hdt brushless servodrives dgfox tomcat series version 1.01 added parameters 030eh, 030fh, 0310h,...

HDT brushless servodrives

DGFOX_TOMCAT series

Manuale MODBUS

Versione 1.01

Data rev. 05/03/15

HDT Lovato – Manual of Modbus

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Version 1.01

Added parameters 030Eh, 030Fh, 0310h, 0311h, 0312h, 0313h.

Added phase shift (valid from firmware 3.17 TOMCAT and 3.18 of DGFOX)


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General index1 INTRODUCTION TO MODBUS RTU.......................................................................................11

1.1 Introduction..........................................................................................................................11

2 CONFIGURATION MODBUS..................................................................................................12

2.1 Configuration.......................................................................................................................12

3 THEORY OF MODBUS RTU PROTOCOL ..............................................................................13

3.1 Introduction..........................................................................................................................13

3.2 Message format ...................................................................................................................13

Character Format.......................................................................................................................14

3.3 The Address.........................................................................................................................14

3.4 Il codice funzione.................................................................................................................14

3.5 The CRC16..........................................................................................................................14

3.6 Message Synchronization....................................................................................................15

3.7 Modbus functions................................................................................................................15

3.7.1 Status reading of the outputs(01)..................................................................................15

3.7.2 Read Input Status (02).................................................................................................15

3.7.3 Read holding Registers (03)........................................................................................16

3.7.4 Read Input Registers (04)............................................................................................16

3.7.5 Write Single Register (06)...........................................................................................17

3.7.6 Preset Multiple Registers (16)......................................................................................17

3.8 Error management...............................................................................................................18

3.8.1 Exception codes...........................................................................................................19

4 MODBUS PROTOCOL PARAMETERS....................................................................................21

4.1 Managing 32 bits variables...................................................................................................21

4.1.1 Writing 32 bits variables...............................................................................................21

4.1.2 Reading 32 bits variables..............................................................................................21

4.2 Automatic Recovery under Voltage DC BUS......................................................................21

4.3 Automatic Recovery over Voltage DC BUS........................................................................21

4.4 State Machine .....................................................................................................................22

4.5 Controlword and statusword.................................................................................................23

4.5.1 Register 0300h (768 dec) - Controlword......................................................................24

4.5.1.1 Controlword Bits 0..3 ..........................................................................................24

4.5.1.2 Controlword bits 4,5,6 and 8................................................................................24

4.5.2 Register 0301h (769 dec)- Statusword..........................................................................25

4.5.2.1 Statusword Bits about the status of the drive........................................................26

4.5.2.2 Statusword bits 5-8 e 12 – Operative mode..........................................................26

4.5.2.3 Statusword bits 9,10,11,13 - Message bits...........................................................27

4.5.3 Register 0302h (770 dec)- Status word aux...................................................................27

4.6 Read-only variables of “Data Monitor” ..............................................................................28

4.6.1 Registers 0303h (771 dec) and 0304h (772 dec) Alarms variables...............................28

4.6.2 Registers 0305h (773 dec) and 0306h (774 dec) measured position ............................30

4.6.3 Registers 0307h (775 dec) and 0308h (776 dec) Measured speed.................................30

4.6.4 Register 0309h (776 dec) Measured current.................................................................30

4.6.5 Register 030Ah (777 dec) Measured voltage................................................................30

4.6.6 Register 030Bh (779 dec) Digital inputs......................................................................31

4.6.7 Registers 030Ch (780 dec) and 030D (781 dec) Encoder SSI Absolute position.........31

4.6.8 Registers 030Eh (782 dec) and 030Fh (783 dec) measured position ............................32

4.6.9 Registers 0310h (784 dec) and 0311h (785 dec) Measured speed.................................32

4.6.10 Register 0312h (786 dec) Electrical angle..................................................................32

4.6.11 Registro 0313h (787 dec) Temperature drive.............................................................32


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4.7 Control variables Modbus....................................................................................................33

4.7.1 Register 0401h (1025 dec) Type of control .................................................................34

4.7.2 Registers 0402h (1026 dec) and 0403 (1027) Operational Deceleration.......................35

4.7.3 Register 0419h (1049 dec) Option Halt........................................................................35

4.7.4 Registers 0404h (1028 dec) and 0405h (1029 dec ) Halt Deceleration ........................36

4.7.5 Register 040Eh (1038 dec) 040Fh (1039 dec) Error position ........................................36

4.7.6 Register 0410h (1040 dec) Error position time............................................................37

4.7.7 Register 0411h (1041 dec) Loss fieldbus timeout mode..............................................38

4.7.8 Registers 0412h (1042 dec) and 0413h (1043 dec ) Deceleration timeout mode...........38

4.7.9 Register 0415h (1045 dec) Mode Fault reaction...........................................................39

4.7.10 Registers 0416h (1046 dec) and 0417h (1047 dec ) fault reaction deceleration..........39

4.7.11 Register 0418h (1048 dec) Fault Torque limit ..........................................................40

4.7.12 Registers 041Ah (1050 dec) and 041B (1051 dec) Speed window.............................40

4.7.13 Register 041Ch (1052 dec) Time of the speed window ............................................41

4.8 Digital Inputs.......................................................................................................................41

4.8.1 Register 0414h (1044 dec) Digital Inputs....................................................................41

4.9 Factors of conversion...........................................................................................................43

4.9.1 Registers 0406h (1030 dec) 0407h (1031 dec) Speed factor numerator........................44

4.9.2 Registers 0408h (1032 dec) 0409h (1033 dec) Speed factor denominator....................44

4.9.3 Registers 040Ah (1034 dec) 040Bh (1035 dec) Acceleration factor numerator.....44

4.9.4 Registers 040Ch (1036 dec) 040Dh (1037 dec) Acceleration factor denominator45

4.9.5 Registers 0609h (1545 dec) 060Ah (1546 dec) Position factor numerator....................45

4.9.6 Registers 060Bh (1547 dec) 060Ch (1548 dec) Position Factor denominator..............46

4.9.7 Register 0400h (1024 dec) Modbus flag Velocity Polarity ..........................................46

4.9.8 Register 0600h (1536 dec) Modbus flag Position polarity............................................47

4.10 Position Mode....................................................................................................................48

4.10.1 Controlword and Statusword.......................................................................................48

4.10.1.1 Setting bit Controlword in position mode...........................................................48

4.10.1.2 Bit Statusword in position mode.........................................................................49

4.10.2 Parameters for the Position Profile..............................................................................51

4.10.2.1 Registers 0601h (1537 dec) 0602h (1538 dec) Position Target..........................56

4.10.2.2 Registers 0603h (1539 dec) 0604h (1540 dec) Position Acceleration .................57

4.10.2.3 Registers 0605h (1541 dec) 0606h (1542 dec) Position Deceleration .................57

4.10.2.4 Registers 0607h (1543 dec) 0608h (1544 dec) Position Jerk ..............................58

4.10.2.5 Register 060Fh (1551 dec) 0610h (1552 dec) Position Velocity.........................58

4.10.2.6 Register 0611h (1553 dec) Positioner Type........................................................59

4.10.2.7 Registers 061Ch (1564 dec) and 061D (1565 dec) Position measured ...............59

4.10.3 Positioner parameters .................................................................................................60

4.10.3.1 Register 0600h (1536 dec) Modbus flag position................................................61

4.10.3.2 Registers 0618h (1560 dec) 0619h (1561 dec) Min Position Limit ....................62

4.10.3.3 Registers 061Ah (1562 dec) 061Bh (1563 dec) Max Position Limit ..................63

4.10.3.4 Registers 060Dh (1549 dec) 060Eh (1550 dec) Position Home offset................63

4.10.4 Parameters of Position Jog ........................................................................................64

4.10.4.1 Registers 0612h (1554 dec) 0613h (1555 dec) Velocity Jog ..............................64

4.10.4.2 Register 0614h (1556 dec) 0615h (1557 dec) Jog Acceleration .........................65

4.10.4.3 Registers 0616h (1558 dec) 0617h (1559 dec) Jog Deceleration ........................65

4.10.5 Homing.......................................................................................................................66

4.10.5.1 Register 0640h (1600 dec) Homing Method........................................................67

Method 0 – No homing.....................................................................................................67

Method 1 - CCW limit switch and encoder zero mark......................................................67


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Method 2 – CW limit switch and encoder zero mark ........................................................71

Method 3 – Homing su sensore di home positivo e tacca di zero......................................71

Metodo 4 - Homing on home sensor positive and zero mark.............................................72

Method 5 - Homing on home sensor negative and zero mark............................................73

Method 6 - Homing on home sensor negative and zero mark............................................73

Method 7 - Homing made on Home Sensor and encoder zero mark..................................74

Method 8 - Homing on home sensor and encoder zero mark.............................................74

Method 9 - Homing on home sensor and encoder zero mark.............................................74

Method 10 - Homing on home sensor and encoder zero mark...........................................74





Methods dal 17 a 30..........................................................................................................76

Method 33 – Homing on zero mark (negative direction)...................................................77

Method 34 - Homing on zero mark (positive direction).....................................................77

Method 35 - Homing on the current position.....................................................................77

4.10.5.2 Registers 0641h (1601 dec) 0642h (1602 dec) Search Speed Home sensor........77

4.10.5.3 Register 0643h (1603 dec) 0644h (1604 dec) Output speed sensor home...........78

4.10.5.4 Register 0645h (1605 dec) 0646h (1606 dec) Homing Acc/Dec ........................79

4.11 Velocity Mode ( Velocity profile ).....................................................................................79

4.11.1 Controlword and Statusword.......................................................................................79

4.11.1.1 Setting the bit Controlword in Velocity Mode ...................................................79

4.11.1.2 Meaning of bit Statusword in Velocity mode .....................................................81

4.11.2 Parameters Main speed...............................................................................................81

4.11.2.1 Register 0501h (1281 dec) Main Type Speed......................................................83

4.11.2.2 Register 0503h (1283 dec) 0504h (1284 dec) Full scale analog speed...............84

4.11.2.3 Registers 0505h (1285 dec) 0506h (1286 dec) Offset analog speed...................84

4.11.2.4 Register 0507h (1287 dec) Low pass filter........................................................85

4.11.2.5 Registers 0508h (1288 dec) 0509h (1289 dec) internal speed............................85

4.11.2.6 Register 0500h (1280 dec) Modbus flag speed...................................................85

4.11.2.7 Register 050Ah (1290 dec) pulses per rotation.................................................86

4.11.2.8 Registers 051Dh (1309 dec) 051Eh (1310 dec) Measured Speed........................86

4.11.3 Auxiliary reference parameters...................................................................................87

4.11.3.1 Register 0500h (1280 dec) Modbus flag speed...................................................88

4.11.3.2 Register 0502h (1282 dec) Type Aux. Reference................................................88

4.11.3.3 Registers 050Bh (1291 dec) 050Ch (dec 1292) Full scale Analog Speed Auxiliary

.........................................................................................................................................89

4.11.3.4 Registers 050Dh (1293 dec) 050Eh (1294 dec) Offset speed analog auxiliary....90

4.11.3.5 Registers 050Fh (1295 dec) 0510h (1296 dec) Internal Aux speed ...................90

4.11.3.6 Register 0511h (1297 dec) Full Scale Torque Limit .........................................91

4.11.3.7 Register 0512h (1298 dec) Offset torque limit .................................................91

4.11.4 Ramps parameters ......................................................................................................91

4.11.4.1 Register 0500h (1280 dec) Modbus speed flag .................................................94

4.11.4.2 Registers 0513h (1299 dec) 0514h (1300 dec) Acceleration CW.......................95

4.11.4.3 Register 0515h (1301 dec) 0516h (1302 dec) Deceleration CW..........................95

4.11.4.4 Register 0517h (1303 dec) 0518h (1304 dec) Acceleration CCW......................96

4.11.4.5 Registers 0519h (1305 dec) 051Ah (1306 dec) Deceleration CCW.....................96

4.11.4.6 Registers 051Bh (1307 dec) 051Ch (1308 dec) Jerk...........................................97

4.12 Electric Axis/Pulse-Dir Mode.............................................................................................98


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4.12.1 Controlword and Statusword In Electric Axis.............................................................98

4.12.1.1 Setting bit Controlword in Electric Axis.............................................................98

4.12.1.2 Meaning of bit Statusword in Electric Axis.......................................................100

4.12.2 Electric Axis parameters...........................................................................................101

4.12.2.1 Register 0701h (1793 dec) Numerator Ratio ...................................................102

4.12.2.2 Register 0702h (1794 dec) Denominator Ratio ..............................................102

4.12.2.3 Register 0705h (1797 dec) Type of Encoder....................................................102

4.12.2.4 Registers 0706h (1798 dec) 0707h (1799 dec) Encoder Pulses.........................105

4.12.2.5 Register 0718h (1816 dec) Pulses position reached.........................................105

4.12.2.6 Registers 0719h (1817 dec) 071Ah (1818 dec) Pulses phase shift....................105

4.12.2.7 Register 071Bh (1819 dec) Phase shift speed ..................................................106

4.12.2.8 Register 071Ch (1820 dec) Phase shift acceleration........................................106

4.12.2.9 Registers 0716h (1814 dec) 0717h (1815dec) Measured Encoder Pulses..........106

4.12.3 Parameter of engaging of Electronic Gear.................................................................106

4.12.3.1 Register 0703h (1795 dec) Type of engaging...................................................107

4.12.3.2 Registers 0708h (1800 dec) 0709h (1801 dec) engaging Acceleration..............108

4.12.3.3 Registers 070Ah (1802 dec) 070Bh (1803 dec) engaging Jerk .........................108

4.12.3.4 Registers 070Ch (1804 dec) 070Dh (1805 dec) engaging position ...................109

4.12.4 Parameter of disengaging of the Electric Gearbox ( Electric Axis)............................109

4.12.4.1 Register 0704h (1796 dec) Type of disengage.................................................110

4.12.4.2 Registers 070Eh (1806 dec) 070Fh (1807 dec) disengage deceleration............111

4.12.4.3 Registers 0710h (1808 dec) 0711h (1809 dec) disengage Jerk.........................111

4.12.4.4 Register 0700h (1792 dec) Type of disengage Abs/Rel..................................112

4.12.4.5 Registers 0712h (1810 dec) 0713h (1811 dec) disengage position....................112

4.12.4.6 Register 0714h (1812 dec) Velocity disengage in position.............................113

4.12.4.7 Register 0715h (1813 dec) Deceleration disengage in position .....................113

4.13 Torque Mode....................................................................................................................113

4.13.1 Controlword and Statusword.....................................................................................113

4.13.1.1 Meaning of bit Controlword in Torque Mode ..................................................113

4.13.1.2 Meaning of bit Statusword in Torque Mode ...................................................114

4.13.2 Torque control .........................................................................................................114

4.13.2.1 Register 0800h (2048 dec) Type Torque Reference .......................................116

4.13.2.2 Register 0801h (2049 dec) Full scale analog torque ........................................116

4.13.2.3 Register 0802h (2050 dec) Offset Analog Torque ..........................................117

4.13.2.4 Register 0803h (20501 dec) Internal Torque Reference ..................................117

4.13.2.5 Limitation to the Torque current........................................................................118

5 SPECIFIC PARAMETERS OF DRIVE....................................................................................120

5.1 Motor Parameters ..............................................................................................................122

5.1.1 Register 0151h (337 dec) – Type of motor ................................................................122

5.1.2 Register 0152h (338 dec) – Rated speed of the motor.................................................123

5.1.3 Register 0153h (339 dec) – Rated current of the motor...............................................123

5.1.4 Register 0154h (340 dec) – Peak current of the motor.................................................123

5.1.5 Register 0155h (341 dec) – Stall current of the motor.................................................124

5.1.6 Register 0156h (342 dec) – Rated Voltage of the motor..............................................124

5.1.7 Register 0157h (343 dec) – Phase resistance...............................................................124

5.1.8 Register 0158h (344 dec) – synchronous inductance...................................................124

5.1.9 Register 0159h (345 dec) – Time I2T of the motor.....................................................125

5.1.10 Register 015Ah (346 dec) – Motor poles...................................................................125

5.2 Feedback parameters .........................................................................................................126

5.2.1 Register 0150h (336 dec) Invert Feedback.................................................................126


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5.2.2 Register 0161h (353 dec) – Type of feedback ...........................................................127

5.2.3 Registers 015Bh (347 dec) 015Ch (348 dec) Pulses/Revolution ( or pole pitch )........128

5.2.4 Register 0162h (354 dec) – Offset feedback ..............................................................129

5.2.5 Register 0163h (355 dec) – Bit single-turn.................................................................129

5.2.6 Register 0164h (356 dec) – Bit Multi-turns................................................................129

5.2.7 Registers 0167h (359 dec) 0168h (360 dec) Offset Application ................................129

5.2.8 Registers 030Ch (780 dec) 030Dh (781 dec) Encoder position .................................130

5.3 Regulators gains.................................................................................................................131

5.3.1 Register 0202h (514 dec) – Kp speed regulator..........................................................131

5.3.2 Register 0203h (515 dec) – Ki speed regulator ..........................................................131

5.3.3 Register 0204h (516 dec) – Kd speed regulator .........................................................131

5.3.4 Register 015Dh (349 dec) – Kp current regulator.......................................................132

5.3.5 Register 015Eh (350 dec) – Ki current regulator........................................................132

5.3.6 Register 015Fh (351 dec) – Kd current regulator.......................................................132

5.3.7 Register 0205h (517 dec) – Kp Position Regulator.....................................................132

5.4 Alarms mode......................................................................................................................133

5.4.1 Register 0201h (513 dec) – Alarm mode....................................................................133

5.5 Limits.................................................................................................................................135

..........................................................................................................................................135

5.5.1 Register 0206h (518 dec) – Speed Limit ..................................................................135

5.5.2 Register 0207h (519 dec) – Current Limit .................................................................135

5.6 Filters.................................................................................................................................136

5.6.1 Register 0200h (512 dec) – Enable Filter of Notch and Iq..........................................136

5.6.2 Register 0208h (520 dec) – Notch frequency.............................................................137

5.6.3 Register 0209h (521 dec) – Bandwidth Notch (R)......................................................137

5.6.4 Register 020Ah (522 dec) – Low pass filter time on current Iq..................................137

5.7 Output................................................................................................................................138

5.7.1 Register 0212h (530 dec) – Setting Out1....................................................................138

5.7.2 Register 0213h (531 dec) – Setting Out2 (Only for TOMCAT Servo).......................139

5.7.3 Register 0210h (528 dec) – Speed 0 Threshold..........................................................140

5.7.4 Register 0211h (529 dec) – Speed 0 time...................................................................140

5.7.5 Register 020Bh (523 dec) – Time of Enable brake.....................................................140

5.7.6 Register 020Ch (524 dec) – Time to disable brake.....................................................140

5.7.7 Register 020Eh (526 dec) – Deceleration brake insertion...........................................140

5.7.8 Register 020Fh (527 dec) – Speed enables brake.......................................................141

5.7.9 Register 0215h (533 dec) – Drive Output Speed/Frequency(1KHz)...........................141

5.8 Braking resistor (Only for Tomcat)....................................................................................141

5.8.1 Register 0120h ( 288dec) – Braking Resistor.............................................................141

5.8.2 Register 0121h ( 289dec) – Braking resistor braking power.......................................142

5.8.3 Register 0122h ( 290dec) – Braking resistor overload time........................................142

5.8.4 Register 0123h ( 291dec) – Maximum braking voltage..............................................142

5.8.5 Register 0124h ( 292dec) – Braking hysteresys Voltage............................................143

1.Index of tablesTable 1: BaudRate..........................................................................................................................12

Table 2: Function codes..................................................................................................................14

Table 3: State Description...............................................................................................................22

Table 4: Controlword and Statusword.............................................................................................23

Table 5: Controlword bit State Machine.........................................................................................24


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Table 6: controlword - bit operative mode......................................................................................24

Table 7: status word - description bit.............................................................................................25

Table 8: status word, bit of the drive status.....................................................................................26

Table 9: status word, bit of the operative mode...............................................................................26

Table 10: status word, bits of message............................................................................................27

Table 11: Bit relativi alla status word ausiliaria..............................................................................27

Table 12: Controll parameters 1......................................................................................................28

Table 13: Bit alarms on the Variable Alarms (MSB).....................................................................29

Table 14: Bit alarms of Allarms Variables (LSB)..........................................................................29

Table 15: Bit Digital Inputs...........................................................................................................31

Table 16: Control parameters1........................................................................................................33

Table 17: Type of control..............................................................................................................34

Table 18: Mode of reaction for intervention “Loss fieldbus timeout”.............................................38

