MDX+ EtherCAT User Manual

Preface

User Manual

Thank you for purchasing MOONS' servo products. This manual introduces the use of the EtherCAT communication function of the MDX+ series servo motors that support EtherCAT bus communication. For other functions, hardware wiring methods, operating parameter setting methods, etc., please refer to the MDX+ EtherCAT Low Voltage Servo System User Manual.

This manual is intended for people who design FA systems, debug FA equipment, and maintain FA equipment.

For users who use this product for the first time, please read this manual carefully. If you have any questions about the use of EtherCAT communication, please consult our company's technical support staff for help.

Our company is committed to the continuous improvement of servo products, and the contents of this manual are often changed; if you need the latest version of the manual, please download it from the official website or ask for it from relevant personnel.

Version Information

1 Introduction to EtherCAT

1.1 Overview of EtherCAT

EtherCAT (Ethernet Control Automation Technology) is a high-speed real-time industrial Ethernet technology developed by Beckhoff, Germany. It uses the standard Fast Ethernet physical layer and has the characteristics of high speed, high efficiency, good synchronization performance, and low hardware cost. It adopts a bus topology that improves wiring efficiency and supports topologies including linear, tree, star or any combination. The number of connected devices can be up to 65535.

EtherCAT® is a registered trademark and patented technology, authorized by Beckhoff Automation Co., Ltd., Germany.

1.2 Introduction to EtherCAT Communication Protocol

EtherCAT is an optimized protocol for process data, which embeds valid data directly into standard Ethernet frames for transmission. During the startup process, the master device configures and maps process data on the slave. The EtherCAT frame consists of an EtherCAT frame header and one or more EtherCAT sub-messages. The EtherCAT frame header indicates the type of data that the master device wants to access:

- Read, Write, Read/Write

- Access a specific slave device through direct addressing, or access multiple slave devices through logical addressing

1.3 EtherCAT Technical Terminology

The following are the terms used in EtherCAT.

2 Product Introduction

2.1  EtherCAT communication specifications

*: Supports firmware update on EtherCAT bus

2.3 Network Connection

2.3.1 Drive Connection Instructions

An EtherCAT network typically consists of one master device and multiple slave devices. The connection method for slave devices depends on the master device. The servo drive provides a set of ports (input and output) for EtherCAT communication.

Notes：

1. When routing the EtherCAT servo drive network cables, they should be kept separate from other cables, especially high-voltage lines, and kept as far away as possible from sources of interference.

2. It is recommended to use twisted-pair network cables for the EtherCAT servo drive network to improve resistance to high-frequency magnetic field noise interference. This also helps reduce the radiation emitted by the cables.

2.3.2 EtherCAT Communication Port Definition

• IP65 Type

2.3.3 Communication Cable Specification

EtherCAT network connections use Cat 5e or higher grade cables, either straight-through or crossover Ethernet cables.

2.3.4 LED Indicators

The LED indicators are used to show the EtherCAT communication status.

Notes：

3 EtherCAT communication basics

3.1 CANopen over EtherCAT reference model

The CANopen over EtherCAT (CoE) network reference model mainly consists of two parts: the data link layer and the application layer. The data link layer is mainly responsible for the EtherCAT communication protocol, and the application layer embeds the CiA402 motion control protocol. The EtherCAT device CoE network reference model is as follows:

• EtherCAT Device
• CANopen Application
• Application layer
• Process Data
• PDO Mapping
• Service Data Objects
• CoE CoE
• Mailbox
• Process Data
• Data link layer
• EtherCAT Slave Controller
• Physical layer
• Ethernet Physical Layer

The application layer object dictionary contains parameters, application data, process data interface, and PDO mapping information between driver applications. The process data object is composed of the mapping object dictionary in PDO, and the content of the process data is defined by the PDO mapping; process data communication will read and write PDO cyclically; mailbox communication (SDO) is an asynchronous information communication that can read and write all object dictionaries.

3.2 EtherCAT frame structure

In the EtherCAT network, the data communicated between the master and slave devices is directly embedded in the standard Ethernet for transmission; because the EtherType of the Ethernet Header is 0x88A4, the subsequent Ethernet Data is processed as an EtherCAT frame. The EtherCAT frame contains an EtherCAT frame header and one or more EtherCAT sub-messages. Only EtherCAT frames with EtherCAT frame header Type=1 are processed according to ESC.

• 1
• Multiple EtherCAT Sub-frames
• Position Addressing
• Node Addressing
• Logical Addressing

Note: Cmd

3.3 EtherCAT State Machine

The EtherCAT state machine is used to describe the state and state switching of the slave application. The state machine of the EtherCAT slave application is controlled by the EtherCAT master. The slave initialization to the running state follows the rules from the pre-running state to the safe running state and then to the running state. The running state can be directly switched to various other states.

• EtherCAT State Machine

3.4 PDO process data

Periodic process data (PDO) is used for periodic data exchange between the master and slave devices. PDO includes RxPDO for the driver to receive data from the controller and TxPDO for the driver to send data to the controller. The content of process data is recorded in PDO mapping object and PDO allocation object. The servo drive uses synchronization manager SM2 (0x1C12) to map RxPDO data and synchronization manager SM3 (0x1C13) to map TxPDO data.

• RxPDO
• Action Command or Target Value, etc.
• EtherCAT
• MDX+ Servo Motor
• Controller
• Action Status or Current Value, etc. TxPDO

Note: Objects updated via PDO should not be updated via SDO.

3.4.1 PDO Mapping Object

PDO Mapping refers to the mapping of application objects from the object dictionary to the PDO (Process Data Object). The mapping objects 0x1600～0x1603 and 0x1A00～0x1A03 are used to store the mapping tables for RxPDO and TxPDO. The number of application objects that can be mapped in the PDO mapping objects is limited. Here is a general breakdown of the maximum number of mappable application objects for the respective mapping objects:

PDO mapping example: Assign application objects 0x603F, 0x6041, 0x6061, 0x6064, 0x60B9h, 0x60BA to mapping object 0x1A00 (TxPDO1)

Note: 1. Changing the PDO mapping object is only valid when the EtherCAT communication status is in the pre-operation status.
2. Since the changed content cannot be saved in the non-volatile memory, please be sure to reconfigure the mapping object every time the drive is powered on, otherwise the mapping object will be the default parameter of the drive.

3.4.2 PDO allocation object

The synchronization manager can be composed of multiple PDOs. The synchronization manager PDO allocation object describes the relationship between PDO and synchronization manager. MDX+ series low-voltage servo EtherCAT motors use synchronization manager SM2 (0x1C12) to map RxPDO data and synchronization manager SM3 (0x1C13) to map TxPDO data.

The maximum number of mapping objects that can be allocated by an allocation object is as follows:

Example of setting the sync manager PDO allocation object: Assign mapping objects 0x1A00, 0x1A01, 0x1A02, 0x1A03 to allocation object 0x1C13 (SM3)

Note:

1. Changing the PDO mapping object is only valid when the EtherCAT communication status is in the pre-operation status.

2. Since the changed content cannot be saved in the non-volatile memory, please be sure to reconfigure the mapping object every time the drive is powered on, otherwise the mapping object will be the default parameter of the drive.

3.4.3 PDO mapping operation steps

The operation steps for setting PDO mapping using SDO mailbox data are as follows:

Step 1: Transfer the EMS state to the pre-operation state

Step 2: Stop the PDO allocation function

Set the sub-index 0 of 0x1C12 and 0x1C13 to 0

Step 3: Stop the PDO mapping function

Set all sub-index 0 of 0x1600~0x1603 and 0x1A00~0x1A03 to 0

Step 4: Set the mapping entry of PDO mapping objects 0x1600~0x1603 and 0x1A00~0x1A03

Step 5: Set the value of the mapping entry (sub-index 0) of PDO mapping objects 0x1600~0x1603 and 0x1A00~0x1A03

Step 6: Set the mapping entry of PDO allocation objects 0x1C12 and 0x1C13

Step 7: Re-enable the PDO allocation function

Set the values of the mapping entries 0x1C12 and 0x1C13 (sub-index 0)

3.5 SDO Mailbox Data

SDO data is non-periodic communication data. The master station realizes non-periodic data interaction by reading and writing mailbox data SM channel; the master station can perform object setting or status monitoring by reading and writing data in the records in the object dictionary.

