Utilities Tde Macno

User’s Manual
Logic Lab
Cod. MU00001E00 V_2.3
Index

1. DATA BLOCKS ............................................................................................................. 3

1.1 GROUP = “I/O VARIABLES”.................................................................................. 3
1.2 GROUP = “COUNTERS” ....................................................................................... 3
1.3 GROUP = “DRIVE STATUS” ................................................................................. 3
1.4 GROUP = “MOTOR SENSOR”.............................................................................. 4
1.5 GROUP = “SECOND SENSOR”............................................................................ 4
1.6 GROUP = “CONTROL VARIABLES” ..................................................................... 5
1.7 GROUP = “DRIVE PARAMETERS”....................................................................... 8
1.8 GROUP = “SYSTEM VARIABLES”...................................................................... 13
1.9 GROUP = “CAN OPEN VARIABLES” .................................................................. 14
1.10 GROUP = “MODBUS VARIABLES”..................................................................... 14
1.11 GROUP = “FIELDBUS VARIABLES” ................................................................... 14
1.12 GROUP = “SPI VARIABLES”............................................................................... 15
2. EMBEDDED BLOCKS ................................................................................................ 15
2.1 GROUP = “DRIVE PARAMETERS”..................................................................... 15
2.2 I/O MANAGEMENT ............................................................................................. 16
2.2.1 DIRECT CONTROL...................................................................................... 16
2.2.2 GROUP = “STANDARD I/O”......................................................................... 17
2.3 GROUP = “PERMANENT MEMORY”.................................................................. 18
2.4 GROUP = “GENERIC FUNCTIONS” ................................................................... 19
2.5 GROUP = “CANOPEN FUNCTIONS” ................................................................. 19
2.6 GROUP = “FREQUENCY INPUT” ....................................................................... 25
2.7 GROUP = “SPI FUNCTIONS” ............................................................................. 30
2.8 GROUP= “MATHEMATICS” ................................................................................ 31
2.9 GROUP= “SECONDARY CAN BUS” .................................................................. 31

MU00001E00 V_2.3 1
 FIRMWARE VERSIONS: 12.1 / 22.1

Application level available resources

o 65536 word of Program Memory FLASH

o 4Kword of Data Memory RAM
o 30Kword Data Memory available on permanent memory (EEPROM)
o FAST task executed togheter motor control routines evevry PWM period
o CYCLIC task with Process Image, executed cyclically with a selectable period (usually some ms). This task can
be interrupted by Fast and motor control routines
o SLOW task for background
o Direct serial access with Modbus rtu protocol (functions “Preset Multiple Registers” and “Read Holding
Registers” with 4KWord from address 0x2000)
o Direct CANOpen access with up to 100 configurable Dictionary objects and possibility to configure 4SDO, 4
TPDO ,4 RPDO, NMT state
o Secondary CAN line for Drive to Drive communication or I/O Expansion
o 100 Extra Parameters (E00-E99)
o 64 Internal values (d64-d127) that can be seen into display and OPD Explorer
o Using Standard I/O Management (“Standard_IO()”):
 32 Logical Input Functions (I00-I31) that can be configured on 8 physical inputs.
 32 Logical Output Functions (O32-O63) that can be configured on 4 physical outputs
 32 Internal value for monitor and analog outputs (O68-O99) that can be configured on 2 physical
outputs

2 MU00001E00 V_2.3
1. DATA BLOCKS
The purpose of the data blocks is to allow firmware declared variables to be accessed from the PLC code. These
variables could be read only or read/write.
1.1 GROUP = “I/O VARIABLES”

Type Index Name Elements R/W Description

Input IX0.0 sysLogicalInput ARRAY[8] BOOL R 8 physical logic inputs state
Input IX1.0 sysTabDigInput ARRAY[32] BOOL R 32 logical input functions state (from
connector, serial line and fieldbus)
Input IW2.0 sysHwDigInputMask 1 INT R 3 power inputs state into less significant bit:
0 =ALL_ENC; 1=MAXV; 2=RETEOFF
Input ID3.0 sysAnalogInput ARRAY[3] REAL R 3 analog inputs value [-1÷1]

Output QX0.0 sysLogicalOutput ARRAY[4] BOOL RW 4 physical logical outputs state

Output QX1.0 sysTabDigOutput ARRAY[64] BOOL R 64 logical output function state

Output QD2.0 sysAnalogOutput ARRAY[2] REAL RW 2 analog outputs value [-1÷1]

1.2 GROUP = “COUNTERS”

Type Index Name Elements R/W Description

Input IW6.0 sysPLDCounter 1 INT R 12 bit frequency input counter
Input IW7.0 sysPLDDeltaCount 1 INT R Frequency input delta pulses measured in
PWM period
1.3 GROUP = “DRIVE STATUS”

Type Index Name Elements R/W Description

Memory MW10.0 sysActiveAlarms 1 UINT R Alarm word
Status array
Memory MW11.0 sysStatusWord ARRAY[16] BOOL R
0=Run state -- 2=Brake on -- 3=Main
supply-off 4=Initial Reset period on --
5=Active Alarms -- 8=Drive ok – 10=Power
Soft Start On -- 12=Active Autotuning
Memory MW12.0 sysAlarmsCode ARRAY[16] INT R Alarms subcode array
Status test C41
Memory MW13.0 sysC41StatusWord 1 UINT R
Bit0=UVW_test -- Bit1=Poles_test --
Bit2=test active Bit3=end test -- Bit5=Fasing
on
Status test C42
Memory MW14.0 sysC42StatusWord 1 UINT R
Bit2=Rs_test – Bit3=Ls_test – Bit4=Id_test
Bit5=Tr test -- Bit6=test active – Bit7=end
test
Remote Keyboard buttons status
Memory MW15.0 sysKeysStatus 1 UINT R
Remote Keyboard led status
Memory MW16.0 sysLedStatus 1 UINT RW

MU00001E00 V_2.3 3
1.4 GROUP = “MOTOR SENSOR”

Type Index Name Elements R/W Description

Memory MD30.0 sysActualSpeed 1 REAL R Actual motor speed referred to MOT_SPD_MAX
(P65)
Memory MD32.0 sysMechPosition 1 DINT R Absolute multi-turns mechanical motor position
[65536=1turn]
32
Memory MD33.0 sysSensorRead 1 DINT R Motor position read by sensor [2 = 1turn]
Memory MX34.0 sysAbsSensor 1 BOOL R Flag to confirm that data read from sensor are
absolute on the turn
Memory MX35.0 sysAbsSensorMultiturn 1 BOOL R Flag to confirm that data read from sensor are
absolute multi-turns
32
Memory MD36.0 sysSensorReadIncr 1 DINT R Motor incremental position read by sensor [2 =
1turn]
32
Memory MD37.0 sysSensorZeroTop 1 DINT R Zero top position read by sensor [2 = 1turn]
Memory MD38.0 sysSensorFracBit 1 DINT R/W Number of fractional bit of sysMechPositionShifted
Actual encoder position
Memory MD38.1 sysMechPositionShifted 1 DINT R
([32-sysSensorFracBit.sysSensorFracBit] bits)

1.5 GROUP = “SECOND SENSOR”

Type Index Name Elements R/W Description

Memory MW40.0 sysSecondSensorCode 1 INT R Second sensor electronic card code
Memory MX40.1 sysSecondSensorHwNotOk 1 BOOL R Second sensor electronic card and
firmware selected consistency
Memory MX40.2 sysSecondSensorNotConnected 1 BOOL R Second sensor presence
Memory MX40.3 sysSecondSensorAbs 1 BOOL R Flag to confirm that data read from
second sensor are absolute on the turn
Memory MX40.4 sysSecondSensorAbsMultiturn 1 BOOL R Flag to confirm that data read from
second sensor are absolute multi-turns
32
Memory MD41.0 sysSecondSensorRead 1 DINT R Position read by second sensor [2 =
1turn]
Memory MD41.1 sysSecondSensorMechPosition 1 DINT R Absolute multi-turns mechanical second
sensor position [65536=1turn]
Memory MD41.2 sysSecondSensorActualSpeed 1 REAL R Actual second sensor speed referred to
MOT_SPD_MAX (P65)
Memory MD42.0 sysSecondSensorSine 1 REAL R Second sensor sine
Memory MD43.0 sysSecondSensorCosine 1 REAL R Second sensor cosine
Memory MD44.0 sysSecondSensorFracBit 1 DINT R/W Number of fractional bit of
sysSecondSensorPositionShifted
Actual second encoder position ([32-
Memory MD44.1 sysSecondSensorPositionShifted 1 DINT R
sysSecondSensorFracBit.sysSecondSen
sorFracBit] bits

