MOONS’ EtherCAT Multi-Axis User Manual

1 Introduction

1.1 About this manual

This manual provides the details of EtherCAT communication about MOONS' Stepper and Step- Servodrives. It is used for engineers or technicians that develop a motion control system with EtherCAT communication. It is necessary that the user should know both a basic EtherCAT protcol and this manual.

EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,Germany.

1.2 Reference documents

Hardware Manual of MOONS' drive

CiA 402

ETG 1000

ETG 6010

MOONS' Host Command Reference

1.3 Commonly used acronyms

100Base-Tx 100 MBit/s Ethernet on twisted pairs

AL Application Layer

CAN Controller Area Network

CANopen Application layer protocol for the CAN bus

CoE CANopen over EtherCAT

DC Distributed Clocks Mechanism to synchronize EtherCAT slaves and master

DL Data Link Layer

EMCY Emergency Object

ESI EtherCAT Slave Information

ESC EtherCAT Slave Controller

ETG EtherCAT Technology Group

PDO Process Data Object

SDO Service Data Object

XML eXtensible Markup Language - used for the ESI file

1.4 Revisions

This manual mainly introduces the communication description of Step-Servo and Stepper drives.

Stepper drives:

Step-Servo drives:

2 EtherCAT communication specification

2.1 Introduction to EtherCAT

EtherCAT (Ethernet for Control Automation Technology) is a real-time Industrial Ethernet technology originally developed by Beckhoff Automation. The EtherCAT protocol which is disclosed in the IEC standard IEC61158 is suitable for hard and soft real-time requirements in automation technology, in test and measurement and many other applications.

The main focus during the development of EtherCAT was on short cycle times (≤ 100 µs), low jitter for accurate synchronization (≤ 1 µs) and low hardware costs.

2.2 EtherCAT protocol

EtherCAT embeds its payload in a standard Ethernet frame. The frame is identified with the Identifier (0x88A4) in the EtherType field. Since the EtherCAT protocol is optimized for short cyclic process data, the use of protocol stacks, such as TCP/IP or UDP/IP, can be eliminated.

To ensure Ethernet IT communication between the nodes, TCP/IP connections can optionally be tunneled through a mailbox channel without impacting real-time data transfer. During startup, the master device configures and maps the process data on the slave devices. Different amounts of data can be exchanged with each slave, from one bit to a few bytes, or even up to kilobytes of data.

The EtherCAT frame contains one or more datagrams. The datagram header indicates what type of access the master device would like to execute:

-Read, write, read-write

Access to a specific slave device through direct addressing, or access to multiple slave devices through logical addressing (implicit addressing)

2.3 CANopen over EtherCAT

With the CoE protocol, EtherCAT provides the same communication mechanisms as in CANopen®- Standard EN 50325-4: Object Dictionary, PDO Mapping (Process Data Objects) and SDO (Service Data Objects) – even the network management is similar. This makes it possible to implement EtherCAT with minimal effort in devices that were previously outfitted with CANopen®, and large portions of the CANopen® Firmware are even reusable. Optionally, the legacy 8-byte PDO limitation can be waived, and it's also possible to use the enhanced bandwidth of EtherCAT to support the upload of the entire Object Dictionary. The device profiles, such as the drive profile CiA 402, can also be reused for EtherCAT.

2.4 EtherCAT addressing

EtherCAT communication is that the master read and write the data from the internal flash of EtherCAT slave. There has two ways for addressing to controll the internal ESC register. EtherCAT addressing is as follow.

MOONS explains that node addressing is independent of a drive's physical position in the network topology.

There has two ways for addressing:

• -The master configurate the EtherCAT ID to the slave during the data link startup phase.
• - EtherCAT ID upload from EEPROM of slaver during the data link startup phase.

The EtherCAT ID of MOONS' drive is zero in default, it means the master should assign address to the drive for EhterCAT communication when first power up. If you assign ID to the EhterCAT alias address from the software or switch of the drive except zero, the master can upload the ID from EtherCAT alias address of EEPROM with the drive. Assign EtherCAT ID by software in the picture below:

Plesase reference the hardware manual of drives for details about EtherCAT ID setting.

2.5 EtherCAT slaver information

For each EtherCAT Slave a device description, the so called EtherCAT Slave Information(ESI) has to be delivered. This is done in form of an XML file (eXtensible Markup Language). It descibes EtherCAT specific as well as application specific features of the slave.

The ESI file is used by an EtherCAT configuration tool to generate the EtherCAT Network Information (ENI).

There is always one unique ESI file for a device. Revision changes on the device's hardware and/or software may have to be reflected in the ESI of this device(usually by the revision Number).

The XML file can be found on the MOONS website: https://www.moonsindustries.com/.

