CANopen interface for variable-speed pressure and flow control system Sytronix DFEn 5000

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RE 30014-02-Z/02.12

Supplementary information

Replaces: 11.10 English

CANopen interface for variable-speed

pressure and flow control system

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Publisher: BOSCH REXROTH AG Industrial Hydraulics Zum Eisengießer 1 D-97813 Lohr am Main Phone: ++49 (0) 93 52/18-0 Fax: ++49 (0) 93 52/18-10 40 Document number: RE 30014-02-Z/02.12

Reprint or translation in whole or in part only with the publisher’s permission. Subject to revision

The data specified above only serve to describe the product. No statements concerning a certain condition or suitability for a certain application can be derived from our information. The information given does not release the user from the obligation of own judgment and verification. It must be remembered that our products are subject to a natural process of wear and aging.

without its consent.

An example configuration is shown on the title page. The delivered product may, therefore, differ from the product which is pictured.

The original operating instructions were created in the German language.

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1 Table of contents

1 Table of contents ...1

2 Abbreviations ...3

3 About this document...4

4 Introduction ...4

5 Important notes...4

5.1 Reserved SDO range... 4

6 Location of plug-in connections ...5

7 CAN bus interface...5

8 Node address ...5

9 CAN baud rate ...6

10 Network management (NMT) ...7

10.1 Boot-up protocol... 7

10.1.1 Commands (0xYY) ... 7

10.1.2 Node ID or broadcast (0xZZ)... 7

10.2 State diagram ... 8

11 Synchronization object (SYNC)...9

12 Process Data Objects (PDO)...10

12.1 Standard protocol with predefined PDO mapping... 11

12.2 Use of PDOs with the SYDFEn control system ... 11

12.3 Actual value transmission by means of synchronous transmit PDO1 ... 12

12.4 Actual value transmission by means of asynchronous PDO2 ... 16

12.5 Command value transmission by means of synchronous/asynchronous PDOs ... 16

12.6 Command value transmission by means of synchronous PDO1... 17

12.7 Command value transmission by means of asynchronous receive PDO4... 20

13 Service Data Objects (SDOs)...20

13.1 SDO Segment Domain Protocol ... 20

13.2 SDO Expedited Protocol ... 21

13.2.1 Client  Server (PLC  SYDFEn), Upload Request ... 21

13.2.2 Server  Client (SYDFEn  PLC), Upload Response ... 21

13.2.3 Client  Server (PLC  SYDFEn), Download Request ... 21

13.2.4 Server  Client (SYDFEn  PLC), Download Response... 21

13.3 Interruption of an SDO protocol ... 21

13.3.1 Error messages in the event of an SDO protocol interrupt ... 22

14 Node guarding and life guarding ...23

15 Storing and restoring parameters...24

15.1 Store parameter ... 24

15.2 Restore parameter ... 24

16 Emergency telegrams ...25

16.1 Error register ... 26

16.2 Error code... 26

16.3 Error codes of the SYDFEn control system ... 26

16.3.1 Error description ... 27

16.3.1.1 Bus communication errors ... 27

16.3.1.2 Device-specific errors... 27

17 Object dictionary ...29

17.1 General object dictionary entries... 29

17.2 Manufacturer-specific object dictionary entries... 30

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17.4 Device profile-specific object dictionary entries ... 44

18 Closed-loop control of the SYDFEn system ...45

18.1 Control structure... 45

18.2 Controller parameter sets... 46

18.2.1 Controller parameters... 46

18.2.2 Changing controller parameters ... 47

19 Application-specific settings...48

19.1 Setting the nominal pressure ... 48

19.2 Command value source ... 48

19.3 Selection of controller parameter set input ... 48

19.4 Setting the pressure transducers (PT) ... 49

19.4.1 PT inputs ... 49

19.4.2 Types of pressure transducers... 49

19.4.3 Measuring range of the pressure transducer ... 51

20 Calibration of SYDFEn control systems...51

20.1 Calibration of the pressure transducer... 51

20.2 Calibration of the valve... 53

20.3 Calibration of the swivel angle sensor ... 55

20.3.1 Calibration of the swivel angle sensor offset... 55

20.3.2 Calibration of the swivel angle sensor gain... 56

20.4 Leakage compensation ... 57

20.4.1 Manual adjustment of leakage compensation... 57

20.4.2 Calibration of leakage compensation ... 57

20.5 Resetting the calibration values ... 59

21 Description of special functions ...60

21.1 Master/slave operation... 60

21.1.1 Configuration of master/slave operation... 60

21.1.2 Activating master/slave operation ... 64

21.1.3 Reducing the bus load... 64

21.2 Multiple-circuit function... 65

21.2.1 Overview of the multiple-circuit function... 65

21.2.2 Configuration for multiple-circuit function ... 66

21.3 Torque limitation... 68

21.4 Internal command value ramps... 69

21.5 Switching off the swivel angle controller ... 69

22 Quick start ...70

23 Annex I ...73

24 Annex II ...75

24.1 Master/slave and additional fixed displacement pump (regenerative operation)... 75

24.2 Multiple circuit with 2 pumps ... 76

24.3 Two motors with a total of four pumps, three master/slave pumps at different motors, multiple circuit for second motor... 78

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2 Abbreviations

CAN Controller Area Network

CiA CAN in Automation

COB-ID Communication Object Identifier

DLC Data Length Code (number of data bytes)

EMC Electromagnetic Compatibility

FC Frequency Converter

FRAM Ferroelectric Random Access Memory

GND Ground

LSB Least Significant Byte

MSB Most Significant Byte

NMT Network Management

p Pressure (symbol)

PC Personal Computer

pDiff

Control difference between pressure command value and actual pressure value

PDO Process Data Object

PE Protective Earth

PLC Programmable Logic Control

PT Pressure Transducer

ro read only

RTR Remote Transmit Request (request telegram)

rw read/write

RXD Receive Data

SDO Service Data Object

SWA Swivel angle

SYDFEC Pressure/flow control system with integrated digital electronics and CAN

bus

SYDFEn Pressure/flow control system with integrated digital electronics and CAN

bus, variable speed

SYNC Synchronization telegram

TXD Transmit Data

WIN-PED _Win_{dows program for Parameterization, Editing, Diagnosis}

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3 About this document

This document is valid for the following products:

 Pressure/flow control system SYDFEn with CANopen interface

This documentation is intended for project engineers, operators, service technicians and network opera-tors.

This documentation is a supplement to operating instructions RE 30014-B. These instructions contain all the relevant information as well as safety instructions for installing, commissioning and operating the control system SYDFEn. The present instructions merely contain supplemen-tary, important information on the operation of the control system SYDFEn with a CANopen inter-face.

This documentation describes the two DFEn variants “teach-in version for cyclic operation” and “real-time version (speed calculation without teach-in)”. The two versions are distinguished by code “12” in the type code. For the “teach-in” version, the project version number starts with number “8”, for the “real-time” version, the version number starts with number “9”.

