x20sm1436 - kerntechx20sm1436 data sheet v 1.32 1 x20sm1436 1 general information the stepper motor...

X20SM1436

Data sheet V 1.32 1

X20SM1436

1 General information

The stepper motor module is used to control stepper motors with a rated voltage of 24 to 39 VDC (±25%) at amotor current up to 3 A (3.5 A peak). Additionally, this module has four digital inputs that can be used as limitswitches or as encoder inputs.By individually adjusting the coil currents, the motor is only operated with the current it actually needs. This simpli-fies the selection of the available motors and prevents unnecessary heating. Because the latter reduces energyconsumption and thermal load, the effects are positive on the lifespan of the complete system. Complete flexibilityis achieved by using the values for holding current, maximum current and rated current, which are completely in-dependent of each other. The current for the microsteps is automatically adjusted to the configured current values.The automatic motor identification system is an enormous help during standstills. The stepper motor modules canidentify the connected motors using their coil characteristics and generate feedback in the form of an analog value.This makes it possible to detect not only wiring errors, but also incorrect motor types being used mistakenly. A stalldetection mechanism is integrated to analyze the motor load. The stall is recognized using a configurable threshold.This allows an overload or motor standstill to be detected precisely in many different types of applications.

• 1 stepper motor, 24 to 39 VDC ±25%, 3 A (3.5 A peak)• Resolution of current values at 1%• Boost, rated and holding current configured independent of each other• 38.5 kHz PWM frequency• Integrated motor detection• 256 micro-steps• Stall detection• Complete integration in Automation Studio and CNC applications• 4 inputs, 24 VDC, can be configured as ABR• Ramp function model based on the CANopen communication profile DS402

2 Order dataModel number Short description Figure

Motor controllersX20SM1436 X20 stepper motor module, module supply 24-39 VDC ±25%, 1

motor connection, 3 A continuous current, 3.5 A peak current,4 digital inputs 24 VDC, sink, can be configured as incrementalencoderRequired accessoriesBus modules

X20BM31 X20 bus module for double-width modules, 24 VDC keyed, in-ternal I/O supply continuousTerminal blocks

X20TB12 X20 terminal block, 12-pin, 24 VDC keyed

Table 1: X20SM1436 - Order data

X20SM1436

2 Data sheet V 1.32

3 Technical dataProduct ID X20SM1436Short descriptionI/O module 1 full bridge for controlling stepper motorsGeneral informationB&R ID code 0x2682Status indicators I/O function per channel, operating state, module statusDiagnostics

Module run/error Yes, using status LED and softwareOutput Yes, using status LED and softwareI/O supply Yes, using software

Power consumptionBus 0.01 WInternal I/O -External I/O

24 VDC 2.45 W48 VDC 3.15 W

Additional power dissipation caused by the actua-tors (resistive) [W]

-

Electrical isolationChannel - Bus YesChannel - I/O supply No

CertificationCE YescULus YesATEX Zone 2 1) YesKC YesGOST-R Yes

Motor bridge - Power unitQuantity 1Type 2-phase bipolar stepper motor (full bridge)Nominal voltage 24 to 39 VDC ±25%Nominal current 3 AMaximum current 3,5 A for 2 s (after a recovery time of at least 10 s at maximal 3 A)Controller frequency 38.4 kHzDC bus capacitance 100 µFStep resolution Max. 256 microsteps per stepModule supply

Supply ExternalFuse Required line fuse: Max. 16 A, slow-blow

Output protection No reverse polarity protection for supply voltageDigital inputsQuantity 4Nominal voltage 24 VDCInput filter

Hardware <5 µsSoftware -

Connection type 1-wire connectionsInput circuit SinkAdditional functions 1x ABR incremental encoderInput resistance Typ. 18.2 kΩABR incremental encoderQuantity 1Encoder inputs 24 V, asymmetricalCounter size 16-bitInput frequency Max. 50 kHzEvaluation 4xOperating conditionsMounting orientation

Horizontal YesInstallation at elevations above sea level

0 to 2000 m No limitations>2000 m Reduction of ambient temperature by 0.5°C per 100 m

EN 60529 protection IP20Environmental conditionsTemperature

OperationHorizontal installation 0 to 50°CVertical installation Not allowed

Derating -Storage -25 to 70°CTransport -25 to 70°C

Table 2: X20SM1436 - Technical data

X20SM1436

Data sheet V 1.32 3

Product ID X20SM1436Relative humidity

Operation 5 to 95%, non-condensingStorage 5 to 95%, non-condensingTransport 5 to 95%, non-condensing

Mechanical characteristicsNote Order 1x X20TB12 terminal block separately

Order 1x X20BM31 bus module separatelySpacing 25 +0.2 mm

Table 2: X20SM1436 - Technical data

1) Ta min.: 0°CTa max.: See environmental conditions

4 LED status indicators

For a description of the various operating modes, see section "re LEDs" in chapter 2 "System characteristics" ofthe X20 system user's manual.

Figure LED Color Status DescriptionOff No power to moduleSingle flash RESET modeDouble flash BOOT mode (during firmware update)1)

Blinking PREOPERATIONAL mode

r Green

On RUN modeOff No power to module or everything OKe RedOn Error or reset state

e + r Red on / Green single flash Invalid firmware1 - 4 Green Input state of the corresponding digital inputM Orange On Motor is active

1) Depending on the configuration, a firmware update can take up to several minutes.

5 Pinout

In accordance with the EN60204-1 standard, a cable cross section of 0.75 mm² or larger must be used for themotor outputs in order to handle the maximum motor current of 3.5 A. To ensure full motor power, voltage dropsthat could result from the cable length and the electrical connections must also be taken into consideration whenselecting the attachment cable.

Warning!The terminal block is not permitted to be plugged in or unplugged during operation.

Information:Shielded motor cables must be used in order to meet the limits according to the EN55011 standard(emissions).

DI 1

DI 3

DI 2

DI 4

A A\

B B\

X20

SM 1

436 r e

1 23 4M

24 - 39 VDC 24 - 39 VDC

GND GND

X20SM1436

4 Data sheet V 1.32

6 Connection example

Information:This module can only be operated if supplied with power via the terminal block.

_+

+

_

GND+24 VDC

GND+24 VDC

SM

Sensor 3

Sensor 1

Sensor 4

Sensor 2

+24 VDC

24 - 39 VDC

Winding A

Winding B

16 A slow-blow

7 Connection options for digital inputs

Standard function modelChannel Function

DI 1 Digital input ADI 2 Digital input BDI 3 Digital input RDI 4 Digital input Trigger input

Ramp function modelChannel Function

DI 1 Digital input A ADI 2 Digital input B BDI 3 Digital input R Negative limit switchDI 4 Digital input Digital input Positive limit switch

X20SM1436

Data sheet V 1.32 5

8 Input circuit diagram

Input x

GND

GND

VDR

Input status

I/O status

LED (green)

9 Output circuit diagram

LA

24 V - 39 V

HA

LA\

HA\

LB

HB

LB\

HB\

A

A\

B

B\

Current comparator A Current comparator B

MotorController

MotorController

Voltage monitoring

24 V - 39 VExternal supply

24 V - 39 VExternal supply

Transil diode

10 Overvoltage motor cutoff

The module supply voltage is continually monitored. Its status can be read. The error "Module power supply error"occurs when the voltage is above or below the limits.If the supply voltage on the module rises or falls outside the limit values (e.g. due to regeneration), then the motoroutput is switched off.The outputs are reactivated as soon as the supply voltage is back in the valid range and the error bit is reset.Supply voltage limit values

Drive is switched off Drive is switched back onLower limit <18 V >19.5 VUpper limit >50 V <49 V

X20SM1436

6 Data sheet V 1.32

11 Overtemperature cutoff (at 85°C)

If the module temperature reaches or exceeds the limit value of 85°C, then the module executes the followingactions:

• Setting the "overtemperature" error bit• The outputs are switched off (short-circuited)

As soon as the temperature sinks back down below 85°C, the error must be acknowledged with Overtempera-tureAcknowledge so that the channels can be switched on again.

12 Power supply dimensioning

The motor's current consumption depends on the defined motor currents, the available power and the actual motorbeing used.ExampleMotor model number 80MPD5.300S000-01Defined current in the motor module 3 AMotor module supply voltage 48 VDCMotor load 1 Nm

Table 3: Power supply dimensioning example - Basic data

Ieff

Pout

50 75 100 125 150 175 200 225 250 275 300 325 350 375 400 425 450 475 500 525 550 575 6000.00

10.00

20.00

30.00

40.00

50.00

60.00

70.00

0.00

0.25

0.50

0.75

1.00

1.25

1.50

1.75

2.00

2.25

2.50

2.75

3.00

Key:Ieff

Pout

Figure 1: Power supply dimensioning example - Power/speed dependency

The example is based on a constant load throughout the entire speed range.An increase in the motor load causes an increase in the effective current of the module supply.

X20SM1436

Data sheet V 1.32 7

13 Protection

The power supply line should be protected by a circuit breaker or a fuse. In general, dimensioning the supply lineand overcurrent protection depends on the structure of the power supply (modules can be connected individuallyor in groups).

Information:The effective current for the power supply depends on the load but is always less than the motorcurrent. Make sure the maximum nominal current of 10 A is not exceeded on the power supply terminalsof the power unit.

When choosing a suitable fuse, the user must also account for characteristics such as aging effects, temperaturederating, overcurrent capacity and the definition of the rated current, which can vary by manufacturer and type. Inaddition, the fuse that is selected must also be able to handle application-specific characteristics (e.g. overcurrentthat occurs in acceleration cycles).The cross section of the power mains and the rated current of the overcurrent protection used are chosen accordingto the current load so that the maximum current load for the cable cross section selected (based on the type ofwiring, see table) is greater than or equal to the current load in the power mains. The rated current of the overcurrentprotection must be less than or equal to the maximum current load for the cable cross section selected (basedon the type of wiring, see table):

IMains ≤ Ib ≤ IZ

Mains ≤ Fuse ≤ Line/cable

Maximum current load for cable cross section IZ / rated current for overcurrent protection Ib [A] depending onthe type of wiring at an ambient air temperature of 40°C in accordance with IEC 60204-1

Wire cross section [mm²] B1 B2 C E1.5 13.5 / 13 13.1 / 10 15.2 / 13 16.1 / 162.5 18.3 / 16 16.5 / 16 21 / 20 22 / 20

Table 4: Cable cross section of the mains supply line depending on the type of wiring

The tripping current of the fuse must not exceed the rated current for overcurrent protection Ib.Type of wiring DescriptionB1 Wires in conduit or cable ductB2 Cables in conduit or cable ductC Cables or wires on wallsE Cables or wires on open-ended cable tray

Table 5: Type of wiring used for the mains supply line

X20SM1436

8 Data sheet V 1.32

14 Derating

Modules next to the SM module can have a maximum power consumption of 1 W. To ensure proper operation, thederating values listed below must be adhered to:Power loss derating for neighboring modulesModules directly next to the SM module can have a power loss of 1 W. If the SM module is operated at the ratedload over the entire temperature range (3 A rated current), the power loss of neighboring modules must be deratedstarting at 45°C.

