| ASCII - Command | O2MODE | |||
| Syntax Transmit | O2MODE [Data] | |||
| Syntax Receive | O2MODE <Data> | Available in | ||
| Type | Variable rw | MMI | Yes | |
| ASCII Format | Integer8 | CANBus Object Number | 35B2 (hex) | |
| DIM | - | PROFIBUS PNU | 1689 (dec) IND = 33 (dec) | |
| Range | 0 .. 100 | DPR | 889 (dec) | |
| Default | 0 | |||
| Opmode | All | Data Type Bus/DPR | Integer8 | |
| Drive State | Disabled + Reset (Coldstart) | Weighting | ||
| Start Firmware | 1.0 | |||
| Configuration | Yes | Last Change of this Object | 2.12 | |
| Function Group | digital I/O | EEPROM | Yes | |
| Short Description | Function of Digital Output 2 | |||
Description
| The O2MODE command can be used to configure the function of the digital output O2. The amplifier must be switched off and then on again after an alteration of this parameter. The following functions can be configured: |
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| Status | Function | Description |
| O2MODE=0 | Off (S700: signal X3-7 is configured as default to input) |
S300: The state of the digital output 1 can be set/cleared by RS232/Fieldbus or Slot board with O2 S700: The Pin X3-7 could configure both to input or output. The default is input for this signal. By using a digital output e.g. for a macro program, the function OxMODE=23 "DPR output" must configurate |
| O2MODE=1 | v_act<O2TRIG | As long as the absolute value for the motor velocity is lower than a preset value (O2TRIG), a HIGH-signal will be output. After the function has been selected you can enter the velocity in rpm in O2TRIG. The ouput is high, if V < O2TRIG and becomes low, if V > O2TRIG + 0.01 * MSPEED. |
| O2MODE=2 | v_act > O2TRIG | As long as the absolute value for the motor velocity is higher than a preset value (O2TRIG), a HIGH-signal will be output. After the function has been selected you can enter the velocity in rpm in O2TRIG. The ouput is high, if V > O2TRIG and becomes low, if V < O2TRIG - 0.01 * MSPEED. |
| O2MODE=3 | Mains-RTO | This signals the operational readiness of the drive power output stage. After switching on the mains supply, a HIGH-signal is output until the DC-link circuit is fully charged up. A LOW-signal is output when the charging of the DC-link circuit is finished. If the DC-link voltage falls below VBUSMIN value, then a HIGH-signal will be output. The “Undervoltage” monitoring is inactive. |
| O2MODE=4 | Regen off | Signals if the preset regen power (screen page “Basic Setup”) is exceeded. |
| O2MODE=5 | Sw_limit | This produces a HIGH-signal if a software limit-switch is reached (a preset function of the corresponding position register, set to “SW limit-switch 1” or “SW limit-switch 2” – the function is defined in the screen page “Position”). A motion task in the opposite direction resets the output. |
| O2MODE=6 | Pos.>x | If the position (angular position of the motor shaft) exceeds a preset value (O2TRIG), a HIGH-signal will be output. After the function has been selected, you can enter the signaling posi-tion in increment (a number or fraction of motor turns N) as O2TRIG. Make the calculation according to the following equation: x = 1048576 *N *Inkr. Maximum possible entry value:x =2 31 = 2147483648, this corresponds to N = 2048 |
| O2MODE=7 | InPos | When the target position for a motion task has been reached (the InPosition window PEINPOS), this is signaled by the output of a HIGH-signal. A cable break will not be detected. The width of the InPosition window for all the valid motion tasks is entered in the “Position data” screen page. If a sequence of motion tasks is performed one after another, then the signal for reaching the final position of the motion-task sequence will be output (target position of the last motion task). Signaling that the target position of each motion task has been reached, in a sequence of motion tasks, can be achieved with the function “16, Next_InPos”. |