Table 19: Reaction mode for intervention“Fault reaction”.............................................................39

Table 20: Alarms managed by Mode Fault reaction ....................................................................39

Table 21: Digital Inputs.................................................................................................................42

Table 22: Conversion Factors........................................................................................................43

Table 23: Flag Velocity polarity.....................................................................................................47

Table 24: Flag position polarity......................................................................................................47

Table 25: Controlword in Position Mode ......................................................................................48

Table 26: Statusword in positioner mode........................................................................................50

Table 27: Position profile parameters ............................................................................................51

Table 28: Positioner Type...............................................................................................................59

Table 29: Parameters position profile.............................................................................................60

Table 30: Flag position...................................................................................................................62

Table 31: Parameters of Jog Position .............................................................................................64

Table 32: “Home position”............................................................................................................66

Table 33: Controlword in Velocity Profile......................................................................................80

Table 34: Statusword in modo Velocità .........................................................................................81

Table 35: Parametri Modo velocità ................................................................................................82

Table 36: Type of Main Speed........................................................................................................83

Table 37: Bit 0, 1 Modbus flag speed.............................................................................................86

Table 38: Bit 2, 3, 4 Modbus flag speed........................................................................................86

Table 39: Parameters speed mode ..................................................................................................87

Table 40: Bit 2 Modbus flag speed..............................................................................................88

Table 41: Tipo Riferimento ausiliario.............................................................................................89

Table 42: Parameters speed mode ..................................................................................................92

Table 43: Bit 3,4 Modbus speed flag............................................................................................94

Table 44: Controlword in"electrical axis".......................................................................................99

Table 45: Statusword in modo “Asse elettrico”.............................................................................100

Table 46: Parameter electric axis..................................................................................................101

Table 47: Type of encoder...........................................................................................................103

Table 48: Tipo Aggancio Asse Elettrico.......................................................................................108

Table 49: Disengage Electronic Gearbox......................................................................................111

Table 50: Controlword in modo Coppia........................................................................................114

Table 51: Statusword in Torque Mode..........................................................................................114

Table 52: Parametri controllo coppia............................................................................................115

Table 53: Type torque Reference..................................................................................................116

Table 54: Specific parameters of the drive....................................................................................121

Table 55: Setting the type of motor...............................................................................................123


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Table 56: Invert Feedback............................................................................................................127

Table 57: Type of Encoder...........................................................................................................128

Table 58: Type of Alarms.............................................................................................................134

Table 59: Abilitazione Filtri..........................................................................................................137

Table 60: Setting Output 1...........................................................................................................139

Index of the IllustrationsPicture 1: Caliper Modbus Setting..................................................................................................12

Picture 2: Caliper "State Machine".................................................................................................22

Picture 3: Caliper Controlword and Statusword .............................................................................23

Picture 4: Caliper "Control Setting"................................................................................................34

Picture 5: Caliper “Control type”....................................................................................................35

Picture 6: Caliper "Position Setting"...............................................................................................37

Picture 7: Caliper "Factors"............................................................................................................43

Picture 8: Management of Bit Controlword and statusword in positioner........................................50

Picture 9: Caliper "Positioner"........................................................................................................56

Picture 10: Caliper "Parameters Position"......................................................................................61

Picture 11: Caliper "Position Jog "..................................................................................................64

Picture 12: Caliper "Home position"...............................................................................................67

Picture 13: Method 1 – Origin search made on CCW limit switch and encoder zero mark.............71

Picture 14: Method 2 – Origin search made on CW limit switch and encoder zero mark................71

Picture 15: Method 3 – Origin search on the home sensor and encoder zero mark..........................72

Picture 16: Method 4 - Ricerca origine su sensore di home.............................................................73

Picture 17: Method 5 - Ricerca origine su sensore di home.............................................................73

Picture 18: Method 6 - Search Origin on sensor home....................................................................74

Picture 19: Methods 7,8,9,10 - Search Origin on sensor home........................................................75

Picture 20: Methods 11,12, 13, 14 - Search Origin on sensor home................................................76

Picture 21: Method 17 - Search origin on CCW limit switch..........................................................76

Picture 22: Method 18 - Search origin on CW limit switch.............................................................76

Picture 23: Method 3,4 - Search origin on zero pulse resolver........................................................77

Picture 24: Caliper “Main Speed"...................................................................................................83

Picture 25: Caliper "Aux speed".....................................................................................................88

Picture 26: Caliper "Ramps"...........................................................................................................94

Picture 27: Electric axis................................................................................................................102

Picture 28: Set mode encoder “Channel A-B”...............................................................................104

Picture 29: Set as mode Encoder “Frequency-Directon”...............................................................104

Picture 30: Encoder set as “Channel CW-CCW”.........................................................................104

Picture 31: Caliper: Set up of the “Engaging of the Electronic GearBox”.....................................107

Picture 32: Caliper: Set up “Electric Axis Disengage”..................................................................110

Picture 33: Caliper: Mode set ”Torque Control”...........................................................................116

Picture 34: Caliper: Set "Motor data"............................................................................................122

Picture 35: Caliper: Impostazione “Parametri Feedback”..............................................................126

Picture 36: Caliper: Setting “Gains of regulators”.........................................................................131

Picture 37: Caliper: Setting “Alarm mode”..................................................................................133

Picture 38: Caliper: Setting “Limits”............................................................................................135

Picture 39: Caliper: Setting “Filters”.............................................................................................136

Picture 40: Caliper: “Output” Setting............................................................................................138


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Picture 41: Caliper: Setting “ Braking Resistor”...........................................................................141


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1 INTRODUCTION TO MODBUS RTU

1.1 Introduction

The purpose of this document is to provide a detailed description of the structure and parameters related to the Modbus, developped on Tomcat and drive DGFOX of HDT. About specific aspects of the Modbus protocol can refer to the documentation downloaded from the website www.modbus.org


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2 CONFIGURATION MODBUS

2.1 Configuration

The MODBUS protocol is based on a serial bus transmission system, in which each node is assigned a unique address, so in any Modbus network, you must set the node address and communication speed (baud rate) the same for all connected devices.In DGFOX Drive and TOMCAT, address and baud rate can be set respectively by rotary switch and DIP switches or via the configuration software CALIPER (by setting the option "memory").From Caliper is also possible to enable or disable a "time-out alarm" which is a verification of the activities of the Modbus: If this feature is enabled, if there is not traffic data for a time greater than the value set on parameter "timeout" the drive goes into alarm.You can also insert a terminating resistor on the last device on the Modbus network through the dip-switch.Refer to the respective user manuals of the drive for complete information.

Baudrate settable from Caliper

Baudrate settable from dip-switch

9.6 Kbit/s 9.6 Kbit/s

14.4 Kbit/s Not possible




Table 1: BaudRate


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3 THEORY OF MODBUS RTU PROTOCOL

3.1 Introduction

II MODBUS protocol defines the format and the communication mode between a "master" who manages the system and one or more "slaves" that respond to the master.The Protocol defines as the master and the slaves start and stop their communication, such as transmitter and receiver are identified, such as messages need to be exchanged and how errors are detected.You can connect a master and up to 247 slaves on a common line, it should be noted that this is a logical limit of the Protocol, the physical interface can be further limited the number of devices, for example, the interface provides a standard RS-485 maximum of 31 slaves connected to the line.By replacing the last element of the line with a special "bridge or repeater", you can connect other 31 slaves, and so on until it reaches the maximum number of logical devices applied.Only the master can initiate a transaction. A transaction can have a question / answer format directed to a single slave or broadcast when the message is sent to all devices on the line that does not give reply. A transaction is composed of a structure or a single-question/single-answer structure single-message broadcast / no answer.Some features of the protocol are:• interface standard• parity• number of stop bits• and size RTU (binary).

3.2 Message format

In order to communicate between two devices, the message must be contained in a "box".The box leaves the transmitter via a "port" and is "brought" along the line to a similar "port" on the receiver.MODBUS states the size of this box that, both for the master and the slave.Includes:• The address of the device with which the master stated transaction (the address 0corresponds to a broadcast message sent to all the slaves).• II code of the function that should be or has been performed.• The data to be exchanged.• The error control according to the CRC16 algorithm.If a device detects an error in the received message (format, parity orCRC16), the message is considered invalid and discarded, when a slave detects an error in the message, it will not execute the action and not answer the question, just as if the address does not correspond to a device online.

Address (1 Byte) Function Code(1 Byte)

Data (1-252 byte) CRC16 (2 byte)


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Character Format

The devices that use the MODBUS protocol normally use size “8, E, 1”(That is: 8 data bits, Even parity check and 1 stop bit) or size “8, N, 1” (That is: 8 data bits, No parity and 1 stop bit), or the size “8,O,1” (That is: 8 data bits, Odd parity check and 1 stop bit).

3.3 The Address

As mentioned above, the MODBUS transactions always involve the masterthat manages the line, and one slave at a time (except in the case of broadcast messages).To identify the recipient of the message is transmitted, as the first character, a byte that contains the numeric address of the selected slave device.Each slave will then be assigned a different address number that uniquely identifies it.The addresses are those allowable from 1 to 247, while address 0, which can not be assigned to a slave, place on top of the message sent by the master indicates that it is "broadcast", that is directed to all slaves simultaneously.They can only be transmitted as broadcast messages that do not require a response to perform their function, so only used in the allocations.

3.4 Il codice funzione

The second character of the message identifies the function to be executed in the message sent by the master, the slave responds in turn with the same code to indicate that the function has been performed.The MODBUS functions are supported by DGFOX and Tomcat are as given below:

Function Description

01 Read Coil Status

02 Read Input Status

03 Read Holding Registers

04 Read Input registers

06 Write Single register

16 write Multiple Register

Table 2: Function codes

3.5 The CRC16

The last two characters of the message containing the cyclic redundancy code (Cyclic Redundancy Check) is calculated using the CRC16 algorithm.For the calculation of these two characters, the message (address, function code and data, discarding the start bit, stop and the eventual parity) is considered as one continuous binary number whose most significant bit (MSB) is transmitted first .For the procedure of calculating the CRC see the appropriate documentation on the site www.modbus.org.


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3.6 Message Synchronization

The message synchronization between transmitter and receiver is obtained by inserting a pause between messages of at least 3.5 times as long as a character.If the receiving device does not receive for a period of 3.5 characters, it considers completed the previous message and assumes that the next byte received will be the first of a new message, and then an address.

3.7 Modbus functions

Is below explained the detailed description of the MODBUS functions used in DGFOX and TOMCAT

3.7.1 Status reading of the outputs(01)

This function code is used to read the status of 1-2000 contiguous outputs of a device. The request defines the starting address, ie the address of the first output andthe total number of outputs. The outputs are addressed starting at zero, so the outputs numbered 1-16 are addressed as 0-15.The outputs in the response message are packed out for a bit of the data field and the status is shown as 1 = ON and 0 = OFF. The least significant bit of the first byte of data contains the output addressed in the request. The other outputs are followed towards the higher-order of the same byte, and the lower order to the higher of the next bytes.If the quantity of outputs returned is not a multiple of eight, the remaining bits in the final byte will be filled with zeros. The Byte Count field specifies the quantity of complete bytes of data.Here is an example of a request to read the status of outputs 1 and 2 of the Drive

Question Answer

Name of the field Value (hex) Name of the field Value (hex)

Function code 01 Function code 01

Start address (MSB) 00 Byte count 01

Start address (LSB) 00 Output 1 and 2 status 03

Number of output (MSB) 00

Number of output (LSB) 02

3.7.2 Read Input Status (02)

This function code is used to read the status of 1-2000 contiguous inputs of a device. The request defines the starting address, ie the address of the first entry and the total number of inputs. The inputs are addressed starting at zero, so


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inputs numbered 1-6 are addressed as 0-5The inputs in the reply message are packed as one input per bit of the data field and the status is shown as 1 = ON and 0 = OFF. The least significant bit of the first byte of data contains the input addressed in the request. The other inputs follow each other towards the higher-order of the same byte, and the lower order to the higher of the next bytes.If the amount of inputs returned is not a multiple of eight, the remaining bits in the final byte will be filled with zeros. The Byte Count field specifies the quantity of complete bytes of data.

Here is an example of a request to read inputs 1 to 6 of Drive

Question Answer



Start address (MSB) 00 Byte count 01

Start address (LSB) 00 Input status from 1 to 6 17

Number of output (MSB) 00

Number of output (LSB) 06

3.7.3 Read holding Registers (03)

This function allows you to request the value of contiguous blocks of 16-bit(word) registers containing numeric variables.The master specifies the starting register address and the amount of contiguous registers to be read.

Here's an example to read the status of the 2 registers 061Ch and 061Dh (measured position), it is assumed that the return value is 128500dec (1F5F4h)

Question Answer



Starting address (MSB) 06 Byte count 04

Starting address (LSB) 1C Register Value 061C (MSB) 00

Quantity of registers (MSB) 00 Register Value 061C (LSB) 01

Quantity of registers (LSB) 02 Register Value 061D (MSB) F5

Register Value 061D (LSB) F4

The broadcast mode is not allowed.

3.7.4 Read Input Registers (04)

This function allows you to read from 1 to 125 contiguous input registers of a device. The master specifies the starting address and the number of registers to be read. The first register starts at address 0. The response data are packaged in two bytes per register with


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the binary contents right justified for each byte. For each register, the first byte contains the most significant bits and the second the least significant byte.

Here's an example to read only register inputs present on the drive:

Question Answer



Starting address (MSB) 00 Conteggio Byte 02

Starting address (LSB) 00 Register Value 00 (MSB) 00

Quantity of registers (MSB) 00 Register Value 00 (LSB) 17

Quantity of registers (LSB) 01

3.7.5 Write Single Register (06)

This function allows to set the value of a single 16-bit register.In addition to the address of the slave and the function code (06) the message contains the address of the variable expressed in two bytes, and the value to be assigned.The address numbering starts from zero (word1 = 0).The answer is to retransmit the message received after the variable has been changed.

Here's an example of the value of a write address register 0300h to 0003h

Question Answer



Address of the register (MSB) 03 Address of the register (MSB) 03

Address of the register (LSB) 00 Address of the register (LSB) 00

Value of register (MSB) 00 Value of register (MSB) 00

Value of register (LSB) 03 Value of register (LSB) 03

Broadcast mode is allowed.

3.7.6 Preset Multiple Registers (16)

This function allows you to set the value of a consecutive block of 16-bit registers.In addition to the address of the slave and the function code (16) the message contains the starting address (starting address), the number of words to be written, the number of bytes that contain the data and the data characters.Here is an example of writing two registers starting from 'address 0601h: These 2 registers represent the 32 bit variable of the "target position". You want to write a total value of


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655618 dec. Converted to hexadecimal corresponds to A0102h, then on the two registers are written respectively: 000Ah and 0102h

Question Answer



Starting address (MSB) 06 Starting address (MSB) 06

Starting address (LSB) 01 Starting address (LSB) 01

Quantity of registers (MSB) 00 Quantity of registers (MSB) 00

Quantity of registers (LSB) 02 Quantity of registers (LSB) 02

Number of Byte 04

Register Value (MSB) 00

Register Value (LSB) 0A

Register Value (MSB) 01

Register Value (LSB) 02

Broadcast mode is allowed.

3.8 Error management

In MODBUS there are two types of errors, handled differently : transmission errors and operational errors . Transmission errors are errors that alter the message, in the format, the parity (if used) or CRC16 .The device that detects errors of this type in the message treats it as invalid and not answer.If the message format is correct in its form but the function, for whatever reason, is not performed, the user operating error. For this error, the slave device responds with an exception message .This message contains , the code delta function requested by an error code and the CRC . To indicate that the answer is notification of an error, the function code is returned with the most significant bit to "1" . In practice, the range of values of the " function code " that goes from 128 to 255 is reserved for the answers error "exception responses" .The following are the " function code " with its "exception code" , implemented in the drive DgFox and TomCat , the formatting of each " function code " and their answers follow the standard Modbus (see document Modbus_Application_Protocol V1 1a.pdf ) , if the drive receives a " function code " different from those present , it returns an "exception code" response with error code 0x01 , in the description of ' "exception code" is used variables in italics (like address, quantity_coils , etc. . ) , since they refer to the explanation of the "exception code" contained in the document can un Modbus indicated .


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3.8.1 Exception codes

1. Function code: 0x01 - (Read Coil) allows you to read the outputs of the drive.◦ Exception code 0x02: for "address" out of range (addresses allowed: 0 to 1),

and when the sum is (address + quantity_coils)> 2.◦ Exception code 0x03: for (quantity_ coils = 0) or (quantity_ coils> 2000).

2. Function code: 0x02 - (Read Discrete inputs) allows to read the 6 inputs of the drive.◦ Exception code 0x02: for “address” out of range (addresses allowed: 0 to 5),

and when the sum is (address + quantity_inputs) >5.◦ Exception code 0x03: for (quantity_inputs = 0) or (quantity_inputs > 2000).

3. Function code: 0x03 - (Read Multiple Register) reading of a contiguous block of registers.◦ Exception code 0x02: "address" out of range, that is, the Address of the register

or registers does not exist.◦ Exception code 0x03: for (numero_Registers = 0) or (numero_Registers> 125).

4. Function code: 0x04 - (Read Input Registers) read input registers.◦ Exception code 0x02: for "address" out of range (addresses allowed: 0), and

when the sum is (address + numero_Registers)> 1.◦ Exception code 0x03: for "(numero_Registers = 0) or (numero_Registers> 125).

5. Function code: 0x06 - (Write Single Register ) writing a single register in RAM, shutting down the drive the values written are lost, the next start of the drive the registers are loaded with the values previously saved using the configuration software " Caliper " .◦ Exception code 0x02 : " address" out of range, that is, the Address of the

register does not exist.◦ Exception code 0x04 : Error writing because :

▪ The value is outside the limits allowed by the parameter.▪ Because the parameter is read-only.

◦ Exception code 0x06 : The register can not be written for safety reasons :▪ As the drive is in the "Switch On" or " Operation Enabled " .▪ Because is the drive is currently busy processing the data.▪ Because is active local control via the configuration program " Caliper " .

◦ Exception code 0x07 : Error writing 32-bit variable , as the two 16-bit registers that make up the 32-bit parameter could not be sent consecutively ( the writing of the two registers should be done before starting with the Modbus address lower and then with the next one ) .

6. Function code: 0x16 - (Write Multiple Registers) writing a block of contiguous registers in RAM, shutting down the drive the values written are lost, at the next start the registers are loaded with the values previously saved using the configuration software "Caliper" .◦ Exception code 0x02: "address" out of range, that is, the Address of the register

or registers does not exist.◦ Exception code 0x03: for (numero_Registers = 0) or (numero_Registers> 123),

and when the sum of the parameters of writing is (numero_byte! = (2 *


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numero_Registers)).◦ Exception code 0x04, 0x06 and 0x07: as in "function code 0x06" (Write Single

Register).


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4 MODBUS PROTOCOL PARAMETERS

4.1 Managing 32 bits variables

4.1.1 Writing 32 bits variables

The 32-bit variables are always made up of two 16-bit registers with consecutive Modbus addresses (see the parameter Target position accessible by the addresses 601H and 602h), in this case the writing of the 32-bit parameter must be done before writing the register Modbus address with the lowest (601H in the case of the parameter Target position) and then register with the highest address (602h in the case of the parameter Target position), in case this sequence is not complied with the drive responds by sending the exception code 0x07 .When the second register with highest address has been received, the given 32-bit is tested and if it falls within the limits set by the parameter is updated, otherwise the drive responds by sending the exception code 0x04 to indicate that the parameter is outside of limits.To write these variables, we recommend using the function code 16 (see chapter 3.8.6: Preset multiple register).

4.1.2 Reading 32 bits variables

Reading a 32-bit parameter must be done requiring, first the register with the lowest Modbus address (061Ch in the case of the Position parameter measured) and then register with the highest address (061Dh in the case of the Position parameter measured).To read these registers using the function code 03

4.2 Automatic Recovery under Voltage DC BUS

Depending on the setting of bit 1 of register 201h "alert mode" (automatic restoration under voltage), the drive can behave in two different ways if there is a event of under voltage:

● Bit 1 set to “0 = stored”: in this case the drive is in fault status even when the voltage returns to normal, to switch to status of “Switch On Disable” you must send a reset.

● Bit 1 set to "1 = auto reset" when the voltage returns to normal alarm under voltage is deleted and the drive automatically goes into "Switch On Disable".

4.3 Automatic Recovery over Voltage DC BUS

Depending on the setting of bit 0 of register 201h "alert mode" (automatic reset over-voltage), the drive can act in two different ways if an overvoltage event:

● Bit 0 is set to "0 = stored" the drive remains in fault, even when the voltage returns to below the threshold maximum allowed, to switch the status of "Switch On Disable", you must send a reset.