4 Introduction

This documentation is based on the specifications “Communication Profile for Industrial Systems“ accord-ing to CANopen (CiA Draft Standard 301 Version 3.0).

5 Important notes

5.1 Reserved SDO range

In accordance with CANopen (CiA Draft Standard 301 Version 3.0) the area with COB-IDs 0x581…0x67F is used for the SDO transfer.

When the Rexroth software “WIN-PED ®“ is used, the range with COB-IDs 0x682…0x6A1 is utilized for the internal cross-communication between the SYDFEn control systems. This reserved SDO range should not be used by other CAN stations.

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6 Location of plug-in connections

7 CAN bus interface

The CAN bus interface of the SYDFEn control system is an M12 connector (X3).

1 nicht belegt 2 Digital-Eingang DI2 3 reserviert 4 CAN-H 5 CAN-L 2 1 5 3 4

It is not permitted to connect signals to the reserved pins.

8 Node address

The SYDFEn control system is fitted with a rotary switch with 16 positions (0 ... F). The switch positions allow node addresses from 1 to 16 to be set.

The node address of the SYDFEn control system resulting from the switch position is obtained as follows:

Node address = switch position + 1

With the factory setting the address of the SYDFEn is set to “2”. In order that the SYDFEn control system takes a change of the node address over, a power-on reset must be executed.

0 F E D 8 7₆ 54 321 C B A 9

Address switch

X3: CAN interface

Digital input DI2

RS232

1 Not assigned 2 Digital input D12 3 Reserved 4 CAN-H 5 CAN-L

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9 CAN baud rate

You can select CAN baud rates within the range from 10 kbit/s to 1Mbit/s. The baud rate of 800 kbit/s is not supported in favor of 625 kbit/s.

The following baud rates are possible:

Baud rate Value (decimal)

10 kbit/s 10 20 kbit/s 20 50 kbit/s 50 125 kbit/s 125 250 kbit/s 250 500 kbit/s 500 625 kbit/s1 625 1000 kbit/s 1000

The new CAN baud rate is saved by writing (download request) to object 0x5B00 subindex 0x01. A changed value is saved in a non-volatile memory, but is not active before the voltage supply is switched on the next time.

Reading out (upload request) of object 0x5B00 subindex 0x01 indicates the baud rate that will be acti-vated when the voltage supply is switched on the next time.

The factory-set default baud rate of the SYDFEn control system is 500 kbit/s.

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10 Network management (NMT)

After the voltage supply was switched on or after a reset (software, communication reset) the SYDFEn control system is initialized and is always in the “pre-operational” state (ready for operation). In this state, only Service Data Objects (SDOs), which can be used for configuring and parameterizing the SYDFEn control system, are available for communication.

The network management includes all functions relating to the changeover to the "operational" state, monitoring as well as the reconfiguration in relation to the running time. In the "operational" state, com-munication is possible using SDOs and PDOs.

10.1 Boot-up protocol

The simplified Boot-Up Protocol can be used to switch the SYDFEn control system over to the individual states of “Pre-Operational“, “Operational“, “Software Reset,“ and “CAN Module Reset”.

COB-ID Byte 0 Byte 1

0x000 (NMT) Command 0xYY Node ID 0xZZ

10.1.1 Commands (0xYY)

Value Meaning “0xYY“

0x01 Switches over to the “Operational“ state 0x80 Switches over to the “Pre-operational“ state

0x81 Reset SYDFEn

0x82 Reset CAN module

10.1.2 Node ID or broadcast (0xZZ)

Value Meaning “0xZZ“

0x00 Broadcast (message destined to all nodes)

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10.2 State diagram

(6) Switches over to the “Operational“ state (8) Switches over to the “Pre-operational“ state

(10) Reset SYDFEn

(11) Reset CAN module

(12) Initialization completed, automatic transition to “Pre-operational“

NOTE: The reset command (11) may only be sent, when a previously sent SDO message was

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11 Synchronization object (SYNC)

The synchronization object is used for synchronizing the network stations.

COB-ID RTR DLC

0x080

(SYNC) 0 0

If synchronous transmission is selected, the actual values are sent after receipt of a Sync message. The command values are taken over upon receipt of the subsequent Sync message.

Source: http://www.can-cia.org “CANopen99-1.pdf“

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12 Process Data Objects (PDO)

We have to distinguish between synchronous and asynchronous PDOs. PDOs are used to transmit real-time data and are generally services that are not acknowledged.

With the SYDFEn control system the identifiers are assigned in accordance with the Predefined Connec-tion Set according to the CANopen protocol. For communicaConnec-tion, 3 transmit PDOs and 4 receive PDOs are available for the SYDFEn control system. As a standard, PDOs are initialized with the following CANopen identifiers (COB-IDs).

SYDFEn  PLC

COB-ID of the 1st transmit PDO: 0x180 + node ID

COB-ID of the 2nd_{transmit PDO:} _{0x280 + node ID}

COB-ID of the 3rd transmit PDO: 0x380 + node ID

PLC  SYDFEn

COB-ID of the 1st receive PDO: 0x200 + node ID

COB-ID of the 2nd receive PDO: 0x300 + node ID

COB-ID of the 3rd receive PDO: 0x400 + node ID

COB-ID of the 4th_{receive PDO:} _{0x500 + node ID}

By means of an SDO access, the COB-ID can be configured to the following indices under subindex 0x01 of the object dictionary and saved in the FRAM using the “store parameter” command.

Index 1800: 1st_{transmit PDO}

Index 1801: 2nd_{transmit PDO}

Index 1802: 3rd transmit PDO

Index 1400: 1st_{receive PDO}

Index 1401: 2nd receive PDO

Index 1402: 3rd receive PDO

Index 1403: 4th_{receive PDO}

Example:

The COB-ID for the 1st_{receive PDO is to be changed to COB-ID 0x444. The higher-level control must}

send the following telegram.

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4-7

0x600+node ID (SDO 1 RXD) Control word 0x22 Index (LSB) 0x00 Index (MSB) 0x14 Subindex 0x01 COB-ID 0x44040000 With the help of the store command you can save dynamic identifier assignments permanently in the FRAM (Chapter 15.1 “Store parameter“).

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4-7

0x600+node ID

(SDO 1 RXD) Control word0x22 Index (LSB)0x10 Index (MSB)0x10 Subindex 0x02 0x73617665"SAVE"

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12.1 Standard protocol with predefined PDO mapping

The SYDFEn control system only supports static mapping of CANopen. The contents of the PDOs cannot be changed with the help of dynamic mapping of CANopen (changing of the contents with the help of SDOs).

12.2 Use of PDOs with the SYDFEn control system

The following overview illustrates the use of transmit/receive PDOs with the COB-ID with default settings. For communication, 3 transmit PDOs and 4 receive PDOs are available with the SYDFEn control system.