Nei

ghbo

ring

mod

ule

Der

atin

g of

pow

er lo

ss

SM M

odul

eO

pera

tion

with

cur

rent

der

atin

g (3

A)

Nei

ghbo

ring

mod

ule

Der

atin

g of

pow

er lo

ss

X20

mod

ule

Pow

er lo

ss ≤

1.8

W

X20

mod

ule

Pow

er lo

ss ≤

1.8

W

Figure 2: Operating the SM module over the entire temperature range at 3 A rated current

Ambient temperature [°C]

00

0.2

0.4

0.6

0.8

1

40302010 50

Pow

er lo

ss o

f nei

ghbo

ring

mod

ule

[W]

Figure 3: Power loss derating for directly neighboring modules

X20SM1436

Data sheet V 1.32 9

Current derating of the SM moduleIf the power loss of the neighboring modules to the SM module is 1 W, then the current of the SM module mustbe derated starting at 45°C.

X20

mod

ule

Pow

er lo

ss =

1 W

SM m

odul

eO

pera

tion

with

cur

rent

der

atin

g

X20

mod

ule

Pow

er lo

ss =

1 W

X20

mod

ule

Pow

er lo

ss ≤

1.8

W

X20

mod

ule

Pow

er lo

ss ≤

1.8

WFigure 4: Neighboring modules to the SM module have a power loss of 1 W

Ambient temperature [°C]

00

0.5

1.0

1.5

2.02.2

2.5

3.0

40302010 50

Rat

ed c

urre

nt [A

]

Figure 5: Current derating of the SM module

Hardware configuration for multiple SM modulesIf three or more SM modules are operated in a cluster, a dummy module must be inserted between the SM modules.There is no derating in this configuration.

Pow

er lo

ss ≤

1.8

W

SM m

odul

e

SM m

odul

e

SM m

odul

e

Dum

my

mod

ule

Dum

my

mod

ule

Dum

my

mod

ule

X20

mod

ule

Figure 6: Operating three or more SM modules in a cluster

X20SM1436

10 Data sheet V 1.32

15 Register description

15.1 General data points

In addition to the registers listed in the register description, the module also has other more general data points.These registers are not specific to the module but contain general information such as serial number and hardwareversion.These general data points are listed in the "General data points" section of chapter 4 "X20 system modules" inthe X20 system user's manual.

15.2 Function model 0 - Standard without SDC

Read WriteRegister Name Data typeCyclic Non-cyclic Cyclic Non-cyclic

Configuration44 Stall threshold UINT ●46 Module configuration 1 UINT ●33 Holding current USINT ●34 Nominal current USINT ●35 Maximum current USINT ●32 Counter configuration USINT ●52 Mixed decay threshold UINT ●81 Motor ID trigger USINT ●84 Full step threshold UINT ●92 Minimum speed for stall detection UINT ●

Reads the configuration33 Holding current USINT ●34 Nominal current USINT ●35 Maximum current USINT ●

Communication6 Position sync/async UINT ●

64 Position latched sync/async INT ●12 Motor ID UINT ●

Index* 2 + 16 MotorStepN (Index N = 0 to 3) UINT ●0 Position sync/async INT ●

86 Position sync 2 INT ●Input counter state USINTModulePowerSupplyError Bit 0StatusInput01 Bit 2StatusInput02 Bit 3StatusInput03 Bit 4

4

StatusInput04 Bit 5

●

Error status USINTStallError Bit 0OvertemperatureError Bit 1CurrentError Bit 2

10

OvercurrentError Bit 3

●

60 Position latched sync/async INT ●68 usSinceTrigger UINT ●

Module configuration 2 USINTStartLatch Bit 0TriggerEdgePos Bit 1TriggerEdgeNeg Bit 2TriggerEdge Bit 3StartTrigger Bit 4

54

ClearError Bit 5

●

Stepper latch trigger status USINTLatchInput Bit 0LatchDone Bit 1

72

TriggerInput Bit 4

●

74 Measuring motor load USINT ●

X20SM1436

Data sheet V 1.32 11

15.3 Function model 0 - Standard with SDC

Read WriteRegister Name Data typeCyclic Non-cyclic Cyclic Non-cyclic

Configuration44 Stall threshold UINT ●- Module configuration 1 UINT ●

33 Holding current USINT ●34 Nominal current USINT ●35 Maximum current USINT ●32 Counter configuration USINT ●52 Mixed decay threshold UINT ●81 Motor ID trigger USINT ●84 Full step threshold UINT ●92 Minimum speed for stall detection UINT ●

102 SDC configuration USINT ●103 Motor settling time USINT ●107 Turn-off delay USINT ●

Reads the configuration33 Holding current USINT ●34 Nominal current USINT ●35 Maximum current USINT ●

Communication6 Position sync/async UINT ●

12 Motor ID UINT ●112 SDC life sign monitoring INT ●

Motor current USINTDriveEnable01 Bit 0BoostCurrent01 Bit 1

100

StandstillCurrent01 Bit 2

●

74 Measuring motor load USINT ●73 Life cycle counter SINT ●0 Position sync/async INT ●

Input counter state USINTModulePowerSupplyError Bit 0StatusInput01 Bit 2StatusInput02 Bit 3StatusInput03 Bit 4

4

StatusInput04 Bit 5

●

Error status USINTStallError01 Bit 0OvertemperatureError01 Bit 1CurrentError01 Bit 2OvercurrentError01 Bit 3

10

DrvOk01 Bit 4

●

Error acknowledgment USINT54ClearError01 Bit 5

●

16 Motor1Step0 INT ●200204

Home positionHome position

INT ●

212214

Reference pulse counterReference pulse counter

SNT ●

220 Net time of the position value INT ●208 Trigger timestamp INT ●216 Trigger counter SINT ●

X20SM1436


15.4 Function model 254 - Bus controller and function model 3 - Ramp

Read WriteRegister Offset1) Name Data typeCyclic Non-cyclic Cyclic Non-cyclic

Configuration48 - Holding current USINT ●49 - Nominal current USINT ●50 - Maximum current USINT ●72 - Full step threshold UINT ●52 - Maximum speed UINT ●54 - Maximum acceleration UINT ●56 - Maximum deceleration UINT ●58 - Reversing loop INT ●60 - Fixed position A DINT ●64 - Fixed position B DINT ●68 - Homing speed UINT ●74 - Stall recognition delay USINT ●75 - Jolt time USINT ●78 - Minimum speed for stall detection UINT ●70 - Homing configuration SINT ●51 - Stall detection configuration / Mixed decay USINT ●

306 - General configuration USINT ●308 - Limit switch configuration USINT ●344 - Software limit DINT ●348 - Software limit DINT ●

Reads the configuration48 - Holding current USINT ●49 - Nominal current USINT ●50 - Maximum current USINT ●

Communication0 0 Set position/speed DINT ●4 4 Control word UINT ●6 6 Mode SINT ●0 0 Current position (cyclic) DINT ●4 4 Status word UINT ●6 6 Input status USINT ●

84 - Motor ID UINT ●86 - Homed zero position DINT ●94 - Homed zero position DINT ●90 - Current position (acyclic) DINT ●80 - Reads the extended control word UINT ●82 - Read back mode SINT ●98 - Error code UINT ●

1) The offset specifies the position of the register within the CAN object.

15.4.1 Operation with bus controller

The following function model can be used when the SM module is used together with a bus controller.Bus controller Function modelX20BC0083, X20BC1083, X20BC8083, X20BC8084 All function modelsAll others Function model 254 - Bus controller (identical to Ramp function model)

15.4.2 CAN I/O bus controller

The module occupies 1 analog logical slot on CAN-I/O 1.

X20SM1436


15.5 Register description: Standard functional model, shared registers

15.5.1 Configuration registers

15.5.1.1 Stall threshold

Name:ConfigOutput01The SM module features integrated sensorless load measurement for the motor axis. This is especially useful fordetecting a "stall condition" (e.g. if the motor moves to the end point during a homing procedure). It cannot be usedfor torque monitoring during dynamic movements.With the "stall threshold" register, a threshold can be defined according to the motor load, and the module detectsa stall condition started at this threshold (see 15.5.3.5 "Error status").This threshold value must be determined on a case-by-case basis, since the results of load measurement areinfluenced by a variety of factors.

• Motor speed: A higher speed results in higher measurement values• Speeds that cause motor resonances (which interfere with load measurement) are to be avoided• Motor accelerations that create a dynamic load (and also affect the measurement) should also be avoided• It is especially important to be aware that mixed decay mode must be optimized for reliable stall detection

(see 15.5.1.2 "Mixed decay threshold")

The higher the load measurement value, the lower the load. This means that a stall condition is detected if the loadmeasurement value drops below the trigger threshold for stall detection.Data type ValueUINT See bit structure.

Bit structure:Bit Description Value Information

0 Stall detection is disabled1 Minimum sensitivity for stall detection

2 to 6 Setting the sensitivity of stall detection

0 - 2 Trigger threshold for stall detection

7 Maximum sensitivity for stall detection3 - 15 Reserved 0

X20SM1436


15.5.1.2 Mixed decay threshold

Name:ConfigOutput16The mixed decay threshold is configured in this register. This value must be adjusted according to the motor beingused, current and voltage when using stall detection. Otherwise, the default value 15 will be used.Data type ValueUINT See bit structure.


0 Mixed decay disabled1 to 14 Setting for mixed decay threshold

0 - 3 Mixed Decay Threshold

15 Mixed decay always enabled4 - 15 Reserved -

Mixed decay modules provide a greatly optimized sinusoidal current profile in the individual phases of the steppermotor, especially for fast current changes and low current values.Mixed decay interferes with reliable stall detection, however. For this reason, mixed decay mode can be disabledduring stall detection (motor load measurement) using the mixed decay threshold. The smaller the configured mixeddecay threshold, the larger the range in which mixed decay is disabled while motor load measurement takes place.Mixed decay mode is always enabled if the mixed decay threshold is set to 15.Relationship between stall detection and mixed decayDepending on the application and the motor used, satisfactorily smooth operation can be achieved while usingstall detection by setting the mixed decay threshold to a value between 1 and 14. This is a compromise betweensmooth operation and stall detection quality and must be fine tuned during commissioning.