2.6 Distributed clock

Distributed clock can make all the EtherCAT slave synchronize with a same reference clock. The slave that supports the distributed clock is called the DC slave. MOONS' Stepper and Step-Servo drive have three methold for EtherCAT communication；

-Free Run

-SM synchron

-DC synchron

Free Run

With this mode, the data cycle time based on the local timer time. T1 and T2 is that the MPU copy the data from frame, then set output valid and caculate time.T3 is hardware delay.

SM synchron

Synchronized with data in/out event, the local timer is trigger by the data in/out event.

DC synchron

Synchronized with SYNC event, the EtherCAT master should transmit the data frame before the SYNC trigger. Then the EtherCAT master should synchronzie with the same clock.

To improve synchronization performance of slave communication, the master can copy the output message of receiving process frame when the data frame out/in event is trigger.

2.7 EtherCAT state machine(ESM)

ESM (EtherCAT state machine) is used to coordinate the master and slave when in start up or working . As shown below, It indicate the transition diagram of EtherCAT state.

3 Motion control

3.1 Control the power drive system

MOONS' drive follows the CANopen protocol in EtherCAT communication(CANopen over EtherCAT) at application layer. So the PDS FSA control system is aslo suitable for EtherCAT application.

The state cording in FSA

The command codes with object at 6040h.

3.2 Mode of operation

The following operation modes for MOONS' Stepper and Step-Servo are recommended:

0x6060/0x6860/0x7060/0x7860 object is the register for change control mode. when the mode of operation has been change, the object 0x6061/0x6861/0x7061/0x7861 will be update too.

3.3 Profile position mode

3.3.1 General information

Profile position mode is a point to point operating mode using set points which consist of velocity, acceleration, deceleration, and target position. Once all these parameters have been set, the drive buffers the commands and begins executing the set point. When using a set of set points method, a new set point can be sent to the drive while a previously sent set point is still executing.

3.3.2 Main controlling object

Controlword of profile position mode (6040h)

***: See object description

Statusword of profile position mode (6041h / 6841h / 7041h / 7841h).

***: See object description

3.3.3 Functional description

General

The setting of set-points is controlled by the timing of the new set-point bit and the change set immediately bit in the controlword as well as the set-point acknowledge bit in the statusword.

If the change set immediately bit of the controlword is set to 1, a single set-point is expected by the drive device. If the change set immediately bit of the controlword is set to 0, a set of set-points is expected by the drive device.

Set point

After a set-point is applied to the drive device, the control device signals that the set-point is valid by a rising edge of the new set-point bit in the controlword. The drive device sets the set-point acknowledge bit in the statusword to 1, and afterwards, the drive device signals with the set-point acknowledge bit set to 0 its ability to accept new set-points.

NOTE: The figure takes axis 1 as an example.

The data of controlling object:

NOTE: The table takes axis 1 as an example.

If one set-point is still in progress and a new one is validated, two methods of handling are supported: single set-point (change set immediately bit of controlword is 1) and set of set points (change set immediately bit of controlword is 0).

Single set-point

When a set-point is in progress and a new set-point is validated by the new set-point (bit 4) in the controlword, the new set-point shall be processed immediately.

NOTE: The figure takes axis 1 as an example.

The data of controlling object:

NOTE: The table takes axis 1 as an example.

Set of set-points

When a set-point is in progress and a new set-point is validated by the new set-point (bit 4) in the controlword, the new set-point shall be processed only after the previous has been reached.

NOTE: The figure takes axis 1 as an example.

The data of controlling object:

NOTE: The table takes axis 1 as an example.

MOONS' EtherCAT drive can be set up with two set-points, if the bit 12 of statusword is 1, then the buffer is full and another set-point will be ignored.

Stop the motor with halt (0x6040 / 0x7040 / 0x7840_bit8)

If a drive is processing a set-point, the halt bit (bit 8 of the controlword) can be used to stop the motor and keep it in position control. After releasing the halt bit the processing of the actual set-point is continued.

3.4 Profile velocity mode

3.4.1 General information

Profile Velocity Mode is a relatively simple operating mode. Once the velocity, acceleration, and deceleration are set, the drive will either command the motor to accelerate to the running velocity according to the acceleration parameter, or to halt movement according to the deceleration parameter.

3.4.2 Main controlling object

Controlword of profile velocity mode

***: See object description

Statusword of profile velocity mode

***: See object description

3.4.3 Functional description

Profile velocity mode is according to the specified velocity, acceleration and deceleration value for moving. And to stopped with halt (6040_bit8) control.

1. Target velocity (60FFh / 68FFh / 70FFh / 78FFh)
2. Profile acceleration (6083h / 6883h / 7083h / 7883h)
3. Profile deceleration (6084h / 6884h / 7084h / 7884h)

NOTE: The figure takes axis 1 as an example.

NOTE: The table takes axis 1 as an example.

3.5 Homing mode

3.5.1 General information

This clause describes the method by which a drive seeks the home position (also called, the datum, reference point or zero point). There are various methods of achieving this using limit. switches at the ends of travel or a home switch (zero point switch) in mid-travel, most of the methods also use the index (zero) pulse train from an incremental encoder.