Transmit PDOs COB-ID Use

Synchronous actual value PDO1

Transmit PDO1 0x180 + node ID

(Chapter 12.3)

Communication with multiple-circuit function

Transmit PDO2 0x280 + node ID

(Chapter 21.2)

Master/slave operation with pressure controller

Transmit PDO3 0x380 + node ID _{(Chapter 21.1)}

Receive PDOs COB-ID Use

Synchronous command value PDO1

Receive PDO1 0x200 + node ID

(Chapter 12.6)

Communication with multiple-circuit function

(Chapter 21.2)

Master/slave operation with pressure controller

(Chapter 21.1)

Asynchronous command value PDO4

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12.3 Actual value transmission by means of synchronous transmit PDO1

The actual values as well as the internal status (status byte) of the SYDFEn control system are transmit-ted by means of the following PDO messages, which are sent by the SYDFEn control system upon re-ceipt of a SYNC message. Two options are provided for configuring the PDO1. The selection can be made by way of entry 0x5D19 index 0x01 in the object dictionary.

Selection 0: “Swivel angle / pressure / speed“

COB-ID RTR DLC Byte 0 Byte 1, 2 Byte 3, 4 Byte 5 Byte 6, 7

0x180+node ID

(PDO 1 TXD) 0 8 Status byte 1 Actual SWA value Actual pres-sure value

Status byte 2 SYDFEn

Actual speed value Selection 1: “Swivel angle / pressure / flow“

COB-ID RTR DLC Byte 0 Byte 1, 2 Byte 3, 4 Byte 5 Byte 6, 7

0x180+node ID

(PDO 1 TXD) 0 8 Status byte 1 Actual SWA value Actual pres-sure value

Status byte 2 SYDFEn

Actual flow value

Explanations:

Meaning of status byte 1 (byte 0)

The internal state of the SYDFEn control system is signaled by means of status byte 1.

Bit 7 6 5 4 3 2 1 0 Status byte

1

“Master/slave“ function

Reserved

SWA controller

“OFF“

Reserved Reserved

Pressure/SWA control Master/slave operating mode Torque limitation

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Bit 0 – torque limitation "1" The SYDFEn operates with torque limitation

"0" The current torque is less than the set torque limit

Bit 1 – master/slave function

"1" The SYDFEn operates as slave in the master/slave pressure controller mode. "0" The SYDFEn operates as master in the master/slave pressure controller mode.

Bit 2 – master/slave operating mode "1" The master/slave mode pressure controller is activated.

"0" The master/slave mode pressure controller is deactivated. Bit 3 – pressure/SWA control "1" Type of control “pressure control“ active.

"0" Type of control “swivel angle control“ active.

Bit 6 – swivel angle controller “OFF”

"1" - Deactivation via “SDO Download Request“ to index 0x5550 subindex 0x01

- Deactivation by calibration process

"0" Swivel angle controller is active.

Actual SWA value (byte 1, 2)

0xC001 ... 0x3FFF = -100 % ... +100 %

Actual pressure value (byte 3, 4)

0x0000 ... 0x3FFF = 0 bar ... xx bar (according to nominal pressure)

Note: Negative values due to measuring tolerance or cable break of PT

The nominal pressure of 1 bar to 450 bar (0x0001 ... 0x01C2) is set by writing (download request) to ob-ject 0x5100 subindex 0x01. A changed value is saved in a non-volatile memory and activated immedi-ately. The default factory-setting is 315 bar (0x013B).

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Meaning of status byte 2 SYDFEn (byte 5)

Status byte “2 SYDFEn” signals the state of variable-speed functions of the SYDFEn control system. The structure of status byte 2 depends on the option (code 12 in the type code). With the option “teach-in version for cyclic operation”, status byte 2 is structured as follows:

Bit 7 6 5 4 3 2 1 0 Status byte

2 SYDFEn

Bit 0 – fixed speed

"1" The SYDFEn is operated at fixed input speed

"0" The SYDFEn can be operated at variable input speed

Bit 1 – teach-in active

"1" Teach-in is being carried out for the current cycle "0" No teach-in active

Bit 2 – learnt cycle in memory

"1" Learnt cycle in the memory of SYDFEn

"0" No cycle data available in the memory of SYDFEn

Bit 3 – variable speed

"1" The SYDFEn is operated at variable input speed "0" The SYDFEn is operated at fixed input speed

Bit 4 – cycle deviation detected

"1" Flow deviation detected for the current cycle "0" No flow deviation detected for the current cycle

Bit 5 – manual speed selection active

"1" Manual speed provision active "0" No manual speed provision active

Teach-in active

Reserved Reserved

Manual speed selection active Cycle deviation detected Variable speed

Learnt cycle in memory Fixed speed

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With the option “real-time version”, status byte 2 is structured as follows:

Bit 7 6 5 4 3 2 1 0 Status byte

2 SYDFEn

Bit 0 – fixed speed

"1" The SYDFEn is operated at fixed input speed

"0" The SYDFEn can be operated at variable input speed

Bit 1 – real-time operation active

"1" Real-time operation is activated (switch S1 is set) "0" Real-time operation not active

Bit 2 – limitation in field suppression

"1" Torque limitation in field weakening operation active "0" Torque limitation in field weakening operation not active

Bit 3 – variable speed

"1" The SYDFEn is operated at variable input speed "0" The SYDFEn is operated at fixed input speed

Bit 4 – manual min. speed (real-time operation on)

"1" Manual min. speed active "0" No manual min. speed activated

Bit 5 – manual speed provision (real-time operation off)

"1" Manual speed provision active "0" No manual speed provision active

NOTE: When torque limitation is activated in field weakening operation, the swivel angle command value is reduced accordingly.

Actual speed value (byte 6, 7)

0x0000 ... 0x09C4 = 0 rpm ... 2500 rpm

Real-time operation active

Reserved Reserved

Manual speed provision Manual min. speed Variable speed Reserved Fixed speed

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NOTE: The actual speed value is a calculated parameter that is used for internal conversions within

the SYDFEn control system.

Actual flow value (byte 6, 7)

0x0000 ... 0x3FFF = 0 % ... 100 %

NOTE: The indication of flow refers to the theoretical total flow of the pump combination entered as R

parameter. The actual flow value is a calculated variable that is used for internal conversions within the SYDFEn control system.

12.4 Actual value transmission by means of asynchronous PDO2

The asynchronous actual value PDO2 is used for communication of the multiple-circuit unit. Byte 0 and byte 1 are used for transmitting the speed command value. This PDO 2 can therefore also be utilized for transmitting the speed command value (instead of the analog signal) to the frequency converter.

COB-ID RTR DLC Byte 0, 1 Byte 2, 3 Byte 4, 5 Byte 6, 7

0x280+node ID

(PDO 2 TXD) 0 8

Speed command

value Reserved Reserved Reserved

Speed command value (byte 0, 1)

0x0000 ... 0x3FFF = 0 % ... 100 %

NOTE: The speed command value is to be provided as percentage value. A speed command value of

100 % corresponds to the scaling value of speed R674.

