Kollmorgen AKD-N-DB Benutzerhandbuch Seite 820

AKD Benutzerhandbuch | 25.20.1 FBUS.PARAM1 TO FBUS.PARAM10
Description
FBUS.PARAM01 sets the baud rate for the CANbus. Supported baud rates are 125, 250, 500 and
1000 kBaud.
FBUS.PARAM02 switches the phase locked loop (PLL) for synchronized use: 0 = OFF, 1 = ON.
FBUS.PARAM02 only works when FBUS.TYPE = 3 (CANopen).
FBUS.PARAM03 sets the configured station alias for EtherCAT.
FBUS.PARAM04 switches the surveillance of SYNC-signals: 0 = OFF, 1 = ON
FBUS.PARAM05 is used to configure some special behaviors of the DS402.
FBUS.PARAM06 - FBUS.PARAM10 are reserved.
FBUS.PARAM04 Additional Notes
FBUS.PARAM04 enables (1) or disables(0) the synchronization supervision of the CAN or EtherCAT
fieldbus.
Default values:
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The synchronization supervision is active when:
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When more than three CANopen sync messages or seven EtherCAT frames have not been received,
and the drive is enabled, fault F125 (➜ S. 273), "Synchronization lost", occurs.
FBUS.PARAM05 Additional Notes
Bit 0 configures the behavior of DS402 state machine in case of fault resets.
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820 KOLLMORGEN | Dezember 2014
CAN: disabled (0)
EtherCAT: enabled (1)
FBUS.PARAM04 = 1
The first CANopen Sync message or first EtherCAT frame was received.
Bit 0 = 1: Faults can only be reset using DS402 control word bit 7.
Bit 0 = 0: The reset can also be done via telnet or digital input and the DS402
state machine reflects this condition.
Bit 1 = 1: The state of the hardware enable does not change the state machine
state Operation Enable.
Bit 1 = 0: If the state Operation Enable or Switched on is active it falls back to
the state switched On Disabled, if the Hardware enable goes to 0.
Bit 2 = 1: Workbench/Telnet can software enable the drive when CANo-
pen/EtherCAT are operational.
Bit 2 = 0: Workbench/Telnet can switch the DS402-state machine to the state
"Switched On" (enable the power stage), if the former state was "Switched on
Disabled." This requires the hardware enable to be set to 1.
Bit 3 = 1: DS402-state machine is not influenced, if the software-enable is taken
away via Telnet.
Bit 3 = 0: DS402-state machine is influenced, if the software-enable is taken
away via Telnet.
Bit 4 = 1: Position scaling for DS402-parameters is done dependent on DS402-
scaling parameters via objects 6091 / 6092. Velocity scaling via 204c.
Bit 4 = 0: Position scaling for DS402-parameters is done dependent on
UNIT.PIN.
Bit 5 = 1: EtherCAT: The setting of the rotary switches define the station alias
address, if FBUS. PARAM03 is on 0 else FBUS.PARAM03 is used to store the
station alias address.