BS EN 61800-7-201:2016
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Adjustable speed electrical power drive systems – Generic interface and use of profiles for power drive systems. Profile type 1 specification
| Published By | Publication Date | Number of Pages |
| BSI | 2016 | 200 |
IEC 61800-7-201:2015 is available as /2 which contains the International Standard and its Redline version, showing all changes of the technical content compared to the previous edition. IEC 61800-7-201:2015 specifies profile type 1 for power drive systems (PDS). Profile type 1 can be mapped onto different network technologies. This edition includes the following significant technical changes with respect to the previous edition: – Updates, clarifications and enhancements.
PDF Catalog
| PDF Pages | PDF Title |
|---|---|
| 6 | English CONTENTS |
| 21 | FOREWORD |
| 23 | INTRODUCTION |
| 26 | Figures Figureย 1 โ Structure of IECย 61800-7 |
| 27 | 1 Scope 2 Normative references 3 Terms, definitions and abbreviated terms 3.1 Terms and definitions |
| 31 | 3.2 Abbreviated terms |
| 32 | 4 General 4.1 General considerations 4.2 Communication interface |
| 33 | 4.3 Object dictionary |
| 34 | 5 Data types 5.1 Standard data types 5.2 Record definitions Tables Tableย 1 โ List of used data types Tableย 2 โ Interpolation time period |
| 35 | 6 General object definitions 6.1 General 6.2 Communication parameter objects Figureย 2 โ Value definition Tableย 3 โ Interpolation data configuration Tableย 4 โ vl velocity acceleration/deceleration |
| 36 | 6.3 Additional identification and information objects 6.3.1 Object 6402h: Motor type Tableย 5 โ Object description Table 6 โ Entry description |
| 37 | 6.3.2 Object 6403h: Motor catalogue number Table 7 โ Value definition Table 8 โ Object description Table 9 โ Entry description |
| 38 | 6.3.3 Object 6404h: Motor manufacturer Table 10 โ Object description Table 11 โ Entry description Table 12 โ Object description Table 13 โ Entry description |
| 39 | 6.3.4 Object 6405h: http motor catalogue address 6.3.5 Object 6406h: Motor calibration date Table 14 โ Object description Table 15 โ Entry description Table 16 โ Object description Table 17 โ Entry description |
| 40 | 6.3.6 Object 6407h: Motor service period 6.3.7 Object 6503h: Drive catalogue number Table 18 โ Object description Table 19 โ Entry description Table 20 โ Object description Table 21 โ Entry description |
| 41 | 6.3.8 Object 6505h: http drive catalogue address 7 Error codes and error behavior 7.1 Error codes Table 22 โ Object description Table 23 โ Entry description |
| 42 | Table 24 โ Error codes |
| 45 | 7.2 Error behavior |
| 46 | 8 Controlling the power drive system 8.1 General 8.2 Finite state automaton Figure 3 โ Remote and local control |
| 47 | Figure 4 โ Power drive system finite state automaton Table 25 โ FSA states and supported functions |
| 48 | Table 26 โ Transition events and actions |
| 49 | 8.3 Modes of operation |
| 50 | 8.4 Detailed object specifications 8.4.1 Object 6040h: Controlword Figure 5 โ Relation between different value parameters Figure 6 โ Value definition |
| 51 | 8.4.2 Object 6041h: Statusword Table 27 โ Command coding Table 28 โ Object description Table 29 โ Entry description |
| 52 | Figure 7 โ Value definition Table 30 โ State coding |
| 53 | 8.4.3 Object 603Fh: Error code Table 31 โ Object description Table 32 โ Entry description Table 33 โ Object description |
| 54 | 8.4.4 Object 6007h: Abort connection option code Table 34 โ Entry description Table 35 โ Value definition Table 36 โ Object description Table 37 โ Entry description |
| 55 | 8.4.5 Object 605Ah: Quick stop option code 8.4.6 Object 605Bh: Shutdown option code Table 38 โ Value definition Table 39 โ Object description Table 40 โ Entry description |