NOTE: R679 can be used to determine the transmit interval for PDO2. When the multiple-circuit

func-tion is activated, this PDO2 must be activated as well. With the factory setting, PDO2 is deacti-vated (R679=0).

12.5 Command value transmission by means of

synchro-nous/asynchronous PDOs

Command values can be transmitted from the PLC to the SYDFEn control system using either a synchro-nous or an asynchrosynchro-nous PDO. The type of transmission, synchrosynchro-nous or asynchrosynchro-nous, can be set by writing (download request) to object 0x5B00 subindex 0x02.

In the factory settings, command value transmission by means of synchronous receive PDO1 is set.

Value Meaning

0x0000 Synchronous transmission of command values (PDO1)

0x0001 Asynchronous transmission of command values (PDO4)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4, 5

0x600+node ID (SDO 1 RXD) Control word 0x22 Index (LSB) 0x00 Index (MSB) 0x5B Subindex 0x02 Synchronous =0x0000 Asynchronous =0x0100

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12.6 Command value transmission by means of synchronous PDO1

The SYDFEn control system receives the following PDO message (command values, control bytes) from the control (PLC). The data are taken over upon receipt of the subsequent synchronization telegram (SYNC).

COB-ID RTR DLC Byte 0 Byte 1, 2 Byte 3, 4 Byte 5

0x200+node ID

(PDO 1 RXD) 0 6 Control byte 1 SWA command value Pressure com-mand value Control byte 2 SYDFEn

Explanations:

Meaning of control byte 1 (byte 0)

The control byte can be used for selecting certain control options, which are described in the following.

Bit 7 6 5 4 3 2 1 0 Control

byte 1

Bit 0 – calibration “STOP“

"1" Ongoing calibration process is stopped

Bit 2 – enable “master/slave operation“

"1" Master/slave operating mode is activated

Bit 3 – activate leakage compensation

"1" Pressure-related leakage compensation is activated

Bit 4 ... 7 – controller parameter set

0x0 – 0xF Selection of the controller parameter set

Enable “master/slave operation “

Controller parameter set Not used

Activate leakage compensation Calibration “STOP“

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SWA command value (byte 1, 2)

0xC001 ... 0x3FFF = -100 % ... +100 %

Pressure command value (byte 3, 4)

0x0000 ... 0x3FFF = 0 bar ... xx bar (according to nominal pressure)

The nominal pressure 1 bar to 450 bar (0x0001 ... 0x01C2) is set by writing (download request) to object 0x5100 subindex 0x01. A changed value is saved in a non-volatile memory and is immediately active. With the factory settings, a default value of 315 bar (0x013B) is set.

Meaning of control byte 2 SYDFEn (byte 5)

By means of the control byte you can select certain control options for variable-speed operation, which are described in the following. The content of control byte “2 SYDFEn” depends on the selected option (code 12 in the type code). For the “teach-in version for cyclic operation”, control byte 2 looks as follows:

Bit 7 6 5 4 3 2 1 0

Control byte 2 SYDFEn

Cycle Sync

Manual minimum speed for teach-in Switch S2

Not used Switch S1

Manual speed provision Semi-automatic operation

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Bit 0 – switch S1

"1" Switch S1 is set

Bit 1 – switch S2

"1" Switch S2 is set

Bit 2 – cycle Sync

"1" Bit for cycle synchronization is set

Bit 5 – manual minimum speed for teach-in

"1" Manual minimum speed is activated for teach-in

Bit 6 – manual speed provision

"1" Manual speed provision is activated (setup speed)

Bit 7 – semi-automatic operation

"1" Semi-automatic operation active Control byte 2 for “real-time version“

Bit 7 6 5 4 3 2 1 0 Control byite 2 SYDFEn Bit 0 – switch S1 "1" Switch S1 is set

Bit 5 – manual min. speed (real-time operation active)

"1" Manual minimum speed for real-time operation is activated

Bit 6 – manual speed provision

"1" Manual speed provision is activated (setup speed)

Not used

Manual min. speed Not used

Not used Switch S1

Manual speed provision Not used

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12.7 Command value transmission by means of asynchronous receive

PDO4

In the case of event-controlled transmission, the contents (command value, control bytes) of PDO4 are processed immediately upon their receipt. The structure of this asynchronous PDO4 corresponds to the structure of the synchronous PDO1 (Chapter 12.6 “Command value transmission by means of synchro-nous receive PDO1”).

COB-ID RTR DLC Byte 0 Byte 1, 2 Byte 3, 4 Byte 5

0x500+node ID

(PDO 4 RXD) 0 6 Control byte 1

SWA command

value Pressure com-mand value Control byte 2 SYDFEn

13 Service Data Objects (SDOs)

The parameters listed in the object dictionary can be read and written by means of SDOs. All of the pa-rameters are provided with a multiplexer (address), which consists of a 16-bit index and an 8-bit sub-index. Hence, all entries, which can also be defined as different data structures, can be addressed. The SYDFEn control system must always be regarded as server for the multiplexed-domain SDOs. As such, the server makes data available upon request of the client (upload read service) or receives data from the client (download write service).

In contrast to the SDO Expedited Protocol, which allows data amounts of max. 4 bytes to be transferred, the SDO Segment Domain Protocol allows an optional number of 7-byte data blocks to be transmitted. The SDO Segment Domain Protocol is used with the SYDFEn control system only for entries in the object dictionary 0x1008 to 0x100A (string variables with a maximum of 15 bytes).

These two SDO protocol types are acknowledged services, that is, each SDO protocol triggered by the client is answered by a response telegram.

NOTE: Internal processing of an SDO message can take some time in individual cases. For this

reason, the time between sending of the individual SDO messages to the SYDFEN control system should be at least 50 ms.

13.1 SDO Segment Domain Protocol

In conjunction with the SYDFEn control system this telegram may only be used for entries in the object dictionary 0x1008 to 0x100A. These entries contain the strings for the names of assemblies, the assem-bly number and the software version. The strings are 15 bytes long and therefore require 3 segment up-load request telegrams, since in one telegram, a maximum of 7 data bytes can be transmitted.

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13.2 SDO Expedited Protocol

13.2.1 Client

 Server (PLC  SYDFEn), Upload Request

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x600+node ID

(SDO 1 RXD) Control word 0x40 Lowbyte Index Highbyte Index Subindex

13.2.2 Server

 Client (SYDFEn  PLC), Upload Response

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 ... 7

0x580+node ID (SDO 1 TXD) Control word 0xYY Index Lowbyte Index

Highbyte Subindex Data byte 0...3

The value of the control word (0xYY) indicates how many data bytes are valid.