3.5.2 Main controlling object

Controlword of homing mode

***: See object description

Statusword of homing mode

**: See object description

3.5.3 Functional description

The homing modes are working on logical values of the limit and homing switches (0x60FDh / 0x68FDh / 0x70FDh / 0x78FDh).

The data of controlling object:

NOTE: The table takes axis 1 as an example.

3.5.4 Method 1 and 2

The initial direction of movement shall be leftward (method 1) or rightward (method 2) if the limit switch is inactive. The position of home shall be at the first index pulse to the limit switch becomes inactive.

3.5.5 Method 3 and 4

The initial direction of movement shall be dependent on the state of the home switch. The home position shall be at the index pulse to either to the left or the right of the point where the home switch changes state. If the initial position is situated so that the direction of movement shall reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

3.5.6 Method 5 and 6

The initial direction of movement shall be dependent on the state of the home switch. The home position shall be at the index pulse to either to the left or the right of the point where the home switch changes state. If the initial position is situated so that the direction of movement shall reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

3.5.7 Method 7 and 8

The initial direction of movement shall be rightward if the positive limit switch is inactive. With the method 7, the home position shall be at the first index pulse to the left side of the home switch which the changes status is on falling edge. The home position shall be at the first index pulse to the left side of home switch which the changes status is on rising edge that moved from negative to positive on method 8 .

3.5.8 Method 9 and 10

The initial direction of movement shall be rightward if the positive limit switch is inactive. With the method 9, the home position shall be at the first index pulse to the right side of the home switch which the changes status is on rising edge that moved from positive to negative. The home position shall be at the first index pulse to the right side of home switch which the changes status is on falling edge with method 10.

3.5.9 Method 11 and 12

The initial direction of movement shall be leftward if the negative limit switch is inactive. With the method 11, the home position shall be at the first index pulse to the right side of the home switch which the changes status is on falling edge. The home position shall be at the first index pulse on the right side of home switch which the changes status is on rising edge with method 12.

3.5.10 Method 13 and 14

The initial direction of movement shall be leftward if the negative limit switch is inactive. With the method 13, the home position shall be at the first index pulse to the left side of the home switch which the changes status is on falling edge. The home position shall be at the first index pulse to the left side of home switch which the changes status is on rising edge that moved from negative to positive on method 14.

3.5.11 Method 17 and 18

The method17 and 18 are similar to methods 1 and 2 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions.

3.5.12 Method 19 and 20

The method 19 and 20 are similar to methods 3 and 4 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions.

3.5.13 Method 21 and 22

The method 21 and 22 are similar to methods 5 and 6 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions.

3.5.14 Method 23 and 24

The method 23 and 24 are similar to methods 7 and 8 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions.

3.5.15 Method 25 and 26

The method 25 and 26 are similar to methods 9 and 10 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions.

3.5.16 Method 27 and 28

The method 27 and 28 are similar to methods 11 and 12 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions.

3.5.17 Method 29 and 30

The method 29 and 30 are similar to methods 13 and 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions.

3.5.18 Method 33 and 34

Using these methods, the direction of homing is negative or positive respectively. The home position shall be at the index pulse found in the selected direction

3.5.19 Method 35

In this method, the current position shall be taken to be the home position. This method does not require the drive device to be in operational enabled state.

3.5.20 Method 37

In this method, the position sensor information (converted in user-defined position units) shall be taken to be the home position. This method does not require the drive device to be in operation enabled state. At the home position (i.e. after the homing process) the position actual value (6064h) is calculated as follows:

Position actual value (6064h) = Home offset (607Ch)

MOONS also provides hard-stop homing without a limit switch.

3.5.21 Method -1

In this method, the initial direction of movement shall be rightward and reach the mechanical end position. Then the motor will return to the first index pulse.

3.5.22 Method -2

In this method, the initial direction of movement shall be leftward and reach the mechanical end position. Then the motor will return to the first index pulse.

3.5.23 Method -3

In this method, the initial direction of movement shall be rightward and reach the mechanical end position.

3.5.24 Method -4

In this method, the initial direction of movement shall be leftward and reach the mechanical end position.

3.6 Cyclic synchronous position mode

3.6.1 General information

With this mode, the trajectory generator is located in the control device, not in the drive device. In cyclic synchronous manner, it provides a target position to the drive device, which performs position control, velocity control and torque control.

3.6.2 Main controlling object

Controlword

The cyclic synchronous position mode uses no mode-specific bits of the controlword .

Statusword

***: See object description

In the statusword Bit 12 is mandatory. The Bit 13 is recommended.

The Bit 10 is used in Profile position mode as "Target reached" information. In csp the new target position is given cyclically be the control device. This bit is used as Status Toggle information to indicate if the device provides updated input data. The bit shall be toggled with every update of the input process data.