The abnormal termination code when SDO communication is abnormal is as follows:

3.6 Emergency message EMCY

When an abnormal alarm occurs in the slave device, the emergency message is fed back to the master station through the Mailbox communication.

The structure of the emergency message is as follows:

3.7 Distributed Clock

The clock of the first node in the EtherCAT network serves as the reference clock of the entire network, providing the system time for the network, and the distributed clocks of the slave devices are synchronized with this reference clock. Through the distributed clock, the local application of the slave can be synchronized with the synchronization event of the reference clock.

The MDX+ series low-voltage servo EtherCAT motor supports the following synchronization modes.

• possible frame jitter (~μs) due to EtherCAT Master Implementation
• EtherCAT frame (jitter: ~μs)
• EtherCAT frame EtherCAT frame EtherCAT frame
• DC Sync Event
• DC Sync Event DC Sync Event
• DC Event (jitter: ~ns)
• Slave Task
• Slave Task Slave Task

• Free Run Mode (FreeRun)

The master and slave are in an asynchronous relationship, and each has a clock that calculates time independently.

• SM Event Synchronization Mode (SM)

The slave is synchronized with the SM2 event. Once the EtherCAT data frame is received, the SM event will be triggered.

• DC Synchronization Mode (SYNC0 Synchronization)

The master is synchronized with all slaves, and the slaves will receive the data transmitted by the master at the same time interval. Synchronization cycle setting range: 500μs, 1~8ms (interval 500μs)

3.8 EtherCAT slave address setting

In the EtherCAT network, the node address of the MDX+ series low-voltage servo motor can be set by automatic allocation by the controller and local manual setting. The same node address is not allowed in the same network.

3.8.1 Automatic allocation by the host

For controllers that automatically allocate slave node addresses, the node ID allocation on the drive side needs to be selected to be automatically allocated by the host, and set through the drive configuration software Luna.

The steps to use Luna software to set the node address to be automatically allocated by the host are as follows:

Step 1: Use Luna software to establish communication with the drive

Step 2: Select Settings and open the fieldbus setting interface

Step 3: Select Node ID is automatically allocated by the host

Step 4: Click the Download button to download the configuration parameters to the drive

Step 5: Power off and restart the drive

3.8.2 Manual setting

For controllers that cannot allocate slave node addresses, manual settings are required on the drive side, and parameters P1-17 and P1-18 are modified through the drive configuration software Luna for setting.

• The steps to setting the node address using Luna software are as follows:

Step 1: Use Luna software to establish communication with the driver

Step 2: Select Settings to open the fieldbus settings interface

Step 3: Select the node ID to be fixed to a certain value. This setting value is the manually set node address

Step 4: Click the Download button to download the configuration parameters to the driver

Step 5: Power off and restart the driver

3.9 ESI file

ESI is an XML-formatted file that records the information of EtherCAT slave devices. The master station identifies the slave devices in the network based on ESI, so the ESI file needs to be saved in the folder specified by the master station before use. The ESI file of the EtherCAT driver of MOONS' can be downloaded from the MOONS' official website, or you can ask our relevant technical personnel for it.

4 Motion Control Mode Introduction

4.1 PDS Status Control by Servo Drives

In EtherCAT servo drive, PDS status means the state of Power Drive Systems. The state of PDS can be changed by control word 0x6040 and can be displayed by status word 0x6041. EtherCAT servo drive must process the status change according to the standard CiA402 protocol, which means we have to confirm the changing status through 0x6041 before we send the changing command to the next status.

4.1.1 State Transition Process

• Begin OFF/Reset
• Quick stop active

• Each PDS status explanation is as follows:

4.1.2 Status Control Command

Control the status of PDS through the combination of control word 0x6040 in the following chart.

Note:

Bit10~bit15 of the status word 0x6041 has something to do with servo control mode, which is marked as "0" in the chart above. For details of each bit's status, refer to the servo-related control mode.

• The bit combination of PDS status changing demand 0x6040 is as the following chart:

Note:

X: It means the bit currently does not affect the switch of PDS status. Generally write "0" is OK. so: switch on qs: quick stop fr: fault reset ev: enable voltage eo: enable operation

• The bit combination which displays 0x6041 in PDS status is as the below chart:

Note:

X: It means this bit does not affect the status that expresses PDO. rtso: ready to switch on ve: voltage enabled so: switched on qs: quick stop oe: operation enabled sod: switch on disabled f: fault

4.2 Control Mode Setting

The control mode EtherCAT servo drive supports is as follows.

4.2.1 Control Mode Write-in

The control mode of the servo drive is being set through 0x6060 and the corresponding relationship between control mode and the parameter of 0x6060 is as the below chart.

Note: The default value of 0x6060 is 0 and when the drive control power supply is connected, set the control mode value for use.

4.2.2 Control Mode Read

The inner control mode of servo drive is being confirmed by reading 0x6061. The corresponding relationship between control mode and parameter 0x6061 is as the below chart.

4.2.3 Caution when switching Control Mode

1. Control mode shall be banned from switching when the motor is in movement. 2. When switch the control mode, first update the the object in RxPDO which is related with 0x6060 control mode. 3. It takes several time to switch the control mode into finish. During the process, 0x6061 and the value of the object in TxPDO which is related with control mode is uncertain. 4. In the modified control mode, the value of unsupported object is uncertain. 5. Error will occur when control mode which the drive does not support has been set. 6. Only in position control mode (PP/HM/IP) full closed loop control is supported. In other mode, such control is not compatible.

4.3 Profile Position Control Mode

Under position control mode, servo drive generates movement trace according to the acceleration, deceleration, velocity and target position set by the controller. It also controls motors to execute relative or absolute point-to-point movement according to the generated movement trace. 0x6060 needs to be set as 1 when position control mode starts.

• The Structure of Motion Trace Generation Function

• Limit Function
• Target Position (0x607A)
• Command Position Trace Generation
• Target Velocity (0x60FF). Max. Velocity (0x607F) Limit Function
• Function
• Planned Acceleration (0x6083). Planned Deceleration (0x6084)
• Limit Function
• Quick Stop Deceleration (0x6085)

• The Composition of Position Mode

• Control Command Position Position
• Velocity
• Torque
• M
• Control
• Control
• Position Offset（0x60F4）
• Actual Velocity（0x606C）
• E
• Velocity Detection
• Actual Torque（0x6077）
• Actual Position（0x6064）

4.3.1 Related Parameters in Position Control Mode

4.3.2 Control Word Setting

In the position control mode, the meaning of each bit from 0x6040 is as the below chart, in which the segment marked brown is the control word bit that needs to be used in position mode.

4.3.3 Status Word Definition

In position control mode, the meaning of each bit for control word 0x6041 is listed as below chart, in which the segment marked brown is the control status word bit that needs to be used by position mode.

4.3.4 Function Parameter Setting

About conditions like position arrival, dynamic error follow, positioning finish, etc. and the setting of position error alarm threshold sees the following chart.

4.3.5 Function Example

Step1 Start Position Mode

The controller writes "1" into 0x6060 and confirms whether the current mode belongs to position mode by inquiring the value of 0x6061.

Step2 Enable the Motor

The controller writes 0x06, 0x07, 0x0F separately into 0x6040 and this controls motors into enable status. By judging whether the bit0, bit1, bit2 of 0x6041 are all 1, we can give a conclusion whether the motor is in enable status.

Step3 Set the Operation Parameter

According to actual application, the controller writes target position, velocity, acceleration and deceleration separately into 0x607A, 0X6081, 0X6083 and 0x6084.

Step4 Start/Stop Operation

According to actual application, we can choose relative positioning or absolute positioning. We put "0" at bit6 of the absolute positioning 0x6040 while the relative positioning it sets "1". According to different motion type,we send the corresponding commands. For the detailed command refer to the below introduction.