4 MU00001E00 V_2.3
1.6 GROUP = “CONTROL VARIABLES”

Type Index Name Elements R/W Description

Memory MD50.0 sysSpeedRefPulses 1 DINT R/W Speed reference in pulses per PWM period
16
[2 =1 mechanical turn if
32
sysHighResPulsesRef=FALSE, 2 =1
mechanical turn if
sysHighResPulsesRef=TRUE]
Memory MD50.1 sysPosRefPulses 1 DINT R/W Incremental position reference in pulses
16
per PWM period [2 =1 mechanical turn if
32
sysHighResPulsesRef=FALSE, 2 =1
mechanical turn if
sysHighResPulsesRef=TRUE]
Memory MD50.2 sysSpeedPercReference 1 REAL R/W Speed reference referred to
MOT_SPD_MAX (P65)
Memory MD50.3 sysMaxPositiveTorque 1 REAL R/W Maximum positive torque referred to
MOT_T_NOM
Memory MD50.4 sysMaxNegativeTorque 1 REAL R/W Maximum negative torque referred to
MOT_T_NOM
Memory MD50.5 sysMaxTorque 1 REAL R/W Symmetrical Torque limit referred to
MOT_T_NOM
Memory MD50.6 sysTorqueReference 1 REAL R/W Torque reference referred to MOT_T_NOM
Memory MD50.7 sysSpeedRegKpCoeff 1 REAL R/W Speed regulator Proportional gain multipl
factor
Memory MD50.8 sysSpeedRegTaCoeff 1 REAL R/W Speed regulator lead time constant
multiplication factor
Memory MD50.9 sysMaxPositivePercSpeed 1 REAL R/W Maximum positive speed referred to
MOT_SPD_MAX (P65)
Memory MD50.10 sysMaxNegativePercSpeed 1 REAL R/W Maximum positive speed referred to
MOT_SPD_MAX (P65)
Memory MW51.0 sysRunCommand 1 BOOL R/W Run command
Memory MW51.1 sysOnCurrent 1 BOOL R/W Enable only torque control
Memory MW51.2 sysOnPos 1 BOOL R/W Enable overlapped incremental position
loop
Memory MW51.3 sysInvertSpeedRef 1 BOOL R/W Invert speed reference value
Memory MW51.4 sysOnRamps 1 BOOL R/W Enable linear ramps on speed reference
Memory MW51.5 sysStopIntegral 1 BOOL R/W Freeze speed regulator integral memory
Memory MW51.6 sysResetAll 1 BOOL R/W Alarms reset
Memory MW51.7 sysExtEnable 1 BOOL R/W External enable from the field
Memory MW51.8 sysSelectBank 1 BOOL R/W Enable second parameter bank
Memory MW51.9 sysMotorThermalSwitch 1 BOOL R/W Motor termo-witch state
Memory MW51.10 sysdoubleSpeedRef 1 BOOL R/W Enable double speed frequency reference,
in pulses per PWM period and time
decoded
Memory MW51.11 sysHighResPulsesRef 1 BOOL R/W Enable High Resolution (32bit) speed and
position pulses reference
Memory MD52.0 sysSpeedTheta 1 REAL R Conversion factor from percent of
MOT_SPD_MAX to pulses per PWM
period
Memory MD53.0 sysSpeedEndRefPulses 1 DINT R Final speed reference in pulses per PWM
period for integral part of speed regulator.

MU00001E00 V_2.3 5
Memory MD53.1 sysSpeedEndPercReference 1 REAL R Final speed reference referred to
MOT_SPD_MAX for proportional part of
speed regulator.
Memory MD53.2 sysMaxEndPositiveTorque 1 REAL R Actual Maximum positive torque referred to
MOT_T_NOM
Memory MD53.3 sysMaxEndNegativeTorque 1 REAL R Actual Maximum negative torque referred
to MOT_T_NOM
Memory MD53.4 sysTorqueEndReference 1 REAL R Actual torque reference referred to
MOT_T_NOM
Memory MD53.5 sysMaxEndPositivePercSpeed 1 REAL R Final maximum positive speed referred to
MOT_SPD_MAX (P65)
Memory MD53.6 sysMaxEndNegativePercSpeed 1 REAL R Final maximum negative speed referred to
MOT_SPD_MAX (P65)

6 MU00001E00 V_2.3
MU00001E00 V_2.3 7
 1.7 GROUP = “DRIVE PARAMETERS”

Type Index Name Elements R/W Description

Memory MW100.0 sysParameters ARRAY[200] INT R Parameters table
Memory MW101.0 sysConnections ARRAY[100] INT R Connections table
Memory MW102.0 sysInt ARRAY[128] INT R Internal value table
Memory MW103.0 sysOSC ARRAY[100] INT R Monitor value table
Memory MW104.0 sysExtraParameters ARRAY[100] INT R Application parameters table
Memory MW105.0 sysExtraInt ARRAY[70] INT R OpdExplorer internal value table
Memory MW106.0 sysCommands ARRAY[12] INT R/W Drive utility commands

o MW102.0 sysInt , refreshed in the background core task

Name Description UM Scale

FW_REV D00 - Software version 256
ACTV_POW D01 - Active power delivered kW 16
PRC_TOT_APP_SPD_REF D02 - Speed reference value before ramp % MOT_SPD_MAX 163.84
PRC_END_SPD_REF D03 - Speed reference value after ramp % MOT_SPD_MAX 163.84
PRC_MOT_SPD D04 - Speed reading % MOT_SPD_MAX 163.84
PRC_T_REF D05 - Torque request % MOT_T_NOM 40.96
PRC_IQ_REF D07 - Request torque current Iq rif % DRV_I_NOM 40.96
PRC_ID_REF D08 - Request magnetizing current Id rif % DRV_I_NOM 40.96
V_REF D09 - Voltage reference value at max. rev. % MOT_E_NOM 40.96
PRC_APP_T_REF D10 - Torque reference value (application generated) % MOT_T_NOM 40.96
MOT_I D11 - Current module A rms 16
REF_FRQ_IN D12 - Frequency in input KHz 16
EL_FRQ D13 - Rotor flux frequency Hz 16
D14 - Frequency speed reference value (application
PRC_APP_FRQ_SPD_REF % MOT_SPD_MAX 163.84
generated)
PRC_IQ D15 - Current torque component % DRV_I_NOM 40.96
PRC_ID D16 - Current magnetizing component % DRV_I_NOM 40.96
MOT_V D17 - Stator voltage reference value module V rms 16
PRC_MOT_V D18 - Stator voltage reference value module % MOT_E_NOM 40.96
MOD_INDEX D19 - Modulation index 40.96
PRC_VQ_REF D20 - Vq rif % DRV_E_NOM 40.96
MOT_SPD D21 - Motor rotation speed rpm 1
PRC_VD_REF D22 - Vd rif % DRV_E_NOM 40.96
MOT_POS D23 - Actual position ±16384 1
DC_BUS D24 - Bus voltage V 16
DRV_TEMP D25 - Radiator temperature reading °C 16