● Bit 0 is set to "1 = auto reset" when the voltage drops back below the threshold, the over voltage alarm is cleared and the drive automatically goes into "Switch On Disable".


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4.4 State Machine

La gestione dello stato dell'azionamento viene fatta attraverso una macchina a stati che controlla le fasi di abilitazione e disabilitazione del drive e il fault causato da un qualunque allarme del drive.

Status Description

SWITCH OFF ● There is no alarm● Power supply disabled● The values can be changed

SWITCH ON ● There is no alarm● Power enabled, the motor is stopped in torque● The values can be changed

OPERATION ENABLED ● There is no alarm● Power enable and motor stand still● The drive is ready to execute commands on the operating

mode● The values can be changed

FAULT ● There is an alarm in the drive and the function of fault reaction is finished● The values can be changed● Power is disabled

Table 3: State Description


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All the various stage that entail a change of status of the drive are shown in statusword, variable 16-bit read-only, which is located at 0301h, reading this tag, you can check at any time what state is the state machine.The commands that allow you to switch from one state to another are instead managed by the master and are set through the controlword, this variable to 16 bits, is at 0300h.

4.5 Controlword and statusword

This section describes the two control registers “Controlword “ and “ Statusword”.

Indirizzo Nome Tipo Read Write

0300h Controlword UINT16 always always

0301h Statusword UINT16 always No

0302h Statusword aux UINT16 always No

Table 4: Controlword and Statusword

The controlword and statusword can be displayed using Caliper Modbus clicking in the menu under "Control" in which the following screen appears:


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4.5.1 Register 0300h (768 dec) - Controlword

Address Name Type Range Default Unit Read Write

0300h Controlword UINT16 0..65535 0 Bit Always Always

Description bit controlword:

15..4 3 2 1 0

Manufacturer specific / Operation mode specific

Halt Fault Reset

Enable operation Switch on

4.5.1.1 Controlword Bits 0..3

The bit 0..3 manage commands for switching the state of the state machine according to the following table ::

Commands Bit of the controlword

Halt FaultReset

Enableoperation

Switchon

States Description

Switch off x 0 0 0 The motor is free

Switch on 0 0 0 1 The motor is in torque but the references are disabled and the motor

does not move

Enable operation 0 0 1 1 The motor is in torque and it can move

according to the selected control

Halt 1 0 x x It provides a shutdown procedure, with the ramp

Halt

Fault reset x x x It provides an alarms reset

Table 5: Controlword bit State Machine

4.5.1.2 Controlword bits 4,5,6 and 8

Bit for operative mode:

BitOperative Mode

Speed mode Torque mode Electric Axis mode Positioner mode

4 reserved reserved Enable Axis Start Positioning

5 reserved reserved Reset encoder Jog -

6 reserved reserved Reset position Jog +

7 reserved reserved reserved Homing

8 reserved reserved reserved Absolute/Relative

Table 6: controlword - bit operative mode


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4.5.2 Register 0301h (769 dec)- Statusword

Address name Type Range Default Unit Read Write

0301h Statusword UINT16 0..65535 Bit Always Not

Description bit statusword:

Bit Description

0 Switch on

1 Enable operation

2 Ramp stop

3 Ramp Halt

4 Fault

5 Operation mode specific




9 Remote

10 Torque limit

11 Speed zero


13 Warning

14 Fault reaction

15 Manufacturer specific

Table 7: status word - description bit


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4.5.2.1 Statusword Bits about the status of the drive

Status Bit statusword Description

SWITCH OFF xxxx xxxx xxx0 0000 The motor is free

SWITCH ON xxxx xxxx xxxx 0001 The motor is teamed but the references are disabled and the motor does not move

OPERATION ENABLED

xxxx xxxx xxxx 0011 The motor is teamed and it can move according to the selected control

RAMP STOP xxxx xxxx xxxx 0111 the drive is executing the deceleration ramp “operational”. At the end of the ramp the motor remains in “Switch On”

RAMP HALT xxxx xxxx xxxx1011 The motor is executing the deceleration ramp of "Halt". At the end of the ramp the motor is free.

FAULT xxxx xxxx xxx1 0000 The drive has detected an alarm and stops the motor in the selected mode in the "fault reaction"

FAULT REACTION x1xx xxxx xxxx xx11 The drive is executing the function of fault reaction. When the motor is stationary the drive pass the status of “Fault”

Table 8: status word, bit of the drive status

The bits indicated by the x value are irrelevant

4.5.2.2 Statusword bits 5-8 e 12 – Operative mode

BitOperative Mode

Speed mode Torque Mode Electric Axis Mode Positioner Mode

5 reserved reserved Speed Position reached

6 reserved reserved Electric Axis enabled Set point recognized

7 reserved reserved Home executed

8 reserved reserved Error position

12 reserved reserved Position limit

Table 9: status word, bit of the operative mode


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4.5.2.3 Statusword bits 9,10,11,13 - Message bits

Bit Name Description Message bit status word

9 REMOTE 0 = The commands are handled by Caliper and not by the MODBUS fieldbus

1 = The commands are handled by the MODBUS fieldbus

10 TORQUE LIMIT

0 = The drive is not in a torque limit1 = The drive is in torque limit.

11 SPEED ZERO 0 = Motor is rotating at a speed greater than the thresholds set by the parameters 0210h and 0211h.

1 = The motor is below the minimum speed threshold, set at

0210h, 0211h.

13 WARNING 0 = The drive has no warning to be reported.1 = The drive found an warning. The drive can continue to operate. In the variables "Alarms" you can read the type of warning.

Table 10: status word, bits of message

4.5.3 Register 0302h (770 dec)- Status word aux


0302h Status word Aux UINT16 0..65535 Bit Always Always

Description bit statu sword aux:

Bit Description

0..15 Manufacturer specific

Table 11: Bit relativi alla status word ausiliaria.

This read-only register is an extension of the main status word.Currently not report any information.


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4.6 Read-only variables of “Data Monitor”

This section describes the read-only variables that indicate the status of the drive:

Address Type Read Write

0303h Variable alarms 1 (MSB) UINT32 always No

0304h Variable alarms 2 (LSB)

0305h Position measured (MSB) INT32 always No

0306h Measured position (LSB)

0307h Speed measured (MSB)INT32 always No

0308h Speed measured (LSB)

0309h Measured Current INT16 always No

030Ah Dcbus measured INT16 always No

030Bh State of inputs UINT16 always No

030Ch Position multi-turns INT32 always No

030Dh Single-turn position

031Eh Position measured (MSB)INT32

always No

031Fh Measured position (LSB)

0310h Speed measured (MSB)INT32 always No

0311h Speed measured (LSB)

0312h Electrical angle UINT16 always No

0313h Temperature radiator Drive INT16 always No

Table 12: Controll parameters 1

The variables reflecting the position, speed, current, voltage and the inpu t status can be displayed using Caliper in "Data Monitor", as you can see from the illustration below.

4.6.1 Registers 0303h (771 dec) and 0304h (772 dec) Alarms variables

The registers 0303h and 0304h are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (management of 32-bit variables).

In the read-only register 0303h is reported the most significant part of the variable Alarms


0303h Alarms variable (MSB) UINT16 0..65535 Bit Always No


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Bit Description Bit alarms in the register 0303h

0 Warning over speed

1 Secure disable error 1

2 (reserved)

3 Fieldbus communication error

4 Fault memory

5 Motor phases Error

6 Error sequence sensors hall motor

7 Heatsink overtemperature

8..15 (reserved)

Table 13: Bit alarms on the Variable Alarms (MSB)

In the register 0304h read-only is reported the least significant part of the variable Alarms


0304h Variable Alarms (LSB) UINT16 0..65535 Bit Always No

Bit Description Bit alarms of Variable alarms 1

0 Error parameters storage

1 Error offset currents

2 Power overcurrent

3 Over-voltage DC Bus

4 (reserved)

5 (reserved)

6 Erros Halls sensor of the motor

7 Secure disable

8 Over temperature motor

9 Braking resistor ( only drive TomCat)

10 (reserved)

11 Under voltage DC Bus

12 Position error

13 Error home position

14 Warinig I2t inverter

15 Warning I2t Motor

Table 14: Bit alarms of Allarms Variables (LSB)


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4.6.2 Registers 0305h (773 dec) and 0306h (774 dec) measured position

These registers are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (management of 32-bit variables).

The content of register MSB represents the most significative part of motor position , while the LSB represents the low significative part.


0305h (MSB)0306h (LSB)

Position measured INT32 ±7FFFFFFFh Always No

In these registers is shown the position of the motor.These variables are reset to zero at power on of the drive and even after following the steps of home position.These variables are affected by the conversion factors, so the measure unit depend of the setted factors

4.6.3 Registers 0307h (775 dec) and 0308h (776 dec) Measured speed



0307h0308h

Measured speed INT32 ±7FFFFFFFh rpm Always No

In these registers is shown the motor speed expressed in the measure unit depending on the setted factors

4.6.4 Register 0309h (776 dec) Measured current


0309h Measured current INT16 -32768.. +32767

A/100 Always No

This parameter shows the average value of the torque current expressed in amperes, this data is updated every 60 ms.The measured current value is reported in hundredths of amperes, for example, when reading a number equal to 132 since this corresponds to 1.32 A.

4.6.5 Register 030Ah (777 dec) Measured voltage


030Ah Measured voltage INT16 0..1000 Volt Always No


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This read-only register is reported the voltage on the capacitor bank power. It is expressed in volts.

4.6.6 Register 030Bh (779 dec) Digital inputs

This read-only register is reported the logic state of the digital inputs


030Bh Digital inputs UINT16 0..63 Logic Level

Always No

Bit Description Bit Digital Inputs

0 Input I0 (1= high; 0= low): Generic input


2 Input I2 (1= high; 0= low): Generic input/ limitswitch CW (if used)

3 Input I3 (1= high; 0= low): Generic input/ limitswitch CCW (if used)

4 Input I4 (1= high; 0= low): Generic input/ Home sensor (if used)


6..15 (reserverd)

Table 15: Bit Digital Inputs

4.6.7 Registers 030Ch (780 dec) and 030D (781 dec) Encoder SSI Absolute position

The registers 030C and 030D are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (management of 32-bit variables).In the "030C" read-only register is reported the most significant part of the encoder position: represents the multi-turn absolute encoder.Nel'Register 030D read-only is reported the least significant part of the encoder position: represents the fraction of revolution: the round is divided into 65535 counts.


030Ch030Dh

Measured position INT32 ±7FFFFFFFh rpm Always Not

In these registers is reported the value read from the SSI absolute encoder without any translation or adaptation.The variables relating to the SSI absolute encoder position can be displayed in the menu "Motor data - Feedback" in which the following screen appears:


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4.6.8 Registers 030Eh (782 dec) and 030Fh (783 dec) measured position


The content of register MSB represents the number of revolutions made by the motor, while the LSB represents the fraction of a turn (1 revolution = 65535)


030Eh (MSB)030Fh (LSB)

Position measured INT32 ±7FFFFFFFh Giri Always No

In these registers is shown the position of the motor.These variables are reset to zero at power on of the drive and even after following the steps of home position.These variables are not affected by the conversion factors.

4.6.9 Registers 0310h (784 dec) and 0311h (785 dec) Measured speed



0310h0311h

Measured speed INT32 ±7FFFFFFFh rpm Always No

In these registers is shown the motor speed expressed in “rpm” with rotative motor or “mm/s” with linear motor.

4.6.10 Register 0312h (786 dec) Electrical angle

Indirizzo Nome Tipo Range Default Unit Read Write

0312h Electrical angle INT16 0..65535 count Always No

This read-only register shows the absolute value of the angle of the electric motor standardized to 65535 (65535 corresponds to 360 degrees). In one mechanical revolution of the motor the angle is repeated for the number of times equal to the number of pole pairs.

4.6.11 Registro 0313h (787 dec) Temperature drive


0313h Temperature drive INT16 0..1500 °/10 Always No

This read-only register shows the value of drive temperature in tenths of a degree.


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4.7 Control variables Modbus

This section describes the control variables used in general MODBUS commands

Adress Name Type Read Write

0401h Controll type UINT16 always Switch On

0402h Operational Deceleration (MSB)UINT32 always always

0403h Operational Deceleration (LSB)

0404h Halt Deceleration (MSB) UINT32 always always

0405h Halt Deceleration (LSB)

040Eh Error position (MSB)INT32 always always

040Fh Error position (LSB)

0410h Error position time UINT16 always always

0411h Loss fieldbus timeout mode UINT16 always always

0412h Deceleration timeout mode (MSB)

UINT32 always always0413h Deceleration time out mode

(LSB)

0415h Modo Fault reaction UINT16 always always

0416h Fault reaction deceleration (MSB) UINT32 always always

0417h Fault reaction deceleration (LSB)

0418h Fault reaction torque limit UINT16 always always

0419h Option Halt UINT16 always always

041Ah Speed window (MSB)UINT32 always always

041Bh Speed window (LSB)

041Ch Speed period window(ms) UINT16 always always

Table 16: Control parameters1

For display on the register 0401h Caliper see next paragraph.

For display on Caliper registers 040Eh, 0410 and 040Fh, see section 4.6.5

The settings of all other control parameters can be displayed by clicking on the menu Caliper Modbus under "Settings. Control "in which the following window appears:


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Picture 4: Caliper "Control Setting"

4.7.1 Register 0401h (1025 dec) Type of control


0401h Type of control UINT16 0..3 0 Always Switch On

Depending on application requirements this parameter allows you to set the type of control wanted, the following table shows the values allowed in DGFOX Drive and Tomcat.

Value Description

0 Speed control: It is activated the current loop and speed and the drive follows the speed reference sent by the master or by analog signal

1 Torque control: In this mode, the torque is controlled by controlling the current quadrature which is adjusted by the control loop that provides the torque current to the motor.

2 Electric Axis control: This control allows you to track the position reference resulting from the multiplication of the number of pulses of an external encoder for the ratio of the electrical axis.

3 Positioner control: In this mode is activated the current, speed and position loop; setting the desired position, the drive can perform a displacement with a trapezoidal profile or with “S” ramps, regulated by the Jerk.

Table 17: Type of control


34

The setting of this control parameter can be displayed using Caliper Modbus clicking on menu under "Control Type" in which the following window appears:

4.7.2 Registers 0402h (1026 dec) and 0403 (1027) Operational Deceleration

The registers 0402h and 0403h are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (handling 32-bit variables).


0402h0403h

Operational Deceleration UINT32 1..7FFFFFFFh 1000 (dec) Always Always

Parameter to set the value of deceleration used to stop the motor when it changes from operational state to Switch-on state.The data for this variable is converted into the drive in internal units (in counts over square second [counts / s ²]) due to the factors of Acceleration: registers 040Ah-040Bh (Numerator); 040Ch-040Dh (denominator)) , according to this report:

Considering that the drive divides a round in 65536 counts, using the default values of the factors, ie numerator = 65536 and and denominator = 60, the Operational deceleration is expressed in [rpm / s]

4.7.3 Register 0419h (1049 dec) Option Halt


0419h Option Halt UINT16 0 Turn off power, the motor is free to rotate

1 Ramp Power off

2 Ramp Power on

0 Always Always

The parameter Halt option allows you to choose what action to take when the controlword bit 3 (prepared for the function halt) is set to 1.Regard to this parameter in the drive can be assigned the following values.


35

internal decelerationreference=(Numerator×Operational deceleration)

Denominator

Value Halt option code Description

0 Turn off the power, the motor is free to rotate

● Power is disabled and the motor stops for inertia. ● The drive switch to mode “Switch Off”.

1 Ramp Power Off ● The drive switches to speed control, and is commanded with a stop in deceleration ramp defined on the parameters 0404h and 0405h.

● At the end of the ramp the servodrive switch to the state “Switch off” (power disabled)

2 Ramp Power On ● The drive switches to speed controll and is commanded a stop in ramps with deceleration set on the parameters 0404h e 0405h.

● At the end of the ramp the servodrive remains in “Operational”

4.7.4 Registers 0404h (1028 dec) and 0405h (1029 dec ) Halt Deceleration

The registers 0404h and 0405h represent the unique value and therefore they will be managed as described in the chapter 4.1( enable to manage 32 bit variables ).


0404h0405h

Halt Deceleration UINT32 1..7FFFFFFFh 1000 (dec) Always Always

Parameters for setting the value of deceleration used to stop the motor when sending a stop command.The data of this variable is converted in units internal to the drive (in counts over second squared [counts / s ²]) due to the factors of Acceleration: registers 040Ah-040Bh (Numerator); 040Ch-040Dh (denominator)), in according to this report:

Considering that the drive divides a revolution in 65536 counts, using the default values of the factors, that are numerator = 65536 and denominator = 60, the Halt deceleration is expressed in [rpm / s]

4.7.5 Register 040Eh (1038 dec) 040Fh (1039 dec) Error position

The registers 040Eh and 040Fh are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (32-bit variable management).


36

Internal deceleration reference=Numerator×Halt deceleration

Denominator


040Eh040Fh

Error position (MSB) INT32 1..FFFFFFFFh 910 (dec) Always Always

This parameter indicates the maximum error of position that can be tolerated in an application that works in position control.The unit of measurement of Error position is the same as the Target position (registers 0601h, 0602h), this parameter is converted into units of the drive internal error (counts) using the position factor numerator (registers 0609h, 060Ah) and position denominator factor (registers: 060Bh, 060Ch).Taking into account that by default the values of position factor numerator and denominator are both position factor to 1 and that a revolution of the motor corresponds to 65536 counts, the default value of 910 corresponds to about 5 °.

4.7.6 Register 0410h (1040 dec) Error position time


0410h Error position time INT16 10..4000 50 msec Always Always

This parameter indicates the maximum amount of time for which the position error may exceed the Error position: if this happens, the drive goes into fault and signals it in the appropriate bits of statusword.

The two parameters can be displayed using Caliper Modbus menu under "Position Settings" in which the following screen appears:


37

4.7.7 Register 0411h (1041 dec) Loss fieldbus timeout mode


0411h Loss fieldbus timeout mode

UINT16 0..2 1 Always Always

Value Description

0 No actions: a warning is reported on the status word bit 13 and a rised the bit 3 of the variable alarm 2

1 Disable the power ( the motor coasts to a stop ) and signals the fault

2 Stops the motor with deceleration ramp set to "timeout deceleration mode" and once stopped disables the power and signals the fault

Table 18: Mode of reaction for intervention “Loss fieldbus timeout”

In the DGFox servodrive it is possible to activate, via Software "Caliper", a maximum timout in the Modbus communication channel. If this occurs the drive reacts in the mode set to this register.

4.7.8 Registers 0412h (1042 dec) and 0413h (1043 dec ) Deceleration timeout mode

The registers 0412h and 0413h are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (handling 32-bit variables).In the register 0412h you set the most significant part of the deceleration.


0412h0413h

Deceleration timeout mode (MSB)

INT32 10..FFFFFFFFh 1000 (dec)

Always Always

Parameters for setting the value of deceleration used to stop the motor when there is a loss fieldbus (no communication on the Modbus)The data of this variable is converted into internal units inside of the drive (in counts over second squared [counts / s ²]) due to the factors of Acceleration: registers 040Ah-040Bh (Numerator); 040Ch-040Dh (denominator)), in according to this report:

Considering that the drive divides a revolution in 65536 counts, using the default values of the factors, that means that numerator is = 65536 and denominator = 60, the deceleration timeout mode is expressed in [rpm / s]


38

internal decelerationreference=Numerator×deceleration timeout mode

Denominator

4.7.9 Register 0415h (1045 dec) Mode Fault reaction


0415h Mode Fault reaction INT16 0..2 1 Always Always

Value Description

0 Will disable the power: The motor coasts to a stop and signals the fault

1 Ramp decelereazione: Stops the motor with deceleration ramp set to "fault reaction deceleration" and once stopped disables the power and signals the fault.

2 Torque limit: Stops the motor with the torque set to "Fault torque limit" and signals the fault

Table 19: Reaction mode for intervention“Fault reaction”

With the parameter Mode Fault reaction you can select what action to take when some alarms appears, in these cases, the drive runs the selected task remaining in the state "Fault reaction" (the status word bit 14 = 1), once the execution is complete, the power is turned off and the drive goes into "Fault".