| 56 | 8.4.7 Object 605Ch: Disable operation option code Table 41 โ Value definition Table 42 โ Object description Table 43 โ Entry description Table 44 โ Value definition |
| 57 | 8.4.8 Object 605Dh: Halt option code Table 45 โ Object description Table 46 โ Entry description Table 47 โ Value definition Table 48 โ Object description |
| 58 | 8.4.9 Object 605Eh: Fault reaction option code 8.4.10 Object 6060h: Modes of operation Table 49 โ Entry description Table 50 โ Value definition Table 51 โ Object description Table 52 โ Entry description |
| 59 | Table 53 โ Value definition Table 54 โ Object description Table 55 โ Entry description |
| 60 | 8.4.11 Object 6061h: Modes of operation display 8.4.12 Object 6502h: Supported drive modes Figure 8 โ Value definition Table 56 โ Object description Table 57 โ Entry description |
| 61 | 9 Factor group 9.1 General Table 58 โ Object description Table 59 โ Entry description |
| 62 | Figure 9 โ Position scaling concept |
| 63 | 9.2 Detailed object definitions 9.2.1 Object 608Fh: Position encoder resolution |
| 64 | 9.2.2 Object 6090h: Velocity encoder resolution Table 60 โ Object description Table 61 โ Entry description |
| 65 | 9.2.3 Object 6091h: Gear ratio Table 62 โ Object description Table 63 โ Entry description |
| 66 | 9.2.4 Object 6092h: Feed constant Table 64 โ Object description Table 65 โ Entry description |
| 67 | Table 66 โ Object description Table 67 โ Entry description |
| 68 | 9.2.5 Object 6096h: Velocity factor 9.2.6 Object 6097h: Acceleration factor Table 68 โ Object description Table 69 โ Entry description |
| 69 | 9.2.7 Object 60A2h: Jerk factor Table 70 โ Object description Table 71 โ Entry description |
| 70 | 9.2.8 Object 607Eh: Polarity Table 72 โ Object description Table 73 โ Entry description |
| 71 | 9.2.9 Code table for device profile specific units 9.2.10 Object 60A8h: SI unit position Figure 10 โ Value definition Table 74 โ Object description Table 75 โ Entry description Table 76 โ Device profile specific units |
| 72 | 9.2.11 Object 60A9h: SI unit velocity Figure 11 โ Example for a position unit Table 77 โ Object description Table 78 โ Entry description Table 79 โ Object description |
| 73 | 9.2.12 Object 60AAh: SI unit acceleration Figure 12 โ Example for a velocity unit Table 80 โ Entry description Table 81 โ Object description Table 82 โ Entry description |
| 74 | 9.2.13 Object 60ABh: SI unit jerk 10 Profile position mode 10.1 General information Figure 13 โ Example for an acceleration unit Figure 14 โ Example for a jerk unit Table 83 โ Object description Table 84 โ Entry description |
| 75 | 10.2 Functional description 10.2.1 General Figure 15 โ Trajectory generator and position control function Figure 16 โ Trajectory generator for profile position mode |
| 76 | 10.2.2 Single set-point Figure 17 โ Set-point example Figure 18 โ Handshaking procedure for the single set-point method |
| 77 | 10.2.3 Set of set-points Figure 19 โ Handshaking procedure for the set of set-points method |
| 78 | 10.2.4 Usage of halt bit in conjunction with new set-point bit Figure 20 โ Set-point handling for two set-points |
| 79 | 10.3 General definitions 10.4 Use of controlword and statusword Figure 21 โ Erase set-point Figure 22 โ Controlword for profile position (pp) mode |
| 80 | 10.5 Detailed object definitions 10.5.1 Object 607Ah: Target position Figure 23 โ Statusword for profile position (pp) mode Table 85 โ Definition of bit 4, bit 5, and bit 9 Table 86 โ Definition of bit 6 and bit 8 Table 87 โ Definition of bit 10, bit 12, and bit 13 |
| 81 | 10.5.2 Object 607Bh: Position range limit Table 88 โ Object description Table 89 โ Entry description Table 90 โ Object description |
| 82 | 10.5.3 Object 607Dh: Software position limit Table 91 โ Entry description |
