CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 3: Device Control, Configuration, and Status
MOTOR BRAKE ENABLE DELAY TIME INDEX 0X2199
Type Access Units Range Map PDO Memory
Integer16 RW milliseconds - NO F
Description
This parameter gives a delay between enabling the drive PWM outputs and releasing the brake.
Positive values mean the PWM is enabled first and then the brake is released N milliseconds later.
Negative values cause the brake to be released before PWM outputs are enabled.
MOTOR ENCODER WRAP INDEX 0X2220
Type Access Units Range Map PDO Memory
Integer 32 RW Counts - NO RF
Description
Actual motor position will wrap back to zero when this value is reached. Setting this value to zero
disables this feature.
LOAD ENCODER WRAP INDEX 0X2221
Type Access Units Range Map PDO Memory
Integer 32 RW Counts - NO RF
Description
Actual load position will wrap back to zero when this value is reached. Setting this value to zero
disables this feature.
MOTOR ENCODER OPTIONS INDEX 0X2222
Type Access Units Range Map PDO Memory
Unsigned 32 RW - - NO F
Description
Specifies various configuration options for the motor encoder. The mapping of option bits to
function depends on the encoder type.
Quadrature Encoder
Bit Description
0 If set, ignore differential signal errors (if detected in hardware).
1 If set, select single ended encoder inputs (if available in hardware).
2 Ignore differential signal errors on index input only (if supported by hardware).
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Copley Controls 105