• Single-Step Motion

• Actual Speed
• 0
• t
• 1
• New Set Point
• Ready Bit4
• 0
• t
• 1
• Set Point Ack Bit12
• 0
• t
• 1
• Target Reached
• Bit10
• 0
• t
• D A B C E

• Multiple-Step with Stop in the Middle

• Actual Speed
• 0
• t
• 1
• New Set Point
• Ready Bit4
• 0
• t
• 1
• Set Point Ack Bit12
• 0
• t
• 1
• Target Reached
• Bit10
• 0
• t
• D A B C E F G H I

• Multiple-Step with continuous Movement in the Middle

• Actual Speed
• 0
• t
• 1
• New Set Point
• Ready Bit4
• 0
• t
• 1
• Set Point Ack Bit12
• 0
• t
• 1
• Target Reached
• Bit10
• 0
• t
• D A B C E F G H I

• Continuous Operation with Motion Trace immediately updated

• Actual Speed
• 0
• t
• 1
• New Set Point
• Ready Bit4
• 0
• t
• 1
• Set Point Ack Bit12
• 0
• t
• 1
• Target Reached
• Bit10
• 0
• t
• D A B C E F G H I

4.4 Profile Velocity Control Mode

In the velocity control mode, servo drives generate motion trace according to the acceleration, deceleration as well as velocity set by the upper controllers, which control motors to operate the motion according to the generated motion trace. When starting velocity control mode, 0x6060 needs to be set as "3".

• The Structure of Motion Trace Generation Function

• The Composition of Velocity Mode

• Command Velocity
• Velocity
• Torque
• M
• Control
• Control
• Actual Velocity (0x606C)
• Velocity Detection E
• Actual Torque (0x6077)
• Actual Position (0x6064)

4.4.1 Related Parameters in Velocity-Control Mode

4.4.2 Control Word Setting

In velocity control mode, the meaning of each byte for control word 0x6040is as the below chart, in which the segment marked dark color is the control word bit that needs to be used in velocity mode.

4.4.3 Status Word Definition

In velocity control mode, the meaning of each bit for status word 0x6041 is as the below chart, in which the segment marked dark color is the status word bit needs to be used by velocity mode.

4.4.4 Function Parameter Setting

About the set condition of velocity arrival, zero speed detection and velocity accordance, see the below chart.

4.4.5 Function Example

Step1: Start velocity mode

The controller writes 3 into 0x6060 and confirms whether the current mode is velocity mode by inquiring the value of 0x6061.

Step2: Motor Enable

The controller writes 0x06, 0x07, 0x10F separately into 0x6040, which controls motors into enable status. By judging whether the bit0, bit1, bit2 of 0x6041 are all in, the motor enable status can be judged.

Step3: Set Operation Parameters

According to actual application, controller writes target velocity, acceleration and deceleration separately in 0x60FF, 0x6083 and 0x6084.

Step4: Start/Stop operation

The controller can control the motor's start/stop through controlling the bit8 status of 0x6040. When bit8=0, the motor begins or continues operating. When bit8=1, the motor begins decelerating and stopping.

• V2
• V1
• Actual Speed
• V2
• V1
• Target Speed
• 0
• t
• 1
• Halt
• Bit8
• 0
• t
• 1
• Target reached
• Bit10
• 0
• t
• 1
• Speed
• Bit12
• 0
• t
• A B C D E F
• G

4.5 Profile Torque Control Mode

In the torque control mode, servo drive generates motion according to the target torque and torque command change rate (torque slope) set by the upper controller trajectory, controlling motors to operate motion according to the generated motion trace. To enable torque control mode, set 0x6060 to 4.

• The Structure of Motion Trace Generation Function

• Composition of Torque Mode

• Torque Control Target Torque（0x6071）
• M
• Torque Actual Value（0x6077）
• E
• Velocity Actual Value（0x606C） Velocity Detection
• Position Actual Value（0x6064）

4.5.1 Related Parameters in Torque-Control Mode

4.5.2 Control Word Setting

In the torque control mode, the meaning of each bit for control word 0x6040 is as below chart, in which the segment marked dark color is the control word bit needs to be used in torque mode.

4.5.3 Status word definition

In the torque control mode, the meaning of each bit of the status word 0x6041 is as shown in the following table, where the dark-marked parts are the bits of the status word to be used in the torque mode.

4.5.4 Function Parameter Setting

About the set condition of torque arrival, torque accordance, see the below chart.

4.5.5 Function Example

Step1: Start Torque Mode Controller writes 4 into 0x6060 and confirms whether the current mode is torque mode by inquiring the value of 0x6061.

Step2: Motor enable The controller writes 0x06, 0x07, 0x10F separately into 0x6040, which controls motors into enable status. By judging whether the bit0, bit1, bit2 of 0x6041 are all in, the motor enable status can be judged.

Step3: Setting Operation Parameters According to actual application, controller writes target torque, velocity limit and torque slope in torque mode separately in 0x6071, 0x2A47 and 0x6087.

Step4: Start/Stop Operation The controller can control the motor's start/stop through controlling the bit8 status of 0x6040. When bit8=0, the motor begins or continues operating. When bit8=1, the motor begins decelerating and stopping.

• T2
• Actual Torque
• T1
• 0
• t
• T2
• Target Torque
• T1
• 0
• t
• 1
• Halt Bit8
• 0
• t
• 1
• Target reached
• Bit10
• 0
• A BC D E

4.6 Cyclic Synchronous Position Mode

In Cyclic Synchronous Position (CSP) mode, the master controller calculates the motion trajectory and transmits the target position to the servo drive at each synchronization cycle. The servo drive follows these commands in real-time to execute the motion profile. To enable CSP mode, set 0x6060 to 8.

• Composition of Cyclic Synchronous Position Mode

• Control Target Position（0x607A） Position
• Velocity
• Torque
• M
• Control
• Control
• Position Error（0x60F4）
• Actual Velocity（0x606C）
• E
• Velocity Detection
• Actual Torque（0x6077）
• Actual Position（0x6064）

4.6.1 Related Parameters of CSP Mode

4.6.2 Control Word Setting

In the CSP control mode, the meaning of each bit for control word 0x6040 is as below chart.

4.6.3 Status Word Definition

In the CSP control mode, the meanings of each bit for status word 0x6041 are listed as below chart, in which the segment marked brown is the status word bit that needs to be used by CSP mode.

4.6.4 Functional Parameter Settings

The conditions for position arrival, dynamic following error, positioning completion, and position error alarm thresholds are configured as follows:

4.6.5 Functional Example

Step 1: Enable CSP Mode

Controller writes '8' in 0x6060 and confirms whether the current mode is cyclic synchronous position mode by inquiring the value of 0x6061.

Step2: Motor Enable

Send the following sequence to object 0x6040 (Control Word): 0x06 → 0x07 → 0x0F (Shutdown → Ready to Switch On → Operation Enabled). Confirm enable status by checking if Bits 0, 1, 2 of 0x6041 (Status Word) are all 1.

Step 3: Set the Operation Parameters and control Start/Stop

Controllers generate the motion trace according to the setting operation parameters. In this way, target position is written periodically into the controlled motors to operate.

4.7 Cyclic Synchronous Velocity Mode

In the cyclic synchronous velocity control mode, the upper controller generates the motion trajectory and sends the target velocity to the servo drive in each synchronous cycle, the servo drive follows the target velocity. To enable the cyclic synchronous mode, 0x6060 needs to be set to 9. • Composition of cyclic synchronous Velocity Mode

• Torque Control Target Velocity（0x60FF）
• Velocity Control
• M
• Velocity Actual Value（0x606C）
• E Torque Actual Value（0x6077）
• Velocity Detection
• Position Actual Value（0x6064）

4.7.1 Related Parameters of cyclic synchronous Velocity Control Mode

4.7.2 Control Word Setting

In the CSV control mode, the meaning of each bit for control word 0x6040 is as below chart.

4.7.3 Status Word Definition

In the CSV control mode, the meaning of each bit for status word 0x6041 is as below chart, in which the segment marked in dark color is the status word bit that needs to be used by the CSV mode.

4.7.4 Function Parameter Setting

About the condition setting of the velocity arrival, zero speed detection and velocity accordance, see the below chart.

4.7.5 Function Example

Step1: Start Cyclic Synchronous Velocity Mode

Controller writes "9" in 0x6060 and confirms whether the current mode is cyclic synchronous velocity mode by inquiring the value of 0x6061.

Step2: Motor Enable

The controller separately writes 0x06, 0x07 and 0x0F in 0x6040 and controls the motors into enable status. Motors are judged whether they are in enable status by judging the bit0, bit1 and bit2 of 0x6041.