| 83 | Figure 24 โ Software position limits Table 92 โ Object description |
| 84 | 10.5.4 Object 607Fh: Max profile velocity Table 93 โ Entry description Table 94 โ Object description |
| 85 | 10.5.5 Object 6080h: Max motor speed 10.5.6 Object 6081h: Profile velocity Table 95 โ Entry description Table 96 โ Object description Table 97 โ Entry description |
| 86 | 10.5.7 Object 6082h: End velocity 10.5.8 Object 6083h: Profile acceleration Table 98 โ Object description Table 99 โ Entry description Table 100 โ Object description Table 101 โ Entry description |
| 87 | 10.5.9 Object 6084h: Profile deceleration 10.5.10 Object 6085h: Quick stop deceleration Table 102 โ Object description Table 103 โ Entry description Table 104 โ Object description Table 105 โ Entry description |
| 88 | 10.5.11 Object 6086h: Motion profile type Table 106 โ Object description Table 107 โ Entry description Table 108 โ Value definition Table 109 โ Object description |
| 89 | 10.5.12 Object 60A3h: Profile jerk use 10.5.13 Object 60A4h: Profile jerk Table 110 โ Entry description Table 111 โ Object description Table 112 โ Entry description |
| 90 | Figure 25 โ Velocity/time diagram with jerk positions Table 113 โ Value assignments Table 114 โ Object description |
| 91 | 10.5.14 Object 60C5h: Max acceleration Table 115 โ Entry description |
| 92 | 10.5.15 Object 60C6h: Max deceleration Table 116 โ Object description Table 117 โ Entry description Table 118 โ Object description Table 119 โ Entry description |
| 93 | 11 Homing mode 11.1 General information 11.2 Functional description Figure 26 โ Homing mode function |
| 94 | 11.3 General definitions 11.3.1 General 11.3.2 Method 1: Homing on negative limit switch and index pulse 11.3.3 Method 2: Homing on positive limit switch and index pulse 11.3.4 Method 3 and 4: Homing on positive home switch and index pulse Figure 27 โ Homing on negative limit switch and index pulse Figure 28 โ Homing on positive limit switch and index pulse |
| 95 | 11.3.5 Method 5 and 6: Homing on negative home switch and index pulse 11.3.6 Method 7 to 14: Homing on home switch and index pulse Figure 29 โ Homing on positive home switch and index pulse Figure 30 โ Homing on negative home switch and index pulse |
| 96 | 11.3.7 Method 15 and 16: Reserved 11.3.8 Method 17 to 30: Homing without index pulse Figure 31 โ Homing on home switch and index pulse โ positive initial motion Figure 32 โ Homing on home switch and index pulse โ negative initial motion |
| 97 | 11.3.9 Method 31 and 32: Reserved 11.3.10 Method 33 and 34: Homing on index pulse 11.3.11 Method 35: Homing on current position (obsolete) 11.3.12 Method 36: Reserved for compatibility reasons 11.3.13 Method 37: Homing on current position Figure 33 โ Homing on positive home switch Figure 34 โ Homing on index pulse |
| 98 | 11.4 Use of controlword and statusword 11.5 Detailed object definitions 11.5.1 Object 607Ch: Home offset Figure 35 โ Controlword for homing mode Figure 36 โ Statusword for homing mode Table 120 โ Definition of bit 4 and bit 8 Table 121 โ Definition of bit 10, bit 12, and bit 13 |
| 99 | 11.5.2 Object 6098h: Homing method Figure 37 โ Home offset definition Table 122 โ Object description Table 123 โ Entry description |
| 100 | 11.5.3 Object 60E3h: Supported homing methods Table 124 โ Value definition Table 125 โ Object description Table 126 โ Entry description Table 127 โ Object description |
| 101 | 11.5.4 Object 6099h: Homing speeds Table 128 โ Entry description |
| 102 | 11.5.5 Object 609Ah: Homing acceleration Table 129 โ Object description Table 130 โ Entry description |
| 103 | 12 Touch probe functionality 12.1 Object 60B8h: Touch probe function Table 131 โ Object description Table 132 โ Entry description |
| 104 | Table 133 โ Value definition Table 134 โ Object description |
