleration Factor
- 6098h Homing Method
- 6099h Homing Speed
- 609Ah Homing Acceleration
- 60A2h Jerk Factor
- 60A4h Profile Jerk
- 60A8h SI Unit Position
- 60A9h SI Unit Velocity
- 60B0h Position Offset
- 60B1h Velocity Offset
- 60B2h Torque Offset
- 60C1h Interpolation Data Record
- 60C2h Interpolation Time Period
- 60C4h Interpolation Data Configuration
- 60C5h Max Acceleration
- 60C6h Max Deceleration
- 60E4h Additional Position Actual Value
- 60E5h Additional Velocity Actual Value
- 60E6h Additional Position Encoder Resolution - Encoder Increments
- 60E8h Additional Gear Ratio - Motor Shaft Revolutions
- 60E9h Additional Feed Constant - Feed
- 60EBh Additional Position Encoder Resolution - Motor Revolutions
- 60EDh Additional Gear Ratio - Driving Shaft Revolutions
- 60EEh Additional Feed Constant - Driving Shaft Revolutions
- 60F2h Positioning Option Code
- 60F4h Following Error Actual Value
- 60F8h Max Slippage
- 60FAh Control Effort
- 60FCh Position Demand Internal Value
- 60FDh Digital Inputs
- 60FEh Digital Outputs
- 60FFh Target Velocity
- 6502h Supported Drive Modes
- 6503h Drive Catalogue Number
- 6505h Http Drive Catalogue Address
- Copyrights