ds402 protocol

 

6.2.37 Program control
Initiates firmware download related commands and reads back information on the running application.
While the bootloader is active, only a subset of objects is supported and only one communication interface
can be used. For example: The bootloader is activated with the stop program command. If the first command
received by the bootloader is sent by USB, the communication is possible via USB only until the application
is started with a start program command or a device reset is performed.
To successfully perform a firmware update, the following command sequence must be executed:
Stop program – clear program – download program with write access to Program data
Related object: “Program data” on page 6-121


Name Program control
Index 0x1F51
Object code ARRAY
Highest subindex
supported 1

6.2.94 Controlword
Comprises bits for the following items:
• “Device Control Commands” on page 2-18 (bits 0…3, 7)
• Supervision of operating modes (bits 4…6, 8):
“Controlword (Profile Position Mode-specific Bits)” on page 3-25
“Controlword (Profile Velocity Mode-specific Bits)” on page 3-28
“Controlword (Homing Mode-specific Bits)” on page 3-31
For bit patterns of triggered commands chapter “2.2.3 Device Control Commands” on page 2-18.
Related object: “Statusword” on page 6-222
Table 6-144 Controlword bits
Name Controlword
Index 0x6040
Subindex 0x00
Data type UNSIGNED16
Access type RW
Default value –
Value range – –
PDO mapping RXPDO, TXPDO
Backup NO

6.2.95 Statusword
Comprises bits for the following items:
• “State of the Drive” on page 2-17 (bits 0…6)
• Operating state of the mode (bits 10, 12 and 13):
“Statusword (Profile Position Mode-specific Bits)” on page 3-26
“Statusword (Profile Velocity Mode-specific Bits)” on page 3-29
“Statusword (Homing Mode-specific Bits)” on page 3-32
“Statusword (Cyclic Synchronous Position Mode-specific Bits)” on page 3-42
“Statusword (Cyclic Synchronous Velocity Mode-specific Bits)” on page 3-45
“Statusword (Cyclic Synchronous Torque Mode-specific Bits)” on page 3-48
• Position referenced to home position (bit 15: will be set on homing attained and will be cleared on a
position counter overflow or a position sensor error)
• Internal limit active (bit 11; signals a limitation based on an internal calculation)
I2t: Limitation according to the I2t method
Current: Limitation according to Current demand value (0x30D0) and Output current limit
(0x3001; 0x02)
Max. velocity: Limitation according to Velocity demand value (0x606B) and Max profile velocity
(0x607F)
Max. speed: Limitation according to Velocity demand value (0x606B) and Max system speed
(0x3000; 0x06)
• Remote (bit 9: indicates NMT state is «Operational»)
• Warning (bit 7: indicates the presence of a warning condition)
Related object: “Controlword” on page 6-221
Name Statusword
Index 0x6041
Subindex 0x00
Data type UNSIGNED16
Access type RO
Default value –
Value range – –
PDO mapping TXPDO
Backup NO

6.2.100 Modes of operation
Switches the actually chosen operating mode. We recommend to use Modes of operation display after
changing the operation mode.
Related object: “Modes of operation display” on page 6-226

Name Modes of operation
Index 0x6060
Subindex 0x00
Data type INTEGER8
Access type RW
Default value 1
Value range Table 6-150
PDO mapping RXPDO
Backup YES

Operation
mode Description
1 Profile Position Mode (PPM)
3 Profile Velocity Mode (PVM)
6 Homing Mode (HMM)
8 Cyclic Synchronous Position Mode (CSP)
9 Cyclic Synchronous Velocity Mode (CSV)
10 Cyclic Synchronous Torque Mode (CST)
Table 6-150 Modes of operation


/*================================*/
6.2.101 Modes of operation display
Displays the actual mode of operation. The meaning of the returned value corresponds to the code in
Table 6-150.
Related object: “Modes of operation” on page 6-226

Name Modes of operation display
Index 0x6061
Subindex 0x00
Data type INTEGER8
Access type RO
Default value –
Value range Table 6-150
PDO mapping TXPDO
Backup NO

6.2.123 Homing method
Used to select the desired homing method.
If the homing method is changed during an ongoing homing process, it will not come into effect before the
next homing process is started.