0x4F 1 data byte is valid 0x4B 2 data bytes are valid

0x47 3 data bytes are valid 0x43 4 data bytes are valid

13.2.3 Client

 Server (PLC  SYDFEn), Download Request

0x600+node ID (SDO 1 RXD) Control word 0x22 Index

Lowbyte Highbyte Index Subindex Data byte 0...3

13.2.4 Server

 Client (SYDFEn  PLC), Download Response

0x580+node ID (SDO 1 TXD) Control word 0x60 Index

Lowbyte Highbyte Index Subindex

Data byte 0...3 (always set to

ZERO)

13.3 Interruption of an SDO protocol

In the case of a communication failure, the communication is interrupted and the SYDFEn control system sends an SDO interrupt telegram. The meaning of the data bytes can be found in the following table.

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4, 5 Byte 6 Byte 7

0x580+node ID (SDO 1 TXD) Control word 0x80 Index

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13.3.1 Error messages in the event of an SDO protocol interrupt

Additional Code Error Code Error Class

Byte 4 Byte 5 Byte 6 Byte 7 Description of error

0x11 0x0 0x9 0x6 Subindex does not exist

0x00 0x0 0x1 0x6 Read or write only

0x31 0x0 0x9 0x6 Default value too high

0x32 0x0 0x9 0x6 Default value too small

0x10 0x0 0x7 0x6 Data type not known

0x12 0x0 0x7 0x6 Data length too great

0x13 0x0 0x7 0x6 Data length too small

0x41 0x0 0x4 0x6 Datum cannot be mapped

0x42 0x0 0x4 0x6 SDO length exceeded

0x43 0x0 0x4 0x6 Invalid value

0x00 0x0 0x3 0x5 Wrong toggle bit

0x00 0x0 0x2 0x6 Object not available

0x21 0x0 0x0 0x8 Internal error

0x22 0x0 0x0 0x8 Service error

0x00 0x0 0x6 0x6 FRAM loading error

(25)

14 Node guarding and life guarding

Node guarding serves for monitoring network stations for failures. To this end, the NMT master (control, PLC) must cyclically send a guarding telegram (RTR) to the SYDFEn control system:

COB-ID RTR

0x700+node ID

(node guarding) 1

The SYDFEn control system responds with the following message:

COB-ID RTR DLC Byte 0

0x700+node ID

(node guarding) 1 1 Status byte 0xYY

This telegram sent by the SYDFEn control system contains the status (Operational, Pre-operational) and a toggle bit (bit 7) that must toggle after each telegram. If the status or the toggle bit does not conform to the one expected by the NMT master or if no response is given, the NMT master assumes that an error is present in the SYDFEn control system.

The status byte (0xYY) can contain the following values:

0x05  alternating  0x85 Operational

0x7F  alternating  0xFF Pre-operational

The SYDFEn control system also monitors the operability of the NMT master. The time that may elapse between the node guarding telegrams is termed “lifetime”. If the max. permissible time between two node-guarding telegrams is exceeded, the SYDFEn control system must assume that an error of the NMT mas-ter is present and therefore changes over to the “pre-operational” state. In addition, the SYDFEn control system sends the error telegram “CAN Guard Fail”.

The lifetime is calculated as follows:

Lifetime = guard time x lifetime factor

The guard time is entered in the object dictionary under index 0x100C, and the lifetime factor in the object dictionary under index 0x100D. Both entries can be read and changed by the NMT master by way of an SDO access.

The preset values for the guard time and the lifetime factor are determined as follows: Guard time = 500 ms

Lifetime factor = 3  Lifetime = 1500 ms

The NMT master can start the guarding process at any time through a request of the guarding telegram. This also activates life guarding in the SYDFEn control system, if the entries in the object dictionaries 0x100C and 0x100D are greater than "ZERO".

The SYDFEn control system is monitored by means of node guarding and can recognize the fail-ure of an NMT master through life guarding.

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15 Storing and restoring parameters

The CANopen software features a store command with the help of which communication objects of the object dictionary within the range from 0x1000 to 0x1FFF can be permanently saved in the FRAM. The default values can be restored using the restore command.

NOTE: If the node ID of the SYDFEn control system is changed, it starts up with the default values.

15.1 Store parameter

The saving process in the FRAM is initiated with the help of an SDO (Upload Request Protocol) with in-dex 0x1010, subinin-dex 0x02, and the “SAVE“ data (ASCII code = 0x73 61 76 65). Depending on how much data are to be saved in the FRAM, the confirmation of the SDO service may take some time.

The following telegram must be sent in order that changed data are saved.

0x600+node ID

(SDO 1 RXD) Control word0x22

Index Lowbyte 0x10 Index Highbyte 0x10 Subindex 0x02 Data byte 0...3 0x73 61 76 65 “SAVE“

NOTE: Following a Store command, no reset (neither a voltage reset nor an NMT command “Reset

CAN module”) may be triggered on the SYDFEn control system for 100 ms.

15.2 Restore parameter

The default values can be restored with the help of the restore command (range from 0x1000 to 0x1FFF). To this end, an SDO with index 0x1011, subindex 0x02, must be sent together with the “LOAD“ data (ASCII code = 0x 6C 6F 61 64) to the SYDFEn control system. After a reset or a power-on reset the de-fault values are again active.

The following telegram must be sent in order that changed data are restored.

0x600+node ID

(SDO 1 RXD) Control word0x22

Index Lowbyte 0x11 Index Highbyte 0x10 Subindex 0x02 Data byte 0...3 0x6C 6F 61 64 “LOAD“

(27)

16 Emergency telegrams

(1) If no error is detected after the initialization, the SYDFEn control system sends a message (ready telegram) having a data length of 0 and changes over to the “No Error” state.

(2) If an error is detected after the initialization, the SYDFEn control system changes to the “Error” state. An error message is sent together with the associated error code and error register.

(3) The SYDFEn control system detects an error, which is signaled by the first three bytes of the error message (error code and error register). An error message with the corresponding error code and error register is sent. The error code is entered in object 0x1003 (error field).

(4) When an error was rectified, the associated error code is cleared in the error field of object 0x1003.

(5) A new error occurs on the SYDFEn control system. The SYDFEn control system transmits an

emergency message with the corresponding error code. The new error code is entered at the top of the array of error messages.

(6) When all errors are rectified, the SYDFEn control system changes over to the “no error“ state and transmits a message with the error code “error reset or no error“.

The emergency telegram is transmitted as high-priority message as soon as an error occurred in the SYDFEn control system.

COB-ID Byte 0, 1 Byte 2 Byte 3-7

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16.1 Error register

The content of the error register can be read out under index 0x1001 in the object dictionary. The error register is structured as follows:

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Manufacturer-specific error served

Re-Error Device

profile

Communica-tion error Tempera-ture error Voltage error Current error General error

16.2 Error code

Some errors that can occur in the SYDFEn control system and are signaled over the CAN bus have their own error codes. The number of current errors is saved in the object dictionary under index 0x1003, subindex 0x0. The error code of the errors currently present can be read in the chronological order of their occurrence from subindex 0x01 on (+ number of errors). The error occurred last is assigned to subindex 0x01.

