FBUS.PARAM1 TO FBUS.PARAM10

Description

FBUS.PARAM01 sets the baud rate for the CANbus. Supported baud rates are 125, 250, 500 and 1000 kBaud on AKD-C

FBUS.PARAM01 sets and stores the EtherCAT station alias for the ESC (EtherCAT slave controller) of string 2.

FBUS.PARAM02 switches the phase locked loop (PLL) for synchronized use: 0 = OFF, 1 = ON. FBUS.PARAM02 only works when FBUS.TYPE = 3 (CANopen).

FBUS.PARAM03 sets and stores the EtherCAT station alias for the ESC (EtherCAT slave controller). On AKD-C, FBUS.PARAM03 sets and stores the EtherCAT station alias for the ESC (EtherCAT slave controller) of string 1.

FBUS.PARAM04 switches the surveillance of SYNC-signals: 0 = OFF, 1 = ON.

FBUS.PARAM05 is used to configure some special behaviors of the DS402.

FBUS.PARAM06 - FBUS.PARAM10 are reserved.

 

FBUS.PARAM04 Additional Notes

FBUS.PARAM04 enables (1) or disables (0) the synchronization supervision of the CANopen or EtherCAT fieldbus.

Default values for this parameter:

  • CANopen drive: disabled (0)
  • EtherCAT drive: enabled (1)

Synchronization supervision is active when FBUS.PARAM 04 = 1 and the first CANOpen Sync message or first EtherCAT frame is received. When more than three CANopen sync messages or seven EtherCAT frames have not been received and the drive is enabled, fault F125 (“Synchronization lost“) occurs.

FBUS.PARAM05 Additional Notes

Bit 0 configures the behavior of DS402 state machine in case of fault resets.

Bit 0

 

1

Faults can only be reset using DS402 controlword bit 7. 

0

The reset can also be done using Telnet or digital input and the DS402 state machine reflects this condition.

Bit 1

 

1

The state of the hardware enable does not change the state machine to state Operation enable.

0

If the state Operation enable or Switched on is active, it falls back to the state Switch on disabled, if the Hardware enable goes to 0.

Bit 2

 

1

WorkBench/Telnet cannot software enable the drive when CANopen/EtherCAT are operational.

0

WorkBench/Telnet can software enable the drive.


  • During commissioning this bit should be set to 1 to avoid influences to DS402 power stage state machine. The fieldbus should not be in operation to avoid influence to test functions of WorkBench.

Bit 3

 

1

DS402 - state machine is not influenced if the software enable is taken away using Telnet.

0

DS402 - state machine is influenced if the software enable is taken away using Telnet.

Bit 4

 

1

Scaling is done using special DS402 - objects (independent on units)

0

Scaling for position, velocity and acceleration objects is done using UNIT parameters.

Bit 5

(EtherCAT only)

1

FBUS.PARAM03 defines the station alias address if not 0. If FBUS.PARAM03 is set to 0, the address will be taken from rotary switches if they are not 0. The EtherCAT master has the ability to use the alias address selected by the drive or issue its own.

0

The rotary switches define the station alias address if not 0. If the rotary switches are set to 0, the address is taken from FBUS.PARAM03 instead, if it is not 0.

Bit 6

 

1

Bit 0 of parameter MT.CNTL (object 35B9 sub 0) can be accessed.

0

Bit 0 of parameter MT.CNTL (object 35B9 sub 0) is exclusively used for DS402 controlword.

Bit 7

1

All capture objects (0x20A0-0x20A3, 0x20A6, 0x20A7, 0x60BA to 0x60BD) are scaled as object 0x6063.

0

All capture objects (0x20A0-0x20A3, 0x20A6, 0x20A7, 0x60BA to 0x60BD) are scaled as object 0x6064.

Bit 8

1

DS402 - state Switched on means power stage disabled.

0

DS402 - state Switched on means power stage enabled.

Bit 9

1

SDO content of object 0x6063 is the same as PDO content.

0

SDO content of object 0x6063 depends on AKD unit parameters.

Bit 10

(Bit 10 is active only,
if Bit 8 is set)

1

State Switched on can be reached without the high-level voltage being active.

0

State Switched on can only be reached when the high-level voltage is active; otherwise the drive stays in Ready to switch on.