| O2MODE=8 | I_act<O2TRIG | The output is a HIGH-signal, as long as the absolute r.m.s. value of the actual current is lower than a defined value in mA (O2TRIG). After the function has been selected, you can enter the current value as O2TRIG in mA. |
| O2MODE=9 | I_act>O2TRIG | The output is a HIGH-signal, as long as the absolute r.m.s. value of the actual current is higher than a defined value in mA (O2TRIG). After the function has been selected, you can enter the current value as O2TRIG in mA. |
| O2MODE=10 | Ferror | If the position goes outside the preset contouring-error window, this is indicated by a LOW-signal. The width of the contouring-error window (PEMAX) is entered in the screen page “Position” for all the valid motion tasks. |
| O2MODE=11 | I2T | The reaching of the set I2t signaling threshold (I2TLIM, warning n01) or the failure of a mains phase (warning n05) is signaled with a high signal. |
| O2MODE=12 .. 15 | - | reserved |
| O2MODE=16 | Next-InPos | The start of each motion task in an automatically executed sequence of motion tasks is signalled by an inversion of the output signal. The output produces a Low signal at the start of the first motion task of the motion task sequence. The type of message can be set by IN2PM |
| O2MODE=17 | Error/Warn | The output produces a HIGH-signal if an error or a warning message is signaled by the servo amplifier. A list of the error messages can be found under ERRCODE. n32 has no effect to the output. |
| O2MODE=18 | Error | The output produces a HIGH-signal if an error is signaled by the servo amplifier. A list of the error messages can be found under ERRCODE |
| O2MODE=19 | DC_Link>O2TRIG | A HIGH-signal is output if the actual value of the DC-link voltage is higher than a defined value in volts (O2TRIG). After the function has been selected, you can enter the voltage value as O2TRIG in Volt.. |
| O2MODE=20 | DC_Link < O2TRIG | A HIGH-signal is output if the actual value of the DC-link voltage is lower than a defined value in volts (O2TRIG). After the function has been selected, you can enter the voltage value in O2TRIG in Volt. |
| O2MODE=21 | ENABLE | A HIGH-signal is output if the servo amplifier is enabled. To obtain the enable, the external Hardware Enable signal must be present, the Enable status must be set in the setup software (or via the fieldbus interface) and no errors must be present that would cause an automatic internal disabling of the servo amplifier. If function OxMODE = is selected, the enable signal is high, if the line voltage is applied and the charging of the link capacitors is finished. The drive is disabled, if the DC-link voltage wents under the threshold VBUSMIN. |
| O2MODE=22 | Zero_pulse | The zero mark/pulse (HIGH-signal) is indicated by the encoder-emulation. This function is only use-ful at very low velocities. Vmax = 15000 / ENCOUT e.g. ENCOUT=256 Pulses/Rev Vmax = 58 rpm O2TRIG can be used to stretch the zero pulse length in positive direction. Important: The used LSB have to be set to 1, allowed O2TRIG values are only 2^n-1 (n=1....32) example O2TRIG=1,3,7,15,31...). The calculation is done by formula O2TRIG / 2^32 * 360°. Example 1: O2TRIG=1073741823 = 0x3FFFFFFF. 1073741823 * 360°/ 2^32 = 90° -> A HIGH signal is monitored on 0 - 90° Example 2: O2TRIG = 134217727 = 0x7FFFFFF 134217727 * 360° / 2^32 = 11,25° -> A HIGH signal is monitored on 0 - 11,25° |
| O2MODE=23 | Slot-DPR | This configuration enables the possibility to output a state from the Slot board (mem DPR Slot Board Offset 0x3E4). If no Slot board is available, this configuration is equal to OxMODE=0. If a Device-Net option board is plugged in the drive, this setting enables access of Device-Net to digital output 1 By using a digital output with a macro program, the function OxMODE=23 "DPR output" must configurate |
| O2MODE=24 | Ref_OK | The output signals High, if a reference point is available. Reference traverse (homing) has been carried out, or a reference point has been set. (see NREF) |