0 2 4 6 8 10 12 14

Qua

lity

Mixed decay threshold

Stall detection

Smooth running

15.5.1.3 Minimum speed for stall detection

Name:StallDetectMinSpeed01If the motor speed exceeds the value set in this register, then stall detection is enabled and the configured mixeddecay threshold is used. The value 15 is always used for the mixed decay threshold below this threshold value,and no stall error is reported. This means that mixed decay mode is always enabled at low speeds where stalldetection principally does not work.Data type Value InformationUINT 0 to 65535 Minimum speed in steps per second.

X20SM1436


15.5.1.4 Full step threshold

Name:FullStepThreshold01This register is used to configure a rotational speed. When this defined speed has been reached, the drive willautomatically change from microsteps to full step mode. This makes it possible to optimize the torque at higherspeeds, while microstep mode ensures optimum concentricity at lower speeds.It does not make sense to change to full step mode when at a standstill because fine positioning would thenno longer be possible. This is why the value "0" does not make sense in the full step threshold register and isinterpreted as disabling full step mode (i.e. the motor will always be operated in microstep mode).Data type Value Information

0 Full step mode disabledUINT1 to 65,535 steps/second

ExampleMicrostep mode should change to full step mode at 500 steps/second. On a motor with 200 steps per revolution,this would be equal to a speed of:

15.5.1.5 Holding current, rated current and maximum current

Name:ConfigOutput03 (holding current)ConfigOutput04 (rated current)ConfigOutput05 (maximum current)The holding current, nominal current and maximum current registers are used to configure the desired motorcurrent.Reasonable values are:

• Holding current < Nominal current < Maximum current

The motor's nominal current is entered in the nominal current register according to the motor's data sheet.Register DescriptionNominal current Current during normal operationMaximum current Should be selected if a higher motor torque is required briefly during acceleration

phases.Holding current The holding current should be used in situations when less torque is required

(e.g. at a standstill). This reduces the amount of heat generated by the motor.

Switching between preset current values (holding current, rated current, maximum current):Function model Switching between preset current values at runtimeDefault Using bits 14 and 15 in the registers Motor StepXStandard with enabled SDC information Using the register Motor current

Data type Value UnitUSINT 0 to 120 Percent of the module's rated current

• 100% corresponds to the rated current of the motor bridge power unit listed in the tech-nical data

• 120% corresponds to the maximum current of the motor bridge power unit listed in thetechnical data

X20SM1436


15.5.1.6 Counter configuration

Name:ConfigOutput09Data type ValueUSINT See bit structure.


0 Negative edge: Disable ABR latch function.0 ABR latch function1 Positive edge: Enable latch ABR latch function. After a latch

event has occurred, the latch function can be started again witha new rising edge.

00 Latch ABR counter state unconditionally01 Latch ABR counter state at a positive edge on the R input10 Latch ABR counter state at a negative edge on the R input

1 - 2 Definition of the latch mode

11 Reserved0 • Position sync: Internal position counter

• Position async: ABR counter state• Position latched sync: Internal position counter• Position latched async: ABR counter state

3

1 • Position sync: ABR counter state• Position async: Internal position counter• Position latched sync: ABR counter state• Position latched async: Internal position counter

4 - 7 Reserved

1) These registers are not available in the standard function model with SDC information enabled.

15.5.1.7 Motor ID trigger

Name:MotorIdentTriggerThis register can be used to trigger acyclic motor identification (see 15.5.3.4 "Motor ID"). The application mustensure that the conditions for reading the motor ID are fulfilled (see "Notes" under ).Data type ValueUSINT See bit structure.


0 No effect01 Rising edge triggers motor identifier measurement

1 - 7 Reserved 0

15.5.2 Register for reading back the configuration

15.5.2.1 Read ing the holding current, rated current and maximum current

ConfigOutput03Read (holding current)ConfigOutput04Read (rated current)ConfigOutput05Read (maximum current)These registers are used to read the respective current values in percent.Register DescriptionNominal current Current during operation at constant speedMaximum current Current during acceleration phasesHolding current Current when motor is at standstill

Data type Value UnitUSINT 0 to 255 Percent of the module's rated current (100% corresponds to the rated current of the motor bridge

power unit listed in the technical data)

X20SM1436


15.5.3 Communication registers

15.5.3.1 Measuring motor load

Name:MotorLoadThis register contains the current measured load value for stall detection. This can be used to tune stall detection.Data type ValueUSINT See bit structure.


0 - 2 Motor 0 to 7 Motor load value3 - 8 Reserved -

15.5.3.2 Module configuration 1

Name:ConfigOutput02The number of transfer values and the resolution of microsteps for the drive can be configured in this register.Data type ValueUINT See bit structure.

Bit structure:Bit Description Value Information0 The setting for these two bits determines the meaning of bits 2

and 3 in the "Input counter state" register.x

1 - 2 Reserved 000 1 x Δs / Δt (transfer values: MotorStep0)01 2 x Δs / Δt (transfer values: MotorStep0 - MotorStep110 4 x Δs / Δt (transfer values: MotorStep0 - MotorStep3

3 - 4 Number of transfer values per X2X cycle (See 15.6.1.1 "Motor StepX".)

11 Reserved00 Resolution: 5 bits (bit 0 - 4) microsteps; 8 bits (bit 5 - 13) full steps01 Resolution: 6 bits (bit 0 - 5) microsteps; 7 bits (bit 6 - 13) full steps10 Resolution: 7 bits (bit 0 - 6) microsteps; 6 bits (bit 7 - 13) full steps

5 - 6 Resolution of microsteps for the following registers:• "Motor StepX"• "Position sync/async"

11 Resolution: 8 bits (bit 0 - 7) microsteps; 5 bits (bit 8 - 13) full steps7 - 15 Reserved 0

X20SM1436


15.5.3.3 Position sync/async

Name:PositionSyncPositionasyncDepending on the Counter configuration, these registers can be used to read either the internal position counteror the counter state of the ABR input.Data type ValueINT -32768 to 32767

Counter configurationRegisterBit 3 … 0 Bit 3 … 1

Position sync Internal position counter ABR counterPosition async ABR counter Internal position counter

Internal position counterThe internal position counter is the position calculated by the SM module (set position). This is a cyclic 16-bitcounter.The lowest 5 to 8 bits represent microsteps, while the highest 8 to 11 bits represent full steps (depending on bits5 and 6 of the register Module configuration 1). In the standard function model with SDC, this value is set to "8-bit microsteps" and can not be changed.Example of the internal position counter format (7-bit micro steps, i.e. set bit 5 and 6 of the module configurationto binary 10):

15 014 13 12 11 10 9 8 7 6 5 4 3 2 1

06 5 4 3 2 18 7 6 5 4 3 2 1 0

Full steps Microsteps

ABR counterThis counter is a cyclic 16-bit counter. The relationship between this counter and the internal position counterdepends on the resolution of the ABR encoder and the microsteps defined for the internal position counter.

X20SM1436


15.5.3.4 Motor ID

Name:Motoridentification01This register is used to identify the connected motor type for service purposes and to differentiate between motorsin the application. Following measurement, this register contains the time [µs] needed to apply a current increaseof ΔI = 1 A to a motor winding.This depends on:

• Operating voltage• The inductance and resistance of the motor winding

NotesTo achieve reproducible results, the measurement must be made under the following defined conditions:a) Motor is at standstill

1)

b) The motor must be in a half-step position (phase A fully powered, phase B not powered). This means the internal position counter on the SMmodule must have a value that fulfills the following conditions:

• Full steps are divisible by 4• Microsteps = 0

2) Condition 1b) is fulfilled after a the SM module is reset or powered on. Immediately afterwards, when the holding current is applied to the motor for thefirst time (at standstill), the duration for applying the current is measured. This is therefore a suitable time to read the motor identification register in theapplication.

3) The current range from approximately 1/3 of the rated current up to the rated current is used as operating range for determining the motor identifier.

Data type Motor ID values Function0 No motor identifier available (after turning on for as long as the measurement conditions are not

met)1 to 32767 Valid range of values for the motor ID register (in µs)

65504 to 65519 Ground fault: Motor identification not possible65528 Motor ID trigger not possible

• Motor has no power applied• Motor in movement• Rated current is set to 0A• Ground fault present

65529 Invalid value: Underflow65530 Overtemperature: Measurement not possible65532 Open line: Measurement not possible65533 Motor position incorrect: Measurement not possible65534 Invalid value: Overrun

UINT

65535 Measurement in progress

Ground fault detectionWhen the motor is powered on, a ground fault check is performed before motor identification. Error numbers havebeen added in the motor identification register for the event of a ground fault error (values 65504 to 65519 in thetable above).

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15.5.3.5 Error status

Name: The names of the bits are different depending on whether SDC information is enabled or disabled.

Without SDC With SDCStallError StallError01Overtemperature Overtemperature01ErrorCurrentError ErrorCurrentError01OvercurrentError OvercurrentError01- DrvOK01The current error status of the drive is indicated in this register. Each bit indicates a certain error or status. If anerror is registered in bits 0 to 3, then the corresponding bit remains set until the error has been acknowledged (see15.6.3.1 "Module configuration 2" and 15.7.2.5 "Error acknowledgment").Data type ValueUINT See bit structure.


0 No stall0 StallError(01)1 Stall0 No overtemperature1 Overtemperature error

OvertemperatureError(01) 1 Overtemperature0 No current error2 Current error

CurrentError(01) 1 Current error0 No overcurrent3 Overcurrent error

OvercurrentError(01) 1 Overcurrent0 An error was triggered for the motor axis4 Status of the drive

DrvOk01) 1 The drive is running error-free5 - 15 Reserved 0

1) Only when SDC information is enabled

Overtemperature error

The "Overtemperature" error bit can be set for the following reasons:

• A specific temperature was exceeded near the channel due to overload• Module temperature exceeds 85°C

Current error

This error bit occurs whenever the required current cannot be supplied to the motor windings. This can be (butis not necessarily) caused by an open line. At higher speeds (depending on the motor), this error can also occurwithout an open line. In this case it is simply no longer possible to supply the desired current to the motor windings.Because of the Back-EMF on the motor, this bit is set at slightly lower speeds if the motor is operated with no loadcompared with full or partial loads.

Overcurrent error

Overcurrent occurs if the motor current measured in the motor windings is twice as high as it should be (e.g. shortcircuit).