8 MU00001E00 V_2.3
Name Description UM Scale
MOT_TEMP D26 - Motor temperature °C 16
PRC_DRV_I_THERM D28 - Motor thermal current % soglia All 40.96
PRC_DRV_I_MAX D29 - Current limit % DRV_I_NOM 40.96
PRC_DRV_T_MAX D30 - Maximum torque % MOT_T_NOM 40.96
PRC_DRV_I_T_MAX D31 - Maximum torque by current limit % MOT_T_NOM 40.96
PRC_APP_T_MAX D32 - Maximum torque limit by application % MOT_T_NOM 40.96
PRC_APP_SPD_REF D33 - Speed reference (application generated) % MOT_SPD_MAX 163.84
PRC_MOT_T D35 - Actual torque produced % MOT_T_NOM 40.96
MOT_TURN_POS D36 - Absolute mechanical position (on current revolution) ±16384 1
MOT_N_TURN D37 - Number of revolutions 1
OFFSET_SINCOS_ENC D38 - Compensation Sin/Cos analog/digital term pulses 1
SENSOR_FRQ_IN D39 - Input frequency kHz 16
REG_CARD_TEMP D40 - Regulation card temperature °C 16
MOT_PRB_RES D41 - Thermal probe resistance Ohm 1
AI1 D42 - Analog Input AI1 % 163.84
AI2 D43 - Analog Input AI2 % 163.84
AI3 D44 - Analog Input AI3 % 163.84
SPD_ISR D45 - Speed routine duration us 64
I_ISR D46 - Current routine duration us 64
I_LOOP_BAND D47 - Current loop bandwidth Hz 1
PRC_APP_T_MIN D48 - Minimum torque limit by application % MOT_T_NOM 40.96
WORK_HOURS D49 - Work Hours hours 1
ENC_HALL_SECTOR D50 - Encoder and Hall sens sector read 1
SENS2_SPD D51 - Second sensor rotation speed rpm 1
D52 - Second sensor Absolute mechanical position (on
SENS2_TURN_POS 16384 1
current revolution)
SENS2_N_TURN D53 - Second sensor Number of revolutions 16384 1
SENS2_FRQ_IN D54 - Second sensor Frequency input KHz 16
SENS1_ZERO_TOP D55 - Sensor1 Zero Top pulses 1
SENS2_ZERO_TOP D56 - Sensor2 Zero Top pulses 1
D57 - Delay from SYNC reception to Speed routine
SYNC_DELAY us 1
execution
PWM_SYNC_OFFSET D58 - PWM offset for SYNC delay control pulses 1
SERIAL_NUMBER D59 - Drive Serial Number 1
FLD_CARD D60 - Fieldbus Card 1
APPL_REV D61 - Application Revision 40.96

HW_SENSOR2 D62 - Sensor2 presence 1

HW_SENSOR1 D63 - Sensor1 presence 1

MU00001E00 V_2.3 9
 o MW103.0 sysOsc (word), refreshed in the fast core task

Name Description UM Scale

ACT_POS O00 Actual mechanical position read by sensor 100%=180 327.67
ELECTRIC_POS O01 Actual electrical position read by sensor 100%=180 327.67
PRC_TOT_APP_SPD_REF O02 Reference speed value before ramps % MOT_SPD_MAX 163.84
PRC_END_SPD_REF O03 Reference speed value after ramps % MOT_SPD_MAX 163.84
PRC_MOT_SPD O04 Filtered Rotation speed % MOT_SPD_MAX 163.84
PRC_T_REF O05 Torque request % MOT_T_NOM 40.96
PRC_IQ_REF O07 Torque current request % DRV_I_NOM 40.96
PRC_ID_REF O08 Flux corrent request % DRV_I_NOM 40.96
PRC_V_REF O09 Request voltage at maximum rev. % MOT_E_NOM 40.96
ALARMS O10 Internal value: alarms 1
PRC_MOT_I O11 Current module % DRV_I_NOM 40.96
ZERO_TOP O12 Zero top pulses 1
PRC_IU O13 U phase current reading % DRV_I_MAX 40.96
INPUTS O14 Physical inputs 1
PRC_IQ O15 Torque component of current reading % DRV_I_NOM 40.96
PRC_ID O16 Magnetizing component of current reading % DRV_I_NOM 40.96
TU O17 U phase voltage duty-cycle 327.67
PRC_MOT_V O18 Stator voltage reference value module % MOT_E_NOM 40.96
MOD_INDEX O19 Modulation index 40.96
PRC_VQ_REF O20 Request Q axis voltage (Vq_rif) % DRV_E_NOM 40.96
PRC_POWER O21 Delivered power %MOT_POW_NOM 40.96
PRC_VD_REF O22 Request D axis voltage (Vd_rif) % DRV_E_NOM 40.96
PRC_T_OUT O23 Torque produced % MOT_T_NOM 40.96
PRC_DC_BUS O24 Bus voltage %900V 40.96
PRC_DRV_TEMP O25 Radiator temperature reading %37.6° 40.96
PRC_MOT_TEMP O26 Motor temperature reading % 80° 40.96

PRC_DRV_I_THERM O28 Motor thermal current % soglia All 40.96

PRC_DRV_I_MAX O29 Current limit % DRV_I_NOM 40.96

PRC_DRV_T_MAX O30 CW maximum torque % MOT_T_NOM 40.96
PRC_DRV_T_MIN O31 CCW maximum torque % MOT_T_NOM 40.96
OUTPUTS O32 Physical outputs 1
PRC_IV O34 V phase current reading % DRV_I_MAX 40.96
PRC_IW O35 W phase current reading % DRV_I_MAX 40.96
ALFA_FI O36 Actual electrical position (alfa_fi ) [ 327.67
AI1 O37 Analog input A.I.1 100%=16383 163.84

10 MU00001E00 V_2.3
AI2 O38 Analog input A.I.2 100%=16383 163.84
AI3 O39 Analog input A.I.3 100%=16383 163.84
O41 Application speed reference value
SYS_SPD_PERC_REF % MOT_SPD_MAX 163.84
(sysSpeedPercReference)
O42 Application torque reference value
SYS_T_PERC_REF % MOT_T_NOM 40.96
(sysTorqueReference)
O43 Application torque limit reference value
SYS_T_MAX % MOT_T_NOM 40.96
(sysMaxTorque)
O44 Frequency speed reference value from application
SYS_SPD_REF_PULS Pulses per TPWM 1
(sysSpeedRefPulses)
O45 Overlapped space loop reference value from
SYS_POS_REF_PULS Pulses per TPWM 1
application (sysPosRefPulses)
O46 Amplitude to the square of sine and cosine feedback
RES_AMPLITUDE 1=100% 1
signals
RES_SIN O47 Sen_theta 1
RES_COS O48 Cos_theta 1
PRC_MOT_SPD O49 Rotation speed not filtered % MOT_SPD_MAX 163.84
PULSES_RD O50 Delta pulses read in PWM period in frequency input Pulses per PWM 1
MEM_POS_LSW O51 Overlapped space loop memory lsw electrical pulses 1
MEM_POS_MSW O52 Overlapped space loop memory msw electrical pulses 1
INCR_SIN O53 Incremental SIN theta Sin/Cos Encoder 1
INCR_COS O54 Incremental COS theta Sin/Cos Encoder 1
INIT_RESET O55 Initial reset ended 1
PTM_TH_PRB O56 PTM motor thermal probe 40.96
PTR_TH_PRB O57 PTR radiator thermal probe 40.96
SENS_PULSES_RD O58 Pulses read by sensor 1
PRC_SENS2_SPD O59 SENS2 Rotation speed not filtered % MOT_SPD_MAX 163.84
ACT_SENS2_POS O60 SENS2 Actual position 327.67
SENS2_SIN O61 SENS2 Sin_theta 1
SENS2_COS O62 SENS2 Cos_theta 1
SYNC_DELAY O63 Delay on SYNC reception 1
SYS_T_MIN O64 Application minimum torque limit reference value % MOT_T_NOM 40.96
BRAKE_EN O65 Energy dissipated on breaking resistance Joule 1

MU00001E00 V_2.3 11
 o MW105.0 sysExtraInt , refreshed in the background core task