The Bite 12 drive follows the command value shall be zero if the drive does not follow the target value(position,velocity or torque) because of local reasons(internal set-point settings).E.g. if a local Input is configured to a halt function or a safety function prevents the drive in operational to follow the target set point. The control device shal evaluate the bit. The Bit 12 shal be set if the drive is in state operation enabled and follows the target and set-point values of the control device. In all other cases it shall be zero. If the bit is not supported it shall be fix set to 1 in the statusword.

3.6.3 Functional description

With this mode, the control device should provide the target position with every cyclic communication.

The velocity, acceleration, deceleration of motor is based on cyclic time and tartget position.

Note: Before the drvie mode has changed to CSP and operation mode, the control device should update the target position to the same as the position actual valul of drive. if it is not equal to position actual value of drive, the drive will move to new position when operation mode activated.

3.7 Cyclic synchronous velocity mode

3.7.1 General information

With this mode, the trajectory generator is located in the control device, not in the drive device. In cyclic synchronous manner, it provides a target velocity to the drive device, which performs velocity control and torque control.

3.7.2 Main controlling object

Controlword

The cyclic synchronous position mode uses no mode-specific bits of the controlword .

Statusword

***: See object description

In the statusword Bit 12 is mandatory.

In CSV mode Bit 10 is used as Status Toggle information to indicate if the device provides updated input data. The bit shall be toggled with every update of the input process data.

The Bite 12 drive follows the command value shall be zero if the drive does not follow the target value(position,velocity or torque) because of local reasons(internal set-point settings).E.g. if a local Input is configured to a halt function or a safety function prevents the drive in operational to follow the target set point. The control device shal evaluate the bit. The Bit 12 shal be set if the drvie is in state operation enabled and follows the target and set-point values of the control device. In all other cases it shall be zero. If the bit is not supported it shall be fix set to 1 in the statusword.

3.7.3 Functional description

With CSV mode, drive can change speed with every cyclic time. when drive has been to operation mode, the motor speed is located with target velocity (0x60FF/0x68FF/0x70FF/0x78FF) object, change target velocity means change the current velocity on one cyclic time.

The acceleration and deceleration is based on cyclic time and target velocity.

3.8 Touch probe

3.8.1 General information

Touch probe function is used to latch the feedback position by capture the rasing or falling edge of input sensor and index. With touch probe , assign X7 or X8 to touch probe function is essential by the software of MOONS' drive.

3.8.2 Main control object

3.8.3 Functional description

0x60B8 / 0x68B8 / 0x70B8 / 0x78B8 Touch probe function

This object indicate the configured function of touch probe.

0x60B9 / 0x68B9 / 0x70B9 / 0x78B9 Touch probe function

This obejct provide the status of touch probe.

0x60BA / 0x68BA / 0x70BA / 0x78BA ~ 0x60BD / 0x68BD / 0x70BD / 0x78BD Touch probe position value

This object shall provide the captual position value of touch probe.

3.8.4 Timing diagrame

The figure in below shows a timing diagram for an example touch probe configuration and the corresponding behavior. And the table explains the timing diagram.

NOTE: The figure takes axis 1 as an example.

NOTE: The table takes axis 1 as an example.

4 Object dictionary

With CoE protocol, MOONS' Stepper and Step-Servo EtherCAT drives has follow with CANopen specifiction, the object dictionay is same as CANopen drive. the table obtain the object area of EtherCAT drives in below.

4.1 CoE object dictionary description

4.2 Communication profile for Dual axis

4.2.1 CoE(1000h) Profile

0x1000 Device type

Contains information about the device type. The object at index 1000h describes the type of device and its functionality. It is composed of a 16-bit field which describes the device profile that is used and a second 16-bit field which gives additional information about optional functionality of the device. The Additional Information parameter is device profile specific. Its specification does not fall within the scope of this document, it is defined in the appropriate device profile. The value 0000h indicates a device that does not follow a standardized device profile.

Bit 0-15: Device profile number

Bit 16-31: Additional information

0x1001 Error register

This object is an error register for the device. The device can map internal errors in this byte. This entry is mandatory for all devices. It is a part of an Emergency object.

Bit 0: generic error

Bit 1: current

Bit 2: voltage

Bit 3: temperature

Bit 4: communication error (overrun, error state)

Bit 5-7: Reserved (always 0)

0x1008 Device name

Contains the manufacturer device name.

Name of the manufacturer as string.

0x1009 Hardware version

Contains the hardware version description.

0x100A Software version

Contains the software version description.

0x1010 Store parameters

This object supports the saving of parameters in non-volatile memory. By read access the device provides information about its saving capabilities. Several parameter groups are distinguished:

In order to avoid storage of parameters by mistake, storage is only executed when a specific signature is written to the appropriate Sub-Index 1. The signature is “save”.