Status of the drive

The status of the drive is only shown when SDC information is enabled. The drive bit is 1 when the followingconditions are met:

• Motor turned on (see 15.7.2.2 "Motor current")• Ground fault detection is completed and OK• MotorID measurement is completed• Motor is supplied with current• Motor settling time has passed• Supply voltage is in the valid range• No overtemperature fault• Preset position value is valid (see 15.7.2.1 "SDC life sign monitoring")

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15.6 Register description: Standard functional model without SDC information


15.6.1.1 Motor StepX

Name:MotorStep0 to MotorStep3These registers are used to specify the number and direction of steps that must be carried out by the moduleduring the next X2X cycle, and to select the motor current (see also 15.5.1.5 "Holding current, rated current andmaximum current").Data type ValueUINT See bit structure.


0 - 12 Number of steps for the module to move during the next X2Xcycle

x

0 Positive13 Direction of movement1 Negative

00 Motor not powered01 Holding current10 Rated current

14 - 15 Selection of motor current

11 Maximum current

Depending on the required resolution and maximum configurable speed, "Module configuration 1" can be used tospecify which bit position is used as the 1's position for full steps (see bits 5 and 6 of Module configuration 1).Example for 5-bit microsteps (set bits 5 and 6 of the module configuration to binary 00):

15 014 13 12 11 10 9 8 7 6 5 4 3 2 1

7 6 5 4 3 2 1 0 04 3 2 1


The number of transfer values per X2X cycle is specified by bits 3 and 4 in "Module configuration 1" (see 15.5.3.2"Module configuration 1"). If only one transfer value (bits 3 and 4 = 00) is specified, then the motor is advanced byMotorStep0 until the next X2X cycle. If 2 or 4 transfer values are specified, then the X2X cycle is divided accordingly.Example: X2X cycle = 1 ms (1000 μs)

Number of transfer values (see Module configuration 1)Time1 (bits 3 - 4 = 00) 2 (bits 3 - 4 = 01) 4 (bits 3 - 4 = 10)

0 - 250 μs) MotorStep0250 - 500 μs)

MotorStep0MotorStep1

500 - 750 μs) MotorStep2750 - 1000 μs)

MotorStep0

MotorStep1MotorStep3

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15.6.1.2 Position latched sync/async

Name:PositionLatchedSyncPositionLatchedASyncThe position counter (internal position counter or ABR counter) is applied at the latch event (see 15.6.3.1 "Moduleconfiguration 2"). Bits 3 and 7 of the Counter configuration register are used to determine which counter state(internal position counter or ABR encoder) should be saved in the registers "Position latched sync" and "Positionlatched async".Data type ValueINT -32768 to 32767

Counter configurationRegisterBit 3 … 0 Bit 3 … 1

Position sync Internal position counter ABR counterPosition async ABR counter Internal position counter

Internal position counterThe internal position counter is the position calculated by the SM module (set position). This is a cyclic 16-bitcounter.The lowest 5 to 8 bits represent microsteps, while the highest 8 to 11 bits represent full steps (depending on bits5 and 6 of the register Module configuration 1).Example of the internal position counter format (7-bit micro steps, i.e. set bit 5 and 6 of the module configurationto binary 10):

15 014 13 12 11 10 9 8 7 6 5 4 3 2 1

06 5 4 3 2 18 7 6 5 4 3 2 1 0


ABR counterThis counter is a cyclic 16-bit counter. The relationship between this counter and the internal position counterdepends on the resolution of the ABR encoder and the microsteps defined for the internal position counter.

15.6.1.3 usSinceTrigger

Name:usSinceTriggerThis register indicates the time (in µs) that has passed since the trigger event occurred (see 15.6.3.1 "Moduleconfiguration 2").

Information:The absolute timing of the trigger can be delayed up to 5 μs depending on the input filter for the digitalinputs.

Data type ValueUINT 0 to 65535

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15.6.1.4 Stepper latch trigger status

Name:LatchInputLatchDoneTriggerInputData type ValueUSINT See bit structure.

Bit structure:Bit Description Value Information0 Latch input: x Digital input for the latch event (level)1 LatchDone x State changes each time the counter state is successfully

latched (reset value = 0)2 - 3 Reserved -

4 TriggerInput x Trigger input (level)5 - 7 Reserved 0

15.6.2 Input counter state

Name:ModulePowerSupplyErrorStatusInput01 to StatusInput04This register is used to indicate the status of the digital inputs and counters.Data type ValueUSINT See bit structure.


0 OK0 ModulePowerSupplyError1 Module supply error

1 Reserved 0When bit 0 in Module configuration 1 = 0

0 or 1 Input state - Digital input 1When bit 0 in Module configuration 1 = 1

2 StatusInput01

x Ref toggle bit for counter 1:The state of this bit is changed after the homing procedure iscomplete.

When bit 0 in Module configuration 1 = 00 or 1 Input state - Digital input 2

When bit 0 in Module configuration 1 = 10 Homing of ABR counter active

3 StatusInput02

1 Homing of ABR counter complete4 StatusInput03 0 or 1 Input state - Digital input 35 StatusInput04 0 or 1 Input state - Digital input 4

6 - 7 Reserved 0

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15.6.3.1 Module configuration 2

Name:StartLatchTriggerEdgePosTriggerEdgeNegStartTriggerTriggerEdgeClearErrorThe trigger functions for the stepper motor can be configured with this register.Data type ValueUSINT See bit structure.


0 The latch function for stepper motor position is deactivated atthe negative edge of this bit

0 Latch function for stepper motorLatch byte

1 The latch function for stepper motor position is deactivated atthe positive edge of this bit

00 Latch position of stepper motor, unconditional01 Latch position of stepper motor at positive edge on input DI 310 Latch position of stepper motor at negative edge on input DI 3

1 - 2 Latch mode for stepper motorTriggerEdgePos (Bit 1)TriggerEdgeNeg (Bit 2)

11 Reserved0 Trigger edge (input DI 4) = positive3 TriggerEdge1 Trigger edge (input DI 4) = negative

4 Enable trigger (when changes occur)StartTrigger

x

0 No effect5 ClearError1 Error acknowledgment for the motor (for more info, see 15.5.3.5

"Error status")6 - 7 Reserved -

Trigger function procedure:

• Select the desired trigger edge using bit 3• Enable the trigger function by changing the state of bit 4. When this bit changes, usSinceTrigger (µs counter)

is cleared.• When the trigger event occurs, usSinceTrigger (µs counter) is started.• The usSinceTrigger counter cannot overrun, i.e. it is stopped at 216 and retains this value until the next time

the trigger function is activated.

The trigger function can be re-activated at any time by changing the state of bit 4, regardless of whether a triggerevent has occurred or if usSinceTrigger has reached the maximum value.

15.6.3.2 Position sync 2

Name:PositionSync02Depending on Counter configuration (bit 3), this register contains the state of either the position counter or the ABRcounter. It's an exact complement to the Position sync register.If the position sync register contains the position counter, then the PositionSync02 register contains the ABRcounter state and vice versa.By default, the register cannot be seen in the I/O map; instead, it has to first be activated in the I/O configuration.Data type ValueINT -32768 to 32767

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15.7 Register description: Standard functional model with SDC information


15.7.1.1 SDC configuration

Name:SDCConfig01This register can be used to enable/disable additional SDC information.The additional cyclic registers are hidden or shown depending on whether SDC information is disabled or enabled.It is comparable to the two variants of the standard function model with and without SDC information.Data type ValueUSINT See bit structure.


0 Rising trigger edge0 Trigger edge1 Falling trigger edge

1 - 5 Reserved 00 Disabled6 SDC life sign monitoring1 Enabled0 Disabled7 SDC information1)

1 Enabled

1) When the "SDC information" bit is enabled, the "EncOK01" bit is shown in the Automation Studio I/O mapping. This bit is linked to the ModulOK bit andalways indicates its value.

Note:Neither SDC information nor SDC life sign monitoring is permitted to be changed at runtime.

15.7.1.2 Module configuration 1 with SDC

The Module configuration 1 register is ignored in the standard function model with SDC information enabled. Themodule behaves as if the module configuration were described as follows:Data type ValueUINT See bit structure.

Bit structure:Bit Description Value Information0 Meaning of bits 2 and 3 in the register 15.6.2 "Input counter

state"1 - 2 Reserved 03 - 4 Number of transfer values per X2X cycle 00 1x Δs / Δt (transfer values: Motor settings Motor1Step0)5 - 6 Resolution of microsteps 11 8-bit microsteps

7 - 15 Reserved 0

15.7.1.3 Motor settling time

Name:MotorSettlingTime01This register determines the motor setting time. The motor settling time determines the minimum time betweenwhen the motor is powered on to when the DrvOk bit is set (see 15.5.3.5 "Error status"). The setting is made insteps of 10 ms.Data type Value InformationUSINT 1 to 255 10 ms to 2.55 s, default: 10 ms

15.7.1.4 Turn-off delay

Name:DelayedCurrentSwitchOff01When the SDC life sign monitoring is triggered (i.e. the net time timestamp is in the past) the motor is deceleratedat nominal current with speed setpoint = 0.Then the motor is switched off after the delay configured with this register.Data type Value InformationUSINT 0 to 255 0 to 25.5 ms in steps of 100 ms (default: 100 ms)

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15.7.2.1 SDC life sign monitoring

Name:SetTime01The module uses SDC life sign monitoring to check whether valid values have been received for the speed setpoint.SDC life sign monitoring is activated in the SDC configuration register by setting bit 6 (SDCSetTime = on).If the specified NetTime timestamp is in the past, then an error is triggered for the motor axis (only when the motoris switched on). The module performs the following steps:1) The CPU is informed of the error using the Drive bit (DrvOk) = 02) Braking at configured rated current with speed setpoint = 03) Wait for configured turn-off delay to expire4) Power off motorWhen the timestamp is back in the valid range, the motor can be powered on again by a rising edge on theDriveEnable bit (see 15.7.2.2 "Motor current").Data type ValueINT -32768 to 32767

15.7.2.2 Motor current

Name:DriveEnable01BoostCurrent01StandstillCurrent01Bits 0 to 2 of this register can be used to control the motor's current supply.Data type ValueUSINT See bit structure.

