Can Open standard and extended PDOs

Standard PDO configuration - Standard Firmware

This implementation comprising 1 TXPDO and 1 RXPDO. EDS File: :integrated_drive_motors:nli_integrated_motor_standard.zip

Tx PDO - Address 0x1A00

tx_pdo_mapping_default.jpg

Index	Name	Type	Register Address	Value
1	*PositionActualValue (counts)	DINT	0x6064	0x60640020
2	Statusword	UINT	0x6041	0x60410010
3	ModesofOperationDisplay	SINT	0x6061	0x60610008

*Note that in order to have mm you have to multiple the position actual value in counts with the scaling factor F=pole pitch/65535. For NLi080 pole pitch=30000, for NLi120 pole pitch=60000.

Rx PDO - Address 0x1600 - Interpolated positioning & Profile position

rx_pdo_mapping_default.jpg

Index	Name	Type	Register Address	Value
1	InterpolationDataRecord	DINT	0x60C1	0x60C10120
2	Controlword	UINT	0x6040	0x60400010
3	ModesofOperation	SINT	0x6060	0x60600008

Extended PDO configuration - Firmware on Demand

This implementation comprising 3 TXPDO and 3 RXPDO. EDS File: :integrated_drive_motors:nli_integrated_motor_extended.zip
Please contant NiLAB to receive the Firmware.

new_pdo_1.jpg

TXPDO - From motor to PLC

Description
INTERNAL MACHINE STATE
DS402 STATUS WORD
ALARM REGISTER
TORQUE CURRENT VALUE
POSITION ACTUAL VALUE
MOTOR / DRIVE TEMPERATURE
0=NONE,1=OK_READ,2=OK_WRITE
VALUE READ

*Note that in order to have mm you have to multiple the position actual value in counts with the scaling factor F=pole pitch/65535. For NLi080 pole pitch=30000, for NLi120 pole pitch=60000.

Internal state machine - STATEVAR

Alarm Register Bits

Alarm type	D0	D1	D2	D3	D4	D5	D6	D7
OVERLOAD I2T	1	X	X	X	X	X	X	X
SINCOS OVERRANGE	X	1	X	X	X	X	X	X
MOTOR OVERTEMP	X	X	1	X	X	X	X	X
DCLINK OVERANGE	X	X	X	1	X	X	X	X
MOTOR OVERCURRENT	X	X	X	X	1	X	X	X

RXPDO - From PLC to motor

new_pdo_2.jpg

Description
DS402 CONTROL WORD
COMMAND WORD
PROFILE POSITION (millimeter)
PROFILE SPEED (mm/sec)
ACCELERATION RATE (m/sec2)
DECELERATION RATE (m/sec2)
0=NO_COMMAND,1=READ_16BIT,2=WRITE_16BIT
REGISTER INDEX TO READ OR WRITE
WRITE VALUE

Command Word

13	Profile positioning mode (OPMODE = 1)
14	Jump to Bootloader (FW update)
15	Internal motion controller (OPMODE = 0)