| 105 | 12.2 Object 60B9h: Touch probe status Table 135 โ Entry description Table 136 โ Value definition Table 137 โ Object description |
| 106 | 12.3 Object 60BAh: Touch probe 1 positive edge 12.4 Object 60BBh: Touch probe 1 negative edge Table 138 โ Entry description Table 139 โ Object description Table 140 โ Entry description Table 141 โ Object description |
| 107 | 12.5 Object 60BCh: Touch probe 2 positive edge 12.6 Object 60BDh: Touch probe 2 negative edge Table 142 โ Entry description Table 143 โ Object description Table 144 โ Entry description Table 145 โ Object description |
| 108 | 12.7 Object 60D0h: Touch probe source Table 146 โ Entry description Table 147 โ Value definition Table 148 โ Object description |
| 109 | 12.8 Touch probe time stamp latch 12.8.1 General Table 149 โ Entry description |
| 110 | 12.8.2 Object 60D1h: Touch probe time stamp 1 positive value 12.8.3 Object 60D2h: Touch probe time stamp 1 negative value Tableย 150 โ Object description Tableย 151 โ Entry description Tableย 152 โ Object description Table 153 โ Entry description |
| 111 | 12.8.4 Object 60D3h: Touch probe time stamp 2 positive value 12.8.5 Object 60D4h: Touch probe time stamp 2 negative value Tableย 154 โ Object description Tableย 155 โ Entry description Tableย 156 โ Object description Tableย 157 โ Entry description |
| 112 | 12.9 Touch probe edge counter for continuous mode 12.9.1 General 12.9.2 Object 60D5h: Touch probe 1 positive edge counter 12.9.3 Object 60D6h: Touch probe 1 negative edge counter Table 158 โ Object description Tableย 159 โ Entry description |
| 113 | 12.9.4 Object 60D7h: Touch probe 2 positive edge counter Table 160 โ Object description Table 161 โ Entry description Table 162 โ Object description Table 163 โ Entry description |
| 114 | 12.9.5 Object 60D8h: Touch probe 2 negative edge counter 12.10 Timing diagram for touch probe example Table 164 โ Object description Table 165 โ Entry description |
| 115 | Figure 38 โ Timing diagram for touch probe example |
| 116 | 13 Position control function 13.1 General information 13.2 Functional description Figure 39 โ Position control function Table 166 โ Explanation of the timing diagram |
| 117 | Figure 40 โ Following error (functional overview) Figure 41 โ Position reached (functional overview) |
| 118 | 13.3 Detailed object definitions 13.3.1 Object 6062h: Position demand value Figure 42 โ Position reached (definitions) Figure 43 โ Following error (definitions) |
| 119 | 13.3.2 Object 6063h: Position actual internal value 13.3.3 Object 6064h: Position actual value Table 167 โ Object description Table 168 โ Entry description Table 169 โ Object description Table 170 โ Entry description |
| 120 | 13.3.4 Object 6065h: Following error window Table 171 โ Object description Table 172 โ Entry description Table 173 โ Object description Table 174 โ Entry description |
| 121 | 13.3.5 Object 6066h: Following error time out 13.3.6 Object 6067h: Position window Table 175 โ Object description Table 176 โ Entry description Table 177 โ Object description |
| 122 | 13.3.7 Object 6068h: Position window time 13.3.8 Object 60F4h: Following error actual value Table 178 โ Entry description Table 179 โ Object description Table 180 โ Entry description Table 181 โ Object description |
| 123 | 13.3.9 Object 60FAh: Control effort 13.3.10 Object 60FCh: Position demand internal value Table 182 โ Entry description Table 183 โ Object description Table 184 โ Entry description |
| 124 | 13.3.11 Object 60F2h: Positioning option code Figure 44 โ Object structure Table 185 โ Object description Table 186 โ Entry description Table 187 โ Value definition for bit 0 and bit 1 |
| 125 | Table 188 โ Value definition for bit 2 and bit 3 Table 189 โ Value definition for bit 4 and bit 5 Table 190 โ Value definition for bit 6 and bit 7 |