Bit structure:Bit Description Value Information0 DriveEnable01 x Motor powered1 BoostCurrent01 x Maximum current2 StandstillCurrent01 x Holding current

3 - 7 Reserved 0

The possible status of bits 0 to 2StandstillCurrent01 BoostCurrent01 DriveEnable01 Description

x x 0 Motor not supplied with current0 0 1 Rated current supplied to motor0 1 1 Maximum current supplied to motor1 0 1 Holding current supplied to motor1 1 1 Holding current supplied to motor

15.7.2.3 Life cycle counter

Name:LifeCntThis register is incremented by one with each X2X Link cycle.Data type ValueSINT -128 to 127

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15.7.2.4 Input counter state

Name:ModulePowerSupplyErrorStatusInput01 to StatusInput04This register is used to indicate the status of the digital inputs and counters.Data type ValueUSINT See bit structure.


0 OK0 ModulePowerSupplyError1 Module supply error

1 Reserved 0When bit 0 in Module configuration 1 = 0

0 or 1 Input state - Digital input 1When bit 0 in Module configuration 1 = 1

2 StatusInput01

x Ref toggle bit for counter 1:The state of this bit is changed after the homing procedure iscomplete.

When bit 0 in Module configuration 1 = 00 or 1 Input state - Digital input 2

When bit 0 in Module configuration 1 = 10 Homing of ABR counter active

3 StatusInput02

1 Homing of ABR counter complete4 StatusInput03 0 or 1 Input state - Digital input 35 StatusInput04 0 or 1 Input state - Digital input 4

6 - 7 Reserved 0

15.7.2.5 Error acknowledgment

Name:ClearError01This register can be used to acknowledge errors that have occurred on the motor.For more info, see 15.5.3.5 "Error status".Data type ValueUSINT See bit structure.


0 - 4 Reserved 00 No effect5 ClearError011 Error acknowledgment for motor

6 - 7 Reserved 0

15.7.2.6 Motor1Step0

Name:Motor1Step0This registers is used to specify the number and direction of steps that should be carried out by the module duringthe next X2X cycle.The value is specified with a resolution of 1/256 of a full step (corresponds to 8-bit microsteps).The direction of movement is derived from the value's sign:Data type Value Information

>0 Movement in positive direction in 1/256 full stepsINT<0 Movement in negative direction in 1/256 full steps

Unlike the standard function model without enabled SDC information, the motor current is selected using a separateregister (see Motor current).

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15.7.2.7 Home position

Name:RefPulsePos01These 2 registers contain the following:Register DescriptionHome position of the internal position counter This register indicates the home position of the internal position counter.Home position for the ABR counter This register indicates the home position of the ABR counter.

Data type ValueINT -32768 to 32767

The "Position Sync" setting in the Automation Studio I/O configuration can be used to select which of the tworegisters is be addressed by the variable RefPulsePos01.

I/O configuration, Counter 01, "Position Sync" optionVariables in Automation StudioStepper counter 01 shown at ActPos01 ABR counter 01 shown at ActPos01

RefPulsePos01 Home position of internal position counter Home position of ABR counterThe "Position Sync" option also sets bit 3 in the Counter configuration register for Counter 1:

Bit 3 (counter 1) 0 1

15.7.2.8 Reference pulse counter

Name:RefPulseCnt01These 2 registers contain the following:Register DescriptionReference pulse counter for the internal position counter The reference pulses of the internal position counter are counted in this register.Reference pulse counter for the ABR counter The reference pulses of the ABR counter are counted in this register.

Data type ValueSINT -128 to 127

The "Position Sync" setting in the Automation Studio I/O configuration can be used to select which of the tworegisters is addressed by the variable RefPulseCnt01.

I/O configuration, Counter 01, "Position Sync" optionVariables in Automation StudioStepper counter 01 shown at ActPos01 ABR counter 01 shown at ActPos01

RefPulseCnt01 Reference pulse counterfor internal position counter

Reference pulse counter of ABR counter

The "Position Sync" option also sets bit 3 in the Counter configuration register for Counter 1:Bit 3 (counter 1) 0 1

15.7.2.9 Net time of the position value

Name:ActTime01This register contains the net time of the most recent valid position value.Data type ValueINT -32768 to 32767

15.7.2.10 Trigger counter

Name:TriggerCnt01This register contains a cyclic counter that is incremented with each trigger event.Data type ValueSINT -128 to 127

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15.7.2.11 Trigger timestamp

Name:TriggerTime01This register indicates the point in time (net time) of the most recent trigger event. The trigger edge must beconfigured in the "SDC configuration" register.

Information:The absolute timing of the trigger can be delayed up to 5 μs depending on the input filter for the digitalinputs.


15.8 Register description: Function model 254 - Bus controller and function model 3 - Ramp


15.8.1.1 Holding current, rated current and maximum current

Name:ConfigOutput03a (holding current)ConfigOutput04a (rated current)ConfigOutput05a (maximum current)The holding current, nominal current and maximum current registers are used to configure the desired motorcurrent.Reasonable values are:

• Holding current < Nominal current < Maximum current

The motor's nominal current is entered in the nominal current register according to the motor's data sheet.Register DescriptionNominal current Current during operation at constant speedMaximum current Current during acceleration phases. In the mode "Homing during stall", the rated

current is always used instead of the maximum current, even in accelerationphases.

Holding current Current when motor is at standstill

When the current changes to a weaker value (e.g. when transitioning from the acceleration phase to the constantspeed mode), the stronger current is maintained for an additional 100 ms. This is done according to the followingpriority regardless of the actual defined values: maximum current before nominal current before holding current.Data type Value UnitUSINT 0 to 120 Percent of the module's rated current

• 100% corresponds to the rated current of the motor bridge power unit listed in the tech-nical data

• 120% corresponds to the maximum current of the motor bridge power unit listed in thetechnical data

15.8.1.2 Full step threshold

Name:FullStepThreshold01This register defines the threshold speed, above which the motor is operated in full step mode, and below whichit is operated in microstep mode.Data type Value Information

1 to 65534 Speed in microsteps / cycleUINT65535 Motor is always operated in microstep mode

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15.8.1.3 Maximum speed

Name:MaxSpeed01posThis register defines the maximum speed for the absolute positioning modes (1, -123, -124, -125, -126).

Information:The setting does not apply to the speed and homing modes (2, -127, -128).

Data type Value InformationUNIT 0 to 65,535 Speed in microsteps / cycle

15.8.1.4 Maximum acceleration

Name:MaxAcc01This register defines the maximum acceleration (also applies for homing modes).Data type Value InformationUINT 0 to 65,535 Acceleration in microsteps / cycle²

15.8.1.5 Maximum deceleration

Name:MaxDec01This register defines the maximum deceleration (also applies for homing modes).Data type Value InformationUINT 0 to 65,535 Deceleration in microsteps / cycle²

15.8.1.6 Reversing loop

Name:RevLoop01This parameter is only used in mode 1, -123, -124, -125, -126 (absolute positioning modes).If the value for the reversing loop is not equal to 0, the position setpoint is approached directly when coming fromone direction; when coming from the other direction, the position setpoint is initially exceeded by the configurednumber of steps before finally moving to the position setpoint. This ensures that the position setpoint is alwaysapproached from the same direction (to avoid mechanical backlash).The sign of the defined value determines the direction in which the reversing loop runs.Sign Effective directionPositive Reversing loop in positive direction of movementNegative Reversing loop in negative direction of movement


15.8.1.7 Fixed position A

Name:FixedPos01aThis register defines the position to move to in modes -124 (when 1 is set at the digital input) and -125.Data type ValueDINT -2,147,483,648 to 2,147,483,647

15.8.1.8 Fixed position B

Name:FixedPos01bThis register defines the position to move to in modes -124 (when 0 is set at the digital input) and -126.Data type ValueDINT -2,147,483,648 to 2,147,483,647

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15.8.1.9 Homing speed

Name:RefSpeed01This register sets the speed for homing modes -127 and -128.Data type Value InformationUINT 0 to 65,535 Speed in microsteps / cycle

15.8.1.10 Stall recognition delay

Name:StallRecognitionDelay01The value in this register is only relevant for "Homing during stall".A stall is only detected after the time specified here has expired and after the homing procedure has started.For example, a setting of 4 (and a cycle time of 25 ms) means that a stall will not be detected until 100 ms afterthe motor starts moving (start of the homing procedure).Set to 0 to eliminate delay.Data type Value InformationUSINT 0 to 255 in cycles, see 15.8.1.15 "General configuration"

15.8.1.11 Minimum speed for stall detection

Name:StallDetectMinSpeed01If the motor speed exceeds the value set in this register, then stall detection is enabled and the configured mixeddecay threshold is used. The value 15 is always used for the mixed decay threshold below this threshold value,and no stall error is reported. This means that mixed decay mode is always enabled at low speeds where stalldetection principally does not work.Data type Value InformationUINT 0 to 65535 Minimum speed in microsteps per cycle.

15.8.1.12 Jolt time

Name:JoltTime01If a value other than 0 is assigned to this register, then jolt limitation is performed. This is done by averaging thevalues for the steps to be carried out (speed setpoint) in each cycle using FIFO memory. The jolt time correspondsto the number of FIFO elements (0 to 80). If a value greater than 80 is entered, then it will be limited internally to 80.Changes made while a motor is running will be applied as soon as ...

• the motor has reached the position setpoint (positioning modes only)• the motor has stopped (all modes)

Data type Value Information0 No jolt time limitationUSINT

1 to 801) Number of FIFO elements

1) Starting with upgrade 1.3.1.0 (firmware version 16); For older versions: 16

15.8.1.13 Homing configuration

Name:RefConfig01The homing mode can be set with this register.Data type Value Information

-120 Set home position-121 Homing at positive edge on input DI 4-122 Homing at negative edge on input DI 4-125 Homing at positive edge on input DI 3 (R pulse)-126 Homing at negative edge on input DI 3 (R pulse)-127 Homing during stall detection-128 Immediate homing

SINT

Everything else No effect

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15.8.1.14 Stall detection configuration / Mixed decay

Name:StallDetectConfig01The mixed decay threshold and stall detection sensitivity can be configured in this register.Data type ValueUSINT See bit structure.


0 Mixed decay disabled1 to 14 Setting for mixed decay threshold

0 - 3 Mixed decay threshold

15 Mixed decay always enabled0 Stall detection is disabled

1 to 6 Steps involved in setting stall detection sensitivity4 - 6 Stall threshold

7 Maximum sensitivity for stall detection0 Motor load value not shown7 Motor load1 Show value in register Status word1)

1) If this bit is 1, then the motor load value is shown in bits 13 to 15 of the status word register (otherwise these bits are 0). This value can help when testingthe stall detection and the Home during stall mode.