| O2MODE=25 .. 29 | - | reserved |
| O2MODE=30 | ||
| O2MODE=31 | Analog In 1< O2TRIG | The output is high, if the Analog In voltage at Analog In 1 is lower than the threshold O2TRIG. The auxiliary variable O2TRIG is given in mV (with sign). |
| O2MODE=32 | Analog In 1> O2TRIG | The output is high, if the Analog In voltage at Analog In 1 is higher than the threshold O2TRIG. The auxiliary variable O2TRIG is given in mV (with sign). |
| O2MODE=33 | Analog In 2 < O2TRIG | The output is high, if the Analog In voltage at Analog In 2 is lower than the threshold O2TRIG. The auxiliary variable O2TRIG is given in mV (with sign). |
| O2MODE=34 | Analog In 2 > O2TRIG | The output is high, if the Analog In voltage at Analog In 2 is higher than the threshold O2TRIG. The auxiliary variable O2TRIG is given in mV (with sign). |
| O2MODE=35 | Internal Enable | The state of the internal ENABLE signal is mirrored on the digital output. If the setiings are: MBRAKE=0, STOPMODE=0 and ACTFAULT=0, the function is similar to O1MODE=21. If one of the three variables is "1", the output changes to low, when the drives starts to dec to "0". If O1MODE=21, the output is low, if the drive has stopped and has disabled the output stage. |
| O2MODE=36 | Logical OR: DRVSTAT - O2TRIG | This function makes a OR operation between the Bit-variable DRVSTAT and a Bit mask given by O2TRIG. The result is present at output 1. |
| O2MODE=37 | Logical AND: DRVSTAT -O2TRIG | This function makes a AND operation between the Bit-variable DRVSTAT and a Bit mask given by O2TRIG. The result is present at output 1. |
| O2MODE=38 | Logical OR: TRJSTAT - O2TRIG | This function makes a OR operation between the Bit-variable TRJSTAT and a Bit mask given by O2TRIG. The result is present at output 1. |
| O2MODE=39 | Logical AND: TRJSTAT - O2TRIG | This function makes a AND operation between the Bit-variable TRJSTAT and a Bit mask given by O2TRIG. The result is present at output 1. |
| O2MODE=40 | Logical OR: POSRSTAT - O2TRIG | This function makes a OR operation between the Bit-variable POSRSTAT and a Bit mask given by O2TRIG. The result is present at output 1. |
| O2MODE=41 | Logical AND: POSRSTAT - O2TRIG | This function makes a AND operation between the Bit-variable POSRSTAT and a Bit mask given by O2TRIG. The result is present at output 1. |
| O2MODE=42 | Internal temperature warning | This function enables a temperature warning. If one of the three internal measured temperatures reaches the trip level, the digital output ist set to high. After the selected delay time given in O2TRIG the drive generates a error message and disables the output stage. The delay time has the range 0...30000 msec and effects following temperatures: Motor temperature TEMPM, threshold MAXTEMPM Heatsink temperature TEMPH, Threshold MAXTEMPH Ambient temperature TEMPE, threshold MAXTEMPE |
| O2MODE=43 | The sign of the actual velocity | OUTPUT2 = 1 V < -VEL0 OUTPUT1 = 0 V > -VEL0 |
| O2MODE=44 | Velocity In-Position (active high) | The output 2 is set, if the absolute of the difference between the internal velocity command and the actual velocity is smaller than O2TRIG. The size of the window (O2TRIG) is given in valid velocity units (VUNIT). |
| O2MODE=45 | Velocity In-Position (aktive low) | The output 2 is set, if the absolute of the difference between the internal velocity command and the actual velocity is bigger than O2TRIG. The size of the window (O2TRIG) is given in valid velocity units (VUNIT). |
| O2MODE=46 | Current in Window (low active) | The digital output 2 is set, if the absolute of the difference between current command and actual value is smaller than the window, defined by O2TRIG. The window is given in mA. |
| O2MODE=47 | Current not in Window (low active) | The digital output 2 is set, if the absolute of the difference between current command and actual value is greater than the window, defined by O2TRIG. The window is given in mA. |