| 126 | Figure 45 โ Rotary axis positioning example Figure 46 โ Example for absolute movement greater than modulo value |
| 127 | 14 Interpolated position mode 14.1 General information Figure 47 โ Example for relative movement greater than modulo value Table 191 โ Object description Table 192 โ Entry description |
| 129 | 14.2 Functional description 14.2.1 General 14.2.2 Linear interpolated position mode with several axes Figure 48 โ Interpolation controller |
| 130 | Figure 49 โ Interpolated position mode for two axes Table 193 โ Position calculation in interpolated position mode for several axes |
| 131 | 14.2.3 Buffer strategies for the interpolated position mode Figure 50 โ Linear interpolation for one axis |
| 132 | 14.2.4 Interpolated position mode FSA Figure 51 โ Input buffer organization Figure 52 โ Input buffer examples |
| 133 | 14.3 General definitions 14.4 Use of controlword and statusword Figure 53 โ Interpolated position mode FSA Figure 54 โ Controlword for interpolated position mode Table 194 โ FSA states and supported functions Table 195 โ Transition events and actions |
| 134 | 14.5 Detailed object definitions 14.5.1 Object 60C0h: Interpolation sub mode select Figure 55 โ Statusword for interpolated position mode Table 196 โ Definition of bit 4 and bit 8 Table 197 โ Definition of bit 10 and bit 12 Table 198 โ Value definition |
| 135 | 14.5.2 Object 60C1h: Interpolation data record Table 199 โ Object description Table 200 โ Entry description Table 201 โ Object description |
| 136 | 14.5.3 Object 60C2h: Interpolation time period Table 202 โ Entry description |
| 137 | 14.5.4 Object 60C4h: Interpolation data configuration Table 203 โ Object description Table 204 โ Entry description |
| 138 | Table 205 โ Object description |
| 139 | Table 206 โ Entry description |
| 140 | 15 Profile velocity mode 15.1 General information 15.2 Functional description |
| 141 | 15.3 General definitions 15.4 Use of controlword and statusword Figure 56 โ Profile velocity mode Figure 57 โ Controlword for profile velocity mode |
| 142 | 15.5 Detailed object definitions 15.5.1 Object 6069h: Velocity sensor actual value Figure 58 โ Statusword for profile velocity mode Table 207 โ Definition of bit 8 Table 208 โ Definition of bit 10, bit 12, and bit 13 Table 209 โ Object description |
| 143 | 15.5.2 Object 606Ah: Sensor selection code 15.5.3 Object 606Bh: Velocity demand value Table 210 โ Entry description Table 211 โ Value definition Table 212 โ Object description Table 213 โ Entry description |
| 144 | 15.5.4 Object 606Ch: Velocity actual value 15.5.5 Object 606Dh: Velocity window Table 214 โ Object description Table 215 โ Entry description Table 216 โ Object description Table 217 โ Entry description |
| 145 | 15.5.6 Object 606Eh: Velocity window time 15.5.7 Object 606Fh: Velocity threshold Table 218 โ Object description Table 219 โ Entry description Table 220 โ Object description Table 221 โ Entry description |
| 146 | 15.5.8 Object 6070h: Velocity threshold time 15.5.9 Object 60FFh: Target velocity Table 222 โ Object description Table 223 โ Entry description Table 224 โ Object description Table 225 โ Entry description |
| 147 | 15.5.10 Object 60F8h: Max slippage Table 226 โ Object description Table 227 โ Entry description Table 228 โ Object description Table 229 โ Entry description |
| 148 | 16 Profile torque mode 16.1 General information 16.2 Functional description Figure 59 โ Structure of the profile torque mode |
| 149 | 16.3 General definitions 16.4 Use of controlword and statusword 16.5 Detailed object definitions 16.5.1 Object 6071h: Target torque Figure 60 โ Controlword for profile torque mode Figure 61 โ Statusword for profile torque mode Table 230 โ Definition of bit 8 Table 231 โ Definition of bit 10 |