Stall threshold

The SM module features integrated sensorless load measurement for the motor axis. This is especially useful fordetecting a "stall condition" (e.g. if the motor moves to the end point during a homing procedure). It cannot be usedfor torque monitoring during dynamic movements.The "stall threshold" (bits 4 to 6 of this register) can be used to define a threshold value for each axis individuallyaccording to the motor load, beyond which the motor will detect a stall condition.This threshold value must be determined on a case-by-case basis, since the results of load measurement areinfluenced by a variety of factors.

• Motor speed: A higher speed results in higher measurement values• Speeds that cause motor resonances (which interfere with load measurement) are to be avoided• Motor accelerations that create a dynamic load (and also affect the measurement) should also be avoided• It is especially important to be aware that mixed decay mode must be optimized for reliable stall detection.

The higher the load measurement value, the lower the load. This means that a stall condition is detected if the loadmeasurement value drops below the trigger threshold for stall detection.

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Mixed decay modules provide a greatly optimized sinusoidal current profile in the individual phases of the steppermotor, especially for fast current changes and low current values.Mixed decay interferes with reliable stall detection, however. For this reason, mixed decay mode can be disabledduring stall detection (motor load measurement) using the mixed decay threshold. The smaller the configured mixeddecay threshold, the larger the range in which mixed decay is disabled while motor load measurement takes place.Mixed decay mode is always enabled if the mixed decay threshold is set to 15.Relationship between stall detection and mixed decayDepending on the application and the motor used, satisfactorily smooth operation can be achieved while usingstall detection by setting the mixed decay threshold to a value between 1 and 14. This is a compromise betweensmooth operation and stall detection quality and must be fine tuned during commissioning.

0 2 4 6 8 10 12 14

Qua

lity


Stall detection

Smooth running

15.8.1.15 General configuration

Name:GeneralConfig01Bit 0 of this register can be used to switch the positioning mode. This register can also be used to configure thecycle time of the motion profile generator.

• 0: "Mode 1: Position mode" without extended control word• 1: "Mode 1: Position mode with extended control word"

Data type ValueUSINT See bit structure.


0 Without extended control word0 Position mode1 With extended control word

00 25 ms01 10 ms10 5 ms

1 - 2 Cycle time of the motion profile generator1)

11 Reserved3 - 7 Reserved 0

1) This parameter is supported starting with upgrade 1.3.1.0 (firmware version 16).

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15.8.1.16 Limit switch configuration

Name:LimitSwitchConfig01This register can be used to configure the behavior of the limit switch.Data type ValueUSINT See bit structure.


00 Off01 Active if low10 Reserved

0 - 1 Negative limit switch

11 Active if high00 Off01 Active if low10 Reserved

2 - 3 Positive limit switch

11 Active if high4 - 6 Reserved 0

0 Off (default)7 Direction monitoring1 On

Negative/positive limit switchWhen one of the limit switches is reached, a warning is triggered and the speed is decelerated to 0. The "DeviceControl State Machine" state is not changed. This keeps current flowing to the motor.The error that occurred can be read from the Error code register. Normal operation can be resumed by acknowl-edging the warning. This will not restrict motor movement to a specific direction and the limit switch will not betriggered until the next active edge.Exceeding the limit switch while brakingThe limit switches are not linked with the corresponding direction of movement. If the limit switch is exceeded,another error will be triggered when reversing after acknowledging the initial error.Direction monitoringIf this function is enabled, then the two limit switches will be linked with the respective direction of movement. Thismeans that the negative limit switch is only triggered in the negative direction and the positive limit switch only inthe positive direction of movement (specified direction).This prevents specifying a movement in the wrong direction when direction monitoring is enabled and limit switchesare active.

Warning!If the motor is wired incorrectly with this configuration (wrong direction of movement), then the limitswitch will not be triggered and the actual correct direction of movement will be denied. This will alsobe the case when the limit switch connections are reversed.

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15.8.1.17 Software limit

Name:PositionLimitMin01PositionLimitMax01This register configures software limits. The function is active if at least one of the two registers is unequal to zero.These limits are effective in all positioning modes. Position overrun is not possible when this function is enabled.Movement is always contained within the two limits.If a position is specified that violates the minimum/maximum software limit, the "Internal limit active" bit will be setin the Status word register. The motor movement will be stopped until a position is specified within the limits.The "Internal limit active" bit will also be set in the "Status word" register if there is a configuration error (minimum> maximum).Data type ValueDINT -2,147,483,648 to 2,147,483,647

Information:The software limits will only be monitored in connection with the following CANopen bus controllers:

• X20BC0043-10• X20BC0143-10• X67BC4321-10• X67BC4321.L08-10• X67BC4321.L12-10

15.8.2 Reading back the configuration

15.8.2.1 Read ing the holding current, rated current and maximum current

ConfigOutput03aRead (holding current)ConfigOutput04aRead (rated current)ConfigOutput05aRead (maximum current)These registers are used to read the respective current values in percent.Register DescriptionNominal current Current during operation at constant speedMaximum current Current during acceleration phasesHolding current Current when motor is at standstill

Data type Value UnitUSINT 0 to 255 Percent of the module's rated current (100% corresponds to the rated current of the motor bridge

power unit listed in the technical data)


15.8.3.1 Set position/speed

Name:AbsPos01This register is used to set position or speed, depending on the operating mode.

• Position mode (see 15.8.3.3 "Mode"): Cyclic setting of the position setpoint in microsteps. In this mode,one micro-step is always 1/256 full-step.

• Speed mode (see 15.8.3.3 "Mode"): In this mode, this register is used as a signed speed setpoint.

Data type ValueDINT -2,147,483,648 to 2,147,483,647

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15.8.3.2 Control word

Name:MpGenControl01This register can be used to issue commands based on the module's state (see 15.8.4 "Ramp function modeloperation").Data type ValueUINT See bit structure.

Bit structure:Bit Description Value Information0 Switch on x1 Enable voltage x2 Quick stop x3 Enable operation x

4 - 6 Mode-specific x7 Fault reset x8 stop1) x

9 - 10 Reserved 00 No effect11 Motor ID trigger1 Rising edge: Motor ID trigger2)

0 No effect12 Warning reset1 Rising edge: Reset warnings0 Disable current error detection (default)13 Undercurrent detection1 Enable current error detection0 Default:

• Internal position counter, cyclic• ABR counter, non-cyclic

14 ABR counter sync/async

1 • Internal position counter, non-cyclic• ABR counter, cyclic

0 Disable stall detection (default)15 Stall detection1 Enable stall detection

1) The "Halt" bit is only evaluated when the extended control word is enabled (see 15.8.1.15 "General configuration").2) This bit can be used to trigger a measurement of the motor ID. Keep in mind that the application must ensure that the conditions for measurement are fulfilled

(see table in the 15.8.3.7 "Motor ID" register).

15.8.3.3 Mode

Name:MpGenMode01Data type Value Information

0 No mode selected1 Depending on bit 0 in the General configuration register, the position mode will behave as follows:

• Position mode without extended control word: Move to position setpoint as soon as po-sition setpoint is changed

• Position mode with extended control word: Move to position setpoint as described in15.8.3.3.2 "Mode 1 - Position mode with extended control word"

2 Speed mode: Constant speed-120 Set home position-121 Remaining distance mode-122 Set the actual position-123 Move to position setpoint when external input is set-124 Two-position module-125 Move to fixed position A (position set asynchronously)-126 Move to fixed position B (position set asynchronously)-127 Positive homing (see also 15.8.1.13 "Homing configuration")

SINT

-128 Negative homing (see also 15.8.1.13 "Homing configuration")

Information:For all modes: The "Target reached" bit is set in the Status word register when the current action isfinished (i.e. when the position or speed is reached, depending on the mode).A new position or speed can be specified even before the current action is finished.

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15.8.3.3.1 Mode 1 - Position mode

The position setpoint is specified in the Set position/speed register. The motor is then moved to this new position.This is done with a ramp function that accounts for the defined maximum speed and acceleration values.The position setpoint can also be changed during an active positioning procedure.The position setpoint is specified in microsteps (1/256 of a full step).If bit 0 in the General configuration register is 0 (no extended control word), then the position setpoint will be appliedas soon as it is different from the current position. The new position is then moved to.However, if bit 0 in the General configuration register is set to 1 (extended control word), then the position setpointwill be applied as described under 15.8.3.3.2 "Mode 1 - Position mode with extended control word".

15.8.3.3.2 Mode 1 - Position mode with extended control word

The position mode with extended control word behaves like the previously described Position mode 1 (withoutextended control word) except that the new position setpoint (Position/speed register) is applied according to theextended control word.

Extended control word

This register can be used to issue commands based on the module's state (see 15.8.4 "Ramp function modeloperation").Data type ValueUINT See bit structure.


0 - 3 Corresponds to the defaultControl word x0 Do not apply position setpoint4 New setpoint1 Apply position setpoint0 Complete current positioning movement and then start next po-

sitioning movement5 Change set immediately

1 Interrupt current positioning movement and then start next posi-tioning movement

0 Position setpoint is an absolute value6 abs / rel1 Position setpoint is a relative value

7 Corresponds to the defaultControl word x0 Execute positioning8 Halt1)

1 Stop axis with deceleration9 - 15 Corresponds to the defaultControl word x

1) This bit applies to all modes.

Extended status word

The bits in the status word reflect the status of the state machine (for a detailed description, see 15.8.4.2 "Statusword" and 15.8.4.3 "State machine").Data type ValueUINT See bit structure.


0 - 9 Corresponds to the defaultStatus word xIf Halt = 0

0 Position setpoint not reached1 Position setpoint reached

If Halt = 10 Axis decelerating

10 Target reached, depending on bit 8 (Halt) in the register Con-trol word

1 Axis speed = 011 Corresponds to the defaultStatus word x

0 Ramp generator did not apply the position value12 Setpoint acknowledge1 Ramp generator applied the position value

13 - 15 Corresponds to the defaultStatus word x

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Position setting

The position setpoint can be defined in two different ways:Type of setpoint definition DescriptionSingle setpoint Once the position setpoint is reached, the Target reached bit in the Status word register is set. Then a new position setpoint is

defined. The drive stops at each position setpoint before starting the movement to the next position setpoint.Set of setpoints Once a setpoint has been reached, the movement to the next setpoint is started immediately without stopping the drive. It is

therefore not possible to initiate a new positioning movement by transferring a new position setpoint during an active positioningmovement.

Table 6: Types of position setpoint definition

The two modes "Single setpoint" and "Set of setpoints" are controlled by the timing of the bits New setpoint andChange set immediately in the extended control word and Setpoint acknowledge in the Extended control wordregister.These bits can be used to create a Request-Response mechanism. This makes it possible to specify a positionsetpoint while previous setpoint is still being processed.