Name Description UM Scale

BRAKE_R_AD_ENERGY Dexp00 - Adiabatic Energy dissipated on brake resistance Joule 1
BRAKE_R_POWER Dexp01 - Average Power dissipated on brake resistance Watt 1
AI16 Dexp04 - 16 bit Analog input (optional) % 163.84
ANYBUS_EN Dexp05 - Anybus module enabled 1
ANYBUS_STATE Dexp06 - Anybus module state 1
SW_RESET_CNT Dexp07 - Software reset occours 1
BO_CAN_MOD Dexp08 - Bus-off status. If 1 the CAN module is in bus-off status 1
REC_CAN_MOD Dexp09 - CAN Receive Error Counter 1
TEC_CAN_MOD Dexp10 - CAN Transmit Error Counter 1
STATE_SM Dexp11 - Actual states of the State Machine 1
I_LOOP_BAND Dexp23 - Current loop bandwidth Hz 1
TEST_CONN_FEEDBACK Dexp24 - Connection tests feedback 1
SYNC_DELAY Dexp25 - Delay from SYNC reception to Speed routine execution us 1
PWM_SYNC_OFFSET Dexp26 - PWM offset for SYNC delay control pulses 1
MOT_T_NOM Dexp30 - Nominal motor torque Nm 1
MOT_P_NOM Dexp31 - Nominal motor power KW 10
PWM_COUNTER Dexp33 - ISR counter 1
SPD_ISR Dexp34 - Speed routine duration us 64
I_ISR Dexp35 - Current routine duration us 64
APP_ISR Dexp36 - Application fast task duration us 64
APP_AVBLE_ISR Dexp37 - Application fast task available time us 64
DRV_F_PWM_MAX Dexp38 - Max PWM frequency available Hz 1
MOTOR_SENSOR_RES Dexp39 – Motor sensor resolution bit 1
SENS2_RES Dexp40 – Second sensor resolution bit 1
SPD_LOOP_BW_MAX Dexp41 – Max speed loop bandwidth Hz 10
MOT_POS Dexp42-D43 Actual motor position pulses 1
SENS2_POS Dexp44-D45 Second sensor position pulses 1
TEST_CONN_RES_RATIO Dexp48 - Connection test Motor and Sensor pole ratio 100
ANYBUS_EXCP_CODE Dexp50 - Anybus Exception Code 1
APP_CYCLIC_ISR Dexp54 - Application cyclic task duration us 64
FACTORY_FW_REV Dexp55 - Factory Firmware revision 256
MOT_F_MAX Dexp57 - Motor max frequency Hz 10
ISR_PWM Dexp61 - Control Routines Frequency Hz 1
IGBT_PWM Dexp62 - IGBT Frequency Hz 1
DC_BUS_RIPPLE Dexp63 - DC Bus Ripple at 100Hz Volt rms 16

12 MU00001E00 V_2.3
 o MW106.0 sysCommands

Name Description UM Scale

EN_SENSOR2_TUNE U00 - Enable second sensor auto-tune 1
EN_TEST_SPD U01 – Enable speed test 1
SPD_REG_SETTING U02 – Speed regulator autosetting 1
MAPPING_CONFIG U03 – Select the mapping configuration (Canopen & EtherCAT) 1
EN_SENSOR_TUNE U04 – Enable motor sensor auto-tune 1
EN_START_UP_APPL U05 – Enable Quick Start Application 1
START_UP_SPD_SEL U06 – Quick Start Application Speed Reference Selection 1
START_UP_RUN_SEL U07 – Quick Start Application Run Command Selection 1
START_UP_EN_REF U08 - Quick Start Application Enable Reference 1
START_UP_EN_LIN_RAMP U09 - Quick Start Application Linear Ramps Enables 1
EN_I_VECTOR U10 – Enable Current Vector for Power Part Test 1
I_VECTOR_FREQ U11 – Current Vector Frequency for Power Part Test 1

1.8 GROUP = “SYSTEM VARIABLES”

Type Index Name Elements R/W Description

Memory MD1000.0 sysHiResTimer 1 UDINT R Free-running Timer with resolution of 6.6ns
Memory MD1001.0 sysTimer 1 UDINT R Free-running Timer with resolution of 1ms
Memory MD1001.1 sysFastPlcMaxDuration 1 UDINT R Maximum PLC fast routine execution time
measured in unit of 6.6ns
Memory MD1001.2 sysFastPlcDuration 1 UDINT R Actual PLC fast routine execution time in unit of
6.6ns
Memory MD1001.3 sysSlowPlcMaxDuration 1 UDINT R Maximum PLC slow routine execution time
measured in unit of 6.6ns
Memory MD1001.4 sysSlowPlcDuration 1 UDINT R Actual PLC slow routine execution time in unit of
6.6ns
Memory MD1001.5 sysCyclicPlcMaxDuration 1 UDINT R Maximum PLC cyclic routine execution time
measured in unit of 6.6ns
Memory MD1001.6 sysCyclicPlcDuration 1 UDINT R Actual PLC cyclic routine execution time in unit
of 6.6ns
Memory MD1002.0 sysFastPlcTimeLimit 1 UDINT R Maximum PLC fast routine execution time
admitted in unit of 6.6ns
Memory MD1003.0 sysTimerCapture 1 INT R Free-running Timer capture with resolution of
6.6ns
Memory MD1004.0 sysCyclicPeriod 1 REAL R/W Desidered Cyclic Task Period [ms]
Memory MD1005.0 sysTrueCyclicPeriod 1 REAL R True Cyclic Task Period [ms]
Memory MW1006.0 sysUserDbSync 48 UINT R/W Application Process Image words

MU00001E00 V_2.3 13
1.9 GROUP = “CAN OPEN VARIABLES”

Type Index Name Elements R/W Description

Memory MD1020.0 sysTimerSyncCont 1 UDINT R SYNC free-running timer with resolution equals
to Baud rate period (1μs at 1Mbit/s)
Memory MD1021.0 sysTimerSyncRec 1 UDINT R SYNC free-running timer freezed at SYNC
reception
Memory MD1022.0 sysFlagSyncRec 1 BOOL R SYNC signal received
Memory MW1023.0 sysPdoCustom 1 INT R/W Enable custom PDO sending on 4 less
significant bit
Memory MW1024.0 sysFieldbusProblem 1 INT R/W Set to 1 from internal CAN routine when a Life
time error occours
Memory MD1025.0 sysSyncPeriod 1 DINT R SYNC period set via CAN with object Idx=1006
Sub=0
Memory MW1026.0 sysNmtState 1 INT R NMT state

1.10 GROUP = “MODBUS VARIABLES”

Type Index Name Elements R/W Description

Memory MW1050.0 sysModbusIndex 1 INT R/W Register Address managed via Modbus
Memory MW1050.1 sysModbusValue 1 INT R/W Register Value managed via Modbus
Memory MX1050.2 sysModbusdirection 1 INT R/W Modbus message direction
Read = FALSE; Write = TRUE
Memory MD1051.0 sysModbusInputs 1 UDINT R 32 logical input functions state from Modbus

1.11 GROUP = “FIELDBUS VARIABLES”

Type Index Name Elements R/W Description

Memory MD1070.0 sysFieldbusTorqueRef 1 REAL R Fieldbus Torque reference referred to
MOT_T_NOM
Memory MD1070.1 sysFieldbusMaxTorque 1 REAL R Symmetrical Fieldbus Torque limit referred
to MOT_T_NOM
Memory MD1070.2 sysFieldbusSpeedPercRef 1 REAL R Fieldbus Speed reference referred to
MOT_SPD_MAX (P65)
Memory MD1070.3 sysFieldbusSpeedRefPulses 1 DINT R Fieldbus Speed reference in pulses per
PWM period [65536=1 mechanical turn]
Memory MD1070.4 sysFieldbusMaxPositiveTorq 1 REAL R Positive Fieldbus Torque limit referred to
ue MOT_T_NOM
Memory MD1070.5 sysFieldbusMaxNegativeTor 1 REAL R Negative Fieldbus Torque limit referred to
que MOT_T_NOM
Memory MD1071.0 systabProcessData ARRAY UINT RW Mapping data for Profibus and Anybus
[40]
Memory MD1072.0 sysFieldbusInputs 1 UDIN R 32 logical input functions state from
T fieldbus

14 MU00001E00 V_2.3
 1.12 GROUP = “SPI VARIABLES”

Type Index Name Elements R/W Description

Memory MW1080.0 sysEnSpiMaster 1 BOOL R/W Configures the drive in SPI Master mode
Disable = FALSE; Enable = TRUE
Memory MW1081.0 sysEnSpiSlave 1 BOOL R/W Configures the drive in SPI Slave mode
Disable = FALSE; Enable = TRUE
Memory MX1082.0 sysSpiNWord 1 INT R/W Transmitted and received words
Range from 0 to 4 words (a word = 16 bit). 0
disable the SPI module
Memory MX1083.0 sysSpiBaud 1 INT R/W SPI Baud rate equals to:
37.5MHz / ( sysSpiBaud + 1)
Default value =12  2.88MHz

2. EMBEDDED BLOCKS
The embedded blocks are firmware functions written in C language that can be used inside PLC applications.