The execution of the action selected in parameter Mode Fault reaction is only valid for the following alarms:

Alarms managed by Mode Fault reaction

Alarm Code

Under Voltage DC BUS FA - 12

Error Position FA - 13

Table 20: Alarms managed by Mode Fault reaction

4.7.10 Registers 0416h (1046 dec) and 0417h (1047 dec ) fault reaction deceleration

The registers 0416h and 0417h are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (handling 32-bit variables).Nell'Register 0416h you set the most significant part of the deceleration.


0416h0417h

fault reaction deceleration (MSB)

UINT32 10..FFFFFFFFh 1000 (dec)

Always Always

Parameters for setting the value of deceleration used to stop the motor when there is a fault reaction and stop selected ramp.The data of this variable is converted into units inside the drive (in counts of second


39

squared [counts / s ²]) due to the factors of Acceleration: registers 040Ah-040Bh (Numerator); 040Ch-040Dh (denominator)), according to this report:

Considering that the drive divides a revolution in 65536 counts, using the default values of the factors, that means that numerator is = 65536 and denominator = 60, the deceleration mode timeout is expressed in [rpm / s]

4.7.11 Register 0418h (1048 dec) Fault Torque limit


0418h Fault Torque limit UINT16 0..3000 1000 Always Always

Parameter to set the value of the current of torque necessary to stop the motor when there is a fault reaction and is selected a stop in Limit of Torque.It is expressed in per thousand compared to the parameter Motor nominal current (register 0153h).

4.7.12 Registers 041Ah (1050 dec) and 041B (1051 dec) Speed window

The registers 041A and 041B are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (handling 32-bit variables).


041Ah041Bh

Speed window (MSB) UINT16 1..FFFFFFFFh 100 (dec) Always Always

The Window speed indicates a speed interval used to check whether the measured speed is maintained within a certain range compared to reference data:[Reference speed - Speed window;. . Reference speed + Speed window]When the measured speed remains within the range "speed window" for the time set in the register 041Ch, is set to 1 the bit 15 of the status word.This parameter is converted into units of velocity internal to the drive using the data contained in the speed factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h), the relationship to calculate the internal speed is:


40

Torque current= Fault Torque limit x nominal motor current

1000

internal decelerationreference=Numerator× fault reaction deceleration

Denominator

With the default values of the speed factor, that means Numerator = 65536 and Denominator = 60, the "speed window" is expressed in [rpm]

4.7.13 Register 041Ch (1052 dec) Time of the speed window


041Ch Speed window time UINT16 1..10000 200 ms Always Always

Time Window speed is a parameter used to determine if the measured speed is within the range specified in "Window Speed" (registers 041Ah, 041Bh), if it occurs for the time set, bit 15 of the status word is set to 1.

4.8 Digital Inputs

This section contains the Description of 'register 0414h which is used to set the mode of use of the digital inputs in Modbus mode.

4.8.1 Register 0414h (1044 dec) Digital Inputs


0414h Digital Inputs UINT16 0..007Fh 003Ah Always Always

The register 0414h is used to set the mode of use of the digital inputs in Modbus mode.


41

Internal speed window=(Speed factor Numerator×Windows speed )

(Speed factor Denominator )

Bit Description Bit Digital Inputs

0 Enable input I2 (Limit switch CW) 0= the input is not enabled for the function of limit switch CW

1= the input is enabled for the limit switch fucntion CW. In case this input is activated, the motor stops, but this information is not reported with a bit 12 of controlword. It must be controlled by the variables input status : register 030Ah

1 Choice of the logic level input I2. (Limit swithc CW)

0= the input is considered to be active with a voltage of 0 V (normally closed contact that opens when it reaches the sensor)

1= the input is considered to be active with a voltage of 24 V (normally open contact that closes when it reaches the sensor)

2 Enable input I3 (Fine corsa CCW) 0= the input is not enabled for the function of limit switch CCW

1 = the input is enabled by the function of limit switch CCW. If this input is activated, the motor stops, but it is not indicated by bit 12 of the controlword. Must be controlled with the variable input status: register 030Ah

3 Choice of the logic level input I3 (Limit switch CCW)

0 = the input is considered to be active with a voltage of 0 V (normally closed contact that opens when it reaches the sensor)

1 = the input is considered to be active with a voltage of 24 V (normally open contact that closes when it reaches the sensor)

4 Choice logic level input I4 (Limit switch Home )

0 = the input is considered to be active with a voltage of 0 V (normally closed contact that opens when it reaches the sensor)

1 = the input is considered to be active with a voltage of 24 V (normally open contact that closes when it reaches the sensor)

5 Mode input I0 (Reserved) Not managed in MODBUS mode

6 Mode Input I4 (Reserved) Not managed in MODBUS mode

7..15 Reserved Not managed

Table 21: Digital Inputs


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4.9 Factors of conversion

This paragraph shows the conversion factors used by the drive DGFOX and TOMCAT to influence the position, velocity and acceleration variables.

Address Name Type Read Write

0406h Speed factor numerator (MSB)UINT32 always always

0407h Speed factor numerator (LSB)

0408h Speed factor denominator (MSB)UINT32 always always

0409h Speed factor denominator (LSB)

040Ah Acc, factor numerator (MSB)UINT32 always always

040Bh Acc, factor numerator(LSB)

040Ch Acc, factor denominator (MSB)UINT32 always always

040Dh Acc, factor denominator (LSB)

0609h Pos. Factor numerator (MSB)UINT32 always always

060Ah Pos. Factor numerator (LSB)

060Bh Pos. Factor denominator (MSB) UINT32always always

060Ch Pos. Factor denominator (LSB)

0400h Modbus flag velocità UINT16 always always

0600h Modbus flag posizione UINT16 always always

Table 22: Conversion Factors

These parameters can be displayed and set via Modbus Caliper menu under "Factors" in which the following screen appears:


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4.9.1 Registers 0406h (1030 dec) 0407h (1031 dec) Speed factor numerator



0406h0407h

Speed Factor Numerator UINT32 0..FFFFFFFFh 65536 (dec)

Always Always

The speed factor numerator works together with the speed factor denominator.The speed reference set is multiplied by the "Speed Factor Numerator" and then divided by the "speed factor denominator" in order to bring the speed reference to the internal units of the drive (counts per second)

Considering that the drive divides a revolution in 65536 counts, using the default values of the factors, that means that numerator = 65536 and denominator = 60, the speed reference is expressed in [rpm].These factors are subject to all the speed references of the mode of operation and speed in all speed references of the mode of operation in position. The mode electric axis is not affected by this parameter.

4.9.2 Registers 0408h (1032 dec) 0409h (1033 dec) Speed factor denominator



0408h0409h

Speed factor denominator UINT16 1..FFFFFFFFh 60 (dec) Always Always

For the description see the previous chapter.

4.9.3 Registers 040Ah (1034 dec) 040Bh (1035 dec) Acceleration factor numerator

The registers 040Ah and 040Bh are a unique 32-bit variable, and therefore should be


44

Internal speed reference=Speed factor Numerator×Speed Reference

Speed factor Denominator

managed as described in Section 4.1 (management 32-bit variables).


040Ah040Bh

Acceleration factor numerator

UINT32 1..FFFFFFFFh 65536 (dec)

Always Always

Il Acceleration factor numerator lavora insieme al Acceleration factor denominator.Tutti i valori di accelerazione e di decelarazione vengono moltiplicati per il “ Acceleration factor Numerator” e successivamente divisi per il “ Acceleration factor denominator” in modo da riportare il valore di accelerazione o decelerazione alle unità interne all'azionamento (incrementi su secondo al quadrato)

Considerando che il drive divide un giro in 65536 incrementi, utilizzando i valori di default dei fattori , cioè Numeratore=65536 e Denominatore=60, l'accelerazione risulta espressa in [rpm/sec].

4.9.4 Registers 040Ch (1036 dec) 040Dh (1037 dec) Acceleration factor denominator

I Registers 040Ch e 040Dh care a single 32-bit variable, therefore should be managed as described in Section 4.1 (managing 32-bit variables).


040Ch040Dh

Acceleration factor denominator

UINT32 1..FFFFFFFFh 60 (dec) Always Always

Per la Description vedi paragrafo precedente.

4.9.5 Registers 0609h (1545 dec) 060Ah (1546 dec) Position factor numerator

I Registers 0609h e 060Ah care a single 32-bit variable, therefore should be managed as described in Section 4.1 (managing 32-bit variables).


0609h060Ah

Position factor numerator UINT32 0..FFFFFFFFh 1 Always Always


45

accelerazione interna=(Acceleration factor Numerator×Accelerazione di velocità)

( Acceleration factor Denominator)

Il position factor numerator lavora insieme al position factor denominator.Questi Registers vengono utilizzati per trasformare la Posizione da raggiungere nel riferimento di posizione interno del drive; l'operazione viene eseguita moltiplicando il Numerator per il Target position (Register 0601h 0602h), il risultato ottenuto viene diviso per il Denominator

In pratica nei DGFOX e nei TOMCAT il Numerator corrisponde al numero di incrementi per giro, che vale 65536.Il denominator invece rappresenta un valore numerico che esprime lo spazio percorso in un giro dell'asse del motore nell'unità di misura del Target position.Modificando i valori di Position factor numerator e position factor denominator si influisce sul valore del calcolo del riferimento di posizione interno e quindi sull'unità di misura della Posizione. Anche la posizione misurata che si legge sui parametri 061Ch, e 061Dh, è condizionata da questi due fattori secondo la seguente formula:

I valori di default di questi due parametri è pari a 1: in questo modo il target di posizione e la posizione misurata sono espresse in incrementi (65536 incrementi = 1 giro motore)

4.9.6 Registers 060Bh (1547 dec) 060Ch (1548 dec) Position Factor denominator

I Registers 060Bh e 060Ch care a single 32-bit variable, therefore should be managed as described in Section 4.1 (managing 32-bit variables).


060Bh060Ch

Position factor denominator

UINT32 1..FFFFFFFFh 60 (dec) Always Always

Per la Description vedi paragrafo precedente.

4.9.7 Register 0400h (1024 dec) Modbus flag Velocity Polarity


0400h Velocity polarity UINT16 0..1 0 Bit Always Always


46

riferimento posizione interno=(Position factor Numerator×Target position)

(Position factor denominator )

unità interne posizione=(Position factor Numerator×Posizione misurata)

(Position factor denominator )

Bit Nome Description Bit Modbus flag Velocity

0 Velocity polarity Impostando a 1 questo bit, si inverte il verso di direzione del motore, a parità di riferimento di velocità.

1..16 (riservati)

Table 23: Flag Velocity polarity

4.9.8 Register 0600h (1536 dec) Modbus flag Position polarity


0600h Modbus flag position polarity

UINT16 0..7 0 Bit Always Always

Bit Name Description Bit Modbus flag Position Polarity

0 Pos.Polarity By setting this bit to 1, inverts the position of the target position and the measured position. With the same position reference, the motor rotates in the other direction.

1 Enable position limit

By setting this bit to 1 will enable the software position limits set to 0618h, 0619h, 061Ah, 061Bh.

2 Enable Pos-Limit Torque

By setting this bit to 1 if the drive goes in torque limit the position profile adapts to the value of the measured position. When using this system, you must set a threshold of very big mistake in the parameters 040Eh, 040Fh.

3..16 (reserved)

Table 24: Flag position polarity


47

4.10 Position Mode

The position mode is set by writing a value of 3 in the Type parameter control (register 0401h).

4.10.1 Controlword and Statusword

This section describes the structures of Controlword and Statusword way when using the "Positioner".

4.10.1.1 Setting bit Controlword in position mode

Bit Description

0 Switch on

1 Enable operation

2 Fault reset

3 Halt

4 Start Position

Value Description

0->1 At the rising edge of this bit is acquired the position previously set and enabled the starting position

1->0 No effect

5 Jog-

Value Description

0 Jog- fucntion disabled

1 Funzione Jog- attivata: Il motore ruota alla velocità impostata sul parametro 0612h, 0613h: Nota: La funzione Jog è eseguita solo se il motore non sta eseguendo un profilo di posizione.

6 Jog+

Value Description

0 Funzione Jog+ disattivata

1 Jog-enabled: The motor rotates at the speed set in parameter 0612h, 0613h: Note: The Jog function is performed only when the motor is not running a position profile.

7 Homing

0->1 On rising edge of this bit is enabled the search for homing position

0 The research phase of Home is blocked

8 Position absolute/relative (A/R)

Value Description

0 The position is considered as an absolute value

1 The position is considered as a relative value of the current position


Table 25: Controlword in Position Mode


48

4.10.1.2 Bit Statusword in position mode

Bit Description

0 Switch on

1 Enable operation

2 Rampa Stop

3 Rampa Halt

4 Fault

5 Target reached

Value Description

0 Set position ( set point ) not reached

1 Set position reached

6 Position recognized (Set point acknowledged)

Value Description

0 Position not yet acquired by the trajectory generator. When the

start bit position of the controlword is set to zero also this bit is

set to zero.

1 position acquired by the trajectory generator

7 Homing performed

Value Description

0 Research homing not still executed

1 Homing executed

8 Position error

Value Description

0 No position error detected

1 Detected position error

9 Remote

Value Description

0 Remote control disabled

1 Remote control enabled

10 Torque limit

Value Description

0 Torque limit not reached

1 Torque limit reached

11 Speed Zero

Value Description


49

0 Motor standstill

1 Motor moving over the “zero speed”

12 Position Limit

Value Description

0 No limit to the position found

1 The motor has reached a position limit software. The motor

stops in torque. If it finds a limit switch connected to the inputs

of the drive, the motor stops, but the bit "position limit" is not

raised.

13 Warning

14 Fault reaction


Table 26: Statusword in positioner mode

On the rising edge of bit 4 (Start Quote) of the controlword is activated starting position and bit 6 (Set-point acknowledge) of the statusword is set to one to indicate that the position has been acquired, and when bit 4 of the controlword , returns to zero the bit 6 (set-point acknowledge) of the statusword, returns to zero to indicate that the drive is ready to accept and take a new position, even if the current one is not finished yet, bit 5 (achieved) of the statusword is set to 1 when it is completed the final target position.


50

Picture 8: Management of Bit Controlword and statusword in positioner

4.10.2 Parameters for the Position Profile

This section describes the parameters used to generate the trajectories of the position profile.


0601h Position target (MSB)INT32 always always

0602h Position target (LSB)

0603h Position acceleration (MSB)UINT32 always always

0604h Position acceleration (LSB)

0605h Position deceleration (MSB)UINT32 always always

0606h Position deceleration (LSB)

0607h Position Jerk (MSB)UINT32 always always

0608h Position Jerk (LSB)

060Fh Position velocity (MSB)UINT32 always always

0610h Position velocity (LSB)

0611h Position type INT16 always Switch On

061Ch Position measured (MSB)INT32 always No

061Dh Position measured (LSB)

Table 27: Position profile parameters

These parameters can be displayed and set via Modbus Caliper menu under "Positioner" in which the following screen appears:


51

4.10.2.1 Registers 0601h (1537 dec) 0602h (1538 dec) Position Target



0601h0602h

Position Target INT32 ±7FFFFFFFh 0 Always Always

Target Position indicates the position of the target position. The value of this parameter is converted to internal units to the drive using data from the position factor (registers 609h 60Ah; 60Bh 60CH);the conversion relationship is:

Note:1. At one revolution of the motor corresponds 65536 internal units.This register and the following registers can be read by Modbus Caliper on the menu under "Positioner" in which the following screen appears:


52

Internal position reference=Position factor Numerator×Target position

Position factor denominator

4.10.2.2 Registers 0603h (1539 dec) 0604h (1540 dec) Position Acceleration

The registers 0604h and 0603H are a single 32-bit variable, and therefore should be managed as described in Section 4.1 (management 32-bit variables).


0603h0604h

Position Acceleration UINT32 0..,5DFFA2h 10000 (dec) Always Always

Parameter to set the acceleration value of the position, the data of this variable is converted into internal units of the drive (in counts of second squared [counts / s ²]) due to the 'Acceleration factor numerator (registers 040Ah, 040Bh) and of 'Acceleration factor denominator (040Ch registers, 040Dh) according to this report:

Using default values of Acceleration factor, namely Numerator = 65536 and Denominator = 60, Position acceleration is expressed in [rpm / s]Note: a revolution of the motor are 65536 internal units.

4.10.2.3 Registers 0605h (1541 dec) 0606h (1542 dec) Position Deceleration

The registers 0605h and 0606h are a single 32-bit variable, and therefore should be managed as described in Section 4.1 (managing 32-bit variables).


0605h0606h

Position Deceleration UINT32 0..,5DFFA2h 10000 (dec) Always Always

Parameter to set the value of the deceleration position, the data for this variable is converted into internal drives to the drive (in counts of second squared [counts / s ²]) due to Acceleration factor numerator (registers 040Ah, 040Bh) and of 'Acceleration factor denominator (registers 040Ch, 040Dh) according to this report:

Using default values of the Acceleration Factor, namely Numerator = 65536 and Denominator = 60, Position deceleration is expressed in [rpm / s]


53

internal accelerationreference=Acceleration factor Numerator×Position acceleration

deceleration factor denominator

Internal acceleration reference=Acceleration factor Numerator×Position acceleration


Note:1. At one revolution of the motor correspond 65536 internal units.

4.10.2.4 Registers 0607h (1543 dec) 0608h (1544 dec) Position Jerk



0607h0608h

Position Jerk UINT32 0..,5DFFA2h 10000 (dec) Always Always

ll Jerk Position in the positioner is used when the parameter Position Type (register 0611h) is set to 0 "S-ramp" and manages the performance of the cubic curve by changing the position variation of the acceleration in the profiles of positioning. A high value of the jerk involves major changes in acceleration, it follows a decrease in the execution time of the position, and higher mechanical stress, conversely decreasing the jerk acceleration and the time Position increase but decreases mechanical stress.The unit of measurement of this parameter is an acceleration divided by a time; inside the drive is considered to be [counts / s³], to bring in the units internal to the drive using the 'Acceleration factor numerator (registers 040Ah, 040Bh) and Acceleration factor denominator (registers 040Ch, 040Dh) according to this report:

Using default values of Acceleration Factor, namely Numerator=65536 and Divisor=60, the Position Jerk is expressed in [rpm/s²]

4.10.2.5 Register 060Fh (1551 dec) 0610h (1552 dec) Position Velocity

The registers 060Fh 0610h and are a single 32-bit variable, and therefore should be managed as described in Section 4.1 (handling 32-bit variables).


060Fh0610h

Position Velocity UINT16 0..,7FFFFFFFh 1000 (dec) Always Always

Position Velocity indicates the value in module of the maximum speed that can be achieved during a Location positioning.


54

Internal Jerk reference= Acceleration factor Numerator×Position Jerk


Internally to the drive is expressed as [counts / s], this parameter is converted into units of velocity internal to the drive using the data in the speed factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h ), the relationship to calculate the internal speed is:

With the default speed factor, namely Numerator=65536 and Denominator=60, the Position velocity is expressed in [rpm]

Notes:At one revolution of the motor corresponds 65536 internal units.

4.10.2.6 Register 0611h (1553 dec) Positioner Type


0611h Positioner type UINT16 0..,1 0 Always Switchon

Value Description

0 Active the S-profile. The speed ramp has an initial and final rounding that depends on the value set in this parameter Jerk (Registers 0607h and 0608h). The characteristic of these profiles leads to a decrease of the mechanical stress compared to linear positioning, you also get a better precision in the deceleration phase when the drive reaches the set position.

1 On the trapezoidal profile. The speed ramp is linear. In this mode, the position profile is generated starting from constant accelerations, the result is a velocity profile of trapezoidal type while the position profile assumes a quadratic trend.

Table 28: Positioner Type

4.10.2.7 Registers 061Ch (1564 dec) and 061D (1565 dec) Position measured

The registers 061Ch and 061Dh constitute a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (management 32-bit variables).


061Ch061Dh

Position measured INT32 ±7FFFFFFFh Always No

In these registers is shown the position of the motor.These variables are reset at every power on of the drive and even after following the steps of home position.The measured position is equal to the position of the sensor, conditioned by the factors of position "Position factor numerator and denominator" which is subtracted or added the offset value (060Dh, 060Eh).


55

Internal speed reference=Speed factor Numerator×Position velocity

Speed factor denominator

4.10.3 Positioner parameters

This section describes the parameters used to control the positioning mode


0600h Modbus flag position UINT16 always always

060Dh Home offset (MSB)INT32 always always

060Eh Home offset (LSB)

0618h Min Limit position (MSB)INT32 always always

0619h Min Limit position(LSB)

061Ah Max Limit position (MSB)INT32 always always

061Bh Max Limit position(LSB)

Table 29: Parameters position profile

These parameters can be displayed and set via Modbus Caliper menu under "Parameters Position" in which the following screen appears:

4.10.3.1 Register 0600h (1536 dec) Modbus flag position


0600h Modbus flag position UINT16 0..7 0 Bit Always Always

This register is also already described in the section "Conversion Factors".In this screen can only set bits 1 and 2, bit 0 is settable in the screen, as already written, of the "conversion factor".It will still be repeated for the entire the description of this register.