Bit 11

1

No emergency messages over CANopen are triggered when a drive warning occurs.

0

Emergency messages over CANopen are triggered when a drive warning occurs.

Bit 12

 

reserved

Bit 13

(EtherCAT only)

1

Downloaded parameter file is stored automatically to nonvolatile memory.

0

Downloaded parameter file is not stored automatically to nonvolatile memory.

Bit 14

1

If a warning occurs which limits a movement of the motor bit 11 in the DS402 statusword is additionally set to bit 7.

0

Only bit 7 is set when any warning occurs.

Bit 15

1

The bit 10 of the statusword (target reached) is set as a reaction to the halt bit (bit 8) of the controlword when the motor velocity is below CS.VTHRESH. It is also set when doing a Quickstop (using bit 2 of controlword) when using quick stop option code (0x605A) 5 or 6 and coming to standstill.

0

Bit 10 of the statusword is only set when the external setpoint value of a movement is reached, e.g., target position in profile position mode.

Bit 16

1

The hardware enable input decides if the transitions between Switch on disabled and Ready to switch on are taken.

0

The decision relies on the DS402 controlword.

General Information

Type

NV Parameter

Units

N/A

Range

See table below.

Default Value

See table below.

Data Type

Unsigned 32

See Also

CANbus Communication Manual, EtherCAT Communication Manual

Start Version

M_01-00-00-000

Parameter EtherCAT COE Range CANopen Range
FBUS.PARAM01

AKD-C: 0 to 65,535

Other AKDs: N/A

125; 250; 500; 1000
FBUS.PARAM02 0 to 1 0 to 1
FBUS.PARAM03 0 to 65,535 N/A
FBUS.PARAM04 0 to 1 0 to 1
FBUS.PARAM05 0 to 511 0 to 511
Parameter EtherCAT COE Default Value CANopen Default Value
FBUS.PARAM01

AKD-C: 0

Other AKDs: N/A

125

FBUS.PARAM02

1

0

FBUS.PARAM03

0

N/A

FBUS.PARAM04

1

0

FBUS.PARAM05

0

0

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC No
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see Supported Parameters (➜ p. 1).

Fieldbus Index/Subindex Object Start Version

EtherCAT COE and CANopen

36E5h/0

FBUS.PARAM01

36EAh/0

FBUS.PARAM06

M_01-00-00-000

36E6h/0

FBUS.PARAM02

36EBh/0

FBUS.PARAM07

36E7h/0

FBUS.PARAM03

36ECh/0

FBUS.PARAM08

36E8h/0

FBUS.PARAM04

36EDh/0

FBUS.PARAM09

36E9h/0

FBUS.PARAM05

36EEh/0

FBUS.PARAM10

Paramter

Fieldbus

Address

Attributes Signed?
FBUS.PARAM1

Profinet

2157 DWord No
sercos® III 4 Octets
FBUS.PARAM2

Profinet

2158 DWord
sercos® III 4 Octets
FBUS.PARAM3

Profinet

2159 DWord
sercos® III 4 Octets
FBUS.PARAM4

Profinet

2160 DWord
sercos® III 4 Octets
FBUS.PARAM5

Profinet

2161 DWord
sercos® III 4 Octets
FBUS.PARAM6

Profinet

2162 DWord
sercos® III 4 Octets
FBUS.PARAM7

Profinet

2163 DWord
sercos® III 4 Octets

Fieldbus

Parameter Instance Data Size Data Type
EtherNet/IP FBUS.PARAM01 158 4 byte Integer
FBUS.PARAM02 159
FBUS.PARAM03 160
FBUS.PARAM04 161
FBUS.PARAM05 162
FBUS.PARAM06 163
FBUS.PARAM07 164

Fieldbus

 

Index/Subindex

Is 64 bit? Attributes Signed?

Object Start Version

Modbus FBUS.PARAM01 314 No 32 bit No M_01-03-00-000
FBUS.PARAM02 316
FBUS.PARAM03 318
FBUS.PARAM04 320
FBUS.PARAM05 322
FBUS.PARAM06 324
FBUS.PARAM07 326
FBUS.PARAM08 328
FBUS.PARAM09 330
FBUS.PARAM10 332