MSB LSB

Storage write access signature

0x1011 Restore default parameters

With this object the default values of parameters according to the communication or device profile are restored.

In order to avoid storage of parameters by mistake, storage is only executed when a specific signature is written to the appropriate Sub-Index 1. The signature is "load".

MSB LSB

Storage write access signature 0x1018 Identity object

The object at index 1018h contains general information about the device.

0x10F1 Error settings

Reserved.

0x1600~1603 / 0x1610~1613 Axis Receive PDO mapping parameter

Contains the mapping for the PDOs the device is able to receive.

0x1A00~1A03 / 0x1A10~1A13 Transmit PDO mapping parameter

Contains the mapping for the PDOs the device is able to transmit.

0x1C00 Sync manager type

The sync manager communication type set the communication type of each SM manager. The type of communication that:

1. Mailbox reception
2. Mailbox sending
3. RxPDO
4. TxPDO

0x1C12 RxPDO assign object

The sync manager of RxPDO allocation, sub-indx1-4 set to the index of mapping.

0x1C13 TxPDO assign object

The sync manager of TxPDO allocation, sub-indx1-4 set to the index of mapping.

0x1C32 SM output parameter

The SYNC manager parameter.

0x1C33 SM intput parameter

The SYNC manager parameter.

4.2.2 0x2000~2100h Manufacturer profile

0x2001 EtherCAT ID

This object contains the EtherCAT ID of drives.

0x2002 Physical Address

This object contains the physical address of drives.

0x2003 Alias Source

This object is used to set the methold of EtherCAT address setting. The value is 0 means that set by software, 1 means set by the EtherCAT master.

0x2005 Bus Voltage

This object shall provide the present value of drive's DC bus voltage.

0x2006 DSP Version

This object shall provide the DSP version of the drive.

0x2007 Drive Temperature 1

This object contains the information of device temperature.

The unit of this object is in 0.1 centigrade.

0x2010 Set EtherCAT ID

This object contains the EtherCAT ID of drives.

0x2020 / 0x2040 Axis Output Status

This object shall indicate the digital output status.

0x2021 / 0x2041 Axis DSP Status Code

This object represents the current status code of the drive.

0x2022 / 0x2042 Axis DSP Alarm Code

This object shall indicate the high 16bit field of alarm code about the object at 0x603F.

4.2.3 Manufacturer parameter for Dual axis Step-Servo

0x3200 / 0x3400 Continuous current

This object is used to set the continuous (RMS) current of the Step-Servo drives.

0x3201 / 0x3401 Peak current

This object is used to set the peak (RMS) current of the Step-Servo drives.

0x3202 / 0x3402 Hardstop current limit

This object is used for hard stop homing mode that setting the current when the motor hit the hard stop

position.

0x3203 / 0x3403 Idle current

This object configures monitors the motor holding current of the device in idle mode.

If the reading value is 100. That means 1.00Amps.

0x3204 / 0x3404 Idle current delay time

This object is used to set the amount of time the drive will delay before transitioning from full current

(CC) to idle current(CI).

The value shall be given in second, If the reading value is 10. That means 1.0 seconds.

0x3205 / 0x3405 Acceleration current

This object shall provide the acceleration current when the motor is running with stepper mode.

If the reading value is 100 that means 1.00Amps.

0x3206 / 0x3406 Stall prevention time

This obeject is used to set the stall prevention time.

The value shall be given in second, If the reading value is 10. That means 1.0 seconds.

0x3207 / 0x3407 Steps per rev

This object is used to get the steps per revolution about motor.

The value shall be given in steps/rev.

0x3208 / 0x3408 Reverse motor direction

This object is used to reverse motor rotating direction.

The value can be set to 0 - 1. Value =0 default rotating direction =1 reverse rotating direction

0x3209 / 0x3409 Powerup probing

This obejct is used to set the drive to probe when power up.

Value =0 NO probing =1 Probing

0x320B / 0x340B Fault output on Y1

This object is used to set the fault output on Y1.

Value =1 output Y1 is open when the driver is fault =2 output Y1 is closed when the driver is fault =3 output Y1 is used for general purpose

0x320C / 0x340C Brake output on Y2

This object at 0x220C is used to set the parameter of brake configuration. There has 3 sub-index to

configure brake, the first is used for brake output, and the second is used for disengage delay. The last

is used to set brake engage delay.

Brake output:

Value =1 output is closed when drive is enabled, and open when the drive is disabled. =2 output is open when drive is enabled, and closed when the drive is disabled. =3 output is not used as a brake output and can be used as g general purpose output.

Brake disengage delay and brake engage delay

The units is 1ms, if write 100 to the index means 0.1s.

0x320D / 0x340D Motion output

This object is used to define the drive Motion output function.