Step3: Set the Operation Parameters and control Start/Stop

Controllers generate the motion trace according to the setting operation parameters. In this way, target velocity is written periodically into the controlled motors to operate.

4.8 Cyclic Synchronous Torque Mode

In Cyclic Synchronous Torque (CST) mode, the master controller calculates the motion trajectory and transmits the target torque to the servo drive at each synchronization cycle. The servo drive follows these commands in real-time to execute the motion profile. To enable CST mode, set 0x6060 to 10.

• Composition of cyclic synchronous Velocity Mode

• Torque Control Target Torque（0x6071）
• M
• Torque Actual Value（0x6077）
• E
• Velocity Actual Value（0x606C） Velocity Detection
• Position Actual Value（0x6064）

4.8.1 Related Parameters of CST Control Mode

4.8.2 Control Word Setting

In the CST control mode, the meaning of each bit for control word 0x6040 is as below chart.

4.8.3 Status Word Definition

In the CST control mode, the meaning of each bit for status word 0x6041 is as below chart, in which the segment marked in dark color is the status word bit that needs to be used by the CST mode.

4.8.4 Function Parameter Setting

About the condition setting of the torque arrival and torque consistency, please see the below table.

4.8.5 Function Example

Step 1: Enable CST Mode

Controller writes '10' in 0x6060 and confirms whether the current mode is cyclic synchronous position mode by inquiring the value of 0x6061.

Step2: Motor Enable

Send the following sequence to object 0x6040 (Control Word): 0x06 → 0x07 → 0x0F (Shutdown → Ready to Switch On → Operation Enabled). Confirm enable status by checking if Bits 0, 1, 2 of 0x6041 (Status Word) are all 1.

Step 3: Set the Operation Parameters and control Start/Stop

Controllers generate the motion trace according to the setting operation parameters. In this way, target torque is written periodically into the controlled motors to operate.

4.9 Homing Control Mode

In homing controlling mode, the servo drive generates the motion trace according to the home acceleration/deceleration, velocity, origin offset, homing mode as well as homing sensor signal set by the upper controller. Then the system controls the motor to operate the action according to the generated motion trace. To start the homing controlling mode, 0x6060 needs to be set as "6". MDX+ EtherCAT series servo supports 39 homing modes.

• The Structure of Motion Trace Generation Function

• Limit Function
• Homing Velocity (0x6099)、Homing Acceleration/Deceleration (0x609A)
• Limit Function Trace Generation
• Emergency Stop Deceleration (0x6085)、Maximum Velocity (0x607F)
• Command Position
• Function
• Homing Mode (0x6098)、Origin Offset (0x607C)
• Origin Sensor Signal (0x2001)

• Composition of Homing Mode

• Control Command Position Position
• Velocity
• Torque
• M
• Control
• Control
• Position Deviation（0x60F4）
• Actual Velocity（0x606C）
• E
• Velocity Detection
• Actual Torque（0x6077）
• Actual Position（0x6064）

4.9.1 Related Parameters of Homing Control Mode

4.9.2 Control Word Setting

In homing control mode, the meaning of each bit for control word 0x6040 is as below chart, in which the segment marked in deep color is the control word bit needs to be used by homing mode.

4.9.3 Status Word Function

In homing control mode, the meaning of each bit for status word 0x6041 is as below chart, in which the segment marked dark color is the status word bit needs to be used by homing mode.

4.9.4 Function Example

Step1: Start Position Mode

The controller writes 6 in 0x6060 and confirms whether the current mode is homing returning mode by inquiring the value of 0x6061.

Step2: Motor Enable

Controller writes 0x6040 separately in 0x06, 0x07, 0x0f. Motors are controlled in enable status. Motors are judged whether they are in enable status by judging the bit0, bit1, bit2 are all 1.

Step3: Setting Operation Parameters

According to actual application, the controller will separately write 0x6098, 0x6099, 0x609A, 0x607C in parameters like homing returning mode, velocity, acceleration, origin offset, etc.

Step4: Start/Stop Operation

Controller can control motor's start or stop by controlling the bit4 status of 0x6040. When bit4 turns from 0 to 1, motor begins starting homing returning action.

4.9.5 Homing Mode Introduction

Homing is used to look for the position relationship among mechanical origin, location mechanical origin and mechanical zero point.

Mechanic Origin: One certain position mechanically. It could be certain known sensor or Z-phase signal of motors.

Mechanic Zero Point: Absolute 0 position mechanically

After homing has been finished, the position the motor stops is the mechanical origin. By setting origin offset 0x607C, the relationship between mechanical origin and mechanical zero point can be set.

Mechanical Origin = Mechanical Zero Point + 0x607C

When 0x607C=0, mechanical origin and mechanical zero point are covered from each other.

• H H
• Motion Trace
• Z Phase Signal
• Origin Switch Signal
• Forward Limit Switch Signal
• Backward Limit Switch Signal

H: Homing high velocity 0x6099 sub index 1

L: Origin Returning low Velocity 0x6099 Sub Index 2

Origin Switch Signal: HOM-SW=0: It means the origin signal is invalid. HOM-SW=1: It means the signal that expresses the origin signal is valid.

Forward Limit Switch Signal: POT=0: Forward limit signal is invalid POT=1: Forward limit signal is valid

Backward Limit Switch Signal:

NOT=0 Backward limit signal is invalid NOT=1 Backward limit signal is valid

Homing returning mode -4~1 is a self-defined homing returning mode by company. The drive does not need to connect switch signal outside as auxiliary signal for homing returning. Instead, by limiting the motor's torque in homing returning process, the mechanical hard limit acts as an obstacle while it touched the load from motor and drive. When the thrust is equal to the blocking force and the motor is in static way, this position is considered as the mechanical origin. In the process of returning to the origin, the torque limit of the motor is set through 0x2A08. Set 100% corresponding to 1 time of motor rated torque. Set the value of this object according to the actual application. If this setting value is too small, it may cause the bit back to the origin. Inaccurate setting and excessive setting may damage mechanical equipment.

Note: While using homing returning mode -4~1, it needs to set a suitable homing returning offset 0x607C, which leads to find the mechanical origin during the homing returning process and then backwards operate the origin offset to be away from the distance of 0x607C. The load leaves the mechanical hard limit and the actual position 0x6064 after the motor stops is 0.

Homing Returning Mode -4: Backward returning and look for backward mechanical hard limit.

• H
• Motion Trace
• Backward Mechanical Hard Limit

a) The returning starts at backward high speed and when the mechanical hard limit meets the blocking force and the torque limited by the motor, it decelerates until stops. Run at forward high speed, offset the origin by a distance of 0x607C, the position of the motor after stopping is 0x607C.

Homing Returning Mode -3: Forward returning and look for forward mechanical hard limit

• H
• Motion Trace
• Forward Mechanical Hard Limit

a) The returning starts at forward high speed and when the mechanical hard limit meets the blocking force and the torque limited by the motor, it decelerates until stops, offsets the zero point of backward high-speed operation by 0x607C and the position of the motor after stopping is 0x607C.

Homing Returning Mode -2: Backward returning and look for the backward mechanical hard limit and Z-phase pulse signal.

• H
• Offset Motion Trace
• Z Phase Signal
• Backward Mechanical Hard Limit

a) Start returning at backward high speed and when the mechanical hard limit meets the blocking force and the torque limited by the motor, it decelerates until stops and operates at low speed forward. When it meets the first Z-pulse then it stops and offsets the origin of forward high speed operation by 0x607C. The position of the motor is 0x607C after stopping.

Homing Returning Mode -1: Forward returning and look for forward mechanical hard limit and Z-phase pulse signal.

• H
• Motion Trace
• Z Phase Signal
• Forward mechanical hard limit

a) Start returning at forward high speed and when the mechanical hard limit meets the blocking force and the torque limited by the motor, it decelerates until stops, operates backward at low speed and stops when it meets the first Z pulse. It offsets the origin at backward high speed operation by 0x607C. The position of the motor is 0x607C after stopping.

The homing returning mode 1~35 is the one defined according to CiA402 motion control protocol.

Caution:

When the homing returning mode 1~35 is used, after the motor returns homing, the actual position 0x6064 of motor is the value offset 0x607C from origin.