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Measured position=Position factor Denominator×Posizione sensore

Position factor numeratorHome offset

Bit Nome Description Bit Modbus flag Posizione

0 Invert polarity (pos. polarity)

By setting this bit to 1, inverts the position of the target position and the measured position. With the same position reference, the motor rotates in the other direction.

1 Enable position limits

By setting this bit to 1 you enable the software position limits set to 0618h, 0619h, 061Ah, 061Bh. If the motor is sent to a position out of range the motor is stopped once the limit is reached and indicates the status via bit 12 of the Statusword.

2 Enable Position-Torque Limit

Setting this bit to 1, in the case that the drive goes torque limit in the position profile fits to the value of the measured position.In practice, in the case where the positioning is blocked (for example by an obstacle), the algorithm that generates the profile is interrupted while it is maintained the push of torque settable with parameter Current Limit (0207h), and when the drive is no longer in torque limit, the position profile is taken to complete the positioning.In this mode, the position error can not be detected as the position profile fits to the value of the measured position. It is however advisable to set a threshold of error (in the parameters 040Eh, 040Fh), that do not intervene in the alarm time when the drive enters current limit.

3..16 (reserved)

Table 30: Flag position

4.10.3.2 Registers 0618h (1560 dec) 0619h (1561 dec) Min Position Limit

The registers 0618h and 0619h are a single 32-bit variable, and therefore should be managed as described in Section 4.1 (handling 32-bit variables).


0618h0619h

Min Limit Position INT32 0..±7FFFFFFFh -7FFFFFFFh Always Always

These registers contain a parameter that imposes minimum limits of absolute position when the drive is working in the positioner. The unit of measure is the same as the parameter of the target position (0601h and 0602h) and the measured position (061Ch, 061Dh).The software position limits are activated by placing 1 to bit 1 of register 0600H. A signaling of limitation of the position reference in absolute mode compared to the origin, is indicated in bit 12 "Position Limit" of the status word.


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4.10.3.3 Registers 061Ah (1562 dec) 061Bh (1563 dec) Max Position Limit

The registers 061Ah and 061Bh are a single 32-bit variable, and therefore should be managed as described in Section 4.1 (management 32-bit variables).


061Ah061Bh

Max Position Limit INT32 0..±7FFFFFFFh 7FFFFFFFh Always Always

These registers contain a parameter that imposes limits maximum absolute position when the drive is working in the positioner. The unit of measure is the same as the parameter of the target position (0601h and 0602h) and the measured position (061Ch, 061Dh).The software position limits are activated by placing 1 to bit 1 of 'register 0600H. signaling the limitation of the position reference in absolute mode compared to the origin, is indicated in bit 12 "Position Limit" of the status word.

4.10.3.4 Registers 060Dh (1549 dec) 060Eh (1550 dec) Position Home offset

The registers and 060Dh 060Eh are a single 32-bit variable, and therefore should be managed as described in Section 4.1 (management 32-bit variables).


060Dh060Eh

Position home offset INT32 0..±7FFFFFFFh 0 Always Always

Home offset indicates the position difference between the zero position of the application and the zero position of the drive found using the mode Homing.This parameter influences the measured position shown in the Position parameter Measured (061Ch registers, 061Dh), the relation is given by the following formula:

On the drive the value of the position sensor is acquired by the encoder (it is a reworked 32-bit value with sign). One revolution of the axis corresponds to 65536 counts, so in addition to the fraction of one motor revolution is possible to measure ± 32767 rotations of the axis.The measured position detected by the sensor, is reset to zero at every power on or when you run a home position.To reset the value reported by the Position parameter Measured (061Ch registers, 061Dh) you need to write in Home Position offset the position value measured by the sensor with the sign reversed. To obtain this value can be set to zero Home offset and then read the value in the Position Measured (061Ch registers, 061Dh).


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Position measured =Sensor positionhome offset

In case the bit 0 of parameter Modbus flag position is active (Register0600h) the value to write to the Home Position parameter offset to reset the Position Measuredis always the position value measured by the sensor, but the sign is not to be reversed.

Note:1. A revolution of the motor corresponds 65536 internal units.

4.10.4 Parameters of Position Jog

This section lists the parameters for the command Jog mode positioner.


0612h Jog Velocity (MSB)UINT32 always always

0613h Jog Velocity (LSB)

0614h Jog Acceleration (MSB)UINT32 always always

0615h Jog Acceleration (LSB)

0616h Jog Deceleration (MSB)UINT32 always always

0617h Jog Deceleration (LSB)

Table 31: Parameters of Jog Position

These parameters can be displayed and set via Modbus Caliper menu under "Position Jog" in which the following screen appears:

4.10.4.1 Registers 0612h (1554 dec) 0613h (1555 dec) Velocity Jog



0612h0613h

Jog Velocity UINT32 1..,7FFFFFFFh 100 (dec) Always Always

Jog velocity indicates the value in module of the velocity for jog mode.Internally to the drive is in counts divided by the second [counts / s], this parameter is converted into units of velocity internal to the drive using the data contained in the speed


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factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h ), the relationship to calculate the internal speed is:

With the default values of the speed factor, ie Numerator = 65536 and Denominator = 60, the Jog Velocity is expressed in [rpm]

Note:1. A single revolution of the motor corresponds 65536 internal units.

4.10.4.2 Register 0614h (1556 dec) 0615h (1557 dec) Jog Acceleration



0614h0615h

Jog Acceleration UINT32 1.,5DFFA2h 10000 (dec) Always Always

Parameter to set the value of the acceleration value of command Jog. The data of this variable is converted into internal units of the drive (in counts of second squared [counts / s ²]) via the Acceleration factor numerator (registers 040Ah, 040Bh) and Acceleration factor denominator (040Ch registers, 040Dh) in according to this report:

Using default values of the Acceleration factor, Numerator = 65536 and Denominator = 60, the Position acceleration is expressed in [rpm / s]Note:1. A single revolution of the motor corresponds 65536 internal units

4.10.4.3 Registers 0616h (1558 dec) 0617h (1559 dec) Jog Deceleration




60

internal speed reference=Speed factor Numerator× Jog velocity


internal accelerationreference=Acceleration factor Numerator×Jog acceleration


0616h0617h

Jog Deceleration UINT32 1.,5DFFA2h 10000 (dec) Always Always

Parameter to set the value of deceleration of the Jog command. The data of this variable is converted into internal units to the drive (in counts divided by second squared [counts / s ²]) via the Acceleration factor numerator (registers 040Ah, 040Bh) and Acceleration factor of the denominator (040Ch registers, 040Dh) according to this report:

Using default values of Acceleration factor, namely Numerator = 65536 and Denominator = 60, the deceleration Position is expressed in [rpm / s]

Note:1. At one revolution of the motor corresponds 65536 indoor units.

4.10.5 Homing

This chapter describes the methods and parameters that manage the procedure of research to find and set at zero the drive. Depending on the case the limit switches can be used or not and thus influence the search function.


0640h Type Homing UINT16 always always

0641h Speed of research sensor (MSB)UINT32 always always

0642h Speed of research sensor(LSB)

0643h Output speed from sensor (MSB) UINT32 always always

0644h Output speed from sensor (LSB)

0645h Position acceleration (MSB)UINT32 always always

0646h Position acceleration (LSB)

Table 32: “Home position”

These parameters can be displayed and set via Modbus Caliper menu under "Position -> Home Position" in which the following screen appears:


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Internal acceleration reference=Acceleration factor Numerator×Jog acceleration


4.10.5.1 Register 0640h (1600 dec) Homing Method


0640h Homing Method UINT16 0..,35 eccetto 15,16,31,32

0 Always Always

The parameter "Homing Method" allows you to choose which method to use to perform the search origin and range from 0 to the value 35, except the methods 15,16, 31 and 32 which are reserved.

• Method 0 – No homing

When you turn the drive the value of the measured position is reset and is set as the zero position of the drive.

• Method 1 - CCW limit switch and encoder zero mark

The drive performs the homing procedure shifting in the negative direction to the sensor limit switch CCW.Once you touch the sensor, go back to exit from the limit switch at low speed and always moves in the opposite direction to the zero mark of the encoder, the point so reached it becomes zero of the drive.


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• Method 2 – CW limit switch and encoder zero mark

The drive will perform a home shifting in a positive direction towards the limit switch CW.Once you touch the sensor, go back to exit from the limit switch at low speed and always shifts in the opposite direction to the zero mark of the encoder. The position thus achieved becomes the zero of the drive.

• Method 3 – Homing su sensore di home positivo e tacca di zero

The input status of the home sensor determines the search direction of the sensor.If the input of the home is low, the motor is commanded to rotate in a clockwise direction. When the limit switch is detected, the motor is stopped and then placed on the zero mark of the encoder with a counterclockwise movement.If the input of the home is high, the motor is commanded to rotate counterclockwise, when it detects the switching of the sensor home the motor is stopped and subsequently placed on the encoder zero mark with a shift in a clockwise direction.


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Picture 13: Method 1 – Origin search made on CCW limit switch and encoder zero mark.

Picture 14: Method 2 – Origin search made on CW limit switch and encoder zero mark

• Metodo 4 - Homing on home sensor positive and zero mark

The input status of the home sensor determines the search direction of the sensor.If the Home input is high the motor is controlled to rotate counter-clockwise when it detects the home sensor switching the motor is stopped and subsequently placed on the encoder zero mark with a shift in a clockwise direction.If the input of the home is low, the motor is commanded to rotate in the clockwise direction, is detected when the switching of the sensor home the motor is stopped and subsequently placed on the encoder zero mark with a shift in a clockwise direction.

• Method 5 - Homing on home sensor negative and zero mark

The input status of the home sensor determines the search direction of the sensor.If the input of the home is low, the motor is commanded to rotate counter-clockwise when it detects the switching of the sensor the motor is stopped and subsequently placed on the encoder zero mark with a shift schedule.If the input is high home of the motor is controlled to rotate in the clockwise direction, is detected when the switching of the sensor home the motor is stopped and subsequently placed on the encoder zero mark with a shift in a clockwise


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Picture 15: Method 3 – Origin search on the home sensor and encoder zero mark.

Picture 16: Method 4 - Ricerca origine su sensore di home

• Method 6 - Homing on home sensor negative and zero mark

The input status of the home sensor determines the search direction of the sensor.If the home input is high the motor is controlled to rotate in a clockwise direction. When it is detected the home sensor switching, the motor is stopped and subsequently placed on the encoder zero mark with a counterclockwise movement.If the input of the home is low, the motor is commanded to rotate in the counterclockwise direction, when it detects the switching of the sensor of home the motor is stopped and subsequently placed on the encoder zero mark with a shift always counterclockwise.

• Method 7 - Homing made on Home Sensor and encoder zero mark.

The search direction of the home sensor is done clockwise, once detected the home sensor, the drive moves the motor, at low speed, counterclockwise to exit from the sensor, after which executes a counterclockwise move to the zero mark the encoder.In the case that the limit switch CW is touched, the direction of rotation is reversed so as to bring the motor on the home sensor.

• Method 8 - Homing on home sensor and encoder zero mark

The search direction of the home sensor is done clockwise, once detected the home


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Picture 17: Method 5 - Ricerca origine su sensore di home

Picture 18: Method 6 - Search Origin on sensor home

sensor, the drive moves the motor at low speed, counterclockwise to exit from the sensor, after which performs a shifting in a clockwise direction on the encoder zero mark.In the case that the limit switch CW is touched, is reversed the direction of rotation so as to bring the motor on the home sensor.


The search direction of the home sensor is done clockwise, once detected the home sensor, the drive moves the motor at low speed in clockwise direction to exit from the sensor, after which executes a counterclockwise move on encoder zero mark.In the case that the limit switch CW is touched, is reversed the direction of rotation so as to bring the motor on the home sensor.


The search direction of the home sensor is done clockwise, once detected the home sensor, the drive moves the motor at low speed in clockwise direction to exit from the sensor, after which performs a shifting in clockwise direction on the encoder zero mark.If it is touched the limit switch CW, is reversed the direction of rotation so as to bring the motor on the home sensor.


The search direction of the home sensor is made counterclockwise, once detected the home sensor, the drive moves the motor at low speed in clockwise direction to exit from the sensor, after which performs a clockwise move on encoder zero mark.in the case that the limit switch CCW is touched, the direction of rotation is reversed so as


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Picture 19: Methods 7,8,9,10 - Search Origin on sensor home

to return the motor on the home sensor.


The search direction of the home sensor is made counterclockwise, once detected the home sensor, the drive moves the motor at low speed in clockwise direction to exit from the sensor, after which executes a counterclockwise move on encoder zero mark.If it is touched the limit switch CCW, the direction of rotation is reversed so as to bring back the motor on the sensor home


The search direction of the home sensor is made counterclockwise, once detected the home sensor, the drive moves the motor at low speed counterclockwise to exit from the sensor, after which performs a clockwise move on encoder zero mark.In the case that the limit switchCCW is touched, the direction of rotation is reversed so as to bring back the motor on the home sensor.


The search direction of the home sensor is made counterclockwise, once detected the home sensor, the drive moves the motor at low speed counterclockwise to exit from the sensor, after which executes a counterclockwise move on encoder zero mark .In the case that the limit switchCCW is touched, the direction of rotation is reversed so as to bring back the motor on the home sensor.


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Picture 20: Methods 11,12, 13, 14 - Search Origin on sensor home

• Methods dal 17 a 30

The search methods origin ranging from 17 to 30, correspond respectively to the methods ranging from 1 to 14, only that in this case is not performed the search of the zero mark of the sensor, for example, the methods 17 and 18 shall run according to the procedures shown in the following illustrations.

• Method 33 – Homing on zero mark (negative direction)

Starting from the point where it is on, the drive moves in the negative direction to the zero mark of the encoder. The point reached so it becomes zero the drive.

• Method 34 - Homing on zero mark (positive direction)

Starting from the point where it is on, the drive moves in the positive direction on the encoder zero mark, the point so reached becomes the zero of the drive


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Picture 21: Method 17 - Search origin on CCW limit switch

Picture 22: Method 18 - Search origin on CW limit switch

• Method 35 - Homing on the current position

The current position is taken as the zero of the drive.

4.10.5.2 Registers 0641h (1601 dec) 0642h (1602 dec) Search Speed Home sensor



0641h0642h

Search speed sensor Home

UINT32 1.,7FFFFFFFh 100 (dec) Always Always

"Search speed sensor home" is the value in module of the search speed sensor Home.Inside the drive is in counts divided by the second [counts / s], this parameter is converted into units of velocity internal to the drive using the data contained in the speed factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h ), the relationship to calculate the internal speed is:

With the default values of the speed factor, namely Numerator = 65536 and Denominator = 60, the Jog Velocity is expressed in [rpm]

Note: At one revolution of the motor corresponds 65536 indoor units.


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Picture 23: Method 3,4 - Search origin on zero pulse resolver

Internal speed reference=Speed factor Numerator×Velocità ricerca sensore


4.10.5.3 Register 0643h (1603 dec) 0644h (1604 dec) Output speed sensor home.



0643h0644h

Output speed sensor home

UINT32 1.,7FFFFFFFh 10 (dec) Always Always

In the register 0644h is set to the least significant part of the search speed sensor

These registers indicates the value in modulus of the velocity with which the motor leaves the sensor Home.Internally in the drive this measure is expressed in counts over seconds [counts / s], this parameter is converted into units of velocity internal to the drive using the data contained in the speed factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h ), the relationship to calculate the internal speed is:

With the default values of the speed factor, namely Numerator = 65536 and Denominator = 60, the Jog Velocity is expressed in [rpm]Note: At one revolution of the motor corresponds 65536 indoor units.

4.10.5.4 Register 0645h (1605 dec) 0646h (1606 dec) Homing Acc/Dec



0645h0646h

Homing Acc/Dec UINT32 0..,5DFFA2h 1000 (dec) Always Always

Parameter to set the value of acceleration and deceleration in the movements during the research phase of origin. The value of this variable is converted into units internal to the drive (in counts over second squared [counts / s ²]) due to the 'Acceleration factor numerator (registers 040Ah, 040Bh) and "Acceleration factor denominator" (040Ch registers, 040Dh) according to this relation:


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Internal speed reference=Speed factor Numerator×Velocità uscita sensore


Using default values of Acceleration factor, namely Numerator = 65536 and Denominator = 60, the deceleration Position is expressed in [rpm / s]

Note: At a revolution of the motor corresponds 65536 indoor units.

4.11 Velocity Mode ( Velocity profile )

The speed control is set by writing the value 0 in the type parameter control (register 0401h).


This section describes the structures of Controlword and Statusword when using the Velocity Mode)

4.11.1.1 Setting the bit Controlword in Velocity Mode

Bit Description

0 Switch on

1 Enable operation

2 Fault reset

3 Halt


Table 33: Controlword in Velocity Profile


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Internal Acceleration Reference= Acceleration factor Numerator×Homing Acc Dec

Acceleration factor denominator

4.11.1.2 Meaning of bit Statusword in Velocity mode

Bit Description

0 Switch on

1 Enable operation

2 Ramp Stop

3 Ramp Halt

4 Fault


9 Remote

Value Description



10 Torque Limit

Value Description



11 Zero velocity

Value Description

0 Motor in Stop

1 Motor moving over “speed zero”


13 Warning

14 Fault reaction


Table 34: Statusword in modo Velocità

4.11.2 Parameters Main speed

In this section vengono riportati i Parametri Usati per comandare il motore in Modo Velocità


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0501h Type reference speed INT16 always always

0503h Full scale analog speed (MSB)UINT32 always always

0504h Full scale analog speed (LSB)

0505h Offset speed analog (MSB)INT32 always always

0506h Offset speed analog (LSB)

0507h Low Pass Filter UINT16 always always

0508h Internal speed (MSB)UINT32 always always

0509h Internal speed (LSB)

0500h Velocity Flag UINT16 always always

050Ah pulses per revolution UINT16 always always

051Dh The measured speed (MSB)INT32 always No

051Eh The measured speed (LSB)

Table 35: Parametri Modo velocità

These parameters can be displayed and set via Modbus Caliper menu under "Main Speed" in which the following screen appears:


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4.11.2.1 Register 0501h (1281 dec) Main Type Speed


0501h type main velocity UINT16 0..,2 0 Always Always

The parameter "Type Main velocity" allows you to choose the main speed reference that the drive uses when set inj way "Speed"

Value Description

0 Analog Reference: The drive uses the speed reference from the input +-10V

1 Internal reference: The drive uses the speed reference originating from the values written on registers 0508h, 0509h.

2 Reference frequency: the drive uses the reference speed from the frequency signal that comes from the inputs Pulse / Dir.

Table 36: Type of Main Speed

4.11.2.2 Register 0503h (1283 dec) 0504h (1284 dec) Full scale analog speed



0503h0504h

Full scale analog speed UINT32 0..,7FFFFFFFh 3000 (dec) Always Always

These records indicate the value in module of full scale speed for the main input analog speed.This parameter is converted into units of velocity internal to the drive using the data contained in the speed factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h), the relationship to calculate the internal speed is:

With the default values of the speed factor, ie Numerator = 65536 and Denominator = 60, the full-scale speed is expressed in [rpm]

Note: a revolution of the motor corresponds 65536 indoor units.


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Internal speed reference=[Speed factor Numerator×

Full scale speed 10

×volt volt input ]


4.11.2.3 Registers 0505h (1285 dec) 0506h (1286 dec) Offset analog speed



0505h0506h

Offset analog speed INT32 ±7FFFFFFFh 0 Always Always

These registers indicate a speed value that is added or subtracted from the input of main speed reference analog.This parameter is converted into units of velocity internal to the drive using the data contained in the speed factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h), the relationship to calculate the internal speed is:

With the default values of the speed factor, ie Numerator = 65536 and Denominator = 60, the speed offset is expressed in [rpm]

4.11.2.4 Register 0507h (1287 dec) Low pass filter


0507h Low pass filter UINT16 0..,1000 0 Always Always

In the register 0507h you set the time constant of a low pass filter applied to the analog speed main. The measurement unit is msec. You use it to filter any noise present on the analog signals.