Table 6-153 Homing methods
Name Homing method
Index 0x6098
Subindex 0x00
Data type INTEGER8
Access type RW
Default value 7
Value range – –
PDO mapping RXPDO
Backup YES
Value Description
37 Homing Method 37 (Actual Position)
34 Homing Method 34 (Index Positive Speed) [a]
33 Homing Method 33 (Index Negative Speed) [a]
27 Homing Method 27 (Home Switch Negative Speed)
23 Homing Method 23 (Home Switch Positive Speed)
18 Homing Method 18 (Positive Limit Switch)
17 Homing Method 17 (Negative Limit Switch)
11 Homing Method 11 (Home Switch Negative Speed & Index) [a]
7 Homing Method 7 (Home Switch Positive Speed & Index) [a]
2 Homing Method 2 (Positive Limit Switch & Index) [a]
1 Homing Method 1 (Negative Limit Switch & Index) [a]
-1 Homing Method -1 (Current Threshold Positive Speed & Index) [a]
-2 Homing Method -2 (Current Threshold Negative Speed & Index) [a]
-3 Homing Method -3 (Current Threshold Positive Speed)
-4 Homing Method -4 (Current Threshold Negative Speed)
[a] The index used for homing can be either a hardware index impulse (incremental encoder) or a virtual
index (SSI sensor)

6.2.66 Home position
Defines the position that will be set as zero position of the absolute position counter. The value is given in
[position units] (page 2-19).
Related object: “Home offset move distance” on page 6-187
Name Home position
Index 0x30B0
Subindex 0x00
Data type INTEGER32
Access type RW
Default value 0
Value range – –
PDO mapping RXPDO
Backup YES



0x30B0+0x00 == Home position
0x6064+0x00 == Position actual value
Home position == 退出回零模式，进入PPM模式，position actual value的值

一般的，Home position=0，即刚进入PPM模式的时候position actual value=0
若，Home position=123，则刚进入PPM模式的时候position actual value=123

6.2.68 Current threshold for homing mode
Used for homing methods «−1», «−2», «−3», and «−4». A mechanical border will be detected when the
measured motor current rises above the specified threshold [mA].
Related object: “Homing method” on page 6-238

Name Current threshold for homing mode
Index 0x30B2
Subindex 0x00
Data type UNSIGNED16
Access type RW
Default value 500
Value range – Maximal value of Output current limit
PDO mapping RXPDO
Backup YES

6.2.113 Target position
Used as input for the profile generator during profiled moves. Represents the position that the drive is supposed
to move using the motion control parameters (such as velocity, acceleration, and deceleration). For
non-profiled moves, the target position is directly used as input for the position controller. The value is given
in [position units] (page 2-19).
The target position is not set until the command is given by the “Controlword” on page 6-221. In this case,
the target position will be interpreted as absolute or relative depending on the command set to the controlword.
Otherwise, the target position is interpreted as absolute value.
Related objects: “Profile velocity” on page 6-236 / “Profile acceleration” on page 6-236
Name Target position
Index 0x607A
Subindex 0x00
Data type INTEGER32
Access type RW
Default value 0
Value range – –
PDO mapping RXPDO
Backup NO

6.2.102 Position demand value
Used as input for the position controller. For profiled motions, the value is generated by the profile generator.
The value is given in [position units] (page 2-19).

Name Position demand value
Index 0x6062
Subindex 0x00
Data type INTEGER32
Access type RO
Default value –
Value range – –
PDO mapping TXPDO
Backup NO


/*============================*/
6.2.103 Position actual value
Provides the actual position value of the axis, derived by the main sensor defined in “Axis configuration”
on page 6-138. The value is given in [position units] (page 2-19).
• As soon as a homing procedure is successfully performed, the value is absolute and referenced
which is indicated by the «Position referenced to home position» bit “Statusword” on page 6-222
• If no main sensor is configured, the position actual value is always “0” (zero).
Related object: “Additional position actual values” on page 6-256

Name Position actual value
Index 0x6064
Subindex 0x00
Data type INTEGER32
Access type RO
Default value –
Value range – –
PDO mapping TXPDO
Backup NO


/*============================*/
6.2.104 Following error window
Represents the maximal permitted difference between “Position actual value” on page 6-227 and
“Position demand value” on page 6-227. If exceeded, a following error will occur. If the value is set to
4'294'967'295, following error monitoring is switched off. The value is given in [position units] (page 2-19).

Name Following error window
Index 0x6065
Subindex 0x00
Data type UNSIGNED32
Access type RW
Default value 2000
Value range 0 2'147'483'647
(and 4'294'967'295 for disable)
PDO mapping RXPDO
Backup YES