16.3 Error codes of the SYDFEn control system

For the transmission of the error messages of the SYDFEn control system you can select the Intel format (LSB first) or Motorola format (MSB first). The value changed by means of the SDO, object 0x5B00, subindex 0x04, (Motorola format = "0"/Intel format = "1") is saved in a non-volatile memory, but is only active when the voltage supply is switched on the next time.

When supplied, the Motorola format (MSB first) is set as default setting.

Error code Error register

Byte 0, 1 Byte 2 Meaning

0x0000 0x00 Error Reset or No Error

0x3101 0x04 Warning overvoltage (> 37 V)

0x3102 0x04 Warning undervoltage (< 19 V)

0x4200 0x08 Temperature limit value exceeded in the housing (ca. 95 °C)

0x4201 0x08 Temperature warning (ca. 85 °C)

0x8101 0x10 CAN overflow

0x8102 0x10 CAN Guard Fail (error of the NMT master)

0x8105 0x10 CAN error passive

0xFF01 0x80 Control error (Operational mode only)

0xFF02 0x80 Valve cable break

0xFF03 0x80 Swivel angle sensor cable break

0xFF04 0x80 Cable break of PT input 1

0xFF08 0x80 Valve error

0xFF0A 0x80 Error CAN communication multiple circuits (Operational mode

only)

(29)

16.3.1 Error description

NOTE: The VT-DFPn pilot valve is not provided with an enable input for blocking the function of the

valve. In the event of a fault, the system must be brought to a safe state and the VT-DFPn pilot valve de-energized. Any further safety-relevant interventions must be made by the hig-her-level control (e.g. shutdown of the drive motor, closing of isolator valves, ...).

16.3.1.1 Bus communication errors

CAN Overflow:

Messages sent by the higher-level control (PLC) cannot be saved or processed by the SYDFEn control system, because there are no more free buffers available.

Possible causes: - Messages are sent too frequently within one Sync interval.

- Too many messages were sent within too short a time, so that not all messages can be processed by the SYDFEn control system.

CAN Guard Fail:

NMT master has exceeded the set lifetime (Chapter 15 “Node guarding and life guarding“).

CAN Error Passive:

An error was recognized in the bus communication. When the error threshold is passed, the error tele-gram “CAN Error Passive“ is sent, i.e. in the case of further communication errors, only passive error frames are sent.

Possible cause: Wiring faults, missing terminating resistors, interfering CAN stations, EMC problems, etc.

16.3.1.2 Device-specific errors

Overvoltage warning:

The supply voltage is higher than 37 V.

Undervoltage warning:

The supply voltage is less than 19 V.

Temperature error:

Temperature limit value of approx. 95 °C exceeded in the housing.

NOTICE: Risk of destruction of the electronics!

Temperature warning:

Temperature threshold of approx. 85 °C exceeded in the housing.

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Control error:

Control deviation between command and actual value during closed-loop pressure or SWA control for a time interval of >1.5 s. The control error is only sent in the operational mode.

Possible causes: - Valve spool jams due to contamination

- Backpressure cannot be built up (minimum pressure at the pump 8…10 bar) - Drive motor switched off

- Valve spool does not move as a result of an electronics error

Valve cable break:

The actual valve value fell below the lower or exceeded the upper limit value for cable break.

Possible causes: - Due to incorrect calibration outside the permissible measuring range of the A/D converter

- Valve spool jams due to contamination - Internal electronics error

SWA sensor cable break:

The actual SWA value fell below the lower or exceeded the upper limit value for cable break.

Possible causes: - Due to incorrect calibration outside the permissible measuring range of the A/D converter

- Defective SWA sensor - Defective SWA sensor cable - Internal electronics error

PT cable break:

The actual pressure value of the relevant pressure transducer fell below the lower or exceeded the upper limit value, i.e. outside the permissible measuring range of the A/D converter.

Valve error:

Control deviation between valve command value and actual valve value for a time interval >0.5 s.

Possible causes: - Valve spool jams due to contamination

- Internal electronics error

Error CAN communication multiple circuits:

Cross-communication is used for multiple-circuit operation of the SYDFEn control system. In this case, sent messages are monitored by the SYDFEn systems (PDOs from primary and secondary pump). An error message is sent as soon as an error occurs in the transmission from the primary pump to the sec-ondary pump or from the secsec-ondary pump to the primary pump while the SYDFEn systems are in the Operational mode.

Possible causes: - Cable break in the CAN bus connection cable

- COB-IDs for primary pump or auxiliary pump are incorrectly configured (see Chapter 22.2.2)

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Error master/slave CAN communication:

For the master/slave operating mode, monitoring of CAN communication is only possible for the slave pump:

Possible causes: - Cable break in the CAN bus connection cable

- Receive COB-ID for slave incorrectly configured (see Chapter 22.1.1) - Internal electronics error

17 Object dictionary

17.1 General object dictionary entries

Index (hex)

Object (symbolic

name)

Name Type Attribute

1000 VAR Device type Unsigned32 Ro

1001 VAR Error register Unsigned8 Ro

1003 ARRAY Error log Unsigned32 ro

1004 ARRAY Number of PDOs Unsigned32 ro

1005 VAR SYNC identifier Unsigned32 rw

1008 VAR Device name 1) Visible String ro

1009 VAR Hardware version number 1) Visible String ro

100A VAR Software version number 1)_Visible_String_ro

100B VAR Node number Unsigned32 ro

100C VAR Guard time Unsigned16 rw

100D VAR Lifetime factor Unsigned8 rw

100E VAR Node guarding identifier Unsigned32 rw

100F VAR Number of SDOs Unsigned32 ro

1010 ARRAY Store parameters Unsigned32 rw

1011 ARRAY Restore default parameters Unsigned32 rw

1014 VAR COB_ID emergency message Unsigned32 rw

1200 RECORD Parameters of server SDOs SDOPar ro

1400 RECORD Communication parameter receive PDOs PDOCommPar rw

1800 RECORD Communication parameter transmit PDOs PDOCommPar rw

(32)

17.2 Manufacturer-specific object dictionary entries

Index (hex)

Subindex

(hex) Object Name Type Unit

Attrib-ute 2000-4FFF Reserved area Applications:

Bosch Rexroth | Industrial Hydraulics

5000-500F Reserved area DFEC/DFEN Chapter 18.3

5010 0 VAR Number of entries Unsigned8 ro

5010 1 VAR Status byte Unsigned8 hex ro

5010 2 VAR Actual swivel angle value Signed16 100% =

0x3FFF ro

5010 3 VAR Actual pressure value Signed16 100% =

0x3FFF ro

5010 4 VAR Controller parameter set currently used Unsigned16 hex ro

5010 5 VAR Current temperature in electronics housing Signed16 hex ro

5010 6 VAR Current valve command value Unsigned16 100% =

0x3FFF ro

5010 7 VAR Current actual valve value Unsigned16 100% =

0x3FFF ro

5021 1 VAR Control byte (Operational mode/PDO content) Unsigned8 hex wo

5021 2 VAR Swivel angle command value _{(Operational mode/PDO content)} Signed16 100% =