They can be set to various functions. Value =1 Open when static position error less than in-position counts. =2 Closed when static position error less than in-position counts. =3 General purpose =4 Tach output with 100 pulses/rev =5 Tach output with 200 pulses/rev =6 Tach output with 400 pulses/rev =7 Tach output with 800 pulses/rev =8 Tach output with 1600 pulses/rev =9 Closed (energized) when dynamic position error is less than set value. =10 Open (de-energized) when dynamic position error is less than set value. =11 Timing out (50 pulses/rev)

0x320F / 0x340F Define limits

This object is used to set the definition of limit.

Value =0x01 At end of travel, (X3=CW,X4=CCW)will be closed =0x02 At end of travel, (X3=CW,X4=CCW)will be open =0x07 At end of travel, X3=CW will be closed, X4=GP =0x08 At end of travel, X3=CW will be open, X4=GP =0x09 At end of travel, X4=CCW will be closed, X3=GP =0x0A At end of travel, X4=CCW will be open, X3=GP =0x0B At end of travel, (X3=CCW,X4=CW)will be closed =0x0C At end of travel, (X3=CCW,X4=CW)will be open =0x11 At end of travel, X3=CCW will be closed, X4=GP =0x12 At end of travel, X3=CCW will be open, X4=GP =0x13 At end of travel, X4=CW will be closed, X3=GP =0x14 At end of travel, X4=CW will be open, X3=GP =0x15 At end of travel, (X3=CW,X4=CCW)will be closed[No Alarm] =0x16 At end of travel, (X3=CW,X4=CCW)will be open[No Alarm] =0x1B At end of travel, X3=CW will be closed, X4=GP[No Alarm] =0x1C At end of travel, X3=CW will be open, X4=GP[No Alarm] =0x1D At end of travel, X4=CCW will be closed, X3=GP[No Alarm] =0x1E At end of travel, X4=CCW will be open, X3=GP[No Alarm] =0x1F At end of travel, (X3=CCW,X4=CW)will be closed[No Alarm] =0x20 At end of travel, (X3=CCW,X4=CW)will be open[No Alarm] =0x25 At end of travel, X3=CCW will be closed, X4=GP[No Alarm] =0x26 At end of travel, X3=CCW will be open, X4=GP[No Alarm] =0x27 At end of travel, X4=CW will be closed, X3=GP[No Alarm] =0x28 At end of travel, X4=CW will be open, X3=GP[No Alarm]

0x3210 / 0x3410 Input filter

This object is used to set a digital filter to the input.

The unit of this parameter is 200us. If the value you set to 100, means 20ms delay.

0x3211 / 0x3411 Notch filter

These eight objects shall configure the Notch Filter parameters in torque mode. This object is only

available on StepSERVO drive.

0x3212 / 0x3412 Analog configuration

This object indicates the analog running-mode configuration. Set its value when operating in

analog velocity, position, or torque mode.

Analog deadband The unit is in 0.001volit

Analog filter Filter value = 72090 / [ (1400 / x ) + 2.2 ].

Where x = desired value of the analog filter in Hz

Analog scaling

Value =0 single-ended +/- 10 volts =1 single-ended 0 - 10 volts =2 single-ended +/- 5 volts =3 single-ended 0 - 5 volts =4 differential +/- 10 volts =5 differential 0 - 10 volts =6 differential +/- 5 volts =7 differential 0 - 5 volts

0x3213 / 0x3413 Analog auto zero

This object is used to set the current analog to zero, the value can be set to 1.

0x3214 / 0x3414 Operation mode

This object is used to set the power-up mode of the drive.

Value =1 Si program =2 Q/SCL(drive enabled) =3 Quick tuner(servos) or Configurator(steppers) =4 SiNET Hub =5 Q/SCL(drive disabled) =6 not used =7 Q program, auto-execute

0x3215 / 0x3415 Jog mode

This object is used to set the jog mode. There has two mode for MOONS' drive.

Value =1 position-type servo control when jogging =2 velocity-type servo control when jogging

0x3216 / 0x3416 Torque constant

This object shall configure the motor's torque constant in manufacturer specific units. The units should

be mN·m/Amps.

该对象只支持步进伺服驱动器。0x2216=最大输出扭矩/最大运行电流（依据不同参数设定）。

0x3218 / 0x3418 Encoder resolution

This object shall provide the encoder configuration of the motor. It contains how many counts per

revolution.

0x3220 / 0x3420 Position gain

This object shall configure the proportional Gain in Position loop to Step-Servo drives.

0x3221 / 0x3421 Position derigain

This object shall configure the Derivative Gain in Position loop to Step-Servo drives.

0x3222 / 0x3422 Position derifilter

This object provides a very simple single-pole low pass filter that is used to limit this high frequency

noise and make the system quieter and more stable.

0x3224 / 0x3424 Velocity gain

This object shall configure the proportional Gain in Velocity loop to Step-Servo drives.

0x3225 / 0x3425 Velocityinterg gain

This object shall configure the Integral Gain in Velocity loop to Step-Servo drive.