Homing Returning Mode 1: Backward returning and look for backward limit and Z pulse signal.

• H L
• Motion Trace
• L
• Z Phase Signal
• Backward limit signal

a) When it starts returning NOT=0, it does so at negative high speed. When it meets NOT rising edge, it decelerates and turns backward and forward at low speed. When it meets the first Z pulse of NOT falling edge, it stops.

b) When it starts returning NOT=1, it does so at forward low speed. When it meets the first Z pulse of NOT falling edge, it stops.

Homing Returning Mode 2: Forward returning and look for forward limit and Z pulse signal.

• H
• Motion Trace
• L
• Z Phase Signal
• Forward Limit Switch Signal

a) When it starts returning POT=0 and begins returning at forward high speed. When it meets POT rising edge, it decelerates and turns backward and forward at low speed. When it meets the first Z pulse of POT falling edge, it stops.

b) When it starts returning POT=1, it begins returning at backward low speed. When it meets the first Z pulse at the POT falling edge, it stops.

Homing Returning Mode 3: Forward returning and look for origin sensor falling edge and Z pulse signal.

• H
• Motion Trace
• L
• Z Phase Signal
• Origin Switch Signal

a) When it starts returning HOM-SW=0, it begins returning at forward high speed. When it meets the rising edge of HOM-SW, it decelerates and changes backward and operates at low speed. When it meets the falling edge of HOM-SW, it stops.

b) When it starts returning HOM-SW=1, it begins returning at backward low speed. When it meets the first Z pulse of the HOM-SW falling edge, it stops.

Homing Returning Mode 4: Forward returning and look for origin sensor rising edge as well as Z pulse signal.

• H
• Motion Trace
• Z Phase Signal
• Origin Switch Signal

a) When it starts returning HOM-SW=0, it does so at forward high speed. When it meets HOM-SW rising edge, it decelerates and moves backward. After it moves at backward low speed to HOM- SW invalid position and decelerates until stops. Then it will run at a positive low speed. When it meets the first Z pulse after HW rising edge, it stops.

b) When it starts returning, HOM-SW=1, it begins returning at backward low speed. When it meets HOM-SW falling edge, it decelerates and moves backward. Then it will operate forward at low speed. When it meets the first Z pulse of HOM-SW rising edge, it stops.

Homing Returning Mode 5: Backward returning and look for origin sensor falling edge and Z pulse signal.

• H
• Motion Trace
• L
• Z-phase Signal
• Origin Switch Signal

a) When it start returning HOM-SW=0, it does so at backward high speed. When it meets HOM- SW rising edge, it decelerates and moves backward. Then it will run forward at low speed. When it meets the first Z pulse of HOM-SW falling edge, it stops.

b) When it starts returning HOM-SW=1, it does so at forward low speed. When it meets the first Z pulse of HOM-SW falling edge, it stops.

Homing Returning Mode 6: Backward returning and look for origin sensor rising edge and Z pulse signal.

• H
• Motion Trace
• L
• L L
• Z-phase Signal
• Origin Switch Signal

a) When it begins returning HOM-SW=0, it does so at backward high speed. When it meets HOM- SW rising edge, it decelerates and moves backward. Then it moves forward at low speed until the invalid position of HOM-SW. It decelerates and stops and then it runs at backward low speed. When it meets the first Z pulse of HW rising edge, it stops.

b) When it begins returning HOM-SW=1, it does so at forward low speed. When it meets HOM-SW falling edge, it decelerates and moves backward. Then it will run backward at low speed. When it meets the first Z pulse of HOM-SW rising edge, it stops.

Homing Returning Mode 7: Forward returning and look for origin sensor falling edge and Z pulse signal. When it meets forward limit, it turns backward automatically.

• H
• Motion Trace
• Z-phase Signal
• Origin Switch Signal
• Forward Limit Switch Signal
• a ) When it begins returning HOM-SW=0 and it is located at the backward side of the origin sensor's position, it does that at forward high speed. When it meets HOM-SW rising edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets the first Z pulse of HOM-SW falling edge, it stops. b) When it begins returning HOM-SW=0 and it is located at the forward side of the position of origin sensor, it does that at forward high speed. When it meets POT rising edge, it decelerates and moves backward. Then it will run at backward high speed. When it meets the first Z pulse of HOM-SW falling edge, it stops. c) When it starts returning HOM-SW=1 and it begins returning at backward low speed. When it meets the first Z pulse of HOM-SW falling edge, it stops.

Homing Returning Mode 8: Forward returning and look for origin sensor rising edge and Z pulse signal. When it meets forward limit, it turns backward automatically.

• H
• L
• Motion Trace
• Z-phase Signal
• Origin Switch Signal
• Forward Limit Switch Signal

a) When it starts returning HOM-SW=0 and it is located at the backward side of the location of origin sensor, it does that at forward high speed. When it meets HOM-SW rising edge, it decelerates and moves backward. It runs at backward low speed until it decelerates to stop. Then it runs at forward low speed. When it meets the first Z pulse of HOM-SW rising edge, it stops. b) When it begins returning HOM-SW=0 and it is located at the forward side of the location of origin sensor, it does so at forward high speed. When it meets POT's rising edge, it decelerates and backward. It runs at backward high speed. When it meets HOM-SW's falling edge, it decelerates and turns forward and backward at low speed. When it meets the first Z pulse of HOM-SW rising edge, it stops. c) When it starts returning HOM-SW=1, it does that at backward low speed. When it meets HOM-SW falling edge, it decelerates and turns backward and forward with low speed. When it meets the first Z pulse of HOM-SW rising edge, it stops.

Homing Returning Mode 9: Forward returning and look for the rising edge of origin sensor and Z pulse signal. When it meets forward limit, it turns backward automatically.

• H
• Motion Trace
• Z-phase Signal
• Origin Switch Signal
• Forward Limit Switch Signal

a) When it starts returning HOM-SW=0 and it is located at the backward side of the position of origin sensor. Then it returns at forward high speed. When it decelerates after HOM-SW falling edge,it turns backward and runs at backward low speed. When it meets the first Z pulse after HOM-SW rising edge, it stops.

b) When it starts returning HOM-SW=0 and it is located at the forward side of the position of origin sensor, it does that at forward high speed. When it meets POT's rising edge, it decelerates and moves backward. Then it runs at backward high speed. When it meets HOM-SW's rising edge, it decelerates and moves backward. It runs at forward low speed until the invalid position of HOM-SW and then it decelerates and stops. After that, it runs at backward low speed. When it meets the first Z pulse of rising edge of HOM-SW, it stops.

c) When it begins returning HOM-SW=1, it does that at forward low speed. When it meets HOM-SW falling edge, it decelerates and turns backward. It runs at backward low speed and when it meets the first Z pulse of HOM- SW's rising edge, it stops.

Homing Returning Mode 10: Forward returning and look for the falling edge of origin sensor and Z pulse signal. When it meets forward limit, it turns backward automatically.

• H
• L
• Motion Trace
• Z-phase Signal
• Origin Switch Signal
• Forward Limit Switch Signal

a) When it starts returning HOM-SW=0 and it is located at the backward side of the position of origin sensor, it does that at forward high speed. When it meets the HOM-SW rising edge, it decelerates and moves backward. Then it moves at backward low speed to HOM-SW invalid location. After that it decelerates and stops and runs at forward low speed. When it meets the first Z pulse of HOM-SW's falling edge, it stops.

b) When it starts returning HOM-SW=0 and it is located at the forward side of the position of origin sensor, it does that at forward high speed. When it meets POT's rising edge, it decelerates and moves backward. Then it runs at backward high speed. When it meets HOM-SW's rising edge, it decelerates and moves backward and then it runs at forward low speed. When it meets the first Z pulse of HOM-SW falling edge, it stops.

c) When it starts returning HOM-SW=1, it does that at forward low speed. When it meets the first Z pulse of the HOM-SW falling edge, it stops.

Homing Returning Mode 11: Backward returning and look for the falling edge of origin sensor and Z pulse signal. When it meets backward limit, it turns backward automatically.

