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As can be seen above, if EtherNet/IP is used it will overwrite any of the other protocols in a write operation. The other protocols can still be used for read operations and diagnostics.
Read Registers
Register | Description |
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CPUTime | CPU clock time in 50us counts |
ActualPosition | The actual position of the motor in encoder counts |
ActualTargetPosition | The actual instantaneous position the motor is currently moving to. |
MotorStatus | The motors status (error, homing, in position, etc) |
ActualRatedCurrent | Percentage (0.1%) of rated current. 1000 = rated, 1100 = peak. |
ActualOverloadTorque | Percentage (0.1%) of overload torque. |
AnalogIN | 10 bit analog input value (0-1023) |
DigitalIO | Digital |
IO status.
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Temperature | Drive temperature in ºC |
DCVoltage | 24V DC bus voltage in 0.1V |
DigitalOUT | Digital OUT status. B0-B1 = OUT1-OUT2 |
ModeOfOperationDisplay | Indicates the mode of operation currently set |
ActualSpeed | Actual speed of the motor in encoder counts/s |
Write Registers
Register | Description |
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TargetPosition | Final target position |
TargetSpeed | Maximum speed |
TargetTorque | Maximum torque |
TargetAcceleration | Acceleration (used when accelerating to target speed) |
TargetDeceleration | Deceleration (used when stopping) |
Controlword | Control the motor operation |
ModeOfOperation | Set the required mode of operation |
DigitalOUT | Set the 2 digital outputs. Requires K34=44. |
Setting Mode Of Operation
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- CML
- Send "_mop=x" on the CML port when x is the value of the mode of operation
- Assign a variable to "mop" and write the variable in a logic bank. E.g. V0="mop".
- Direct
- Set modbus register 41041 to the value of the required mode of operation.
- Set Byte[16] in EtherNet/IP
- Set Byte[2016] in TCP/UDP Port 10002
Registers
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Unit | Description | ||
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CML Registers | Modbus Registers | TCP/UPD Bytes | Ethernet/IP O2T Bytes | |||
Controlword | R1 | 41039 | 1814-1915 | 14-15 | N/A | See below |
Bit Descriptions:
BIT | Name | Value | Description |
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B0 | Operation mode specific | ||
B1 | Operation mode specific | ||
B2 | Operation mode specific | ||
B3 | Operation mode specific | ||
B4 | Disable | 0 1 1 → 0 | Enable the motor Disable the motor Reset any error |
B5 | Reset Error | 0 → 1 | Reset any error |
B6 | Set to Zero | 0 → 1 | Set the current position to 0 |
B7 | Home | 0 → 1 | Start a home search(1) |
(1) Set the home search parameters with K parameters K42-K48parameters with K parameters K42-K48
Statusword
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The Statusword returns information on the status of the motor.
Scroll Table Layout | ||||||||||||||||||
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Unit | Description | ||
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CML Registers | Modbus Registers | TCP/UPD Bytes | Ethernet/IP O2T Bytes | |||
Statusword | Query ?99 | 40009 | 16-17 | 16-17 | N/A | See below |
Bit Descriptions:
BIT | Name |
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B0 | Position overflow alarm |
B1 | Overspeed alarm |
B2 | Overload alarm |
B3 | Inposition |
B4 | Disable |
B5 | Pushmode limit |
B6 | Communication error alarm |
B7 | Over temperature alarm |
B8 | Pushmode Timeout warning |
B9 | E-Stop active |
B10 | N/A |
B11 | N/A |
B12 | N/A |
B13 | N/A |
B14 | New start required |
B15 | Home achieved |
TargetPosition
The TargetPosition sets a new target position for the motor.
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Unit | Range | ||
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CML Registers | Modbus Registers | TCP/UPD Bytes | Ethernet/IP O2T Bytes | |||
TargetPosition | P1 | 41029 | 40-73 | 0-3 | pulses (counts) | -2^31 to +2^31 |
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Unit | Range | ||
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CML Registers | Modbus Registers | TCP/UPD Bytes | Ethernet/IP O2T Bytes | |||
TargetSpeed | S1 | 41031 | 84-117 | 4-7 | pulses/second 10 pulses/second 100 pulses/second | -2^31 to +2^31 |
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Unit | Range | ||
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CML Registers | Modbus Registers | TCP/UPD Bytes | Ethernet/IP O2T Bytes | |||
TargetTorque | N1 | 41033 | 128-139 | 8-9 | 0.1% rated torque | 0-1100 |
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Unit | Range | ||
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CML Registers | Modbus Registers | TCP/UPD Bytes | Ethernet/IP IO Bytes | |||
TargetAcceleration | A1 | 41035 | 1410-1511 | 10-11 | Kpulses/second2 | ± 32767 |
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Unit | Range | ||
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CML Registers | Modbus Registers | TCP/UPD Bytes | Ethernet/IP O2T Bytes | |||
TargetDeceleration | A2 | 41037 | 1612-1713 | 12-13 | Kpulses/second2 | ± 32767 |
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Description | ||
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CML Registers | Modbus Registers(1) | TCP/UPD Bytes(2) | Ethernet/IP O2T Bytes(3) | ||
TargetPosition | P1 | 41029 | 40-73 | 0-3 | The target position the motor will move to.
(1) See the Controlword for switching to speed or relative control. |
TargetSpeed | S1 | 41031 | 84-117 | 4-7 | The maximum speed of the profile trajectory.