2.1 GROUP = “DRIVE PARAMETERS”

Name Input Variables Output Description

Name Descr. Type Descr. Type
WritePar(index.data) index Parameter Table INT Write result BOOL This block can be used to write
index [0÷199] a standard parameter [0÷199]
TRUE=ok with key and drive status
data value INT FALSE=no control.
WriteExtraPar (index,data) index Extra Parameter INT Write result BOOL This block can be used to write
Table index an extra parameter [0÷99] with
[0÷99] TRUE=ok key and drive status control.
FALSE=no
data value INT
WriteExtraParDINT index Extra Parameter DINT Write result BOOL This block can be used to write
(index,data) Table index a 32 bit extra parameter [0÷98]
[0÷98] TRUE=ok with key and drive status
FALSE=no control.
data valore DINT

WriteCon(index,data) index Connection INT Write result BOOL This block can be used to write
Table index a standard conection [0÷199]
[0÷99] TRUE=ok with key and drive status
FALSE=no control.
data valore INT
WriteInt (index,data) index Application INT Write result BOOL This block is usually used into
internal value SLOW task to refresh an
index [64÷127] TRUE=ok application internal value
FALSE=no [64÷127].
data value INT
WriteOutDig (index,data) index Logic Output INT Write result BOOL This block is used to change
index [0÷3] immediately the state of one
TRUE=ok digital output
data Value to set BOO FALSE=no
L
MU00001E00 V_2.3 15
2.2 I/O MANAGEMENT

There are 2 way to manage digital and analog reference from application poit of view:

1. Read and write directly physical data. This approach is very easy and give to application maximum freedom
degree.
2. Call Embedded block “Standard I/O” from slow or fast PLC task. In this way the application exchange data with
physical layer using some data block.

2.2.1 DIRECT CONTROL

sysFieldbusInputs Physical layer

sysAnalogInput[3] sysLogicalInput[8]
sysModbusInputs

Control variables
LogicLab application
sysTabDigOutput [32] Motor Control

sysOSC[68]

sysLogicalOutput [4] sysAnalogOutput [2] Physical layer

LogicLab application can read directly analog, digital, fieldbus amd modbus inputs and can write digital and analog
output. In this case the application has the complete control of physical I/O, but this meaning that is disabled
multiplexing of digital inputs, digital outputs and analog outputs.

About digital outputs, the Motor Control core changes the first 32 digital output function of data block “sysTabDigOutput”
and application can use this information to change the physical logic outputs with data block “sysLogicalOutput”.
About analogl outputs, the Motor Control core changes the first 68 monitor value of data block “sysOSC” and application
can use this information to change the physical analog outputs with data block “sysAnalogOutput”.

16 MU00001E00 V_2.3
2.2.2 GROUP = “STANDARD I/O”

Physical layer Modbus Fieldbus

sysAnalogInput[3] sysLogicalInput[8] Serial line Inputs Fieldbus Inputs

I1÷I31
C1 ÷ C8 I1÷I31 I00 I00
multiplex
I00 AND
inizialization
Physical Inputs
I1÷I31 OR Standard_IO()
InitInpDigConnector ()

sysTabDigInput[32] Standard_IO() output

sysRunCommand
LogicLab application Motor Control
Control variables

WriteTabOutDig () WriteOsc ()

sysTabDigOutput [64] sysOSC [100]

0 0

31
32 67
68
Standard_IO()
63 99

C10 ÷ C13 C15 ÷ C16

multiplex multiplex

sysLogicalOutput [4] sysAnalogOutput [2] Physical layer

MU00001E00 V_2.3 17
 Name Description

This embedded block manages in parallel way physical inputs (multiplexed with connection
Standard_IO ()
C1÷C8), serial line inputs and fieldbus inputs and produce the output function logics into data
block “sysTabDigInput”.
Standard_IO deals of logical output multiplexing (with connection C10÷C13) starting from data
block “sysTabDigOutput” and analog output multiplexing (with connection C15÷C16) starting from
data block “sysOSC”.
Standard_IO boolean output is the logic AND of run command logic function I00 from connector,
serial line and fieldbus. Usually this output is give to motor run command in this way:

sysRunCommand := Standard_IO();
InitInpDigConnector data Logical input INT Inizialization BOOL With this function it’s possible
(data) function index result to set a logical input function.
[0÷31] TRUE=ok (“sysTabDigInput”), usually in
FALSE=no BOOT task. This value is kept
if this logical function isn’t
configured in any physical
input. It’s mandatory to use it
in conjuction with Standard_IO
function

Name Input Variables Output Description

Name Descr. Type Descr. Type
This block is used to refresh
WriteOsc (index,data) index Indice INT Write result BOOL
an application monitor value
grandezza TRUE=ok
monitor extra FALSE=no with index [68÷99]. Usually this
function is called in FAST task.
[68÷99]
It’s mandatory to use it in
data value INT conjuction with Standard_IO
function
This block is used to change
WriteTabOutDig index Output logic INT Write result BOOL
the state of one application
(index,data) function index TRUE=ok
digital output function (index
[32÷63] FALSE=no
[32÷63]. If this logical output
data value INT function is configured on one
physical output, this will be
changed after an half PWM
period. It’s mandatory to use
this block in conjuction with
Standard_IO function

2.3 GROUP = “PERMANENT MEMORY”

Name Input Variables Output Description

Name Descr. Type Descr. Type
Read result With this function it’s
ReadApplData (address, addres Target DINT INT
0 = ok possible to read up to
n_word, index) s address
1 = EEPROM alarm 30Kapplication word stored
2 = index too big in permanent memory and
n_word Word to read INT 3 = n_word too big copy them at desidered
EEPROM 4 = n_word <0 address.
index INT
memory index This function has to be call
[0÷29999] from Slow task.

18 MU00001E00 V_2.3
 Write result With this function it’s
WriteApplData (address, addres Starting DINT INT
0 = ok possible to write up to
n_word, index) s address
1 = EEPROM alarm 30Kapplication word in
2 = index too big permanent memory from
n_word Word to write INT 3 = n_word too big desidered address.
EEPROM 4 = n_word <0 This function has to be call
index INT
memory index 5 = too much from Slow task.
[0÷29999] repetitive write
NB: every 7 word takes
about 5-10ms to be written,
so slow task will be stopped
for this time

2.4 GROUP = “GENERIC FUNCTIONS”

Name Input Variables Output Description

Name Descr. Type Descr. Type
Setbit (data, index, data word INT Word with bit INT Allows to set one bit of input
status) modified word
index bit index INT

status bit value BOOL

Getbit (data, index) data word INT Bit status BOOL Allows to test one bit status
of input word
index bit index INT
Activation of Application
WriteApplall (code) code Application alarm INT TRUE BOOL
alarm with desidere code
code A04 [0÷3]
[0÷3]

WriteApplRev(num) num Application REAL TRUE BOOL Application revision number

revision number showed in d61 with one
decimal number.
SetRamps(speed) speed Value forced into REAL TRUE BOOL With this block it’s possible
memory ramps to set memory ramps and S-
referred to ramps with desidered value,
MOT_SPD_MAX percent of MOT_SPD_MAX

ChangeNmax(newmax) newmax New INT Write result BOOL With this block it’s possible
MOT_SPD_MAX TRUE=ok to change on-line motor
FALSE=no maximum speed (P65) with
memory ramps ricalculation

2.5 GROUP = “CANOPEN FUNCTIONS”

Name Input Output Description

Name Descr. Type Descr. Type
addres New object 1 = ok
new_object (address, type, DINT INT This function creates a new
s variable address 2 = generic
size, index) object dictionary entry of the
type Object features error
UINT Manufacturer Specific Profile
16 = space
Area or Standardised Device
size Variable length, memory
UINT Profile Area (see CiA DS301
in word (16 bit). complete
CANOpen). It must be used
ONLY DOMAIN into BOOT or SLOW tasks.
OBJECT
index Object Index
UINT

MU00001E00 V_2.3 19
new_object function realizes new entries in the Dictionary Object Can Open. The objects can have the following general
structure (for more information, see CiA Draft Standard 301): VAR, ARRAY and DOMAIN; with the following data types:
INTEGER8, INTEGER16, INTEGER 32, UNSIGNED8, UNSIGNED 16, UNSIGNED32. It is possible to define the object
attributes like the access type (READ, WRITE).
new_object can create up to 100 Dictionary Objects; the indexes are included in the range from 2000 h to A000 h. Pay
attention that the indexes from 2000 h to 2024 h are used for old Open Drive Dictionary (for more information, see
CANOpen OPD Documentation). It is possible to rewrite these objects in the BOOT task.

new_object have four input parameters:

• New object variable address. The address must be a 32 bit integer value (Use the function ADR(Variable
Name) to pass the variable address);
• Object features. It defines the General Structure, the Data Type and the Access Type.
• Variable length. It defines the dimension of the DOMAIN structure.
• Object index. New object can have indexes from 2000 h to A000 h to create objects in Manufacturer Specific
Profile Area and Standardised Device Profile Area.