• H
• Motion Trace
• Z-phase Signal
• Origin Switch Signal
• Backward Limit Switch Signal

a) When it starts returning HOM-SW=0 and it is located at the forward side of the location of origin sensor, it does that at backward high speed. When it meets HOM-SW's rising edge, it decelerates and moves backward. Then it runs at forward low speed. When it meets the first Z pulse of HOM-SW falling edge, it stops.

b) When it begins returning HOM-SW=0 and it is located at the backward side of the location of origin sensor, it does that at backward high speed. When it meets NOT rising edge, it decelerates and moves backward. Then it will run at forward high speed. When it meets HOM-SW's rising edge, it decelerates and moves backward. The it runs at backward low speed to HOM-SW invalid location. After that, it decelerates and stops and runs at forward low speed. When it meets the first Z pulse of the HOM-SW's falling edge, it stops.

c) When it begins returning HOM-SW=1, it does that at forward low speed. When it meets the first Z pulse of HOM- SW falling edge, it stops.

Homing Returning Mode 12: Backward returning and look for origin sensor rising edge and Z pulse signal. When it meets backward limit, it turns backward automatically.

• H
• Motion Trace
• Z-phase Signal
• Origin Switch Signal
• Backward Limit Switch Signal

a) When it begins returning HOM-SW=0 and it is located at the forward side of the position of the origin sensor, it does that at backward high speed. When it meets HOM-SW rising edge, it decelerates and moves backward. Then it moves at forward low speed and after reaching HOM-SW invalid location, it decelerates and stops. After that, it moves at backward low speed. When it meets the first Z pulse of HOM-SW rising edge, it stops.

b) When it begins returning HOM-SW=0 and it is located at the backward side of the location of the origin sensor, it does that at backward high speed. After it meets NOT's rising edge, it decelerates and moves backward. Then it moves at forward high speed. After it meets HOM-SW's falling edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets the first Z pulse of HOM-SW's rising edge, it stops.

c) When it begins returning HOM-SW=1, it does that at forward low speed. When it meets HOM-SW's falling edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets the first Z pulse of HOM-SW rising edge, it stops.

Homing Returning Mode 13: Backward returning and look for origin sensor's rising edge and Z pulse signal. When it meets backward limit, it turns backward automatically.

• H
• L
• H
• H
• Motion Trace
• L L
• L
• Z-phase Signal
• Origin Switch Signal
• Backward Limit Switch Signal

a) When it begins returning HOM-SW=0 and it is located at the forward side of the location of origin sensor, it does that at backward high speed. After it meets HOM-SW's falling edge, it decelerates and moves backward, it moves at forward low speed. When it meets the first Z pulse of HOM-SW's rising edge, it stops.

b) When it begins returning HOM-SW=0 and it is located at the backward side of the location of the origin sensor, it does that at backward high speed. After it meets NOT's rising edge, it decelerates and moves backward. Then it moves at forward high speed. After it meets HOM-SW's rising edge, it decelerates and moves backward. It moves at backward low speed to HOM-SW's invalid location, then it decelerates and stops. After that, it moves at forward low speed. When it meets the first Z pulse of HOM-SW's rising edge, it stops.

c) When it begins returning HOM-SW=1, it moves at backward low speed. After it meets HOM-SW falling edge, it decelerates and moves backward. Then it moves at forward low speed. When it meets the first Z pulse of HOM- SW's rising edge, it stops. Homing Returning Mode 14: Backward returning and look for origin sensor's falling edge and Z pulse signal. When it meets backward limit, it turns backward automatically.

• H
• L H
• Motion Trace
• Z-phase Signal
• Origin Switch Signal
• Backward Limit Switch Signal

a) When it begins returning HOM-SW=0 and it is located at the forward side of the location of origin sensor, it does that at backward high speed. After it meets HOM-SW's rising edge, it decelerates and moves backward. Then it moves at forward low speed to HOM-SW invalid location, decelerates and stops. After that it moves at backward low speed. When it meets the first Z Pulse if HOM-SW's falling edge, it stops.

b) When it begins returning HOM-SW=0 and it is located at the backward side of the position of origin sensor, it does that at backward high speed. After it meets NOT's rising edge, it decelerates and moves backward. Then it moves at forward high speed. After it meets HOM-SW's rising edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets the first Z pulse of HOM-SW's falling edge, it stops.

c) When it begins returning HOM-SW=1, it does that at backward low speed. When it meets the first Z pulse of HOM-SW's falling edge, it stops.

Homing Returning Mode 15,16 Reserve

Homing Returning Mode 17: Backward returning and look for the backward limit signal

• H
• L
• Motion Trace
• L
• Backward Limit Switch Signal

a) When it begins returning NOT=0, it does that at backward high speed. After it meets NOT's rising edge, it decelerates and moves backward. Then it moves at forward low speed. When it meets NOT's falling edge, it stops.

b) When it begins returning NOT=1, it does that at forward low speed. When it meets NOT's falling edge, it stops.

Homing Returning Mode 18: Forward returning and look for positive limit signal

• Motion Trace
• Forward Limit Switch Signal

a) When it begins returning POT=0, it does that at forward high speed. After it meets POT's rising edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets POT's falling edge, it stops.

b) When it begins returning POT=1, it does that at backward low speed. When it meets POT's falling edge, it stops.

Homing Returning Mode 19: Forward returning and look for origin sensor falling edge signal

• H
• L
• Motion Trace
• L
• Origin Switch Signal

a) When it begins returning HOM-SW=0, it does that at forward high speed. After it meets HOM- SW's rising edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets HOM-SW's falling edge, it stops.

b) When it begins returning HOM-SW=1, it does that at backward low speed. When it meets HOM- SW's falling edge, it stops.

Homing Returning Mode 20: Forward returning and look for origin sensor rising edge signal

• Motion Trace
• Origin Switch Signal

a) When it begins returning HOM-SW=0, it does that at forward high speed. After meeting HOM- SW's rising edge, it decelerates and moves backward. Then it moves at backward low speed to HOM-SW's invalid location and stops. After that, it moves at forward low speed. When it meets HOM-SW's rising edge, it stops.

b) When it begins returning HOM-SW=1, it does that at backward low speed. After it meets HOM- SW falling edge, it decelerates and moves backward. Then it moves at forward low speed. When it meets HOM-SW rising edge, it stops.

Homing Returning Mode 21: Backward returning and look for origin sensor falling edge signal

• H
• L Motion Trace
• L
• Origin Switch Signal

a) When it begins returning HOM-SW=0, it does that at backward high speed. After meeting HOM- SW's rising edge, it decelerates and moves backward. Then it moves at forward low speed. When it meets HOM-SW's falling edge, it stops.

b) When it begins returning HOM-SW=1, it does that at forward low speed. When it meets HOM- SW falling edge, it stops.

Homing Returning Mode 22: Backward returning and look for origin sensor rising edge signal

• Motion Trace
• Origin Switch Signal

a) When it begins returning HOM-SW=0, it does that at backward high speed. After it meets HOM- SW's rising edge, it decelerates and moves backward. Then it runs at forward low speed to HOM- SW invalid location and decelerates and stops. After that, it runs at backward low speed. When it meets HOM-SW's rising edge, it stops.

b) When it begins returning HOM-SW=1, it does that at forward low speed. After meeting HOM- SW's falling edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets HOM-SW's rising edge, it stops.

Homing Returning Mode 23: Forward returning and look for origin sensor's falling edge signal. When it meets forward limit, it turns reverse immediately.

• Motion Trace
• Origin Switch Signal
• Forward Limit Switch Signal

a) When it starts returning HOM-SW=0 and it is located at the backward side of the location of the origin sensor, then it does that at forward high speed. After meeting HOM-SW's rising edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets HOM-SW's falling edge, it stops. b) When it starts returning HOM-SW=0 and it is located at the forward side of the location of origin sensor, it does that at forward high speed. After meeting POT's rising edge, it decelerates and moves backward. Then it moves at backward high speed. When meeting HOM-SW's rising edge, it decelerates and moves backward. Then it moves at forward low speed to HOM-SW invalid location and then decelerates until stops. After that, it moves at backward low speed. When it meets HOM-SW's falling edge, it stops. c) When it returns HOM-SW=1, it does that at backward low speed. When it meets HOM-SW's falling edge, it stops.