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TargetTorque | N1 | 41033 | 128-139 | 8-9 | The maximum torque the motor will use. |
TargetAcceleration | A1 | 41035 | 1410-1511 | 10-11 | Acceleration is used when the profile is accelerating to the target speed. |
TargetDeceleration | A2 | 41037 | 1612-1713 | 12-13 | Deceleration is used when the profile is decelerating to the target position. |
Controlword | R1 | 41039 | 1814-1915 | 14-15 | Bits in the Controlword dictate profile execution. A more detailed description can be found below. |
ModeOfOperation | Set with "_mop" | 41041 | 2016 | 16 | Sets the mode of operation see 51511389Setting Mode of Operation |
DigitalOUT | N/A | 41043 | 2117 | 17 | Binary value to set the digital output (Register K34=44 to enable this function) |
(1) See Modbus-TCP for additional details
(2) See 51511389 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.
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BIT | Name | Value | Description |
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B0 | Start/New Set Point | 0 |
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0 → 1 |
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1 | Execute any changes in any of the profile registers immediately. | ||
B1 | Halt | 0 | Do nothing |
1 |
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B2 | Relative mode | 0 | TargetPosition is an absolute position |
1 | TargetPosition is a relative incremental position | ||
B3 | Speed control | 0 | Position control mode |
1 | Speed control mode | ||
B7-B4 | See Controlword |
Profile Mode Examples
The following example uses the standard registers to run an absolute move. This could be run from a Control Room CML script.
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Scroll Table Layout | ||||||||||||||||||
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Register Name | Profile Mode = |
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4 | Profile Mode = |
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5 | Description | ||
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CML Registers | Modbus Registers(1) | TCP/UPD Bytes(2) | Ethernet/IP O2T Bytes(3) |
TargetPosition | P1 | 41029 |
0- |
3 | 0-3 | The target position the motor will move to.
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TargetTorque | N1 | 41033 |
8- |
9 | 8-9 | The maximum torque the motor will use. |
Filter Gain | A1 | 41035 |
10- |
11 | 10-11 | The A1 register is used to store the filter gain. |
Controlword | R1 | 41039 |
14- |
15 | 14-15 | Bits in the Controlword dictate the execution. A more detailed description can be found below. |
ModeOfOperation | Set with "_mop" | 41041 |
16 | 16 | Sets the mode of operation see |
Setting Mode of Operation | ||
DigitalOUT | N/A | 41043 |
17 | 17 | Binary value to set the digital output (Register K34=44 to enable this function) |
(1) See Modbus-TCP for additional details
(2) See 51511389 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.
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Profile mode uses some specific bits in the Controlword
BIT | Name | Value | Description |
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B0 | Start/New Set Point | 0 |
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0 → 1 |
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1 | Execute any changes in any of the profile registers immediately. | ||
B1 | Halt | 0 | Do nothing |
1 |
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B3-B2 | N/A | ||
B7-B4 | See Controlword |
Dynamic Position Mode Example
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Code Block | ||||
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K87=10 V1="mop" //assign V1 to set the mode of operation a1=10 //set the filter gain to 10 (1-1024) p1=0 //target position p2=10 //amount to increment each iteration of the logic scan N1=1100 //run motor at full torque |2 //reset position to 0 L1.1 //Logic bank 1 to init all parameters R1=0 //clear control word V1=4 //set mode of operation to 4 |2 //set motor position to 0 P1=0 //set target position to 0 R1=1 //set control word to start running dynamic position JL2.1 //jump to L2 END.1 L2.1 //L2 will continuously loop every #ms set in K87. p1=p1+p2; //increment target position by P2 end.1 |
Torque Mode
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Torque mode would be used where there is no target position but the motor is required to continuously hold or move at a required maximum torque. In this mode the toque set is a maximum torque and the torque will only be reached if required.
Scroll Table Layout | ||||||||||||||||||
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Register Name | Profile Mode = |
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10 | Profile Mode = |
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11 | Description | ||
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CML Registers | Modbus Registers(1) | TCP/UPD Bytes(2) | Ethernet/IP O2T Bytes(3) |
TargetSpeed | S1 | 41031 |
4- |
7 | 4-7 | The maximum speed of the profile |
TargetTorque | N1 | 41033 |
8- |
9 | 8-9 | The maximum torque the motor will use while moving.
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Controlword | R1 | 41039 |
14- |
15 | 14-15 | Bits in the Controlword dictate torque execution. A more detailed description can be found below. |
ModeOfOperation | Set with "mop" | 41041 |
16 | 16 | Sets the mode of operation see |
Setting Mode of Operation | ||
DigitalOUT | N/A | 41043 |
17 | 17 | Binary value to set the digital output (Register K34=44 to enable this function) |
(1) See Modbus-TCP for additional details
(2) See 51511389 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.
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Torque mode uses some specific bits in the Controlword
BIT | Name | Value | Description |
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B0 | Start/New Set Point | 0 |
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0 → 1 |
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1 | Following N1 target torque | ||
B1 | Halt | 0 | Do nothing |
1 |
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B3-B2 | N/A | ||
B7-B4 | See Controlword |
The interaction of the halt bit and the new set point (nsp) bit is quite specific. See the table below for additional important interaction.
B0 (nsp) | B1 (Halt) | Description |
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1 | 0 | Motion profile follows torque and speed values |
1 | 0 → 1 | All motion stops |
1 | 1 | Motion is inhibited
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0 | 1 | Operation is the same as above. |
0 | 0 | Motion may resume based on values
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Note |
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It is important to understand that the halt bit temporarily halts operation. It does not interrupt motion. This means that a rising edge (0 → 1) is not required on B0 to continue operation. To keep prohibiting motion the following could be use
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