0x3226 / 0x3426 Accfeedforward

This object shall configure to add a feed forward acceleration/deceleration to the torque command to

faster the system's response.

0x3227 / 0x3427 PID filter

This object provide a torque command over-all filter at the end of Velocity loop. The filter is a very

simple single-pole low pass filter that is used to limit the high frequency response of the Velocity and

therefore the Position control loops.

0x3252 / 0x3452 Inposition counts

This object is used to set static in-position error range.

0x3253 / 0x3453 CSP complete time

This object is used to set the delay time that the motor is in completion of rotating with CSP mode.

The units is 0.001 second.

0x3254 / 0x3454 In position error range

This object is used to set static in-position error range. When the actual position is within the target In

position error range for a time duration that exceeds the PE specified timing, then the driver will define

the motion complete or motor in-position.

0x3255 / 0x3455 In position time

This object is used to set the time duration for in range determination. For example, when In position

error PD is defined, PE will set the time duration for in-position test condition. The drive defines the

motor as in position when the actual position is within the target position range (PD) for the defined

minimum time (PE).

0x3260 / 0x3460 Actual current

This object shall provide the current of the motor.

0x3261 / 0x3461 Analog reading

This object shall provide the analog value of drive.

0x3262 / 0x3462 Motor name

This object shall provide the name of the motor.

0x3271 / 0x3471 Home switch

This object shall configure the number of Inputs as the Home switch in Homing mode.

0x3272 / 0x3472 Clear alarm

This object provides the feature to clear alarm of the drives.

Multi-Axis Series: Set the value with 0x55 to 0xAA can clear all alarm

0x3274 / 0x3474 Zero position

This object provides the feature to zero all position parameters, such as position actual value (which

index is 0x6064h).Set this value to 01h can zero all position parameters.

0x3275 / 0x3475 S-Curve filter time

This object is used to be set the S-Curve fliter time.

0x3276 / 0x3476 Move home offset

This object is used to set homing offset mode.

NOTE: This function is only effective when Homing Method is 1~35.

Set the value to 0:

The motor will be stopped on machine home position and the current position value is the home offset.

Set the value to 1:

The motor will moving with a distance that home offset provided after the machine home position has

found. The new position is the offset position.

0x3280 / 0x3480 User registers

This object provide user 23 general purpose registers. They are volatile, so the information sent there

will not be saved after a power cycle.

4.2.4 Manufacturer parameter for Dual axis Stepper

0x2600 / 0x2800 Running current

This object is used to set the continuous (RMS) current of the Stepper drives.

0x2601 / 0x2801 Idle current

This object configures monitors the motor holding current of the device in idle mode.

If the reading value is 100. That means 1.00Amps.

0x2602 / 0x2802 Idle current delay time

This object is used to set the amount of time the drive will delay before transitioning from full current

(CC) to idle current(CI).

0x2603 / 0x2803 Acceleration current

This object shall provide the acceleration current when the motor is running with stepper mode.

If the reading value is 100 that means 1.00Amps.

0x2604 / 0x2804 Steps per rev

This object is used to get the steps per revolution about motor.

The value shall be given in steps/rev.

0x2605 / 0x2805 Reverse motor direction

This object is used to reverse motor rotating direction.

The value can be set to 0 - 1. Value =0 default rotating direction =1 reverse rotating direction

0x2606 / 0x2806 Fault output on Y1

This object is used to set the fault output on Y1.

Value =1 output Y1 is open when the driver is fault =2 output Y1 is closed when the driver is fault =3 output Y1 is used for general purpose

0x2607 / 0x2807 Brake output on Y2

This object at 0x220C is used to set the parameter of brake configuration. There has 3 sub-index to

configure brake, the first is used for brake output, and the second is used for disengage delay. The last

is used to set brake engage delay.

Brake output:

Value =1 output is closed when drive is enabled, and open when the drive is disabled. =2 output is open when drive is enabled, and closed when the drive is disabled. =3 output is not used as a brake output and can be used as g general purpose output.

Brake disengage delay and brake engage delay

The units is 1ms, if write 100 to the index means 0.1s.

0x2608 / 0x2808 Motion output

This object is used to define the drive Motion output function.

Value =1 Open when static position error less than in-position counts. =2 Closed when static positi =3 General purpose (fault output or brake output) =4 Tach output with 100 pulses/rev =5 Tach output with 200 pulses/rev =6 Tach output with 400 pulses/rev =7 Tach output with 800 pulses/rev =8 Tach output with 1600 pulses/rev =9 Closed (energized) when dynamic position error is less than set value. =10 Open (de-energized) when dynamic position error is less than set value. =11 Timing out (50 pulses/rev)

0x260B / 0x280B Define limits

This object is used to set the definition of limit.