Transferring the position setpoint

New setpoint

Setpoint acknowledge

Change set immediately

①

②

④

③

⑥

Data (position setpoint)

Ⓐ

Ⓑ⑤

Figure 7: Principle for applying the setpoint

Transferring a new setpoint:

1 When the Setpoint acknowledge bit in the Extended status word register is 0, the module will accept anew position setpoint.

2 The new position setpoint is specified in the Set position/speed.3 A rising edge of the New setpoint bit in the Extended control word register signalizes that the new position

setpoint in the Set position/speed register is valid and can be used for the next positioning movement.4 Once the module has received and saved the new position setpoint, the Setpoint acknowledge bit in the

Status word register is set to 1.5 Now the controller can reset the New setpoint bit to 0.6 Then the module resets the Setpoint acknowledge bit to 0 to signal when a new position setpoint is ac-

cepted.

"Single setpoint" mode

When the Change set immediately bit is set to 0 (Ⓐ in figure "Principle for applying the setpoint"), then the moduleis operating in Single setpoint mode. This mechanism results in a speed of 0 when the motor reaches positionsetpoint x1 at time t1. After the controller has been notified that the setpoint has been reached, the next setpointx2 will be processed at time t2 and reached at t3.

v1

v2

t0 t1 t2 t3

Figure 8: Ramp in Single setpoint mode

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"Set of setpoints" mode

When the Change set immediately bit is set to 1 (Ⓑ in figure "Principle for applying the setpoint"), then the moduleis operating in Single setpoint mode. This means that the module receives the first position setpoint at t0. A secondposition setpoint is received at the time t1. The drive immediately adapts the current movement to the new setpoint.

v1

v2

t0 t1 t2

Figure 9: Ramp in Set of setpoints mode

Relative position setting

When the abs / rel bit in the Extended control word register is set, then the position setpoint is interpreted as arelative value. At each New setpoint trigger, the position setpoint will be increased by this value (or decreased ifthe value is negative).If the mode changes between the position settings, relative movement will then proceed starting at the last specifiedposition. The position setpoint mode is initialized with 0 when the module is started.

15.8.3.3.3 Mode 2: Speed mode - Constant speed (pos./neg.)

The value in the Position/speed register is now interpreted as the speed setpoint (microsteps/ cycle).Observing the maximum permissible acceleration, the motor moves with a ramp to the desired speed setpoint andmaintains this speed until a new speed setpoint is specified.Values are allowed within the range -65535 to 65535. When a value is entered outside of this range, it is readjustedto these limits.

15.8.3.3.4 Mode -120: Set home position

This mode is supported starting with upgrade 1.3.1.0 (firmware version 16).The current actual position is modified so that the position specified by the Position/speed register is at the homeposition. If you subsequently move to this position, the motor is at the home position.The home position in the "Home position" register is also set to this value.Before this mode is called, the motor must be at a standstill and the home position must have been determinedusing the "Positive / negative homing" mode. In order to set the position, the State machine must be in the state"Operation Enable".

15.8.3.3.5 Mode -121: Remaining distance mode (like Modus 1)

The number of steps defined in the "Fixed position A" register are added to the current position and the resultingposition is approached at a rising/falling edge on digital input 3.

Note:Steps are not added to the position setpoint, but rather to the current position at the moment the triggeroccurs.

Negative values are also allowed for the offset defined in "Fixed position A".New position setpoints are no longer accepted in the Position/speed register after the trigger event. There mustfirst be a switch made to mode 0 and then back to mode -121.The "Target reached" bit in the Status word register is not set to 1 until the end position (after the trigger event)has been reached.The Homing configuration determines whether a rising or falling edge of the digital input is used as a trigger.The Reversing loop is not enabled in this mode (i.e. any configured values not equal to 0 are ignored).

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15.8.3.3.6 Mode -122: Set the actual position

The position setpoint set in the "Position/speed" register is accepted as the current actual position in the internalposition counter when the state machine is in the "Operation Enable" state.Before this mode is started, the motor must be at a standstill and physically located at the point for which theposition being set should be applied.

15.8.3.3.7 Mode -123: Move to the position setpoint when the external input is set

The set position defined in the "Position/speed" is moved to when a rising edge occurs on the corresponding digitalinput.A new position setpoint is not accepted until another rising edge occurs on the corresponding digital input. Thiscan also occur during the active positioning procedure and will be applied immediately.

15.8.3.3.8 Mode -124: Two position mode

The positions "Fixed position A" and "Fixed position B" are defined in the non-cyclic registers.The value 1 on digital input 3 moves to fixed position A. The value 0 moves to fixed position B. It is also possibleto switch between the two during an active positioning movement.

15.8.3.3.9 Mode -125/-126: Move to fixed position X

The purpose of these modes is to enable a virtual switch from speed mode to position mode, which otherwise isn'tpossible because of the double use of the register for position and speed setpoints.

• Mode -125: Fixed position A• Mode -126: Fixed position B

15.8.3.3.10 Mode -127/-128: Homing (positive/negative)

Mode -127 and -128 are used to select which direction to move in.The motor must be at a standstill before switching from another mode to one of the homing modes.If the homing condition occurs, then the motor stops and the values of the position counter and ABR counter validat the moment when the homing condition occurs are written to the Homed zero position register.You must specify in the Homing configuration whether homing should occur at low/high level on the digital input,during stall or unconditionally.

Homing via digital input

Case 1: Active homing level not yet reached → Motor not yet at end position:Movement continues at homing speed in the homing direction until the active level for "homing-stop" is on thedigital input.Case 2: Active homing level already reached → Motor at end position:Movement continues at the homing speed, counter to the homing direction, until the active level for "homing-stop"is no longer on the digital input. Movement continues at homing speed in the homing direction until the active levelfor "homing-stop" is on the digital input again.

Homing during stall

Movement continues in the homing direction until a stall is detected. When a stall is detected, the value of theposition counter is entered in the Homed zero position register within one millisecond. The motor is then stoppedabruptly (not using the deceleration ramp). However, it can take up to 25 ms to stop the motor because the rampgenerator runs with a configurable internal cycle of up to 25 ms.In this mode, the rated current is always used instead of the maximum current, even in acceleration phases.To test the response behavior of this homing mode, the motor load value used for identifying a stall can be madevisible in the status word (see 15.8.1.14 "Stall detection configuration / Mixed decay").

Homing unconditional (immediate)

Immediate homing: The current values of the position counter and ABR counter are immediately entered in theHomed zero position register (no motor movement).

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15.8.3.4 Current position (cyclic)

Name:AbsPos01ActValThis cyclic register contains the current position.Default: Value of the internal position counter, can be changed to ABR counterData type ValueDINT -2,147,483,648 to 2,147,483,647

15.8.3.5 Status word

Name:MpGenStatus01The bits in this register reflect the state of the state machine. For a more detailed description, see 15.8.4.2 "Statusword" and 15.8.4.3 "State machine".Data type ValueUINT See bit structure.

Bit structure:Bit Description Value Information0 Ready to switch on x1 Switched on x2 Operation enabled x3 Fault (error bit) x4 Voltage enabled x5 Quick stop x6 Switch on disabled x7 Warning x8 Reserved 09 Remote 1 Always 1 because there is no local mode for the SM module

10 Target reached x0 No limit violation11 Internal limit active1 Internal limit is active (upper/lower software limit violated)

12 Mode-specific x0 Always 0 when bit 7 in the Stall detection configuration / Mixed

decay register is set to 0.13 - 15 Reserved / Motor load value

x Returned motor load value

15.8.3.6 Input status

Name:InputStatusThis register indicates the logical states of digital inputs.Data type ValueUSINT See bit structure.

Bit structure:Bit Description Value Information0 Digital input 1 0 or 1 Input state - Digital input 1... ...3 Digital input 4 0 or 1 Input state - Digital input 4

4 - 15 Reserved 0

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15.8.3.7 Motor ID

Name:Motoridentification01This register is used to identify the connected motor type for service purposes and to differentiate between motorsin the application. Following measurement, this register contains the time [µs] needed to apply a current increaseof ΔI = 1 A to a motor winding.This depends on:

• Operating voltage• The inductance and resistance of the motor winding

NotesTo achieve reproducible results, the measurement must be made under the following defined conditions:a) Motor is at standstill

1)

b) The motor must be in a half-step position (phase A fully powered, phase B not powered). This means the internal position counter on the SMmodule must have a value that fulfills the following conditions:

• Full steps are divisible by 4• Microsteps = 0

2) Condition 1b) is fulfilled after a the SM module is reset or powered on. Immediately afterwards, when the holding current is applied to the motor for thefirst time (at standstill), the duration for applying the current is measured. This is therefore a suitable time to read the motor identification register in theapplication.

3) The current range from approximately 1/3 of the rated current up to the rated current is used as operating range for determining the motor identifier.

Data type Motor ID values Function0 No motor identifier available (after turning on for as long as the measurement conditions are not

met)1 to 32767 Valid range of values for the motor ID register (in µs)

65504 to 65519 Ground fault: Motor identification not possible65528 Motor ID trigger not possible

• Motor has no power applied• Motor in movement• Rated current is set to 0A• Ground fault present

65529 Invalid value: Underflow65530 Overtemperature: Measurement not possible65532 Open line: Measurement not possible65533 Motor position incorrect: Measurement not possible65534 Invalid value: Overrun

UINT

65535 Measurement in progress

Ground fault detectionWhen the motor is powered on, a ground fault check is performed before motor identification. Error numbers havebeen added in the motor identification register for the event of a ground fault error (values 65504 to 65519 in thetable above).

15.8.3.8 Homed zero position

Name:RefPos01CyclicCounterRefPos01AcyclicCounterAfter a homing procedure, the homing position for the cyclic and non-cyclic position counter can be read using theseregisters (either the internal position counter or ABR counter depending on bit 14 of the "Control word" register).The following two registers are provided for the motor:

• Homed zero position for cyclic counter• Homed zero position for non-cyclic counter

Data type ValueDINT -2,147,483,648 to 2,147,483,647

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15.8.3.9 Current position (acyclic)

Name:AbsPos1ActValAcyclicThis acyclic register contains the current position.Default: Value of the ABR counter, can be changed to internal position counterData type ValueDINT -2,147,483,648 to 2,147,483,647

15.8.3.10 Reads the extended control word

Name:ControlReadback01This register can be used to read the content of the Control word register.Data type ValueUINT 0 to 65535

15.8.3.11 Read back mode

Name:ModeReadback01This register can be used to read the content of the Mode register.Data type ValueSINT -128 to 127

15.8.3.12 Error code

Name:ErrorCode01The cause of an error or warning can be read in this register.Data type Error code Error type Priority Description

0x0000 - - No error0x3000 Error Voltage0x4200 Error Overtemperature0xFF20 Warning Negative limit switch0xFF21 Warning Positive limit switch0x2300 Warning Overcurrent0xFF00 Warning Current error1)

UINT

0xFF01 Warning

High : : : : : :Low Stall 2)

1) A current error is only detected if bit 13 = 1 in the control word (current error detection enabled).2) Stall is only detected if bit 15 = 1 in the control word (stall detection enabled).