0x3FFF wo

5021 3 VAR Pressure command value (Operational mode/PDO _content) Signed16 100% =

0x3FFF wo

5030 1 VAR Swivel angle command value Pre-operational mode Signed16 hex rw

(33)

Index (hex)

Subindex

Attrib-ute

5100 1 VAR Setting of nominal pressure Unsigned16 hex rw

5110 1 VAR Type: PT input 1 Signed16 hex rw

5110 2 VAR Measuring range PT input 1 [bar] Signed16 hex rw

5110 3 VAR Type: PT input 2 Unsigned16 hex ro

5120 1 VAR Selection of controller parameter set input Unsigned16 hex rw

5120 2 VAR Parameter set provision with “WIN-PED“ Unsigned16 hex rw

5130 1 VAR Selection of command value source Unsigned16 hex rw

5230 1 VAR Start calibration PT input 1 Signed16 - wo

5230 2 VAR Status of calibration PT input 1 Unsigned16 hex ro

5230 3 VAR Calibration tolerance PT input 1 Signed16 hex2 rw

5230 4 VAR Value offset PT input 1 Signed16 hex2 Ro

5150 0 VAR Number of entries (with version 9.xx only) Unsigned 8 hex ro

5150 1 VAR Swivel angle command value (load sensing) Signed 16 hex rw

5150 2 VAR Filter time constant pressure (load sensing, _R216) Signed 16 hex rw

5150 3 VAR Pressure offset (load sensing) Pin 7 (Al1) Signed 16 hex rw

5150 4 VAR Pressure offset (load sensing) Pin 5 (Al2) Signed 16 hex rw

(34)

Index (hex)

Subindex

Attrib-ute

5231 4 VAR Value offset PT input 2 Signed16 hex2 ro

5233 3 VAR Calibration tolerance PT input 4 Signed16 hex2_rw

5240 1 VAR Start calibration valve offset Signed16 - wo

5240 2 VAR Status of calibration valve offset Unsigned16 hex ro

5240 3 VAR Calibration point 1 [bar] Unsigned16 hex rw

5240 7 VAR Value of valve offset at calibration point 1 Signed16 100%=

0x1FFF ro

5240 A VAR Value of valve offset at calibration point 4 Signed16 100%=

(35)

Index (hex)

Subindex

Attrib-ute

5250 1 VAR Start calibration swivel angle offset Signed16 - wo

5250 2 VAR Status of calibration swivel angle offset Unsigned16 hex ro

5250 3 VAR Value of swivel angle offset Signed16 100%=

0x3FFF ro

5260 1 VAR Start calibration swivel angle gain Signed16 - wo

5260 2 VAR Status of calibration swivel angle gain Unsigned16 hex ro

5260 3 VAR Value swivel angle gain Signed16 hex3_ro

5270 1 VAR Start calibration leakage compensation Signed16 - wo

5270 2 VAR Status of calibration leakage compensation Unsigned16 hex ro

5270 3 VAR Leakage compensation factor Signed16 100%=

0x3FFF rw

52FF 0 VAR Number of entries Unsigned8 ro

52FF 1 VAR Reset of all calibration values Unsigned16 - wo

(36)

Index (hex)

Subindex

Attrib-ute

5400 1 VAR Parameter set 0 | parameter number 0 Signed16 hex rw

5400 A VAR Parameter set 0 | parameter number 9 Signed16 hex rw

For explanations relating to “parameter number“, see Annex Table I

5401 A VAR Parameter set 1 | parameter number 9 Signed16 hex rw

Parameter sets 2 to 11; indices 5402 - 540B are structured according to the principle of indices 5400 and 5401.

The parameter sets with their sub-indices are not listed here in detail.

(37)

Index (hex)

Subindex

Attrib-ute

540A 0 VAR Number of entries Unsigned8 ro

(38)

Index (hex)

Subindex

Attrib-ute

540C 0 VAR Number of entries Unsigned8 ro

540C 1 VAR Parameter set 12 | parameter number 0 Signed16 hex rw

540C A VAR Parameter set 12 | parameter number 9 Signed16 hex rw

540C B VAR Parameter set 12 | parameter number 10 Signed16 hex rw

540C C VAR Parameter set 12 | parameter number 11 Signed16 hex rw

540C D VAR Parameter set 12 | parameter number 12 Signed16 hex rw

540C E VAR Parameter set 12 | parameter number 13 Signed16 hex rw

540C F VAR Parameter set 12 | parameter number 14 Signed16 hex rw

For explanations relating to the “parameter number“, see Annex Table II

Parameter sets 13 to 16; indices 540C - 540F are structured according to the same principle as index 540C.

The parameter sets with their sub-indices are not listed here in detail.

540D 0 VAR Number of entries Unsigned8 ro

540E 0 VAR Number of entries Unsigned8 ro

(39)

Index (hex)

Subindex

Attrib-ute

5500 1 VAR Function DFEn master/slave _{(pressure/SWA controller)} Signed16 hex rw

5500 2 VAR Transmit interval DFEn master/slave _{(pressure/SWA controller)} Signed16 hex rw

5500 3 VAR Configuration command value slave Signed16 hex rw

5510 1 VAR Torque limit Signed16 _0x3FFF100%= rw

5550 1 VAR Deactivate swivel angle control Signed16 hex4 wo

5570 1 VAR Ramp value, increasing pressure command _value Unsigned16 hex5 rw

5570 2 VAR Ramp value, falling pressure command value Unsigned16 hex5 rw

5570 3 VAR SWA slope for positive ramp Unsigned16 hex5 rw

5570 4 VAR SWA slope for negative ramp Unsigned16 hex5 Rw

5580 0 VAR Number of entrires (version 9.xx only) Unsigned8 ro

5580 1 VAR Factor for pressure characteristic curve Signed16 hex6 rw

5580 2 VAR Filter time constant low-pass SWA actual Signed16 hex rw

4_{With 0x5555 = SWA controller OFF, 0x0000 = SWA controller ON} 5_{One decimal place 40 bar/s (%/s) = 400dec=0x190}

(40)

Index (hex)

Sub-Index

Object Name Type

Unit Attrib-ute

5B00 0 VAR Number of entries Unsigned8 ro

5B00 1 VAR Baud rate (10 ... 1000 kbit/s) Unsigned16 hex7 rw

5B00 2 VAR Command value PDO transmission Unsigned16 hex rw

5B00 3 VAR Transmit interval n-comm (multiple-circuit func-_{tion) in 3 ms} Unsigned16 hex rw