Homing Returning Mode 24: Forward returning and looking for origin sensor's rising edge. When it meets forward limit, then it turns to backward automatically.

• Motion Trace
• Origin Switch Signal
• Forward Limit Switch Signal

a) When it begins returning HOM-SW=0 and it is located at the backward side of the location of origin sensor, it does that at forward high speed. After meeting HOM-SW's rising edge, it decelerates and moves backward. Then it moves at backward low speed to HOM-SW invalid location, decelerates until stops. After that, it moves at forward low speed. When it meets HOM-SW rising edge, it stops.

b) When it begins returning HOM-SW=0 and it is located at the forward side of the location of the origin sensor, it does that at forward high speed. After meeting POT's rising edge, it decelerates and moves backward. Then it moves at backward high speed. After meeting HOM-SW's falling edge, it decelerates and moves backward. Then it moves at forward low speed. When it meets HOM-SW's rising edge, it stops.

c) When it begins returning HOM-SW=1, it does that at backward low speed. After meeting HOM-SW's falling edge, it decelerates and moves backward. Then it moves at forward low speed. When it meets HOM- SW's rising edge, it stops.

Homing Returning Mode 25: Forward returning and look for origin sensor rising edge signal. When it meets the forward limit, it turns backward automatically.

• Motion Trace
• Origin Switch Signal
• Forward Limit Switch Signal

a) When it starts returning HOM-SW=0 and it is located at the backward side of the location of origin sensor, it does that at forward high speed. After meeting HOM-SW's falling edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets HOM-SW's rising edge, it stops. b) When it starts returning HOM-SW=0 and it is located at the forward side of the location of the origin sensor, it does that at forward high speed. After meeting POT's rising edge, it decelerates and moves backward. Then it moves at backward high speed. After meeting HOM-SW's rising edge, it decelerates and moves backward. Then it moves at forward low speed to HOM-SW's invalid location, decelerates until stops. After that it moves at backward low speed. When it meets HOM-SW's rising edge, it stops. c) When it starts returning and HOM-SW=1, it does that at forward low speed. After meeting HOM-SW's falling edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets HOM-SW's rising edge, it stops.

Homing Returning Mode 26: Forward returning and look for origin sensor falling edge signal. When it meets forward limit, it turns backward automatically.

• Motion Trace
• Origin Switch Signal
• Forward Limit Switch Signal

a) When it starts returning HOM-SW=0 and it is located at the backward side of the location of the origin sensor, it does that at forward high speed. After meeting HOM-SW's rising edge, it decelerates and moves backward. Then it moves at backward to HOM-SW's invalid location, decelerates until stops. After that it moves at forward low speed. When it meets HOM-SW's falling edge, it stops.

b) When it begins returning HOM-SW=0 and it is located at the forward side of the location of origin sensor, it does that at forward high speed. When it meets POT rising edge, it decelerates and moves backward. Then it will run at backward high speed. After meeting HOM-SW's rising edge, it decelerates and moves backward. Then it moves at forward low speed. When it meets HOM-SW's falling edge, it stops.

c) When it starts returning HOM-SW=1, it does that at forward low speed. When it meets HOM-SW's falling edge, it stops.

Homing Returning Mode 27: Backward returning and look for the origin sensor falling edge signal. When it meets backward limit, it turns forward automatically.

• H
• L
• Motion Trace
• L
• L
• Origin Switch Signal
• Backward Limit Switch Signal

a) When it starts returning HOM-SW=0 and it is located at the forward side of the location of the origin sensor, it does that at the backward high speed. After meeting HOM-SW rising edge, it decelerates and moves backward. Then it moves at forward low speed. When it meets HOM-SW's falling edge, it stops.

b) When it starts returning HOM-SW=0 and it is located at the backward side of the location of the origin sensor, it does that at backward high speed. After meeting NOT's rising edge, it decelerates and moves backward. Then it moves at forward high speed. After meeting HOM-SW's rising edge, it decelerates and moves backward. Then it move at backward low speed to HOM-SW's invalid location and then it decelerates until stops. After that it moves at forward low speed. When it meets HOM-SW's falling edge, it stops.

c) When it starts returning HOM-SW=1, it does that at forward low speed. When it meets HOM-SW's falling edge, it stops.

Homing Returning Mode 28: Backward returning and look for origin sensor rising edge signal. When it meets backward limit, it turns forward automatically.

• H
• L
• Motion Trace
• L
• L
• L
• Origin Switch Signal
• Backward Limit Switch Signal

a) When it starts returning HOM-SW=0 and it is located at forward side of the location of the origin sensor, it does that at backward high speed. After meeting HOM-SW's rising edge, it decelerates and moves backward. Then it moves at forward low speed to HOM-SW's invalid location, decelerates and stops. After that it moves at backward low speed. When it meets HOM`SW's rising edge, it stops.

b) When it starts returning HOM-SW=0 and it is located at the backward of the location of the origin sensor, it does that at backward high speed. After meeting NOT's rising edge, it decelerates and moves backward. Then it moves at forward high speed. After meeting HOM-SW's falling edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets HOM-SW's rising edge, it stops.

c) When it starts returning HOM-SW=1, it does that at forward low speed. After meeting HOM-SW's falling edge, it decelerates and moves backward. Then it moves at backward low speed. When it meets HOM-SW rising edge, it stops.

Homing Returning Mode 29: Backward retuning and look for origin sensor rising edge signal. When it meets backward limit, it turns backward automatically.

• H
• L
• Motion Trace
• L
• L
• L
• Origin Switch Signal
• Backward Limit Switch Signal

a) When it starts returning HOM-SW=0 and it is located at forward side of the position of origin sensor, it starts returning at backward high speed. When it meets HOM-SW's falling edge, it decelerates and moves backward. Then it moves at forward low speed. When it meets HOM-SW's rising edge, it stops.

b) When it starts returning HOM-SW=0 and it is located at backward side of the location of origin sensor, it does that at backward high speed. After meeting NOT's rising edge, it decelerates and moves backward. Then it moves at forward high speed. After meeting HOM-SW's rising edge, it decelerates and moves backward. Then it moves at backward low speed to HOM-SW invalid location, decelerates until stops. After that it moves at forward low speed. When it meets HOM-SW's rising edge, it stops.

c) When it starts returning HOM-SW=1, it moves at backward low speed. After meeting HOM-SW's falling edge, it decelerates and moves backward. Then it moves at forward low speed. When it meets HOM-SW's rising edge, it stops.

Homing Returning Mode 30: Backward returning and look for origin sensor falling edge signal. When it meets backward limit, it turns backward automatically.

• Motion Trace
• Origin Switch Signal
• Backward Limit Switch Signal

a) When it starts returning HOM-SW=0 and it is located at the forward side of the location of the origin sensor, it does that at backward high speed. After meeting HOM-SW rising edge, it decelerates and moves backward. Then it moves at forward low speed to HOM-SW invalid location, decelerates until stops. After that, it moves at backward low speed. When it meets HOM-SW's falling edge, it stops.

b) When it starts returning HOM-SW=0 and it is located at the backward side of the location of origin sensor, it does that at backward high speed. After meeting NOT's rising edge, it decelerates and moves backward. Then it moves at forward high speed. When it meets HOM-SW's rising edge, it decelerates and moves backward. Now it moves at backward low speed. When it meets HOM-SW's falling edge, it stops.

c) When it starts returning HOM-SW=1, it does that at backward low speed. When it meets HOM-SW's falling edge, it stops.

Homing Returning Mode 31/32 Reserve

Homing Returning Mode 33: Backward returning and look for the first Z pulse signal

• L
• Motion Trace
• Z-phase Signal
• a) It starts returning at backward low speed and meets the first Z pulse signal and stops.

Homing Returning Mode 34: Forward returning and look for the first Z pulse signal

• L Motion Trace
• Z-phase Signal
• a) It starts returning at forward low speed and meets the first Z pulse signal and stops.

Homing Returning Mode 35: Put the Current Location as Mechanical Origin

• Backward Mechanical Hard Limit Forward Mechanical Hard Limit
• Mechanical Origin Mechanical Origin

4.10 Q Program Control Mode

Q programming mode is a unique control mode which MOONS`has for its product. By using Q programming, complex motion control that cannot be realized by CiA402 motion control protocol can be realized. Each drive can download up to 12 Q programs and each Q program can support up to 63 lines. The Q program must be edited by Luna software and downloaded to the driver EEPROM supporting Q programming function in advance. The controller sends instructions to call the Q program through EtherCAT communication. To enable the Q programming control mode, 0x6060 needs to be set to -1.

