Emerson Digitax ST User Manual

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installation
Electrical
installation
Getting
started
Basic
parameters
Running the
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Optimization
EtherCAT
interface
SMARTCARD
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Onboard
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Advanced
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Data
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UL listing
information
98 Digitax ST User Guide
Issue: 5
9.27 Quick reference
Table 9-127 and Table 9-129 list of all the EtherCAT interface set-up objects and parameters that are required to configure the module.
Table 9-127 EtherCAT interface objects reference
Object Name Description Cross reference
0x1000 Device type Specifies the device profile being used (DSP-402).
Section 9.16.1 on page 76
0x1018 Identity object Contains the EtherCAT interface specific identity information.
0x1600 Receive PDO mapping 1 Contains the mapping information for receive PDO mapping 1.
Section 9.16.2 on page 77
0x1601 Receive PDO mapping 2 Contains the mapping information for receive PDO mapping 2.
0x1605 Receive PDO mapping 6 Contains the mapping information for receive PDO mapping 6.
0x1615 Receive PDO mapping 22 Contains the mapping information for receive PDO mapping 22.
0x1A00 Transmit PDO mapping 1 Contains the mapping information for transmit PDO mapping 1.
0x1A01 Transmit PDO mapping 2 Contains the mapping information for transmit PDO mapping 2.
0x1A02 Transmit PDO mapping 3 Contains the mapping information for transmit PDO mapping 3.
0x1A05 Transmit PDO mapping 6 Contains the mapping information for transmit PDO mapping 6.
0x1A15 Transmit PDO mapping 22 Contains the mapping information for transmit PDO mapping 22.
0x1C00
Sync manager
communication type
This read-only object provides sync manager usage details.
Section 9.16.4 on page 79
0x1C10
Sync manager 0 PDO
assignment
This read-only object contains information relating to the non-cyclic
receive mailbox.
0x1C11
Sync manager 1 PDO
assignment
This read-only object contains information relating to the non-cyclic
send mailbox.
0x1C12
Sync manager 2 PDO
assignment
Contains the currently in use receive PDOs.
0x1C13
Sync manager 3 PDO
assignment
Contains the currently in use transmit PDOs.
0x2802 Feedback encoder source Specifies the source position for position controller feedback. Section 9.16.5 on page 79
0x2803 Homing source
Indicates the configured source of the homing switch used during the
homing procedure.
Section 9.22.2 on page 93
0x2804 Freeze object
Used to configure the freeze function that can be used within the
Homing mode profile.
0x2813 Network loss behavior object Used to configure the network loss trip behavior (watchdog). Section 14.5 on page 200
0x2820 Out cyclic data configuration The number of the last sub-index in this object
Section 9.25 on page 96
0x2821 In cyclic data configuration The number of the last sub-index in this object
0x2830
Internal position feedback
shortcut
This value is the drive feedback source. It consists of the coarse
position in the most significant 16 bits and the fine position in the
least significant 16 bits.
It will then have a number of turns bits shifted into the most
significant bits (“pushing” as many fine position bits as required out).
This should not be read in the first 90 μs after the RMINT edge,
because data skew may result.
0x2831 Internal torque shortcut
This represents the drive internal torque shortcut scaled to 0.01 %
units.
Section 9.26 on page 97
0x603F Error code Indicates the current drive error code. Section 14.10 on page 201
0x6040 Controlword Provides the primary method of controlling the behavior of the drive. Section 9.18.1 on page 81
0x6041 Statusword This provides feedback about the current operating state of the drive. Section 9.18.2 on page 82
0x6042 vl_target_velocity Used to set the required velocity of the system. Section 9.20.1 on page 88
0x6043 vl_velocity demand
Provides the instantaneous velocity demand generated by the drive
ramp function.
Section 9.20.2 on page 88
0x6044 vl_velocity_actual value Provides the velocity at the motor spindle or load. Section 9.20.3 on page 88
0x6046 vl_velocity_min max_amount This object is used to configure the minimum and maximum velocity. Section 9.20.4 on page 88
0x6047 vl_velocity_min max This object is used to configure the minimum and maximum velocity. Section 9.20.5 on page 88
0x6048 vl_velocity acceleration
This object is used to configure the delta speed and delta time of the
slope of the acceleration ramp.
Section 9.20.6 on page 89
0x6049 vl_velocity deceleration
This object is used to configure the delta speed and delta time of the
slope of the deceleration ramp.
Section 9.20.7 on page 89
0x604A vl_velocity_quick stop
This object is used to configure the delta speed and delta time of the
slope of the deceleration ramp for quick stop.
Section 9.20.8 on page 89
0x604B vl_setpoint factor
This object is used to configure the numerator and denominator of
the vl_setpoint_factor.
Section 9.20.9 on page 89

Emerson Digitax ST Specifications

General

Brand	Emerson
Model	Digitax ST
Category	Controller
Language	English