Use the following tables to define new object features.

Data Types (bit) Data Type Code General Structure Structure Code Data Length
VAR 0 N.U. (*)
INTEGER8 (8) 8
ARRAY(***) 1 - 255 N.U. (*)
VAR 0 N.U. (*)
UNSIGNED8 (8) 8
ARRAY 1 - 255 N.U. (*)
VAR 0 N.U. (*)
INTEGER8 (8) 9
ARRAY DS301(***) 1 - 255 N.U. (*)
VAR 0 N.U. (*)
UNSIGNED8 (8) 9
ARRAY DS301 1 - 255 N.U. (*)
VAR 0 N.U. (*)
INTEGER16 (16) 16
ARRAY 1 - 255 N.U. (*)
VAR 0 N.U. (*)
UNSIGNED16 (16)
16 ARRAY 1 - 255 N.U. (*)
VAR 0 N.U. (*)
INTEGER16 (16) 17
ARRAY DS301 1 - 255 N.U. (*)
VAR 0 N.U. (*)
UNSIGNED16 (16) 17 ARRAY DS301 1 - 255 N.U. (*)
VAR 0 N.U. (*)
INTEGER32 (32) 32
ARRAY 1 - 255 N.U. (*)
VAR 0 N.U. (*)
UNSIGNED32 (32)
32 ARRAY 1 - 255 N.U. (*)
VAR 0 N.U. (*)
INTEGER32 (32) 33
ARRAY DS301 1 - 255 N.U. (*)
VAR 0 N.U. (*)
UNSIGNED32 (32) 33 ARRAY DS301 1 - 255 N.U. (*)

DOMAIN (**) 63 DOMAIN 0 1 - 2047 word

(*) Not Used

(**) DOMAIN Length is defined in size parameter
(***) ARRAY: A multiple data filed object where each data field is a simple variable of the SAME basic data type e.g. array of
UNSIGNED16 etc. Sub-index 0 is the first elements of the ARRAY data.
ARRAY DS301: A multiple data filed object where each data field is a simple variable of the SAME basic data type e.g. array of
UNSIGNED16 etc. Sub-index 0 is of UNSIGNED8 and therefore not part of the ARRAY data.

20 MU00001E00 V_2.3
 Readable Writeable Readable and writeable
Access Type Code 1 2 3

Object Features parameter is shared in three fields. In these fields are inserted the codes to define: General Structure,
Data Type and Access Type.

Variable Object Description

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Fields Data Length Field Data Type Field Access Type Field

new_object have a output parameter, it indicates the object building. In the following table are descripted the return
values.

Return Value New Object Status Description

1 CREATED Object created

Object creation failed. Check the Object Features parameter.

2 NOT CREATED Example: new object can not have Access Type Field equal to zero,
the Data Type Filed is wrong or not exist, etc.

16 NOT CREATED Object creation failed. Space memory complete.

32 NOT CREATED Error index. The index is too small.

48 NOT CREATED Error index. The index is too big.

New object example

New object description:

 Readable and writeable;
 ARRAY;
 INTEGER16,
 10 array elements;
 Index 2020h;
 Variable name Tab_dati_applicazione;

We obtain the codes for new_object function from object description:

Readable and writeable => Access Type Field =3

ARRAY => Data Type Field =16
Array containing 10 elements => Data Length Field=10;

Variabile Object Description

Fields Data Length Field Data Type Field Access Type Field
Codes 10 16 3
N^ Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Bit 0 0 0 0 1 0 1 0 0 1 0 0 0 0 1 1
Value 0 A 4 3

MU00001E00 V_2.3 21
 Object features = 0A43h;
Variable length=0;
Object index=2020h;

new_object function will be defined in the following way:

Rest := new_object(ADR(Tab_dati_applicazione),16#0A43,0,16#2020);

Name Input Output Description

Name Descr. Type Descr. Type
state_co NMT command 1 = ok
Nmt_config(state_config) UINT UINT This function defines the
nfig specifier 0 = generic error
NMT Services. In other
words, it changes the
state of the NMT slave
(OPD) . It must be used
into BOOT or SLOW
tasks.
sdo_num SDO index 1 = ok
Sdo_commun_config UINT DINT This function defines the
ber (values from 0 to For other values,
(sdo_number, Server SDO Parameter. It
3) see Abort SDO
cob_id_client, must be used into
cob_id_cl COB-ID client Transfer Protocol
cob_id_server) DINT BOOT or SLOW tasks.
ient Table (CiA Draft
Standard 301)
cob_id_s COB-ID server
DINT
erver

pdo_num Receive PDO 1 = ok

Rec_pdo_commun_conf UINT DINT This function defines the
ber Communication For other values,
(pdo_number, cob_id_pdo, Receive PDO
Index (values see Abort SDO
transmission_type) Communication
from 0 to 3) Transfer Protocol
Parameter. It must be
cob_id_p COB-ID PDO Table (CiA Draft
DINT used into BOOT or
do Standard 301)
SLOW tasks.

transmiss Transmission
UINT
ion_type type

pdo_num Receive PDO 1 = ok

Rec_pdo_mapping_conf UINT DINT This function defines the
ber Mapping Index For other values,
(pdo_number, index_map, Receive PDO Mapping
(values from 0 to see Abort SDO
sub_index_map) Parameter. It must be
3) Transfer Protocol
used into BOOT or
index_m Object mapping Table (CiA Draft
DINT SLOW tasks.
ap indexes Standard 301)
(address of a
array containing
8 elements)
sub_inde Object mapping
DINT
x_map Sub-indexes
(address of a
array containing
8 elements)

pdo_num Transmit PDO 1 = ok

Tra_pdo_commun_conf UINT DINT This function defines the
ber Communication For other values,
(pdo_number, cob_id_pdo, Transmit PDO
Index (values see Abort SDO
transmission_type, Communication
from 0 to 3) Transfer Protocol

22 MU00001E00 V_2.3
inhibit_time, event_time ) cob_id_p COB-ID PDO Table (CiA Draft Parameter. It must be
DINT
do Standard 301) used into BOOT or
SLOW tasks.

Transmis Transmission
UINT
sion_type type

Inhibit_ti Inhibit time

UINT
me

Event_ti Event timer

UINT
mer

pdo_num Transmit PDO 1 = ok

Tra_pdo_mapping_conf UINT DINT This function defines the
ber Mapping Index For other values,
(pdo_number, index_map, Transmit PDO Mapping
(values from 0 to see Abort SDO
sub_index_map) Parameter. It must be
3) Transfer Protocol
used into BOOT or
Index_m Object mapping Table (CiA Draft
DINT SLOW tasks.
ap indexes Standard 301)
(address of a
array containing
8 elements)
Sub_nde Object mapping
DINT
x_map Sub-indexes
(address of a
array containing
8 elements)

The functions in the table are used for Server SDO Parameter configuration, Receive PDO Communication Parameter
configuration, Receive PDO Mapping Parameter configuration, Transmit PDO Communication Parameter configuration
and Transmit PDO Mapping Parameter configuration from LogicLab. Moreover it is possible to manage NMT protocol to
change the state of the NMT slave (OPD).

State of the NMT Slave Configuration Example

In order to change the state of the NMT Slave (OPD EXP) is introduced the NMT_config function.
The state is changed by the NMT command specifier of the NMT protocol (for more information, see CiA Draft Standard
301 protocol).

NMT Slave Configuration:

NMT Slave (OPD EXP) in the OPERATIONAL State.