4.11.2.5 Registers 0508h (1288 dec) 0509h (1289 dec) internal speed



0508h0509h

Internal speed UINT32 ±7FFFFFFFh 0 Always Always


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Offset of internal speed=[Speed factor Numerator×Offset analog speed ]


Internal speed indicates the value of the speed reference sent to the control is enabled when the type "internal speed."Internally in the drive is expressed in counts of seconds [counts / s], this parameter is converted into units of velocity internal to the drive using the data contained in the speed factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h ), the relationship to calculate the internal speed is:

With the default values of the speed factor, ie Numerator = 65536 and Denominator = 60, the Jog Velocity is expressed in [rpm]Note: a revolution of the motor corresponds 65536 internal units.

4.11.2.6 Register 0500h (1280 dec) Modbus flag speed


0500h Modbus flag speed UINT16 0..000Fh 0 Bit Always Always

Bits 0 and 1 of this variable determines the type of digital signals used for the reference frequency according to the following table.

Bi1 Bit0 Description Bit 0 e 1 Modbus flag velocità

0 0 Channel A: The signal comes from quadrature signals

0 1 Frequency-Direction: One reports the information of direction and the other channel the information of speed

1 0 CW CCW pulses: Depending on wich channel the speed-position pulses are sent, the motor rotate clockwise or counterclockwise.

1 1 Not allowed.

Table 37: Bit 0, 1 Modbus flag speed

The bit 2 and 3 have the following function:


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internal speed reference=Speed factor Numerator× Internal speed


Bit Name Description Bit 2, 3, 4 Modbus flag speed

2 Enable auxiliary reference

0= Aux ref. disabled

1= Aux ref. enabled

3 Enable ramp 0=Disabled

1= Enabled

4 Enable S-ramp 0=Disabled

1= Enabled

5.16 ( reserved )

Table 38: Bit 2, 3, 4 Modbus flag speed

4.11.2.7 Register 050Ah (1290 dec) pulses per rotation


050Ah Pulse per rotation (PPR) UINT16 128..,16384 1024 Always Always

In 050Ah register sets the number of pulses which one wants to pay a turn of the motor shaft

4.11.2.8 Registers 051Dh (1309 dec) 051Eh (1310 dec) Measured Speed

The registers and the register 051Dh 051Eh constitute a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (handling 32-bit variables).


051Dh051Eh

Measured speed UINT32 0..,±7FFFFFFFh

Always No

The measured speed indicates the value of the the current motor speed.Internally, the drive velocity is expressed in counts divided by seconds [counts / s];The internal speed is converted to the unit of measure of the "measured speed" using the data in the speed factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h), the relationship between the two variables is:

With the default values of the speed factor, ie Numerator = 65536 and Denominator = 60, the "measured speed" is expressed in [rpm]Note:At one revolution of the motor corresponds 65536 internal units.


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Measured speed=(Speed factor denominator×internal speed )

(Speed factor numerator )

4.11.3 Auxiliary reference parameters

In this section are describes the parameters used for the management of reference or internal auxiliary analog.



0502h Type or aux ref. INT16 always always

050Bh Full scale analog speed aux (MSB)

UINT32 always always050Ch Full scale analog aux speed

(LSB)

050Dh Offset analogue aux speed (MSB) INT32 always always

050Eh Offset analogue aux speed (LSB)

05FDh Internal speed (MSB)INT32 always always

0510h Internal speed (LSB)

0511h Full-scale torque limit % UINT16 always always

0512h Offset Torque limit % INT16 always always

Table 39: Parameters speed mode

These parameters can be displayed and set via Modbus Caliper menu under "Aux Speed" in which the following screen appears


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4.11.3.1 Register 0500h (1280 dec) Modbus flag speed


0500h Modbus flag speed UINT16 0..000Fh 0 Bit Always Always

This register is already widely described in paragraph 4.11.2.6. For convenience in this section shows only the Description of Bit 2 which enables the auxiliary reference.

Bit Nome Description Bit 2 Modbus flag speed

2 Enable auxiliary reference



Table 40: Bit 2 Modbus flag speed

4.11.3.2 Register 0502h (1282 dec) Type Aux. Reference


0502h Type of Aux Ref. UINT16 0..,2 0 Always Always

The parameter "Type Auxiliary Reference" allows you to choose the auxiliary reference speed or torque limit used when the drive is set inj way "Speed".

Value Description

0 Analog Speed: The drive sums the speed reference from the analog aux input from 0-10V to the main speed.

1 Internal Speed: The drive make the sum of the speed reference coming from the registers 050F, and 0510 to the main speed reference

2 Torque limit: The drive uses the reference auxiliary analog 0 to +10 V signal as to limit the maximum torque output.

Table 41: Tipo Riferimento ausiliario.


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4.11.3.3 Registers 050Bh (1291 dec) 050Ch (dec 1292) Full scale Analog Speed Auxiliary

The registers 050Bh and 050Ch are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (management 32-bit variables).


050Bh050Ch

Full scale speed auxiliary UINT32 0..7FFFFFFFh 3000 (dec) Always Always

These records indicate the value in module of full scale speed Auxiliary input analog speed.This parameter is converted into units of velocity internal to the drive using the data contained in the speed factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h), the relationship to calculate the internal speed is:


Note:

At one revolution of the motor corresponds 65536 internal units.

4.11.3.4 Registers 050Dh (1293 dec) 050Eh (1294 dec) Offset speed analog auxiliary

The registers 050Dh and 050Eh are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (management 32-bit variables).


050Dh050Eh

Offset speed analog auxiliary

INT32 ±7FFFFFFFh 0 Always Always

These registers indicate a speed value that is added or subtracted to the reference speed auxiliary analog input.This parameter is converted into units of velocity internal to the drive using the data contained in the speed factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h), the relationship to calculate the internal speed


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Internal speed reference=[Speed factor Numerator×

Full scale speed auxiliary 5

×volt input5]


is:


4.11.3.5 Registers 050Fh (1295 dec) 0510h (1296 dec) Internal Aux speed

The registers 0510h 050Fh and are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (management 32-bit variables).


050Fh0510h

Internal Auxiliary speed INT32 ±7FFFFFFFh 0 Always Always

In Internal Aux Speed you set a reference value of speed that is added to or subtracted from the main speed reference when the register is set to 0502h: "Speed internal" and it is enabled in the auxiliary reference.Inside the drive is expressed in counts of seconds [counts / s], this parameter is converted into units of velocity internal to the drive using the data contained in the speed factor numerator (registers 0406h, 0407h) and speed factor denominator (registers 0408h and 0409h ), the relationship to calculate the internal speed is:


Note:

At one revolution of the motor corresponds 65536 internal units.

4.11.3.6 Register 0511h (1297 dec) Full Scale Torque Limit


0511h Full Scale Torque Limit UINT16 0..2500 1000 Always Always

Parameter to set the full scale of the analog signal from 0 to 10V (AUX input) that is used to limit the torque of the motor when the auxiliary reference is set in "torque limit".It is expressed in per thousand compared to the parameter Motor nominal current (register


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Interna speed offset=[Speed factor Numerator×Analog auxiliary speed Offset ]


Internal speed reference=Speed factor Numerator×Internal Auxiliary speed


0153h).The current torque limit in Ampere derived from the following formula:

4.11.3.7 Register 0512h (1298 dec) Offset torque limit


0512h Torque limit offset INT16 -1000..., +1000

0 Always Always

Parameter to set a current value in percent that is added or subtracted from the input of analog torque limit (AUX input) that is used to limit the torque of the motor when the auxiliary reference is set in "torque limit".It is expressed in per thousand compared to the parameter Motor nominal current (register 0153h).

4.11.4 Ramps parameters

This section describes the parameters used to set the speed ramps when the drive works in "speed."



0513h Acceleration CW (MSB)UINT32 always always

0514h Acceleration CW (LSB)

0515h Deceleration CW (LSB)UINT32 always always

0516h Deceleration CW (LSB)

0517h Acceleration CCW (MSB)UINT32 always always

0518h Acceleration CCW (LSB)

0519h Deceleration CCW (MSB)UINT32 always always

051Ah Deceleration CCW (LSB)

Table 42: Parameters speed mode

These parameters can be displayed and set via Modbus Caliper menu under "ramps" in which the following screen appears:


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Current limit Torque=Full scale torque limit x Nominal current motor

1000×5×Volt Input aux5

4.11.4.1 Register 0500h (1280 dec) Modbus speed flag


0500h Modbus speed flag UINT16 0..000Fh 0 Bit Always Always

This register is already widely described in paragraph 4.11.2.6. For convenience in this section is shown only the description of Bit 3:04 that enable the ramps.

Bit Name Description Bit 3,4 Modbus flag velocità

3 Enable ramps 0 = disabled ramps

1 = enabled Ramps

4 Enable S-ramps 0 = S ramps disabilitatate

1 = S ramps enabled (If Bit 3 = 1)

Table 43: Bit 3,4 Modbus speed flag


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4.11.4.2 Registers 0513h (1299 dec) 0514h (1300 dec) Acceleration CW

The registers 0513h and 0514h are a unique 32-bit variable, and therefore should be managed as described in Section 4.1 (managing 32-bit variables).


0513h0514h

Acceleration CW UINT32 0..,7FFFFFFFh 1000 (dec) Always Always

Parameter to set the value of acceleration in the clockwise direction of rotation used by the drive when it is set in speed mode and the ramps are enabled. The data for this variable is converted into internal units of the drive (in counts of second squared [counts / s ²]) via the Acceleration factor numerator (registers 040Ah, 040Bh) and Acceleration factor of the denominator (registers 040Ch, 040Dh) according this relationship:

Using default values of Acceleration factor, namely Numerator = 65536 and Denominator = 60, the CW Acceleration is expressed in [rpm / s]Note: a revolution of the motor are 65536 internal units.

4.11.4.3 Register 0515h (1301 dec) 0516h (1302 dec) Deceleration CW.



0515h0516h

Deceleration CW UINT32 0..7FFFFFFFh 1000 (dec) Always Always

Parameter to set the value of deceleration in the clockwise direction of rotation used by the drive when it is set in mode speed and ramps are enabled.The data for this variable is converted into internal units to the drive (in counts of second squared [counts / s ²]) via the Acceleration factor numerator (registers 040Ah, 040Bh) and Acceleration factor denominator (registers 040Ch, 040Dh) in According to this relation:

Using default values of Acceleration factor, namely Numerator= 65536 and Denominator = 60, Decelerate CW is expressed in [rpm / s]Note: a revolution of the motor are 65536 internal units.


84

internal reference acceleration=Acceleration factor Numerator×Acceleration CW


Internal deceleration reference=Acceleration factor Numerator×DecelerationCW


4.11.4.4 Register 0517h (1303 dec) 0518h (1304 dec) Acceleration CCW



0517h0518h

Acceleration CCW UINT32 0..7FFFFFFFh 1000 (dec) Always Always

Parameter to set the acceleration value used in the counter-clockwise rotation from the drive when it is set in the "Speed Mode" and the ramps are enabled.The data for this variable is converted into internal drives to the drive (in counts of second squared [counts / s ²]), through the "Acceleration factor numerator" (registers 040Ah, 040Bh) and "Acceleration factor denominator" (registers 040Ch, 040Dh) according to this report:

Using default values for the "Acceleration factor", namely Numerator = 65536 and Denominator = 65536 = 60, the "Acceleration CCW" is expressed in [rpm / s]Note: a revolution of the motor are 65536 internal units.

4.11.4.5 Registers 0519h (1305 dec) 051Ah (1306 dec) Deceleration CCW.

The registers 0519h and 051Ah form a single 32-bit variable, and therefore should be managed as described in Section 4.1 (managing 32-bit variables).


0519h051Ah

Deceleration CCW UINT32 0..7FFFFFFFh 1000 (dec) Always Always

Parameter to set the value of the deceleration counterclockwise rotation used by the drive when it is set the "speed mode" and ramps are enabled.The data for this variable is converted into internal units to the drive (in counts of second squared [counts / s ²]) due to the "Acceleration factor numerator" (registers 040Ah, 040Bh) and "Acceleration factor denominator2 (040Ch registers, 040Dh) according to this report:

Using default values for the "Acceleration factor", namely Numerator = 65536 and


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internal accelerationreference= Acceleration factor Numerator×Acceleration CCW


Internal deceleration reference=Acceleration factor Numerator×DecelerationCCW


Denominator = 60, Decelerate CCW is expressed in [rpm / s]Note: a revolution of the motor are 65536 internal units.

4.11.4.6 Registers 051Bh (1307 dec) 051Ch (1308 dec) Jerk.

The records 051Bh and 051Ch are a single 32-bit variable, and therefore should be managed as described in Section 4.1 (managing 32-bit variables).


051Bh051Ch

Jerk UINT32 0..,980000h 1000 (dec) Always Always

The Jerk, manages the quadratic curve by changing the speed variation of the acceleration at the initial stage and the final ramp. A high value of the jerk involves variations of higher acceleration, it follows a decrease in the acceleration time, and higher mechanical stress, conversely decreasing the jerk increases the time of acceleration, however, decreases the mechanical stress.The unit of measurement of this parameter is an acceleration divided a time. Internally the drive considered it as counts of second elevated at 3 [counts / s ³]. To bring in the units internal at the drive using the "Acceleration factor numerator" (registers 040Ah, 040Bh) and the "Acceleration factor denominator" (registers 040Ch, 040Dh) according to this report:

Using default values of Acceleration factor, namely Numerator = 65536 and Denominator = 60, the Jerk is expressed in [rpm / s ²]Note:At one revolution of the motor corresponds 65536 internal units.

4.12 Electric Axis/Pulse-Dir Mode

The control electric axis ( Also called Electronic Gear ) (also used for the pulse mode / dir) is set by writing the value 2 to parameter type control (register 0401h).

4.12.1 Controlword and Statusword In Electric Axis

In questa sezione vengono descritte le strutture della Controlword e della Statusword This section describes structures of Controlword and Statusword way when using the "Axis power."


86

Jerk internal=Acceleration factor Numerator×Jerk


4.12.1.1 Setting bit Controlword in Electric Axis

Bit Description

0 Switch on

1 Enable operation

2 Fault reset

3 Halt

4 Enable Axis

Value Description

0 The drive is disengageed from the reference master

1 The drive is controlled to engage to the master reference

5 Reset to Zero the encoder

Value Description

0 No function

1 Reset the master encoder pulse count (not active in operational mode)

6 Reset Position

Value Description

0 Jog+ function disabled

1 Resets the value of the position of the motor (not active in operational)

7 Enable phase shift

Value Description

0 → 1 By switching this bit from 0 to 1 is commanded a phase shift of the motor compared to the encoder master according to the parameter Pulse phase shift (address 0719h 071Ah).


Table 44: Controlword in"electrical axis"


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4.12.1.2 Meaning of bit Statusword in Electric Axis

Bit Description

0 Switch on

1 Enable operation

2 Rampa Stop

3 Ramp Halt

4 Fault

6 Electric Axiz Enabled

Value Description

0 The drive is not locket to the reference of the master

1 The drive in one of the following steps compared to the master

reference: engaging, Following, disengaging

7 Execution phase shift

Value Description

0 function phase shift axis is not active.

1 Indicates execution phase shift function.

9 Remote

Value Description


1 Remote Control enabled

10 Torque Limit

Value Description



11 Zero speed

Value Description

0 Motor Standstill

1 Motor moving with speed over “zero speed”

13 Warning

14 Fault reaction

15,12,

8,5

Manufacturer specific

Table 45: Statusword in modo “Asse elettrico”

On the rising edge of bit 4 ( Axis Enable ) of the controlword is activated the engaging


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phase to the master reference and the bit 6 (Electric axis enabled) of the statusword is set to 1 to indicate that the axis is moving. When engaging phase is finished, the drive follows the speed and position of the master reference. When the bit 4 of the controlword, come back to zero the bit 6 ( Electric Axis Enabled) of the statusword, come back to zero only when the disengaging phase is finished to indicate that the drive is really disengageed from the master reference.

4.12.2 Electric Axis parameters

In this section are shown the parameter of control used in the mode Elctric Axis.In Electric Axis mode, the drive works in position controll, the pulses acquired by the external encoder are multiplied by Numerato Ration (register 0701h) and dividid over the parameter Denominator Ratio (register 0702h), the value obtained represent the reference for the position loop, that works with a measured position of 65536pulses/revolution.To select the Electric Axis Mode set value 2 in the parameter Type Control (register 0401h); The activation of the function Electric Axis starts switching the bit 4 of control word from 0 to 1. This event activate the engage function that allows to bring the axis of the motor to the same speed of the position reference calculated multiplying the pulses of the external encoder for electric axis ratio. When the engage phase is completed, the drive changes to a phase in which it follows the position reference of the external encoder. In this phase the parameter of Max error position (registers 040Eh, 040Fh) and Time Error (register 0410h),are active. These parameters set the limits for the position errore control.The disable the electric axis is possible sweitching the bit 4 of the control word from 1 to 0; This action activates the disengage function that are used to stop the shaft motor following the type of disengage function selected.The bit 6 of the status word give back the status of the activation of the electric axis, when the bit is 1 it means that the electric axis is active and the drive is making one of the following phases: engaging phase, following position phase, disengage phase.


0701h Numerator Ratio INT16 always always

0702h Denominator Ratio UINT16 always always

0705h Encoder type UINT16 always always

0706h Encoder pulses(MSB)UINT32 always always

0707h Encoder pulses (LSB)

0718h Pulses of reached position UINT16 always always

0719h Pulses phase shift (MSB)INT32 always always

071Ah Pulses phase shift (LSB)

071Bh Phase shift speed UINT16 always always

071Ch Phase shift acceleration UINT16 always always

0716h Encoder pulses measured (MSB)UINT32 always always

0717h Measured encoder pulses (LSB)

Table 46: Parameter electric axis


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These parameters can be shown and modified from software Caliper in the menu Modbus, at position “Electronic Axis” as in the following picture.

Picture 27: Electric axis

4.12.2.1 Register 0701h (1793 dec) Numerator Ratio


0701h Numerator Ratio INT16 -32768... +32767

1 Always Always

This parameter represent the numerator of the ratio in the Electric Gear. Together with the parameter Denominator Ratio (register 0702h), it allows to modify the ratio between master axis and slave axis. In this mode, the number of pulses acquired by the external encoder multiplyied by Numerator Ratio (index 0701h) and then divided by Deenominator Ratio (index 2201h) represent the position reference of the drive.

4.12.2.2 Register 0702h (1794 dec) Denominator Ratio


0702h Denominator ratio INT16 1.. +32767 1 Always Always

This parameter represent the denominator of the Electronic Gear.

4.12.2.3 Register 0705h (1797 dec) Type of Encoder


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0705h Tipo encoder INT16 0..2 0 Always Always

In this register is set the type of signal used as speed and position reference of the Master when Electric Gear is set.

Value Description Tipe of encoder

0 Channel A-B : The signal comes from signals in quadrature

1 Pulses and Direction: One channel bring the information of the direction, the other channel bring the information of speed.

2 CW CCW pulses: Depending on the channel that the pulses are sent, the motor rotate in one direction or another..

Table 47: Type of encoder

Picture 28: Set mode encoder “Channel A-B”

Picture 29: Set as mode Encoder “Frequency-Directon”


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Picture 30: Encoder set as “Channel CW-CCW”

In case mode “Channel A-B” is selected, you must keep into consideration that the drive is in the position to count all the pulses of the two encoder channel, that means that the resolution is increased of 4 times in a single turn compared to the real resolution of the encoder. For example if the encoder is a 1024ppr, the drive can count 4096ppr. This must be considered when setting the parameter of Numerator Ratio ( register 0701h ) and Denominator Ratio ( register 0702h ) that manage the Electric Gear ratio.

4.12.2.4 Registers 0706h (1798 dec) 0707h (1799 dec) Encoder Pulses

The records 051Bh and 051Ch are a single 32-bit variable, and therefore should be managed as described in Section 4.1 (managing 32-bit variables).

The registers (index) 0706h and 0707h are a single 32-bit variable and therefore should be managed as described in section 4.1 (managing 32-bit Variables).


0706h0707h

Pulses per revolution UINT32 64h..,FFFFFFFFh 1024 (dec)

Always Always

In this variable set the number of pulses of the encoder. In case the encoder is of type “Channel A-B”, the number of “Encoder pulses/revolution” will be completely multiplied for 4, and in this mode the drive can count the encoder pulses with a resolution 4 times bigger.

4.12.2.5 Register 0718h (1816 dec) Pulses position reached


0718h Pulses position reached UINT16 1..65535 500 Pulses of the

encoder of the Motor

Always Always


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This parameter represent the max difference of pulses between master position reference and the present position of the motor in which is enabled the output O.1 ( position reached). The enabling of this function on the ouput O.1 can be done via Caliper on the menu “Advanced Setup-Output” or setting in appropriate way the object 0212h.The unit of measure of the “motor encoder pulses” normalized at 1 RPM is = 65535 pulses.