4.10.1 Related Parameter of Q Program Control Mode

4.10.2 Control Word Setting

In Q program control mode, the meaning of each bit of control word 0x6040 is as follows, in which the segment marked in deep color is the control word bits that are needed to us in Q program mode.

4.10.3 Status Word Definition

In Q program control mode, the meaning of each bit of control word 0x6041 is as follows, in which the segment marked in deep color is the control word bits that are needed to us in Q program mode.

4.10.4 Function Example

Step1. Start Q Program Mode

The controller writes -1 to 0x6060 and confirms whether the current mode is Q program mode by inquiring the value of 0x6061.

Step2. Motor Enable

The controller successively writes 0x06, 0x07 and 0x0f to 0x6040 and controls the motor to enter the enable state.Then it is judged whether the motor is in enable state by judging whether bit0, bit1 and bit2 of 0x6041 are all 1.

Step3. Set Operation Parameters

According to actual application, the controller writes the calling Q segment number to 0x2007.

Step4. Start/Stop Operation

The controller can control the start/ stop of the motor by controlling the status of bit 4 of 0x6040. When bit 4 changes from 0 to 1, the motor starts executing Q program.

5 Application Function

5.1 Digital I/O Function, both Input and Output

MDX+ series low voltage servo EtherCAT motor, IP20 model has 6 general input ports and 3 general output ports that can be assigned specific functions in input and output I/O, IP65 model has 4 general input ports and 2 general output ports that can be assigned specific functions in input and output I/O, and the assignable signals can also be set logically; multiple functions cannot be assigned to the same general input and general output port, and the same function cannot be assigned to different general input or general output ports at the same time.

General input X1 and X2 are high-speed input ports. When using functions with precision requirements, please use X1 and X2 high-speed input ports.

■ List of assignable Function Inputs

Closed: Digital Input Optocoupler connected Open: Digital Input Optocoupler disconnected

• General Input
General digital input does not affect motor's movement. The controller can monitor input port status.

• Alarming Clear
The drive alarm status is cleared by the external digital signal. Part of the alarm status cannot be eliminated by such function.

• Forward Rotation Prohibition Limit
Prohibit the input of movement towards forward direction. After this input is valid, the motor decelerates until stops according to the fast stop deceleration 0x6085. The digital input 0x60FD's bit1 (Forward Limit)is set as 1. The status word 0x6041's bit11(Inertia Limit Active) is set as "1". Under homing returning mode , external forward limit signal is used.

• Reverse Rotation Prohibition Limit
Prohibit the input of movement towards backward direction. After this input is valid, the motor decelerates until stops according to fast stop deceleration 0x6085. The digital input 0x60FD's bit0 (Backward Limit) is set as "1". The status word 0x6041's bit11 (Inertia limit active) is set as "1". Under homing returning mode, external backward limit signal is used.

• Gain Switching
Group 1 or Group 2 gain parameters are chosen to use through external digital signal. When this input is valid, use the Group 2 gain parameter. When this input is invalid, use the Group 1 gain parameter.

• Emergency Stop
Control the motor to decelerate until stop through external digital signal. When this input is valid, motor decelerates until stops according to the stop mode set by 0x2038.

• Torque Limit Input

Switch the torque limit according to external digital signal. When this input is valid, motor limits the motor torque according to the I/O control mode set by 0x2A02 as torque limit mode.

• Zero Speed Clamp Input

Command velocity is forced to set as 0 through external digital signal. After this input is valid, when the absolute value of motor actual velocity is within the zero speed judgment threshold (0x2A16 sub index 1) and the duration time reaches the setting time set by 0x2A15 sub index 2, then the servo system will enter zero position blocked status. At this time, the drive controls by inner position ring. Even if the motor rotates because of the external force, it will return the clamp position.

• Velocity Limit Input

Motor velocity is limited under the torque mode through the external digital signal. When this input is valid, the velocity limit function affects. The velocity limit value is set by 0x6081.

• Homing Sensor

Under the homing returning mode, it means the deceleration signal or origin signal in the process of homing return. When this input is valid, the digital input's 0x60FD's bit2 (origin switch) is set as 1.

• Virtual Forward Rotation Prohibition Limit

When this limit is valid, the motor movement is not affected. The digital input 0x60FD's bit1 (Forward Limit) is set as 1.Under the homing returning mode, the external forward limit signal is used.

• Virtual Backward Rotation Prohibition Limit

When this input is valid, the motor movement is not affected. The digital input 0x60FD's bit0 (Backward Limit) is set as 1.Under the homing returning mode, external backward limit signal is used.

■ Input Port Related Parameters

Note: Do not set the parameter value of 0x2A20 as the value beyond the function code.

■ Distributable Function Output List

Closed: Digital Input Optocoupler connected Open: Digital Input Optocoupler disconnected

• General Output General digital output, the controller can force to control the output signal status.

• Error Output When the drive occurs alarming of error as alarming type, this output is valid.

• Warning Output When the drive occurs alarming of warning as alarming type, this output is valid.

• Brake Release Output

It is used to control motor of its electromagnetic brake's movement. As the brake has movement delay, in order to avoid brake being destroyed, motion sequence should be be noticed when using. When working at CSP, CSV and CST control mode during work, the setting value of P5-24 parameters is invalid. When designing the control program, it is obliged to reserve plenty of time to guarantee the motor's movement after the opening of brake, otherwise it will damage the motor brake.

• ON
• S_ON Signal
• OFF
• ON
• Energized Motor
• OFF
• ON
• BRK Signal
• OFF
• ON
• Brake Movement
• OFF
• ON
• Motion Command
• OFF
• ON
• Actual Movement
• OFF
• Movement Wait Time set by P5-24 Disable Delay set by P5-25

• Servo on Status

When servo enable is on, this output is valid.

• Positioning Finish When no new position command is received internally within the command position input finish detection time 0x2A15 sub index 4, the absolute value of the position deviation value is within the position error threshold 0x2A15 sub index 3 of the positioning finish signal and the duration reaches the set time of 0x2A15 sub index 2. This output is valid.

• Command Position Actual Position
• (Position Finish Signal Error Threshold )
• 0x2A15-Sub2
• (Movement Judgment Condition Counting Time)
• 0x2A15-Sub4
• (Command Position Input Finish Detection Time)
• Position Finish Signal

• Dynamic Deviation Follow The output is valid when the absolute value of the position deviation value is within the dynamic following error threshold 0x2A15 sub index 1.

• Position Deviation Curve
• 0x2A15-Sub1
• 0
• -(0x2A15-Sub1)
• Dynamic Deviation Follow Signal

• Torque Arrival In the torque rising stage, this output is valid when the absolute value of the difference between the absolute value of the actual torque and the judgment torque reaching the target value 0x2A18 is greater than 0x2A17 and the duration reaches the set time of 0x2A15 sub index 2.

In the torque reduction stage, when judging the difference between the target value 0x2A18 and the absolute value of the actual torque is less than 0x2A17, this output is invalid.

• Torque
• 0x2A17
• 0x2A18 -0x2A17
• Time
• Torque Arrival Signal

• Torque in Restriction

The output is valid when the output torque reaches the torque limit set value in the corresponding torque limit mode.

• Velocity Accordance

This output is valid when the absolute value of the speed deviation value is within the speed consistent fluctuation range 0x2A16 sub index 3 and the duration reaches the set time of 0x2A15 sub index 2.

• Command Velocity
• Command Velocity after Acceleration
• and Deceleration Processing Velocity
• 0x2A16-Sub3
• Actual Velocity
• 0x2A16-Sub3
• 0x2A16-Sub3
• Time
• Velocity Accordance Signal

• Velocity Arrival

The output is valid when the absolute value of the actual velocity exceeds the setting value of the judgment velocity arrival target value and the last time reaches the 0x2A15 sub index 2 setting time.

• Velocity
• 0x2A16-Sub2
• Time
• 0x2A15-Sub2 0
• Velocity Arrival Signal