NMT Command Specifiers:

CS = 1 => START, NMT_config function sets the state of the OPD EXP to
OPERATINAL
CS = 2 => STOP, NMT_config function sets the state of the OPD EXP to STOPPED
CS = 128 => enter PRE-OPERATIONAL, NMT_config function sets the state of the
OPD EXP to PRE-OPERATIONAL
CS = 129 => RESET APPLICATION, NMT_config function sets the state of the OPD
EXP from any state to the “reset application” sub-state
CS = 130 => RESET COMMUNICATION, NMT_config function sets the state of the
OPD EXP from any state to the “reset communication” sub-state

MU00001E00 V_2.3 23
NMT _config function will be defined in the following way:

Rest := NMT _config(1)

Server SDO Parameter Configuration Example

In order to describe the SDOs used on the OPD EXP is introduced the Sdo_commun_config function.
Server SDO Parameter Configuration:
nd
2 Server SDO parameter (1201 h object index)
COB-ID Client->Server (rx) = 610 h
COB-ID Server->Client (tx) = 590 h

Sdo_commun_config function will be defined in the following way:

Rest := Sdo_commun_config(1, 16#0610, 16#0590)

Transmit PDO Communication Parameter Configuration Example

In order to set the TPDOs communication parameter used on the OPD EXP is introduced the Tra_pdo_commun_conf
function.
Transmit PDO Communication Parameter Configuration:
rd
3 Transmit PDO Communication Parameter (1802 h object index)
TPDO COB-ID = 210 h
Transmission type = PDO is transmitted on an event time (code=FE h)
Inhibit time = no inhibit time
Event timer = 100 ms

Tra_pdo_commun_conf function will be defined in the following way:

Rest := Tra_pdo_commun_conf (2, 16#0210, 16#00FE, 0, 16#0064)

Transmit PDO Mapping Parameter Configuration Example

In order to set the TPDOs mapping parameter used on the OPD EXP is introduced the Tra_pdo_mapping_conf
function.
Transmit PDO Mapping Parameter Configuration:
rd
4 Transmit PDO Mapping Parameter (1A03 h object index)
Mapped objects of the Manufacturer Specific Profile Area (see lower table)
=> Speed reference object (index=201C h)
=> Speed reference object (index=201D h)
th
=> 4 element of the application area array (index=201E h, sub-index=4)
=> Logical output (index=201F h)
=> OPD status (index=2020 h)

Index (hex) Structure Type Name Description Access

201C VAR INTEGER16 Speed_ref Speed reference rw

201D VAR INTEGER16 Torque_ref Torque refernce rw
201E ARRAY INTEGER16 Application_Tab[100] Application Area rw
201F VAR INTEGER8 Logic_Out Logical output rw
2020 VAR UNSIGNED8 OPD_Status OPD status r

24 MU00001E00 V_2.3
 In LogicLab, we create two array containing 8 elements (PAY ATTENTION, the array must be declared as global
variables):
DINT index[8];
DINT sub_index[8];

The arrays must be defined in this way:

Nr index Nr sub_index
0 201C 0 0
1 201D 1 0
2 201E 2 4
3 201F 3 0
4 2020 4 0
5 0 5 0
6 0 6 0
7 0 7 0

Tra_pdo_ mapping _conf function will be defined in the following way:

Rest := Tra_pdo_ mapping _conf (3, ADR(index), ADR(sub_index))

Name Input Output Description

Name Desc Type Desc Type
data_error Error field 1 = ok
ErrorFieldEmcy(data_error, DINT UINT This function configures the
definition 0 = generic
n_byte) last three byte of the
n_byte Error field error
UINT Manufacturer Specific Error
byte used Field. It must be used into
BOOT or SLOW tasks.

ErrorFieldEmcy function configures the last three byte of the Manufacturer Specific Error Field.

Manufacturer Specific Error Field Configuration Example

Manufacturer Specific Error Field Configuration: set 2 bytes with the code_alarm value.

ErrorFieldEmcy function will be defined in the following way:

Rest := ErrorFieldEmcy(code_alarm, 2)
2.6 GROUP = “FREQUENCY INPUT”

Name Input Output Description

Name Desc Type Desc Type
Time_Pulses (type) type If type is TRUE, pulses BOOL Average REAL This function
counted are always reported to pulses computes the average
the 4 edges counted with an pulses received in the
encoder input (C9=1) So last PWM period.
pulses from frequency/sign
(C9=2) are multiplied by 2 and
frequency/sign 1 edge counted
(C9=3) are multiplied by 4

MU00001E00 V_2.3 25
Capture_Digit_In1 addr_time_ Capture timer pointer DINT See UINT This function analysis
(addr_time_base_cap base_capt “sysTimerCapture” Table 1 the edge of a digital
t, addr_elapsed_time, signal with frequency
edge) – input 6 smaller than 2 *
FPWM. It must be
Addr_elaps Elapsed time pointer DINT
Capture_Digit_In2 used into FAST task
ed_time (unit=6.6ns)
(addr_time_base_cap
t, addr_elapsed_time,
edge) – input 7
edge Active edge INT
Capture_Digit_In3
(addr_time_base_cap
t, addr_elapsed_time,
edge) – input 8

Capture_Digit_Inx function captures the edge of a digital signal with frequency smaller than two times PWM frequency.
This function can capture up to 4 events in the PWM period. The pulses with time duration lower than 26 μs are
neglected.
The function is formed from two pointers and a active edge parameter:
- Capture timer pointer. This pointer returns the event timer (in CPU clock cycles).
- Elapsed time pointer. This pointer returns the elapsed time between two happened events (in CPU clock
cycles).
- Active edge. This parameter sets the active edge for the signal analysis (Active Rising Edge or Active Falling
Edge).

Moreover the function has an output parameter for events description (see Table 1).
If the event is a pulse, the “elapsed time” is the time duration, whereas if the event is an edge, the “elapsed time” is the
elapsed time between PWM period start and event time (see Figure 1).

Figure 1. Capture_Digit_In function working

26 MU00001E00 V_2.3
Return Event happened in the Event happened in the
Event previous PWM period current PWM period Description
Value

0 - - - No event

Rising Edge Active

Positive
11 - Positive pulse in the current PWM period
pulse

12 Rising edge - Rising edge in the current PWM period.

Falling
13 - Falling edge in the current PWM period.
edge

Positive
Positive pulse and a rising edge in the current PWM
14 pulses + -
period.
Rising edge

Two
15 positive - Two positive pulses in the current PWM period.
pulses

Falling edge in the current PWM period, whereas in

Falling
16 the previous PWM the function have found a 14
edge
event type.

Negative pulse in the current PWM period, whereas

Negative
17 in the previous PWM the function have found a
pulse
rising edge.

Falling
Falling edge and a positive pulse in the current
edge +
18 PWM period, whereas in the previous PWM the
Positive
function have found a rising edge
pulse

Falling Edge Active

Negative
21 - Negative pulse in the current PWM period
pulse

Falling
22 - Falling edge in the current PWM period.
edge

23 Rising edge - Rising edge in the current PWM period.

MU00001E00 V_2.3 27
 Negative
pulse + Negative pulse and fall edge in the current PWM
24 -
Falling period.
edge

Two
25 negative - Two negative pulses in the current PWM period.
pulses

Rising edge in the current PWM period, whereas in

26 Rising edge the previous PWM the function have found a 24
event type.

Positive pulse in the current PWM period, whereas

Positive
27 in the previous PWM the function have found a
pulse
falling edge.

Rising edge Rising edge and negative pulse in the current PWM
28 + negative period, whereas in the previous PWM the function
pulse have found a falling edge

Table 1. Capture_Digit_Inx function return value

The active edge is the first event took in PWM period. It is the rising edge if active edge parameter is equal to ‘0’,
whereas is falling edge if active edge parameter is equal to ‘1’.

