CANopen Programmer's Manual - Maccon.de

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