| O2MODE=48 | Logical NOR: DRVSTAT - O2TRIG | This function makes a inverted OR operation between the Bit-variable DRVSTAT and a Bit mask given by O2TRIG. The result is present at output 1. |
| O2MODE=49 | Logical NAND: DRVSTAT -O2TRIG | This function makes a inverted AND operation between the Bit-variable DRVSTAT and a Bit mask given by O2TRIG. The result is present at output 1. |
| O2MODE=50 | Logical NOR: TRJSTAT - O2TRIG | This function makes a inverted OR operation between the Bit-variable TRJSTAT and a Bit mask given by O2TRIG. The result is present at output 1. |
| O2MODE=51 | Logical NAND: TRJSTAT - O2TRIG | This function makes a AND operation between the Bit-variable TRJSTAT and a Bit mask given by O2TRIG. The result is present at output 1. |
| O2MODE=52 | Logical AND: POSRSTAT - O2TRIG | same as O2MODE = 41 but the output is for PTBASE * 250 us on high level |
| O2MODE=53 | Master/Slave synchron | Master/Slave synchron |
| O2MODE=54 | prepared for moving | version > =1.21 The output is high if all following conditions are true software-enable set no error DC link loaded (VBUS > VBUSMIN) no contouring error (Warnung n03) |
| O2MODE=55 | master slave status | Version >=2.13: The function OxMODE=55 monitors the actual master slave status at the slave axis. Output=1 The slave is in master/slave modus. This can be: 1. synchroize up to the master speed 2. following the master-position 3. Declutch the master slave mode Ausgang=0 - None of the master slave modes is active. The master pulses are ignored.1 see also function INxMODE=42,43 |
| O2MODE=56 | Actual master-slave status | Output 2 will be set, if the following conditions are complied with: OPMODE=4 AND within 16 ms no new master command value AND the absolute value of the following error PE smaller than value PEINPOS |
| O2MODE=57 | - | reserved |
| O2MODE=58 | control an external brake | output O2 = 1 – breake open output O2 = 0 – breake closed The output O2 signals the state of the internal brake control again and can be used as a status output or for the activation of a second brake. This function is only available if a brake (MBRAKE > 0) has been configured. |
| O2MODE=59 | control an external brake (inverted) | output O2 = 1 – breake closed output O2 = 0 – breake open The output O2 signals the state of the internal brake control again and can be used as a status output or for the activation of a second brake. This function is only available if a brake (MBRAKE > 0) has been configured. |
| O2MODE=60 | Error present (Low-active) | Error present (Low-active) |
| O2MODE=61 | MT Target Velocity reached (High-active) | MT Target Velocity reached (High-active) |
| O2MODE=62 | MT Target Velocity reached (Low-active) | MT Target Velocity reached (Low-active) |
| O2MODE=69 | Master/ Slave synchronous; Slave Speed > 0 | Master/ Slave synchronous; Slave Speed > 0 |
| O2MODE=70 | STO-Status | STO-Status |
| O2MODE=71 | Actual Speed within Window | The Output 2 is set, if the absolute of the difference between the internal velocity command (after the rampgenerator) and the actual velocity is smaller than O2TRIG. The size of the window (O2TRIG) is given in valid velocity units (VUNIT). |
| O2MODE=72 | Actual Spped not within Window | The Output 2 is set, if the absolute of the difference between the internal velocity command (after the rampgenerator) and the actual velocity is bigger than O2TRIG. The size of the window (O2TRIG) is given in valid velocity units (VUNIT). |
| O2MODE=73 | logical OR between ERRCODE an O2TRIG | Using these functions, the result of an OR link between the bit variable ERRCODE and a bit mask of the auxiliary variable O2TRIG to the digital output 2 can be issued. |
| O2MODE=74 | logical NOR between ERRCODE an O2TRIG | Using these functions, the result of an inverted OR operation between the Bit-variable ERRCODE and a bit mask of the auxiliary variable O2TRIG can be issued to the digital output 2. |