| 150 | 16.5.2 Object 6072h: Max torque 16.5.3 Object 60E0h: Positive torque limit value Table 232 โ Object description Table 233 โ Entry description Table 234 โ Object description Table 235 โ Entry description |
| 151 | 16.5.4 Object 60E1h: Negative torque limit value Table 236 โ Object description Table 237 โ Entry description Table 238 โ Object description Table 239 โ Entry description |
| 152 | 16.5.5 Object 6073h: Max current 16.5.6 Object 6074h: Torque demand Table 240 โ Object description Table 241 โ Entry description Table 242 โ Object description Table 243 โ Entry description |
| 153 | 16.5.7 Object 6075h: Motor rated current 16.5.8 Object 6076h: Motor rated torque Table 244 โ Object description Table 245 โ Entry description Table 246 โ Object description |
| 154 | 16.5.9 Object 6077h: Torque actual value 16.5.10 Object 6078h: Current actual value Table 247 โ Entry description Table 248 โ Object description Table 249 โ Entry description Table 250 โ Object description |
| 155 | 16.5.11 Object 6079h: DC link circuit voltage 16.5.12 Object 6087h: Torque slope Table 251 โ Entry description Table 252 โ Object description Table 253 โ Entry description Table 254 โ Object description |
| 156 | 16.5.13 Object 6088h: Torque profile type 17 Velocity mode 17.1 General information Table 255 โ Entry description Table 256 โ Value definition Table 257 โ Object description Tableย 258 โ Entry description |
| 157 | 17.2 Functional description 17.2.1 Ramp function Figure 62 โ Velocity mode with all objects Figure 63 โ Velocity mode with mandatory objects only |
| 158 | 17.2.2 Velocity control function 17.2.3 Factor function Figure 64 โ Velocity profile Figure 65 โ Factor function Figure 66 โ Reverse factor function |
| 159 | 17.3 General definitions 17.4 Use of controlword and statusword Figure 67 โ Controlword for profile velocity mode Figure 68 โ Usage of controlword bits in velocity mode Table 259 โ Definition of bit 4, bit 5, bit 6, and bit 8 |
| 160 | 17.5 Detailed object definitions 17.5.1 Object 6042h: vl target velocity 17.5.2 Object 6043h: vl velocity demand Figure 69 โ Statusword for profile velocity mode Table 260 โ Object description Table 261 โ Entry description |
| 161 | 17.5.3 Object 6044h: vl velocity actual value Table 262 โ Object description Table 263 โ Entry description Table 264 โ Object description Table 265 โ Entry description |
| 162 | 17.5.4 Object 6046h: vl velocity min max amount Figure 70 โ Transfer characteristic of vl velocity min max amount Table 266 โ Object description |
| 163 | 17.5.5 Object 6049h: vl velocity deceleration Figure 71 โ Transfer characteristic of the velocity deceleration Table 267 โ Entry description |
| 164 | 17.5.6 Object 6048h: vl velocity acceleration Table 268 โ Object description Table 269 โ Entry description |
| 165 | Figure 72 โ Transfer characteristic of the velocity acceleration Table 270 โ Object description |
| 166 | 17.5.7 Object 604Ah: vl velocity quick stop Figure 73 โ Transfer characteristic of the quick stop deceleration Table 271 โ Entry description |
| 167 | 17.5.8 Object 604Bh: vl set-point factor Table 272 โ Object description Table 273 โ Entry description |
| 168 | 17.5.9 Object 604Ch: vl dimension factor Table 274 โ Object description Table 275 โ Entry description |
| 169 | Table 276 โ Object description Table 277 โ Entry description |
| 170 | 18 Cyclic synchronous position mode 18.1 General information 18.2 Functional description Figure 74 โ Cyclic synchronous position mode overview |
| 171 | 18.3 Use of controlword and statusword Figure 75 โ Cyclic synchronous position control function Figure 76 โ Statusword for profile cyclic synchronous position mode |