Value =0x01 At end of travel, (X3=CW,X4=CCW)will be closed =0x02 At end of travel, (X3=CW,X4=CCW)will be open =0x07 At end of travel, X3=CW will be closed, X4=GP =0x08 At end of travel, X3=CW will be open, X4=GP =0x09 At end of travel, X4=CCW will be closed, X3=GP =0x0A At end of travel, X4=CCW will be open, X3=GP =0x0B At end of travel, (X3=CCW,X4=CW)will be closed =0x0C At end of travel, (X3=CCW,X4=CW)will be open =0x11 At end of travel, X3=CCW will be closed, X4=GP =0x12 At end of travel, X3=CCW will be open, X4=GP =0x13 At end of travel, X4=CW will be closed, X3=GP =0x14 At end of travel, X4=CW will be open, X3=GP =0x15 At end of travel, (X3=CW,X4=CCW)will be closed[No Alarm] =0x16 At end of travel, (X3=CW,X4=CCW)will be open[No Alarm] =0x1B At end of travel, X3=CW will be closed, X4=GP[No Alarm] =0x1C At end of travel, X3=CW will be open, X4=GP[No Alarm] =0x1D At end of travel, X4=CCW will be closed, X3=GP[No Alarm] =0x1E At end of travel, X4=CCW will be open, X3=GP[No Alarm] =0x1F At end of travel, (X3=CCW,X4=CW)will be closed[No Alarm] =0x20 At end of travel, (X3=CCW,X4=CW)will be open[No Alarm] =0x25 At end of travel, X3=CCW will be closed, X4=GP[No Alarm] =0x26 At end of travel, X3=CCW will be open, X4=GP[No Alarm] =0x27 At end of travel, X4=CW will be closed, X3=GP[No Alarm] =0x28 At end of travel, X4=CW will be open, X3=GP[No Alarm]

0x260C / 0x280C Inputs filter

This object is used to set a digital filter to the input.

The unit of this parameter is 200us. If the value you set to 100, means 20ms delay.

0x260D / 0x280D Dynamic open winding detection

This object is used to set the function of Dynamic open winding detection.

Value =0 disable =1 enable

0x260E / 0x280E Open winding detection speed limit

This object is used to set the velocity limit of the open winding status detect when the motor is moving.

The unit of this object is counts/s.

0x260F / 0x280F Powerup open winding detection

This object is used to configurate the detection of open winding when power up.

0x2610 / 0x2810 Motor model number

This object provide the model number of motor.

0x2611 / 0x2811 Load ratio

This object sets the ratio of the load inertia to the rotor inertia.

Value =1 1x rotor inertia =2 1x-3x rotor inertia =3 3x-5x rotor inertia =4 5x-7x rotor inertia =5 7x-10x rotor inertia

0x2612 / 0x2812 Third party motor parameters

This object shall indicate the motor of custom.

0x2615 / 0x2815 StepInputs counts

This object provide the pulse counter coming into the X1/STEP and X2/DIR input of the drive.

0x2618 / 0x2818 Waveform smoothiing

This object is used to set the 4th harmonic filter gain/phase setting.

0x2619 / 0x2819 Current coeff

This object shall indicate the value of current coefficient, the value should be given per hundard of rated current.

0x2620 / 0x2820 Home switch

This object shall configure the number of Inputs as the Home switch in Homing mode.

0x2621 / 0x2821 Clear alarm

This object provides the feature to clear alarm of the drives.

Multi-Axis Series: Set the value with 0x55 to 0xAA can clear all alarm

0x2623 / 0x2823 Zero position

This object provides the feature to zero all position parameters, such as position actual value (which index is 0x6064h).Set this value to 01h can zero all position parameters.

0x2624 / 0x2824 S-Curve filter time

This object is used to be set the S-Curve fliter time.

0x2625 / 0x2825 User registers

This object provide user 23 general purpose registers. They are volatile, so the information sent there

will not be saved after a power cycle.

0x2626 / 0x2826 Move home offset

This object is used to set homing offset mode.

NOTE: This function is only effective when Homing Method is 1~35.

Set the value to 0:

The motor will be stopped on machine home position and the current position value is the home offset.

Set the value to 1:

The motor will moving with a distance that home offset provided after the machine home position has

found. The new position is the offset position.

4.2.5 Motion control profile for Dual axis

0x603F / 0x683F Error code

The error code captures the alarm code of the last error that occurred in the drive.

Each bit in code indicate one type alarm or faults status.

0x6040 / 0x6840 Controlword

This object shall indicate the received command controlling the PDS FSA. The bits 7, 3, 2, 1, and

0 shall be supported. The bits 0 to 9 shall be supported according to the mode of operation. If the

related functionality is not available, an appropriate emergency message shall be generated. The

manufacturer-specific bits may be supported.

All implemented bits of the controlword are valid independent of the PDS FSA state. Starting of any

movement is operation mode specific and is described in the related clause.

The bits of the controlword are defined as follows:

15 11 10 9 8 7 6 4 3 2 1 0