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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
| Index | Name | Type | Register Address | Value |
| 1 | PositionActualValue | DINT | 0x6064 | 0x60640020 |
| 2 | Statusword | UINT | 0x6041 | 0x60410010 |
| 3 | ModesofOperationDisplay | SINT | 0x6061 | 0x60610008 |
Rx PDO - Address 0x1600 - Interpolated positioning & Profile position
| 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.
TXPDO - From motor to PLC
| Parameter | Type | Dim | Address | Description |
| StateVar | UINT | 16 | 0x6042 | INTERNAL MACHINE STATE |
| Status Word | UINT | 16 | 0x6041 | DS402 STATUS WORD |
| WarnWord | UINT | 16 | 0x6043 | ALARM REGISTER |
| Demand Current | INT | 16 | 0x6077 | TORQUE CURRENT VALUE |
| Postion Actual Value | DINT | 32 | 0x6064 | POSITION ACTUAL VALUE |
| Motor drive temperature | UINT | 16 | 0x6055 | MOTOR / DRIVE TEMPERATURE |
| Command status | UINT | 16 | 0x6044 | 0=NONE,1=OK_READ,2=OK_WRITE |
| Cfg Value In | INT | 16 | 0x6046 | VALUE READ |
Internal state machine - STATEVAR
| STATUS WORD VALUE [DEC] | DESCRIPTION |
| 0 | Init state |
| 1 | Ready |
| 2 | Phase calculation |
| 3 | Automatic Homing |
| 4 | Manual Mode |
| 5 | Run |
| 6 | I2T Fault |
| 7 | Manual Homing |
| 8 | Write configuration to flash |
| 9 | Write to flash done |
| 10 | Flash error |
| 11 | Read configuration from flash |
| 12 | Flash fault |
| 13 | SIN/COS Overrange fault |
| 14 | Motor overtemperature fault |
| 15 | Power stage overccurent |
| 16 | DC Link overrange |
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
| Parameter | Type | Dim | Address | Description |
| Control Word | UINT | 16 | 0x6040 | DS402 CONTROL WORD |
| MC CWORD | UINT | 16 | 0x6047 | COMMAND WORD |
| MC Param 0 | UINT | 16 | 0x6048 | PROFILE POSITION (millimeter) |
| MC Param 1 | UINT | 16 | 0x6049 | PROFILE SPEED (mm/sec) |
| MC Param 2 | UINT | 16 | 0x604A | ACCELERATION RATE (m/sec2) |
| MC Param 3 | UINT | 16 | 0x604B | DECELERATION RATE (m/sec2) |
| Cfg Command Word | UINT | 16 | 0x6052 | 0=NO_COMMAND,1=READ_16BIT,2=WRITE_16BIT |
| Cfg Index Out | UINT | 16 | 0x6053 | REGISTER INDEX TO READ OR WRITE |
| Cfg Value Out | UDINT | 32 | 0x6054 | WRITE VALUE |
Command Word
| COMMAND WORD VALUE [DEC] | DESCRIPTION |
| 0 | No command |
| 1 | Start Homing |
| 2 | Reserved |
| 3 | Enable drive |
| 4 | Disable drive |
| 5 | Manuall Homing |
| 6 | Fault Reset |
| 7 | Phase calculation |
| 8 | Store configuration to Flash |
| 9 | Read configuration from Flash |
| 10 | Start Motion |
| 11 | Stop Motion |
| 12 | Drive Reset |
| 13 | Profile positioning mode (OPMODE = 1) |
| 14 | Jump to Bootloader (FW update) |
| 15 | Internal motion controller (OPMODE = 0) |