Information regarding the handling of errors and warnings:

• Bit 3 (Fault) and bit 8 (Warning) in the status word can be used to query whether an error or a warningwas reported in the error code register.

• Bit 7 (Fault Reset) and bit 8 (Warning Reset) in the control word are used to acknowledge pending errorsand warnings.

• If two or more errors/warnings are pending, the one with the highest priority (the order in the table above)will be displayed in the error code register.

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15.8.4 Ramp function model operation

Control for this model has been based on the CANopen communication profile DS402.Commands for controlling the modules are written to the "Control word". The current module state is returned tothe "Status word" register. The function mode (absolute position, constant speed, homing, etc.) is set in the "Mode"register.

15.8.4.1 Control word

Control word bits and their state for the commands of the state machine:

Command Reserved

AB

R c

ount

er s

ync/

asyn

c

Cur

rent

err

or d

etec

tion

War

ning

rese

t

Mot

or ID

trig

ger

Reserved

Reserved

Hal

t 2)

Faul

t res

et

Mod

e sp

ecifi

c

Mod

e sp

ecifi

c

Mod

e sp

ecifi

c

Enab

le o

pera

tion

Qui

ck s

top

Enab

le v

olta

ge

Switc

h on

Bit1) 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0Shutdown x x x x x 0 0 x 0 x x x x 1 1 0Switch on x x x x x 0 0 x 0 x x x 0 1 1 1Disable voltage x x x x x 0 0 x 0 x x x x x 0 xQuick stop x x x x x 0 0 x 0 x x x x 0 1 xDisable operation x x x x x 0 0 x 0 x x x 0 1 1 1Enable operation x x x x x 0 0 x 0 x x x 1 1 1 1Fault reset x x x x x 0 0 x ↑ x x x x x x x

1) x ... Any; ↑ ... Rising edge2) Bit 8 (Halt) is only evaluated if the extended control word is enabled in the "General configuration" register.

Bits 0, 1, 2, 3 and 7 (light gray in the previous table)

These bits control the state of the "State machine" according to the commands in the table above.

stop 0 ... Perform motor movement1 ... Stop axis with deceleration

This bit is only evaluated when the extended control word is activated in the "General configuration" register.Motor ID trigger A rising edge enables the motor ID measurement.Warning reset A rising edge resets warnings (no effect on errors, which are reset using "Fault Reset"; the state machine is not

affected by this bit)Fault reset A rising edge resets errors and warnings (see "State machine" on page 45)Current error detection 0 ... Current error detection disabled

1 ... Current error detection enabledABR counter sync/async 0 ... Value of the ABR counter on the "Current position (non-cyclic)" register.

Internal position counter of the ramp generator on the "Current position (cyclic)" register.1 ... Value of the ABR counter on the "Current position (cyclic)" register.

Internal position counter of the ramp generator on the "Current position (non-cyclic)" register.Stall detection 0 ... Stall detection disabled

1 ... Stall detection enabled

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15.8.4.2 Status word

The individual bits of this register and its states depend on the current state of the state machine:

Status Res

ervi

ert /

Mot

orLo

adB

it 2

1)

Res

ervi

ert /

Mot

orLo

adB

it 1

1)

Res

ervi

ert /

Mot

orLo

adB

it 0

1)

Mode-specific

Int.

limit

activ

e

Targ

et re

ache

d

Remote

Reserved

Warning

Switc

h on

dis

able

d

Qui

ck s

top

Volta

ge e

nabl

ed

Fault

Ope

ratio

n en

able

d

Switc

hed

on

Rea

dy to

sw

itch

on

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0Not ready to switch on x x x x x x 1 0 x 0 x 0 0 0 0 0Switch on disabled x x x x x x 1 0 x 1 x 0 0 0 0 0Ready to switch on x x x x x x 1 0 x 0 1 0 0 0 0 1Switched on x x x x x x 1 0 x 0 1 1 0 0 1 1Operation enable x x x x x x 1 0 x 0 1 1 0 1 1 1Quick stop active x x x x x x 1 0 x 0 0 1 0 1 1 1Fault reaction active x x x x x x 1 0 x 0 x 0 1 1 1 1Fault x x x x x x 1 0 x 0 x 0 1 0 0 0

1) If bit 7 is set to 1 in the Mixed decay / Stall detection register, then the motor load value is returned in bits 13-15 of the status word. Otherwise these bitsare always 0.

Information about the status word:Bits 0,1,2,3,5 and 6 (light gray in the previous table)

These bits are set according to the current state of the "State machine".

Voltage enabled Becomes 1 as soon as the motor is poweredWarning Becomes 1 if a warning is detected ("Overcurrent", "Undercurrent"). The type of warning is indicated in the "Error

code" register. The highest priority error / warning is shown in each case, with the priority corresponding to theorder in the respective table. Warnings can be reset with a rising edge on the "Warning reset" bit in the controlword.

Remote Always 1 since there is no local mode on the SM moduleIf Halt = 0 If Halt = 1Target reached1), depending on bit 8 (Halt) in

the register Control word In modes 1, -123, -124, -125 and -126 (absolute po-sitioning):0 ... Positioning begins1 ... Target has been reached

In mode 2 (constant speed):0 ... Motor accelerates/brakes1 ... Speed setpoint reached

In modes -127 and -128 (homing):0 ... Homing started1 ... Homing ended

In mode -122 (set actual position):The bit briefly becomes 0 and immediately becomes 1again as soon as the position is set.

In all modes:0 ... Axis decelerating1 ... Axis speed = 0

Internal limit active 0 ... No limit violation1 ... Internal limit is active (upper/lower software limit violated)

Table 7: Information about the status word

1) If Halt has not been activated in the "General configuration" register, then "Target Reached" behaves the same as when Halt = 0.

15.8.4.3 State machine

The motor is controlled according to the state machine illustrated below. After the module is started, the statemachine automatically changes to the state "Not ready to switch on". The application then operates the statemachine by writing commands to the "Control word".The state machine successively reaches the states "Ready to switch on", "Switched on" and "Operation enable"by writing the consecutive commands "Shutdown", "Switch on" and "Enable operation".

Information:Motor movements are not performed until the "Operation enable" state, according to the setting in theMode register.

X20SM1436


(e.g. Temperature too high)

Enable operationShutdown

Fault reset

Fault reaction active

Fault

Quick stop active

Disable voltageQuick stop

ShutdownSwitch on

Disable operationEnable operation

Not ready to switch on

Switch on disabled

Ready to switch on

Switched on

Operation enable

Shutdown

Quick stop

Disable voltage

Disable voltageQuick stop

Fault conditionModule start

(Internal reset)

Quick stop executed

Figure 10: State machine - Flow chart

State change DescriptionNot ready to switch on → Switch On Disabled

This state change occurs automatically after starting the module and internal initialization has taken place.

Switch on disabled → Ready to Switch On

This state change is brought on by the Shutdown command.No others actions are performed.

Ready to switch on → Switch On Disabled

This state change is brought on by the command Disable voltage or Quick stop.No others actions are performed.

Switched on → Switch On Disabled

This state change is brought on by the command Disable voltage or Quick stop.The motor voltage is switched off immediately.

Ready to switch on → Switched On

This state change is brought on by the Switch on command.The motor voltage is switched on.When this state change occurs for the first time since the module is started, the motor ID measurement is per-formed before the Switched on state is achieved. This can take approximately 1 second.

Switched on → Ready to Switch On

This state change is brought on by the Shutdown command.The motor voltage is switched off immediately.

Switched on → Operation Enable

This state change is brought on by the Enable operation command.Motor movements are now performed depending on the defined mode.

Operation enable → Switched On

This state change is brought on by the Disable operation command.If in motion, the motor is decelerated with the configured deceleration.Motor voltage remains on in the Switched on state.

Operation enable → Ready to Switch On

This state change is brought on by the Shutdown command.The motor voltage is switched off immediately.

Operation enable → Switch On Disabled

This state change is brought on by the Disable voltage command.Motor voltage switched off.It is strongly recommended to only make this state change on a stopped motor since regeneration on a motorrunning at no load can cause an overvoltage error on the DC bus (0x3210).

Operation enable → Quick Stop Active

This state change is brought on by the Quick stop command.If in motion, the motor is decelerated with the configured deceleration. During the deceleration, the state machineremains in the Quick stop active state. Once the motor is at standstill, the state automatically changes to theSwitch on disabled state.While the state machine is in the Quick stop active state, the Enable operation command can be used to switchit back to the Operation enable state.

→ Fault reaction active This state change is brought on when an error occurs and cannot be triggered by a command from the user.It can be triggered by error types classified as an "Error" (see 15.8.3.12 "Error code"). (Other error types listedas "Warning" only cause the "Warning" bit to be set in the status word and do not cause a state change in thestate machine.)Motor voltage is switched off and the state machine then changes immediately to the Fault state.The type of error is listed in the error code register (see the table under 15.8.3.12 "Error code"). The highestpriority error is shown. The priority corresponds to the order in the error code table.

Fault → Switch On Disabled

This state change is brought on by the Fault reset command. However, the state only changes if no more errorsare present when the command is written. All errors and warnings are reset. The error code register contains 0or the warning code if a warning is still present.

Table 8: State machine - State change

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15.9 Minimum cycle time

The minimum cycle time defines how far the bus cycle can be reduced without communication errors occurring.It should be noted that very fast cycles decrease the idle time available for handling monitoring, diagnostics andacyclic commands.

Minimum cycle timeStandard function model 250 μsRamp function model 250 μs

15.10 Minimum I/O update time

The minimum I/O update time defines how far the bus cycle can be reduced while still allowing an I/O update totake place in each cycle.

Minimum I/O update timeStandard function model 250 μsRamp function model Inputs Outputs1)

250 μs25 ms

1) Depending on the configuration of the motion profile generator

x20sm1436 - kerntechx20sm1436 data sheet v 1.32 1 x20sm1436 1 general information the stepper motor...

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