4.12.2.6 Registers 0719h (1817 dec) 071Ah (1818 dec) Pulses phase shift

The registers 0719h and 071Ah represent a single 32-bit variable and therefore should be managed as described in section 4.1 (managing 32-bit variables).


0719h071Ah

Pulses phase shift INT32 ±FFFFFFh 0 Count Always Always

Parameter indicating the number of pulses used to perform the phase shift relative to input master encoder. The phase shift is performed at rising edge of the bit 7 of the control word; bit 7 of the status word remains high during the execution of the function of phase shift.By setting “65535” is achieved a phase shift equal to one motor revolution.

4.12.2.7 Register 071Bh (1819 dec) Phase shift speed


071Bh Phase shift speed UINT16 1..200 50 % Always Always

In this parameter is set to the speed of execution of the phase shift. You set a percentage of the measured speed in instant when comes the command phase shift.

4.12.2.8 Register 071Ch (1820 dec) Phase shift acceleration


071Ch Phase shift acceleration UINT16 1..60000 100 rpm/s Always Always

Parameter to assign the value of the acceleration start and end of the profile phase shift.

4.12.2.9 Registers 0716h (1814 dec) 0717h (1815dec) Measured Encoder Pulses

The registers 0716h and 0717h represent a single 32-bit variables and therefore should be


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managed as described in section 4.1 (managing 32-bit variables).


0716h0717h

Measured Encoder Pulses

INT32 ±7FFFFFFFh Impulsi encoder motore

Always No

This variable shown the number of pulses readed by the external encoder. The value of this variable can be set to zero switching the bit 5 of the control word from 0 to 1,when the Electric Gear function is not active.

4.12.3 Parameter of engaging of Electronic Gear

In this section is described the parameter related to the engaging phase of the electronic Gear.The commutation of the bit 4 of control word from 0 to 1 activate the function of engaging that allows to the motor axis to reach the same speed of the position reference calculated multiplying the the external encoder pulses for the electronic gear ratio. When finished the engaging phase, the drive start immediately to follow the position given by the external encoder.

Picture 31: Caliper: Set up of the “Engaging of the Electronic GearBox”

4.12.3.1 Register 0703h (1795 dec) Type of engaging


0703h Type of engaging INT16 0..2 1 Always Always

The Type of engaging allows to choose the modality to move from the status of standstill with speed zero, to the status of following a position reference resulting from the calculation of the external encoder pulses multiplied for the electronic gear ration.


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Values Type of engaging Description

0 Immediate engage ● In this mode the position control is activated immediately to follow the reference coming from the external encoder.

● This choice is suggested when at the activation of the electronic gear with the rising edge of bit 4 of control word, the external encoder pulses are zero.

1 Speed engage ● In this mode the drive reach the speed of the position reference with a ramp of speed that start from zero speed.

● The engage is executed on the basis of the parameters engage in speed-acceleration (registers 0708h, 0709h) and engage in speed-Jerk (registers 070Ah, 070Bh).

2 Position engage ● In this mode the drive, at the activation of the Electronic Gear when the rising edge of bit 4 of the control word, it reach the same speed of the position reference covering the space set in parameter 4 in the parameter Engage in Position (registers 070Ch, 070Dh); the engaging curve profile is created following a polynomial curve of 5th order.

Table 48: Tipo Aggancio Asse Elettrico

4.12.3.2 Registers 0708h (1800 dec) 0709h (1801 dec) engaging Acceleration

The register 0708h and 0709h are a single 32-bit variable, therefore should be managed as described in Section 4.1 (managing 32-bit variables).


0708h0709h

engage Acceleration UINT32 0..,5BFFFFh 5000 (dec) Always Always

Parameter to set the value of the acceleration used in the engage phase in velocity. The data of this variable is converted in internal unit of the drive ( counts/s²]) due to the Acceleration factor numerator (registers 040Ah, 040Bh) and of the Acceleration factor denominator (registers 040Ch, 040Dh) on the basis of the following relation:

Using the default value of the Acceleration factor, that are Numerator=65536 and Denominator=60, the engaging acceleration is expressed in [rpm/s]Note: One single turn of the motor correspond 65536 internal units.


95

internal acceleration reference=(Acceleration factor Numerator×locking acceleration)

(deceleration factor denominator)

4.12.3.3 Registers 070Ah (1802 dec) 070Bh (1803 dec) engaging Jerk

The registers 070Ah and 070Bh are a single 32-bit variable, therefore should be managed as described in Section 4.1 (managing 32-bit variables).


070Ah070Bh

engaging Jerk UINT32 0..,5BFFFFh 30000 (dec) Always Always

The Jerk engaging handles the quadratic velocity curve generated during the phase of speed engaging changing the variation of the acceleration in the initial and final ramp. A high value of the Jerk involves bigger variations of the acceleration and mechanical stress, converserly reducing reducing the Jerk value, it increase the time of the acceleration and it reduce also the mechanical stress.The unit of measure of this parameter is an acceleration divided by time. Inside the drive consider the counts as [incrementi/s³]. To transform this value in internal unit of the drive you must use the “Acceleration factor numerator” (registers 040Ah, 040Bh) and the “Acceleration factor denominator” (registers 040Ch, 040Dh) following this relation:

Using the default value of the Acceleration factor, namely Numerator=65536 and Denominator=60, the engaging Jerk is expressed in [rpm/s²]Note:One motor revolution correspond to 65536 internal units

4.12.3.4 Registers 070Ch (1804 dec) 070Dh (1805 dec) engaging position

The register 070Ch and 070Dh are a single 32-bit variable, therefore should be managed as described in Section 4.1 (managing 32-bit variables).


070Ch070Dh

engaging Position INT32 0 + 7FFFFFFFh 65536 (dec)

Always Always

When the Typo of engaging (register 0703h) is set to “engage in position”, this parameter indicates the space to be covered to bring the axis to the same speed of position reference.The space covered in the engaging phase corresponds to that generated by the encoder multiplied by the ratio of the electric gear during the engaging time


96

Internal Jerk=(Acceleration factor Numerator×Locking Jerk )


4.12.4 Parameter of disengaging of the Electric Gearbox ( Electric Axis)

This section shows the parameters related to the disengage phase of the electric gear.The switching of bit 4 of the control word from 1 to 0 activateds the disengage function that allows to bring the axis to zero speed in the disengage mode selected. Once the disengage phase is finished, the bit 6 of Status Word is lowered and the motor stops in Torque ( standstill in Torque ) with a speed zero.

4.12.4.1 Register 0704h (1796 dec) Type of disengage


0704h disengage Type INT16 0..2 1 Always Always

The Type of disengage sets the mode of transition from the phase in which the drive follows the position reference to the stage where the axis is stationary with zero velocity. This happen when the function electric axis is disabled by switching the bit 4 of the control word from 1 to 0.

Value Type of disengage Description

0 Immediate disengage ● With this setting, the axis stops immediately when you turned off the electric axis.It is recommended to use this mode of deactivation of the electrical axis when the external encoder pulses are null.


97

1 disengage in speed ● In this mode the drive stops in speed ramp.● The disengage is made following the parameters

disengage in Speed-Deceleration (registers 070Eh, 070Fh) and disengage in Speed-Jerk (registers 0710h, 0711h).

2 disengage in position ● With this choice, the drive stops running a position profile position following a fourth-degree polynomial profile.

● The setting parameters for the disengage in position are the parameter Pos.type Disengage Absolute/Relative (register 0700h) that indicates if the Position is Relative or Absolute, the parameter Disengage in Position/Velocity (register 0714h) that set the max speed of the Position, the parameter Disengage in position – Deceleratoion (register 0715h) that set the maximum acceleration and the parameter Disengage in position (registers 0712h, 0713h) that represent the space to cover.

Table 49: Disengage Electronic Gearbox

4.12.4.2 Registers 070Eh (1806 dec) 070Fh (1807 dec) disengage deceleration

The register 070Eh and 070Fh are a single 32-bit variable, therefore should be managed as described in Section 4.1 (managing 32-bit variables).


070Eh070Fh

disengage deceleration UINT32 0..,5BFFFFh 5000 (dec) Always Always

Parameter to set the value of deceleration used during the disengage phase in speed. The data of this value is converted in internal units of the drive [incrementi/s²] by menas of the due to the Acceleration factor numerator (registers 040Ah, 040Bh) and of the Acceleration factor denominator (registers 040Ch, 040Dh) following this relation:

Using the default value of the Acceleration factor, namely Numerator=65536 and Denominator=60, the Deceleration disengage is expressed in [rpm/s]NOTE: A single revolution of the electric axis correspond to 65536 internal units.

4.12.4.3 Registers 0710h (1808 dec) 0711h (1809 dec) disengage Jerk

The Register 0710h and 0711h are a single 32-bit variable, therefore should be managed


98

Internal acceleration reference=(Acceleration factor Numerator×Unlock deceleration)


as described in Section 4.1 (managing 32-bit variables).


0710h0711h

disengage Jerk UINT32 0..,5BFFFFh 30000 (dec) Always Always

The disengage Jerk , manage the quadratic velocity curve generated during the engage phase in velocity modifying the variation of the acceleration at the intial and final phase of the ramp.A high value of the Jerks involves big variation of acceleration, it follows a reduction of acceleration time but more mechanical stress. Conversely decreasing the jerc, increase the time of acceleration but decrease the mechanical stress.The unit of measure of this parameter is an acceleration divided by the time. The drive internally consider it as [counts/s³]. To transform this value in internal units of the drive use the parameters Acceleration factor numerator (registers 040Ah, 040Bh) and Acceleration factor denominator (registers 040Ch, 040Dh) following this relation:

Using the default value of Acceleration factor, namely Numerator=65536 and Denominator=60, the disengage Jerk is expressed in[rpm/s²]

Note: A single motor revolution corresponds to 65536 internal units

4.12.4.4 Register 0700h (1792 dec) Type of disengage Abs/Rel


0700h Type Unock position ABS/REL

INT16 0 = Absolute 1 Always Always

1= Relative

The value of this parameter is used to set the type of the release position, which can be relative to the release position or absolute, that is calculated with respect to the zero axis.

4.12.4.5 Registers 0712h (1810 dec) 0713h (1811 dec) disengage position

Registers 0712h and 0713h are a single 32-bit variable, therefore should be managed as described in Section 4.1 (managing 32-bit variables).


0712h0713h

disengage position INT32 0 .. 7FFFFFFFh 65536 (dec)

Always Always


99

Internal Jerk=(Acceleration factor Numerator×Unlock Jerk )


This value indicates the counts to cover during the phase of disengage. ( Amount of space)The value of this parameter indicates the space covered during the disengage phase. Depending on the parameter “Type of position disengage-Position”(register 0700h), the shift can be relative compared to the time of release ( time of disengage ) or absolute related to the reference of position shown in the parameter Measured Position (registers 0305h, 0306h); The vlaue of the Measured Position can be set to zero switching the bit 6 of the control word from 0 to 1, when the electric gear function is not active.

4.12.4.6 Register 0714h (1812 dec) Velocity disengage in position


0714h Velocity disengage in position


In the register 0714h set the parameter Position disengage – Velocity elocità sgancio in

posizione: It allows to set the max speed that can be reached during the execution of the Disengage position during the disengage phase. Espressed in rpm.

4.12.4.7 Register 0715h (1813 dec) Deceleration disengage in position


0715h Deceleration disengage in position


This parameter sets the maximum deceleration phase in the release position. Expressed in rpm / sec.

4.13 Torque Mode

The Torque control mode is set writing the value 1 in the parameter Type of control (Register 0401h), in this case it is active only the control ring of the quadrature current that regulates the Torque to the motor.


This section describes the structures of Controlword and Statusword way when using the "Torque".


100

4.13.1.1 Meaning of bit Controlword in Torque Mode

Bit Description

0 Switch on

1 Enable operation

2 Fault reset

3 Halt


Table 50: Controlword in modo Coppia

4.13.1.2 Meaning of bit Statusword in Torque Mode

Bit Description

0 Switch on

1 Enable operation

2 Rampa Stop

3 Rampa Halt

4 Fault


9 Remote

Value Description



10 Torque Limit

Value Description



11 Zero Speed

Value Description

0 Motor si standstill

1 Motor moving over zero speed


13 Warning

14 Fault reaction


Table 51: Statusword in Torque Mode


101

4.13.2 Torque control

In this section are described the parameters used in the Torque control.

Index Name Type Map Attributes

0800h Torque reference type INT16 Si rw

6077h Torque actual value INT16 Si ro

6087h Torque slope UINT16 No rw

6088h Torque profile type INT16 No rw

Table 52: Parametri controllo coppia

These parameters can be displayed and set via Modbus Caliper menu under "Torque" in which the following screen appears:

4.13.2.1 Register 0800h (2048 dec) Type Torque Reference


0800h Tyep torque Reference INT16 0 = Analogic1= Internal

1 Always Always

The parameter "Type Torque reference" allows you to choose the torque reference that the drive uses when it is set to "Torque"


102

Value Description

0 Analog Reference: drive using the torque reference from the input +-10V

1 Internal Reference: drive using the torque reference from the value written on the Register 0803h.

Table 53: Type torque Reference

4.13.2.2 Register 0801h (2049 dec) Full scale analog torque

In the Register 0801h sets Full scale analogue torque


0801h Full scale Analog Torque UINT16 0..,2500 1000 Always Always

These registers indicates the value in module of the full scale of Torque for the main input of analogue torque.This parameter is internally converted in Ampere. The relation to calculate this reference of current internal is:

4.13.2.3 Register 0802h (2050 dec) Offset Analog Torque

In the Register 0802h you set the Offset of Analoug Torque


0802h Offset Analog Torque INT16 -1000., + 1000

0 Always Always

This Register indicates the value of torque that is added or removed to the main analog torque reference input.This parameter is converted internally to the drive in Ampere. The relation to calculate the vlaue of offset of the current is:

4.13.2.4 Register 0803h (20501 dec) Internal Torque Reference

In the Register 0803 you set the digital torque reference


103

Internal reference of Current=Rated current motor ×Full scale torque

1000×

Input Volt10

Internal current Offset=[Rated motor current×Offset Analogue Torque ]

1000


0803h Internal Torque Reference INT16 -2500., + 2500

0 Always Always

This parameter indicates the torque reference sent to the controller when it is enable the type “Internal Torque”.The reference of torque is expressed in per thousand, compared to the parameter Rated Current Motor (Register 0153h), ie if for example in the parameter Internal Torque (object 0803h) you write the value 1000, then is supplied to the motor a current of torque equal to the rated current of the motor. To calculate the internal current reference :

4.13.2.5 Limitation to the Torque current

The value of the torque current is then limited by other parameters internal to the drive.The first limitation is imposed by the current data obtained by the multiplication of the parameter Current Limit (register 0207h) for the Rated current motor (Register 0153h) and by the division of the resulting product by 1000.The current value so obtained correspond to the maximum limit, while the minimum limit is obtained from the maximum with a negative sign.Subsequently, the torque current is limited by the peak current of the motor (Register 0154h) and is limited by the maximum current that can provide the drive that is an internal parameter can not be changed.In the case that the alarm I2t motor, the current maximum torque is limited to the rated motor current (Register 0153h), in a similar way if the I2t alarm occurs in the drive, the torque current is limited to the nominal value of the current that the drive is able to provide.


104

internal Current Ref.=Rated motor current × Internal Torque Ref.

1000


105

Target torque (index 6071h)

1/1000

Torque Current

Motor Rated Current (index 2001h)

Current Limit (index 2006h)

1/100(Max,Min)

Peak motor current (index 2002h)

(Max,Min)

I2t Motor?Si

NoRated motor current

(index 2001h)

(Max,Min)

I2t Drive?Si

Current Torque

Regulation

Rated current Drive(Max,Min)

No

5 SPECIFIC PARAMETERS OF DRIVE

This chapter provides some specific parameters of the drive, useful for further checks and settings.


MOTOR PARAMETER

0151h Motor type UINT16 Always Switch off

0152h Rated speed Motor UINT16 Always Switch off

0153h Rated current Motor UINT16 Always Switch off

0154h Peak current Motor UINT16 Always Switch off

0155h Stall Current UINT16 Always Switch off

0156h Rated Voltage UINT16 Always Switch off

0157h Resistance Phase UINT16 Always Switch off

0158h Synchronous Inductance UINT16 Always Switch off

0159h Time I2t Motor UINT16 Always Switch off

015Ah Motor Poles UINT16 Always Switch off

0165h Pole pitch mm (MSB)UINT32 Always Switch off

0166h Pole pitch mm (LSB)

FEEDBACK PARAMETERS

0150h Invert feedback UINT16 Always Switch off

0161h Type of Feedback UINT16 Always Switch off

015Bh Pulses per rev. encoder(MSB)UINT32 Always Switch off

015Ch Pulses per rev. Encoder (LSB)

0162h Offset Feedback UINT16 Always Always

0163h Bit single-turn UINT16 Always Switch off

0164h Bit multi-turn UINT16 Always Switch off

0167h Application Offset (MSB)UINT32 Always Switch off

0168h Application Offset (LSB)

030Ch Position Encoder (MSB)UINT32 Always No

030Dh Encoder position

GAINS OF REGULATOR

0202h Kp Speed regulator UINT16 Always Always

0203h Ki Speed regulator UINT16 Always Always

0204h Kd Speed regulator UINT16 Always Always

015Dh Kp Current Regulator UINT16 Always Always


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015Eh Ki Current Regulator UINT16 Always Always

015Fh Kd Current Regulator UINT16 Always Always

0205h Kp position UINT16 Always Always

ALARM MODE

0201h Alarm Management UINT16 Always Always

LIMITS

0206h Speed Limit UINT16 Always Always

0207h Current Limit UINT16 Always Always

FILTERS

0200h Enable Notch and PB filters UINT16 Always Switch off

0208h Notch filter frequence UINT16 Always Always

0209h Notch ® bandwidth UINT16 Always Always

20Ah Time filter PB on current IQ UINT16 Always Always

OUTPUT

0212h Set OUT1 UINT16 Always Always

0213h Set OUT2 (only x TOMCAT) UINT16 Always Always

0210h Velocity Threshold 0 UINT16 Always Always

0211h Velocity time 0 UINT16 Always Always

020Bh Time to enable brake UINT16 Always Always

020Ch Time to release brake UINT16 Always Always

020Eh Deceleration for brake insertion UINT16 Always Always

020Fh Enabled Brake speed UINT16 Always Always

0215h Output speed/frequency(1KHz) converter

UINT16 Always Always

BRAKING RESISTOR(Only for TOMCAT)

0120h Braking Resistance (ohm) UINT16 Always Always

0121h Rated power (W) UINT16 Always Always

0122h Overload time UINT16 Always Always

0123h Maximum braking voltage UINT16 Always Always

0124h Voltage hysteresis brake UINT16 Always Always

Table 54: Specific parameters of the drive


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5.1 Motor Parameters

This section describes the parameters related to motor matched to the drive.These parameters can be displayed and set using Caliper menu "Motor data" when the following screen appears:

5.1.1 Register 0151h (337 dec) – Type of motor


0151h Type of motor UINT16 0...2 0 Always Switch off

Parameter set for the motor type setting.

Value Type of motor Description

0 Rotative motor This setting changes the setting of the unit of measurement of speed in "rpm" and the location "Counts" in the data shown in the "Data Monitor" of Caliper, also the tool for the calculation of the factors and other parameters are prepared for manage units of the rotary type.

1 Linear motor With the "Linear" the unit of measure indicated in the "Monitor Data" is in "mm / s" for speed and "mm" for the position, also the tool for the calculation of factors, and other parameters are prepared to manage units of


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measurement of the linear type. In the motor parameters is added to the parameter "Pole pitch" (registers 0165h, 0166h) and the number of motor poles is set to the constant value of 2.

2 DC motor Enables the control of DC motor with the same units of the rotary engine. In this case the positive connector of the electric motor must be connected on the U-phase and negative connector on the phase W.

Table 55: Setting the type of motor

5.1.2 Register 0152h (338 dec) – Rated speed of the motor


0152h Rated speed UINT16 0...20000 3000 Rpm o

mm/s

Always Switch off

This parameter indicates the nominal motor speed expressed in rpm units or "mm / s", depending on the motor type

5.1.3 Register 0153h (339 dec) – Rated current of the motor


0153h Rated current UINT16 0...60000 100 A/100 Always Switch off

Parameter indicating the rated motor current expressed in ampere/100, the two least significant decimal digits are interpreted as decimal fractions of amps, for example, the value 100 is considered to be 1.00 A.