| 172 | 18.4 Detailed object definitions 18.4.1 Object 60B0h: Position offset 18.4.2 Object 60B1h: Velocity offset Table 278 โ Definition of bit 10, bit 12, and bit 13 Table 279 โ Object description Table 280 โ Entry description |
| 173 | 18.4.3 Object 60B2h: Torque offset Table 281 โ Object description Table 282 โ Entry description Table 283 โ Object description |
| 174 | 19 Cyclic synchronous velocity mode 19.1 General information Figure 77 โ Cyclic synchronous velocity mode overview Table 284 โ Entry description |
| 175 | 19.2 General definitions 19.3 Functional description 19.4 Use of controlword and statusword Figure 78 โ Cyclic synchronous velocity control function |
| 176 | 20 Cyclic synchronous torque mode 20.1 General information Figure 79 โ Statusword for profile cyclic synchronous velocity mode Table 285 โ Definition of bit 10, bit 12, and bit 13 |
| 177 | 20.2 General definitions 20.3 Functional description 20.4 Use of controlword and statusword Figure 80 โ Cyclic synchronous torque mode overview Figure 81 โ Cyclic synchronous torque control function |
| 178 | 21 Cyclic synchronous torque mode with commutation angle (cstca) 21.1 General information Figure 82 โ Statusword for profile cyclic synchronous torque mode Figure 83 โ Cyclic synchronous torque mode with commutation angle overview Table 286 โ Definition of bit 10, bit 12, and bit 13 |
| 179 | 21.2 General definitions 21.3 Functional description 21.4 Use of controlword and statusword Figure 84 โ Cyclic synchronous torque with commutation angle control function Figure 85 โ Statusword for cstca mode |
| 180 | 21.5 Object 60EAh: Commutation angle 22 Support of additional sensor interfaces 22.1 General Table 287 โ Definition of bit 10, bit 12, and bit 13 Table 288 โ Object description Table 289 โ Entry description |
| 181 | 22.2 Object 60E4h: Additional position actual value Table 290 โ Object description |
| 182 | 22.3 Object 60E5h: Additional velocity actual value Table 291 โ Entry description |
| 183 | 22.4 Object 60E6h: Additional position encoder resolution โ encoder increments Table 292 โ Object description Table 293 โ Entry description |
| 184 | 22.5 Object 60EBh: Additional position encoder resolution โ motor revolutions Table 294 โ Object description Table 295 โ Entry description |
| 185 | Table 296 โ Object description Table 297 โ Entry description |
| 186 | 22.6 Object 60E7h: Additional velocity encoder resolution โ encoder increments per second Table 298 โ Object description |
| 187 | 22.7 Object 60ECh: Additional velocity encoder resolution โ motor revolutions per second Table 299 โ Entry description |
| 188 | Table 300 โ Object description Table 301 โ Entry description |
| 189 | 22.8 Object 60E8h: Additional gear ratio โ motor shaft revolutions Table 302 โ Object description Table 303 โ Entry description |
| 190 | 22.9 Object 60EDh: Additional gear ratio โ driving shaft revolutions 22.10 Object 60E9h: Additional feed constant โ feed Table 304 โ Object description Table 305 โ Entry description |
| 191 | Table 306 โ Object description Table 307 โ Entry description |
| 192 | 22.11 Object 60EEh: Additional feed constant โ driving shaft revolutions Table 308 โ Object description Table 309 โ Entry description |
| 193 | 23 Optional application FE 23.1 General 23.2 Object 60FDh: Digital inputs Figure 86 โ Object structure Table 310 โ Value definition Table 311 โ Object description |
| 194 | 23.3 Object 60FEh: Digital outputs Figure 87 โ Object structure Table 312 โ Entry description Table 313 โ Value definition Table 314 โ Object description |
| 195 | 24 Device information 24.1 General 24.2 Object 67FEh: Version number Figure 88 โ Structure of the standard version parameter Table 315 โ Entry description |
| 196 | Table 316 โ Object description Table 317 โ Entry description |
| 197 | Bibliography |
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