CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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<strong>CANopen</strong> Programmer’s <strong>Manual</strong> 3: Device Control, Configuration, and Status<br />
RMS CURRENT CALCULATION PERIOD INDEX 0X2114<br />
Type Access Units Range Map PDO Memory<br />
Integer16 RW milliseconds - YES RF<br />
Description<br />
This sets the period over which the RMS current is calculated. If this value is set to zero, then the<br />
RMS current will be updated each time it is read for the period since the last read. In this case, the<br />
RMS current must be read at least once every 65536 current loop periods (about every 4 seconds)<br />
for the returned RMS values to be accurate.<br />
RMS CURRENT OVER SET PERIOD INDEX 0X2115<br />
Type Access Units Range Map PDO Memory<br />
Integer16 RO 0.01 amps - YES RF<br />
Description<br />
RMS current over the period set in parameter 0x130.<br />
MOTOR PHASE ANGLE INDEX 0X2260<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 R <strong>de</strong>grees 0 - 360 YES R<br />
Description<br />
Motor phase angle, <strong>de</strong>rived from motor commutation.<br />
MOTOR PHASE ANGLE INDEX 0X2262<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW <strong>de</strong>grees 0 - 360 YES R<br />
Description<br />
Same as 0x2260 but writeable. Writes are only useful when running in diagnostic micro-stepping<br />
mo<strong>de</strong>.<br />
ENCODER PHASE ANGLE INDEX 0X2263<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RO <strong>de</strong>grees 0 - 360 YES R<br />
Description<br />
For feedback types, such as resolver, that can also calculate phase angle information. This<br />
parameter allows the phase information to be read directly.<br />
HALL STATE INDEX 0X2261<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RO - 0 - 7 YES -<br />
Description<br />
The lower three bits of the returned value give the present state of the Hall input pins.<br />
The Hall state is the value of the Hall lines AFTER the or<strong>de</strong>ring and inversions specified in the Hall<br />
wiring configuration have been applied.<br />
Copley Controls 113