Capture_Digit_Inx Example

return_cap=Capture_Digit_In1(ADR(event_time),ADR(elapsed_time), edge )

Name Input Output Description

Name Desc Type Desc Type
Capture_Edge_In1 addr_time_ Capture timer DINT See UINT This function captures the
(addr_time_base_capt, base_capt pointer Table 2 digital signal edge. It must
addr_elapsed_time, “sysTimerCapture” be used into FAST task
edge, width) – input 6
Addr_elaps Elapsed time DINT
Capture_Edge_In2 ed_time pointer (unit=6.6ns)
(addr_time_base_capt,
addr_elapsed_time,
edge, width) – input 7
edge Active edge INT
Capture_Edge_In3
(addr_time_base_capt,
addr_elapsed_time, edge width Minimum pulse time
width) – input 8 (in us)

Capture_Edge_Inx function captures the dominant edge of a digital signal. This function returns the event time and the
elapsed time between event time and PWM period end (see Figure 2). The pulses with time duration lower than
“Minimum pulse time” will be neglected. If the elapsed time between event time and PWM period end is lower to
“Minimum pulse time”, the function waits the next PWM period before to define the event as impulse noise.
The function is formed from two pointers, an active edge parameter and a minimum pulse time:

28 MU00001E00 V_2.3
 - Capture timer pointer. This pointer returns the event timer (in CPU clock cycles).
- Elapsed time pointer. This pointer returns the elapsed time between two happened events (in CPU clock
cycles).
- Active edge. This parameter sets the active edge for the signal analysis (Rising Edge Active or Falling Edge
Active).
- Minimum pulse time. It defines the minimum time duration for the impulse (in μs). The permitted maximum
value is 200 μs.

Moreover the function has an out parameter for events description (see Table 2).

Figure 2. Capture_Edge_Inx function working. In this figure “Minimum pulse time” is equal to 26 μs

Return Event happened in the

Event current PWM period Description
Value

0 - - No event

Rising Edge Active

1 Rising edge Rising edge in the current PWM period.

Two positive
2 Two positive pulses in the current PWM period.
pulses

Falling Edge Active

10 Falling edge Falling edge in the current PWM period.

Two negative
20 Two negative pulses in the current PWM period.
pulses

MU00001E00 V_2.3 29
 Noises found

100 Noise Pulses with time duration lower than “Minimum pulse time”.

100 Noise Pulses with time duration lower than “Minimum pulse time”
(in 14 or 24 event type, see Table 1).

Table 2. Capture_Edge_Inx function return value

Capture_Edge_Inx Example

return_cap=Capture_Edge_In1(ADR(event_time),ADR(elapsed_time), edge, min_pulse_time )

In event_time is inserted the timer value when the event is happened, in CPU cycles, for example

event_time =5612144 (CPU cycles)

In milliseconds:

event_time_ms = event_time / DSP_Frequency =

= 5612144 / 150*10^6 = 37.4142 ms

Pay attention which the CPU timer is a free-running 32 bit register, therefore the maximum value is 2^32-1=
4294967295. In elapsed_time is inserted the elapsed time between event time and PWM period. elapsed_time maximum
value is always lower than 400 µs.

2.7 GROUP = “SPI FUNCTIONS”

Name Input Output Description

Name Desc Type Desc Type
SendDataSPI addr_data_TX Transmitted DINT TRUE=data BOOL In Slave mode data are
(addr_data_TX) Data transmitted ready to be sent, in
Master mode this
FALSE=data not
function sends the SPI
transmitted. SPI
data. It must be used
module disabled
into FAST task

ReceiveDataSPI addr_data_RX Received DINT 0 = data not UINT This function receives
(addr_data_TX) Data received the SPI data. It must
be used into FAST
1 = data received
task
2 = error. Wrong
CRC has been
detected.
3 = error. The SPI
Module has
received too many
data.

30 MU00001E00 V_2.3
 2.8 GROUP= “MATHEMATICS”

Name Input Output Description

Name Desc Type Desc Type
Scale64Bit in input DINT TRUE=scaling BOOL This function execute
(in,mul,div,add_RES,add executed the input scaling with
_CRY) mul Multiplicati DINT without 64bits calculation
on factor overflow in the
RES=in x mul/div
output
div Divisor DINT RES is the output in
FALSE=output
factor 32bits and CRY is the
overflow
carry in 32 bits.
add_RES Address DINT
Result

add_CRY Address DINT

Carry

2.9 GROUP= “SECONDARY CAN BUS”

Name Input Output Description

Name Descr. Type Descr. Type
Baud CAN bus TRUE=CAN
CAN2_Init (Baud, UINT BOOL This function initializes
baudrate code bus
RxCobId1, RxCobId2) the secondary CAN bus
configured
RxCobId1 COB-ID of 1
st interface at specified
UINT FALSE=error
receive mailbox bitrate with 2 receiving
configuring
mailboxes for specified
nd the bus
RxCobId2 COB-ID of 2 COB-IDs. It must be
UINT used into BOOT or
receive mailbox
SLOW tasks.

CAN2_Init function initializes the secondary CAN bus for communication with other drives or devices (like I/O
expansion).
The Baud parameter has the same range and coding of connection C48 (CANOPEN_BAUD_SET):
0 1 Mbit/s
1 reserved (1 Mbit/s)
2 500 kbit/s
3 250 kbit/s
4 125 kbit/s
5 100 kbit/s
6 50 kbit/s
7 20 kbit/s
RxCobId1 and RxCobId2 parameters are for COB-ID of the 2 receiving mailbox available: only CAN standard mode
(11bit IDs) is supported (not the extended 29bit IDs) so allowed range is 000h-7FFh. The IDs can be the same.

CAN2_Init can be re-issued multiple times during run-time if the receiving mailbox IDs had to be changed. During
reconfiguration all pending messages will be dropped.

MU00001E00 V_2.3 31
 Name Input Output Description
Name Descr. Type Descr. Type
CobId COB-ID of TRUE=previ
CAN2_Tx1 (CobId, UINT BOOL This function check if the
message to ous msg st
n_byte, addr_data_TX) 1 transmit mailbox is
send sent and
empty and, if so, queue
n_byte n. of byte of data current msg
INT in the new data for
to send queued into
transmission.
tx mailbox
addr_data_T pointer to the FALSE=prev
DINT
X buffer containing ious mgs still
data to send unsent
CobId COB-ID of TRUE=previ
CAN2_Tx2 (CobId, UINT BOOL This function check if the
message to ous msg nd
n_byte, addr_data_TX) 2 transmit mailbox is
send sent and
empty and, if so, queue
n_byte n. of byte of data current msg
INT in the new data for
to send queued into
transmission.
tx mailbox
addr_data_T pointer to the FALSE=prev
DINT
X buffer containing ious mgs still
data to send unsent
st nd
CAN2_Tx1 and CAN2_Tx2 functions are used to send messages into the CAN bus, using 1 and 2 transmit
mailboxes.
These functions don’t wait for trasmission completion (as the transmission time is affected by the CAN bitrate, the
message data size and the COB-ID priority respect to the packet traffic on the bus) but just queue the new message into
the trasmission mailbox (if empty).
Before queueing the new message, the transmission mailbox is checked: if a previous message is still present unsent
the function exits returning FALSE.

If n_byte parameter is negative, the function only check for transmission mailbox emptyness without queueing new
message: this can be used for polling-check the mailbox.
If n_byte is zero, a message with no data will be sent (so, just the COB-ID).
The max number of byte to send is 8.
The addr_data_TX parameter must point to a valid 8 elements buffer (even if n_byte is less than 8).
Only CAN standard mode (11bit IDs) is supported (not the extended 29bit IDs) so allowed range is 000h-7FFh.
All the parameters can be changed at every call.

Name Input Output Description

Name Descr. Type Descr. Type
TRUE=a
CAN2_Rx1 addr_n_byte pointer to n. of DINT BOOL This function check if a
message was
(addr_n_byte, byte of data received message is present
received and
addr_data_RX) received in to the 1st receive mailbox
data buffer
and, if so, returns data
addr_data_RX pointer to the filled
DINT message and size.
buffer to contain FALSE=no
the received data received
message
TRUE=a
CAN2_Rx2 addr_n_byte pointer to n. of DINT BOOL This function check if a
message was
(addr_n_byte, byte of data received message is present
received and
addr_data_RX) received in to the 2nd receive mailbox
data buffer
and, if so, returns data
addr_data_RX pointer to the filled
DINT message and size.
buffer to contain FALSE=no
the received data received
message
st nd
CAN2_Rx1 and CAN2_Rx2 functions are used to receive messages from the CAN bus, using 1 and 2 receive
mailboxes.
These functions don’t wait for a message but check if a new message is present into the receive mailbox: if there is no
message the function exits returning FALSE.
CAN messages are accepted only if the COB-ID equals to those specified with CAN2_Init function.
The addr_data_RX parameter must point to a valid 8 elements buffer.
The function removes the received message from the mailbox so a second call will return FALSE (if meanwhile a new
message was not received).

32 MU00001E00 V_2.3
s.p.a. tecnologie digitali elettroniche

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