5.1.4 Register 0154h (340 dec) – Peak current of the motor


0154h Peak current UINT16 0...60000 200 A/100 Always Switch off

Parameter indicating the peak current of the motor expressed in ampere/100, the two least significant decimal digits are interpreted as decimal fractions of amps, for example, the value 200 is considered to be 2.00 A.


109

5.1.5 Register 0155h (341 dec) – Stall current of the motor


0155h Stall Current UINT16 0...60000 100 A/100 Always Switch off

Parameter indicating the current of the motor with the rotor locked in standstill position expressed in ampere/100, the two least significant decimal digits are interpreted as decimal fractions of amps, for example, the value 100 is considered to be 1.00 A.

5.1.6 Register 0156h (342 dec) – Rated Voltage of the motor


0156h Motor Rated Voltage UINT16 0...460 60 V Always Switch off

Parameter indicating the rated motor voltage expressed in volts.This parameter is not currently used by the firmware.

5.1.7 Register 0157h (343 dec) – Phase resistance


0157h Phase resistance UINT16 1...25000 20 Ohm/100

Always Switch off

Parameter indicating the resistance of phase-to-phase winding of the electric motor in hundredths of ohms.This parameter is not currently used by the firmware.

5.1.8 Register 0158h (344 dec) – synchronous inductance


0158h Phase inductance UINT16 1...65000 2 mH/ 100

Always Switch off

Parameter indicating the winding inductance phase to phase of the electric motor in hundredths of mH.This parameter is not currently used by the firmware.


110

5.1.9 Register 0159h (345 dec) – Time I2T of the motor


0159h Time I2T of the motor UINT16 1...3000 120 sec Always Switch off

Parameter to set the maximum time in seconds that can be supplied to the motor a current tow time of the Rated motor current (Register 0153h); if such current is maintained for longer than the set time, the current is limited to the

nominal value and it's raised the 15-bit of the variable Alarms1 (Register 0303h)

5.1.10 Register 015Ah (346 dec) – Motor poles


015Ah Motor poles UINT16 2...50 6 Always Switch off

This parameter sets the number of motor poles. In a motor with encoder, properly setting the number of pulses per revolution, the drive is capable of automatic calculate the number of the poles during the procedure of automatic timing ( also called auto-tuning )


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5.2 Feedback parameters

This section describes the parameters related to the position sensor installed on the electric motorThese parameters can be displayed and set using Caliper menu "Motor data" under "Feedback" in which the following screen appears:

5.2.1 Register 0150h (336 dec) Invert Feedback


0150h Invert feedback UINT16 0..1 0 Bit Always Switch off


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Bit Name Description Bit Modbus flag speed

0 Invert feedback Bit 0 = 0; With the standard cabling HDT when the

motor rotates clockwise, the velocity is positive and

the position count increases.

Bit 0 = 1; With the standard cabling HDT when the

motor rotates clockwise velocity is negative and the

position count decreases.

1..16 (reserved)

Table 56: Invert Feedback

This parameter allows you to reverse the counting direction of the position sensor. With the same speed reference or position of the motor also reverses the direction of rotation.

5.2.2 Register 0161h (353 dec) – Type of feedback


0161h Feedback type UINT16 0...3 0 Always Switch off

Parameter set for the setting of the type of position sensor used as feedback.

Valori Tipo feedback Description

0 Incremental encoders without halls sensors

With this setting, you should set hte number of pulses encode in the parameter “encoder pulses per revolution”(registers 015Bh, 015Ch), after which at the first power enable is performed a procedure that lasts a few seconds and serves to align the rotor magnet in the position suitable to the optimal control of torque. This procedure involves a rotation of a certain angle (max 180 ° / numb.of polar pairs) or a shift in the case of the linear motor, so it is necessary that there are no obstacles or impediments that restrict the movement of the electric motor as it would lead to a incorrect calculation of the optimal point for the motor control. At the end of the procedure the parameter Reset Autophasing Motor Encoder (Register 0160h) is set to 1. To repeat the procedure at the next power just reset this parameter.

1 Encoder incrementale with Hall sensors

In this case you should set the number of encoder pulses in the parameter Encoder pulses per revolution(Registers 015Bh, 015Ch), you must set the phase of the motor magnet set in Degrees units in the parameter Offset (Register 0162h) or can be


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automatic calculated using the button ”Position Setting

Tuning “, that initiates the calibration of the position sensor, the search of the poles of the motor and the caluclation of the offset fo the magnetic field of the rotor.

2 Only Hall Sensors In this setting are only connected sensors of Halls, in this situation the dynamic performance of the control are very limited as the absence of the encoder, the motor is controlled in trapezoidal mode rather than sinusoidal.

3 Encoder SSI This type of sensor is acquired in serial mode. Is parameterized by setting the number of bits of resolution on the position provided by the manufacturer of the sensor. In this case must be set the parameters of the single turn Bit (Register 0163h), bit multi-turn (Register 0164h), the phase of the magnet motor in degrees in the Offset parameter (Register 0162h) or can be calculated automatically using ”Position Setting Tuning “The absolute position measured is readen and reported by the parameter Encoder position (registers 030Ch, 030Dh); to this value is removed the value of the Application Offset (registers 0167h, 0168h),and the data obtained represent the value of the measuerd position used to manage the Positioner Application. Changing the parameter Application Offset (registers 0167h, 0168h) you can move the zero of the application.

Table 57: Type of Encoder

5.2.3 Registers 015Bh (347 dec) 015Ch (348 dec) Pulses/Revolution ( or pole pitch )

The registers 015Bh and 015Ch are a single 32-bit variable, therefore should be managed as described in Section 4.1 (managing 32-bit variables).


015Bh015Ch

Pulses per revolution UINT32 64..100FFFFh 1024 (dec) Always Switch off

This parameter sets the number of encoder pulses corresponding to one turn of the motor, corresponding to a pole pitch in the case of a linear motor.


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5.2.4 Register 0162h (354 dec) – Offset feedback


0162h Offset feedback UINT16 0...36000 0 °/100 Always Always

Parameter indicating the offset position of the position sensor, expressed in degrees, the two least significant decimal digits are interpreted as decimal fractions of a degree, for example, the value 18000 is considered as 180.00 °.The calculation of the position sensor can be calculated automatically using the ”Position Setting Tuning “ (found in the toolbar at the top), which initiates the calibration of the position sensor, the research of motor poles and the calculation of 'offset of the magnetic field of the rotor.

5.2.5 Register 0163h (355 dec) – Bit single-turn


0163h Bit single-turn UINT16 4...31 12 Count Always Switch off

Parameter indicating the number of bits of resolution over a single revolution with absolute encoders.

5.2.6 Register 0164h (356 dec) – Bit Multi-turns


0164h Bit multi-giro UINT16 0...31 0 Count Always Switch off

Parameter indicating the number of bits of resolution relating to the multi-turn absolute encoders.

5.2.7 Registers 0167h (359 dec) 0168h (360 dec) Offset Application

The registers 0167h and 0168h are a single 32-bit variable, therefore should be managed as described in Section 4.1 (managing 32-bit variables).


0167h0168h

Offset Application INT32 ± 7FFFFFFFh 0 Always Always

When using an absolute encoder, With this parameter it is possible to move the position of the zero of the application as the value of the measured position, to manage applications that work in the position control is obtained by the difference of the parameter Encoder position (registers 030Ch , 030Dh) with this parameter.Using the "Home" button on the page "Feedback" is reset the current position based on


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the value read in the parameter encoder position (registers 030Ch, 030Dh).

The range of the whole 32 bit variable is : -2147483648 ...+2147483647

5.2.8 Registers 030Ch (780 dec) 030Dh (781 dec) Encoder position

The registers 030Ch and 030Dh are onlyr read and they are a single 32-bit variable, therefore should be managed as described in Section 4.1 (managing 32-bit variables).


030Ch030Dh

Encoder position INT32 ± 7FFFFFFFh 0 Always No

This parameter is read-only and returns the absolute value of the measured position read by the encoder serial (SSI).


116

Measured position=Encoder positionOffset application

5.3 Regulators gains

This section describes the parameters for the calibration of the rings of speed, current and position.These parameters can be displayed and set using Caliper menu "Advanced Setup" under the heading "Rec xxx "in which appear the following screens:

5.3.1 Register 0202h (514 dec) – Kp speed regulator


0202h Kp speed regulator UINT16 1...3000 200 Always Always

Parameter designed to setting the proportional gain of the speed controller.

5.3.2 Register 0203h (515 dec) – Ki speed regulator


0203h Ki speed regulator UINT16 0...3000 100 Always Always

Parameter for setting the integral gain of the speed controller.

5.3.3 Register 0204h (516 dec) – Kd speed regulator


0204h Kd speed regulator UINT16 1...1000 20 Always Always

Parameter for setting the derivative gain of the speed controller. Not managed by the current firmware.


117

5.3.4 Register 015Dh (349 dec) – Kp current regulator


015Dh Kp current regulator UINT16 1...2000 1000 Always Always

Parameter for setting the proportional gain of the current regulator.

5.3.5 Register 015Eh (350 dec) – Ki current regulator


015Eh Ki current regulator UINT16 1...2000 400 Always Always

Parameter for setting the integral gain of the current controller

5.3.6 Register 015Fh (351 dec) – Kd current regulator


015Eh Kd current regulator UINT16 1...1000 20 Always Always

Parameter for setting the derivative gain of the current controllerNot managed by the current firmware.

5.3.7 Register 0205h (517 dec) – Kp Position Regulator


0205h Kp position regulator UINT16 0...4000 200 Always Always

Parameter for setting the proportional gain of the position controller.


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5.4 Alarms mode

This section describes the parameter that allows a differentiated management of alarms.This parameter can be displayed and set using Caliper menu "Advanced Setup" to "alarm mode" in which the following screen appears:

Picture 37: Caliper: Setting “Alarm mode”

5.4.1 Register 0201h (513 dec) – Alarm mode


0201h Alarm mode UINT16 0...65535 0A Always Always

Variable bit for setting the alarm mode in the drive, according to the following table.

Bit Description

0 Over-voltage alarm mode

Value Description

0 Memorized: it is shown a alarm of “overvoltage” and the drive goes into “fault”. For recovery it is necessary to give a command of reset or to switching on again the drive.

1 Auto reset: it is shown an alarm of “overvoltage” and the drive switch in “Fault”. When the voltage goes below the threshold of “overvoltage” the drive go out from the “Fault” status without the need for external reset.

1 Under-voltage alarm mode

Value Description

0 Memorized: it is shown a alarm of “under-voltage” and the drive goes into “fault”. For recovery it is necessary to give a command of reset or to switching on again the drive.

1 Auto reset: it is shown an alarm of “undervoltage” and the drive switch into “Fault”. When the voltage rises above the threshold of “under-voltage”, the drive exits from the “Fault” Status without the need for external reset.

2 I2t drive alarm mode


119

Value Description

0 limit at rated current: when the alarm is activated I2t drive the maximum current is limited to the rated current of the drive, and remains at that value regardless of the evolution of the estimated temperature of the drive.

1 Auto reset cicles: in case the alarm “I2t drive” is present, and the estimated temperature is below the maximum, the alarm I2t drive is automatically deleted.

3 Modo secure disable (only for TOMCAT SERVODRIVE)

Value Description

0 Memorized: it's shown an alarm of “secure disable“ and the drive goes in “Fault” status. It need to be reset to exit from this condition.

1 Auto reset: it's shown a alarm of “secure disable“ and the drive goes in “Fault” status. Whe e il drive passa nello stato di “Fault”. When on the voltage predisposed for this function is restored a voltage, the drive exits from the “Fault” condition without need for an external reset.

4..7 Riserved

Table 58: Type of Alarms


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5.5 Limits

These parameters allow you to set the maximum speed limit and current used by the drive.These parameters can be displayed and set using Caliper menu "Advanced Setup" under "Limits" in which the following screen appears:

5.5.1 Register 0206h (518 dec) – Speed Limit


0206h Speed limit UINT16 0...20000 5000 rpm Always Always

This parameter indicates the maximum absolute value, expressed in units of rpm, of the speed reference

5.5.2 Register 0207h (519 dec) – Current Limit


0207h Current Limit UINT16 0...3000 2000 %/10 Always Always

This parameter allows the setting of the maximum absolute value of the current, expressed as a percentage/10 compared to the rated current of the motor, for example if the motor rated current is 2.00 A and the current limit is set to 2000 maximum allowable current will be equal to 4.00 A.


121

5.6 Filters

This section describes the registers that allow you to parameterize the filter Notch and IQ of the drive.These parameters can be displayed and set using Caliper menu "Advanced Setup" in the "Notch Filter" and "Filter Iq" which appear in the following screens:

5.6.1 Register 0200h (512 dec) – Enable Filter of Notch and Iq


0200h Alarm mode UINT16 0...3 0 Always Always

Bit variable to enable the filters, according to the following table:

Bit Description

0 Enable/disable Notch Filter

Value Description

0 Notch filter disabled

1 Notch filter enabled

1 Enable / disable low pass filter Iq

Value Description

0 Low pass filter Iq disabled

1 Low pass filter Iq enabled

2..15 Reserved


122

Table 59: Abilitazione Filtri

5.6.2 Register 0208h (520 dec) – Notch frequency


0208h Notch frequence UINT16 2...400 220 Hz Always Always

Parameter set for setting the frequency of the notch filter.

5.6.3 Register 0209h (521 dec) – Bandwidth Notch (R)

Address Name Type Range

Default Unit Read Write

0209h Bandwidth Notch (R) UINT16 8000...9900

9500 Always Always

Parameter used to change the bandwidth of the Notch filter.

5.6.4 Register 020Ah (522 dec) – Low pass filter time on current Iq


020Ah Enable filter time Iq UINT16 1...3000 20 Ms/100 Always Always

This parameter represents the time constant of the low pass filter of the torque current Iq and is expressed in ms/100 (the two least significant decimal digits are interpreted as decimal fractions of ms, for example, the value 20 is considered as 0.20 ms .).


123

5.7 Output

In this section are described the registers that are used to configure the outputs of the Drive. These parameters can be displayed and set using Caliper menu "Advanced Setup" under "Output" which appear in the following screens:

Picture 40: Caliper: “Output” Setting

5.7.1 Register 0212h (530 dec) – Setting Out1


0212h Setting Out1 UINT16 0 Torque Limit 0 Always Always

1 Alarm I2t

2 Speed 0

3 Position reached

4 Motor Brake

5 Vel-Freq out

6 Secure Disable

Parameter Setting Out 1 allows you to associate a function designed to manage the output 1 according to the set value, the description of assignable functions are specified in the following table.


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Value Type of motor Description

0 Torque limit ● This function brings the output to a high logic level when the drive enters in torque limitation.

1 Alarm I2t ● In case an alarm of I2t of the motor or drive occurs the output is set to a high logic level

2 Speed 0 ● In this case is reported the achievement of the zero speed according to the parameters speed0 Threshold (Register 0210h) and Time speed0 (Register 0211h)

3 Position reached ● In case the drive is set in positioner mode, the output switches to a high logic value when it reaches the set position.

4 Motor brake ● When this function is selected, the output control the motor brake following the parameters Time brake enables (Register 020Bh), Time release brake (Register 020Ch), Insertion brake deceleration (Register 020Eh), Enable brake speed(Register 020Fh)

5 Vel-Freq out ● This function provides a frequency signal proportional in modulus to the measured velocity according to the value set in the parameter speed at 1 KHz (Register 0215h).

6 Secure Disable ● This function shows when the servodrive is in the status of “secure disable”. (This function is only available for servodrive TomCat)

Table 60: Setting Output 1

5.7.2 Register 0213h (531 dec) – Setting Out2 (Only for TOMCAT Servo)


0213h Setting Out2 UINT16 0 Torque Limit 0 Always Always

1 Alarm I2t

2 Speed 0

3 Position reached

4 Motor Brake

5 Vel-Freq out

6 Secure Disable

Parameter Setting Out 2 allows you to associate a function designed to manage the output 2 according to the set value, the description of assignable functions are the same of the Out1 ( see previous paragraph)


125

5.7.3 Register 0210h (528 dec) – Speed 0 Threshold


0210h 0 Speed threshold UINT16 1..1500 10 rpm Always Always

If the module of the speed measured is lower than the value set in this parameter, for the time set in the parameter Time threshold speed 0(Register 0211h), its output takes the logic value 1, vice versa in the complementary situation (measured speed > Speed 0 threshold) the outp is set to a logical 0.

5.7.4 Register 0211h (529 dec) – Speed 0 time


0211h Speed 0 time UINT16 1..10000 100 msec Always Always

Time speed0 is the parameter that indicates the time during which is verified whether the measured speed exceeds the threshold value set in Threshold Speed0 (Register 0210h)

5.7.5 Register 020Bh (523 dec) – Time of Enable brake


020Bh Enable brake time UINT16 10..2000 200 msec Always Always

You set the time delay between the release of the brake and the the mechanical engage.

5.7.6 Register 020Ch (524 dec) – Time to disable brake


020Ch Disable time brake UINT16 10..2000 200 msec Always Always

You set the time delay between the command of exitation of the brake and the mechanical releaseSi imposta il tempo di ritardo tra il comando di eccitazione del freno e l'avvenuto rilascio meccanico.

5.7.7 Register 020Eh (526 dec) – Deceleration brake insertion


020Eh Deceleration brake insertion

UINT16 1..60000 1000 Rpm/s Always Always


126

The Drive, before disabling the torque to the electric motor and close the brake check if the motor speed is below the threshold set in the parameter "enable speed brake (Register 020Fh)." If the speed is higher than this threshold, the drive controls a deceleration ramp whose slope is set in this parameter. Once the electric motor has reached the "speed brake enables" the drive controls the closing of the brake and disables the drive.If there is a fault in the drive, the brake is activated instantly without any speed control.

5.7.8 Register 020Fh (527 dec) – Speed enables brake


020Fh Speed enable brake UINT16 1..500 4 Rpm Always Always

This parameter indicates the minimum speed below which the motor brake is activated during the stopping phase.

5.7.9 Register 0215h (533 dec) – Drive Output Speed/Frequency(1KHz)


0215h Drive output speed/frequency

UINT16 100..4000 3000 Rpm Always Always

The Drive generates in a special output a frequency signal proportional to the measured speed. The maximum output frequency is 1 kHz and the value set in this parameter represents the value of the measured velocity in module corresponding to a frequency of 1 kHz.Example: With the default data at 3000 rpm if the measured speed is 1500 rpm drive generates a frequency of 500 Hz

5.8 Braking resistor (Only for Tomcat)

This section describes the registers that allow you to parameterize the characteristics of the braking resistor eventually connected to the drive and the voltage of intervention.These parameters can be displayed and set using Caliper menu "Advanced Setup" to "Resistance fenatura" in which the following screen appears:

Picture 41: Caliper: Setting “ Braking Resistor”

5.8.1 Register 0120h ( 288dec) – Braking Resistor


0120h Braking Resistor UINT16 10..10000 100 ohm Always Always

In this parameter you set the value in Ohm of the braking resistor connected to the drive.


127


0121h Rated Power UINT16 30..10000 90 Watt Always Always

In this parameter you set the value in Watt of the rated power of the braking resistor connected to the drive.

5.8.3 Register 0122h ( 290dec) – Braking resistor overload time


0122h Overload Time UINT16 1..255 1 Sec Always Always

This parameter sets the time allowed by the overload braking resistor connected to the Drive.

5.8.4 Register 0123h ( 291dec) – Maximum braking voltage


0123h Max braking voltage UINT16 15..840 380(Tomcat240) 780(Tomcat460)

Volt Always Always

This parameter sets the voltage of the DC BUS which value anable the braking resistor.


128

5.8.5 Register 0124h ( 292dec) – Braking hysteresys Voltage


0124h Braking Hysteresys voltage

UINT16 15..840 30 (Tomcat240) 50 (Tomcat460)

Volt Always Always

This parameter set the hysteresys on the maximum barking voltage which value the drive disable the braking resistor.When the voltage of the DC BUS drops below the value resulting by the difference between the register “ maximum braking Voltage” and register “braking hysteresys voltage” the braking resistor is disabled.


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H.D.T. s.r.l.www.hdtlovato.com

via Sile 8, 36030 Monte di Malo (VI)Indirizzo Postale C.P. 98 I-36015 Schio (VI) – Tel. +39. (0) 445.602744 r.a. – Fax +39. (0) 445.602668


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hdt brushless servodrives dgfox tomcat series version 1.01 added parameters 030eh, 030fh, 0310h,...

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