5B00 4 VAR Error code format Motorola  Intel Unsigned16 hex rw

5C00 0 VAR Number of entries Unsigned8 ro

5C00 1 VAR Output variable to analog output 1 Unsigned16 hex8 rw

5C00 2 VAR Output variable to analog output 2 Unsigned16 hex8_rw

5C10 0 VAR Number of entries Unsigned8 ro

5C10 1 VAR Status of digital input DI1 Unsigned16 hex ro

5C10 2 VAR Status of digital input DI2 Unsigned16 hex ro

5D00 0 VAR Number of entries Unsigned8 ro

5D00 1 VAR Scaling of speed (R674) Signed16 hex rw

5D00 2 VAR Minimum speed (R691) Signed16 hex rw

5D00 3 VAR Minimum speed/partial load (R682) Signed16 hex rw

5D00 4 VAR Nominal motor speed (nameplate) (R684) Signed16 hex rw

5D00 5 VAR Nominal motor power (nameplate) (R685) Signed16 hex9 rw

5D00 6 VAR Torque limitation for speed calculation (R629) Signed16 hex rw

5D00 7 VAR Synchronous speed (R688) (9.xx only) Signed16 hex rw

5D00 8 VAR Permitted torque at max. speed/field weakening _{(R683) (9.xx only)} Signed16 hex rw

7_{500 kbit/s = 0x1F4}

8_{For values, see table of analog outputs in SYDFEn operating instructions RE 30014-B} 9_{One decimal place, 7.5 = 0x4B}

(41)

Index (hex)

Sub-Index

5D01 1 VAR Size of primary pump DFEn (R623) Unsigned16 hex rw

5D01 2 VAR Size of secondary pump (R626) Signed16 hex rw

5D01 3 VAR Max. swivel angle (variable speed) (R690) Signed16 100%=

0x3FFF rw

5D02 0 VAR Number of entries (version 8.xx only) Unsigned8 ro

5D02 1 VAR Acceleration ramp time (R696) Signed16 hex rw

5D02 2 VAR Deceleration ramp time (R697) Signed16 hex rw

5D02 3 VAR Duration of fast ramps, semi-automatic operation_(R683) Signed16 hex9 rw

5D03 1 VAR Time offset in cycle table (past) (R688) Signed16 hex10 rw

5D03 2 VAR Time offset in cycle table (prior) (R689) Signed16 hex10 rw

5D04 1 VAR Time constant motor model (R618) Signed16 hex rw

5D05 1 VAR FIR filter D-component (R622) Signed8 hex rw

5D05 2 VAR FIR filter P-component (R673) Signed8 hex rw

5D06 1 VAR Input Sync cycle (R699) Signed16 hex rw

5D07 1 VAR Gain rotation speed analog (R687) Signed16 hex11 rw

5D07 2 VAR Gain rotation speed CAN (R692) Signed16 hex rw

10_{Two decimal places 0.10 = 0xA} 11_{One decimal place 100.0 = 0x3E8}

(42)

Index (hex)

Sub-Index

5D08 1 VAR Gain slip compensation (R693) Signed16 hex rw

5D09 1 VAR Lower speed limit adaptation P-controller (R669) Signed16 hex rw

5D09 2 VAR Upper speed limit adaptation P-controller (R670) Signed16 hex rw

5D09 3 VAR Slope adaption curve proportional term (R672) Signed16 hex11_rw

5D09 4 VAR Lower speed limit adaptation D-controller (R624) Signed16 hex rw

5D09 5 VAR Upper speed limit adaptation D-controller (R671) Signed16 hex rw

5D09 6 VAR Slope adaptation curve D-controller (R686) Signed16 hex11 rw

5D10 1 VAR Speed limit for derating moment (R680) Signed16 hex rw

5D10 2 VAR Reduced moment at 0 rpm (R681) Signed16 hex9 rw

5D11 1 VAR Lower limit speed fade-out window Signed16 hex rw

5D11 2 VAR Upper limit speed fade-out window Signed16 hex rw

5D12 1 VAR Ramp time internal real-time ramp UP (R694) Signed16 hex rw

5D12 2 VAR Ramp time internal real-time ramp DOWN (R695) Signed16 hex rw

5D13 1 VAR Timer of error detection (flow too small) (R675) Signed16 hex rw

5D13 2 VAR Max. difference speed (high) (R698) Signed16 hex12 rw

5D13 3 VAR Time of error detection (flow too great) (R627) Signed16 hex rw

5D13 4 VAR Max. difference speed (low) (R628) Signed16 hex13_rw

(43)

Index (hex)

Sub-index

5D14 1 VAR Manual min. rotation speed Teach-in/real time_(R677) Signed16 hex rw

5D15 1 VAR Value of manual speed (R668) Signed16 hex rw

5D15 2 VAR Activation manual speed setting (R213 - 9.xx _only) Signed16 hex rw

5D16 1 VAR Upper limit SWA controller adaptation (R614) Signed16 hex rw

5D16 2 VAR Lower limit SWA controller adaptation (R617) Signed16 hex rw

5D17 1 VAR Factor disturbance (in-diff) pressure ctrl (R200) Signed16 hex rw

5D18 1 VAR Multiple-circuit function (R613) Signed16 hex rw

5D19 1 VAR Configuration actual value PDO SYDFEn (R203) Signed16 hex rw

5D1A 0 VAR Number of entries Unsigned8 ro

5D1A 1 VAR Activation of automatic reteach (R205) Unsigned16 hex rw

5D1B 0 VAR Number of entries Unsigned8 ro

5D1B 1 VAR Input switch S1/S2 (R205) Signed16 hex rw

5D20 1 VAR Status Teach-in Signed16 hex ro

(44)

Index (hex)

Sub-index Object Name Type Unit

Attrib-ute

5D20 1 VAR Status of real-time operation Signed16 hex ro

5D21 1 VAR Delay deceleration (R209) Signed16 hex rw

5D21 2 VAR Threshold for speed lowering (R675) Signed16 hex rw

5D21 3 VAR Function no-load acceleration (R214) Sigend16 hex rw

5D21 4 VAR Threshold activation no-load acceleration (215) Signed16 hex rw

5D22 1 VAR Activation boost functions (R699) Signed16 hex rw

5D22 2 VAR Threshold for pressure differential boost (R697) Signed16 hex rw

5D22 3 VAR Threshold for SWA-diff. boost (R627) Signed16 hex rw

5D22 4 VAR Threshold for change SWA(act) boost Signed16 hex rw

5D22 5 VAR Filter delay time – derivation SWA(act) (R204) Signed16 hex rw

5D22 6 VAR Gain for p-diff feedforward (boost) (R210) Signed16 hex rw

5D22 7 VAR Gain for swa-diff feedforward (boost) (R205) Signed16 hex rw

5D22 8 VAR Gain intrusion diff. swa and speeds (R628) Signed16 hex rw

5D23 1 VAR Upper limit quantization steps (R689) Signed16 hex rw