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
EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs 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 CAN"Controller area network"
CAN is a broadcast, differential serial bus standard developed for connecting electronic control units. Each node is able to send and receive messages, but not simultaneously or EtherCAT fieldbus.
Default values:
- CAN: disabled (0)
- EtherCAT: enabled (1)
The synchronization supervision is active when:
- FBUS.PARAM04 = 1
- The first CANopen Sync message or first EtherCAT frame was received.
FBUS.PARAM05 Additional Notes
Bit 0 configures the behavior of DS402 state machine in case of fault resets.
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Bit 0
|
1 |
Faults can only be reset using DS402 control word bit 7. |
|
0 |
The reset can also be done via telnet or digital input and the DS402 state machine reflects this condition. | |
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Bit 1
|
1 |
The state of the hardware enable does not change the state machine state Operation Enable. |
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0 |
If the state Operation Enable or Switched on is active it falls back to the state switched On Disabled, if the Hardware enable goes to 0. | |
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Bit 2
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1 |
WorkBench/Telnet can not software enable the drive, when CANopen/EtherCAT are Operational. |
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0 |
WorkBench/Telnet can software enable the drive. NOTE: During commissioning this bit should be set to 1 to avoid influences to DS402 power stage state machine. The field bus should not be in operation as well to avoid influence to test functions of Workbench. |
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Bit 3
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1 |
DS402-state machine is not influenced, if the software-enable is taken away via Telnet. |
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0 |
DS402-state machine is influenced, if the software-enable is taken away via Telnet. | |
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Bit 4
|
1 |
Scaling is done via special DS402 - objects (independent on units) |
|
0 |
Scaling for position, velocity and acceleration objects is done via UNIT parameters. | |
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Bit 5 (EtherCAT only) |
1 |
FBUS.PARAM03 defines the station alias address if not 0. If FBUS.PARAM03 set to 0, the address will be taken from rotary switches instead, 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 will be taken from FBUS.PARAM03 instead, if it is not 0. | |
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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. | |
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Bit 7 |
1 |
All capture objects (0x20A0-0x20A3, 0x20A6, 0x20A7, 0x60BA to 0x60BD) are scaled like object 0x6063. |
|
0 |
All capture objects (0x20A0-0x20A3, 0x20A6, 0x20A7, 0x60BA to 0x60BD) are scaled like object 0x6064. |
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Bit 8 |
1 |
DS402-state SWITCHED ON means power stage disabled. |
|
0 |
DS402-state SWITCHED ON means power stage enabled. |
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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. |
|
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Bit 10 (Bit 10 is active only, |
1 |
State “Switch On” can be reached without the high-level voltage being active. |
|
0 |
State “Switch On” can only be reached when the high-level voltage is active; otherwise the drive will stay in “Ready to Switch On”. |
|
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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. |
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Bit 12 |
|
reserved |
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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. |
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| Bit 14 | 1 | If a warning occurs which limits a movement of the motor bit 11 in the DS402 status word is additionally set to bit 7. |
| 0 | Only bit 7 is set when any warning occurs. |
General Information
|
Type |
NV Parameter |
|
Units |
N/A |
|
Range |
See table below. |
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Default Value |
See table below. |
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Data Type |
Unsigned 32 |
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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 |
| FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design
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Index/Subindex | Object Start Version | |||
|---|---|---|---|---|---|
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EtherCAT COE and CANopen |
36E5h/0 |
36EAh/0 |
M_01-00-00-000 | ||
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36E6h/0 |
36EBh/0 |
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36E7h/0 |
36ECh/0 |
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36E8h/0 |
36EDh/0 |
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36E9h/0 |
36EEh/0 |
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