CANopen Programmer's Manual - Maccon.de

4: Control Loop Configuration CANopen Programmer’s Manual
SOFTWARE LIMIT DECELERATION INDEX 0X2253
Type Access Units Range Map PDO Memory
Unsigned 32 RW 10 counts / sec 2
0 – 100,000,000 YES RF
Description
The deceleration rate used when approaching a software limit.
MOTOR ENCODER POSITION INDEX 0X2240
Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES R
Description
For single-encoder systems, this is the same as the Position Actual Value object (index 0x6063, p.
137). For dual-encoder systems this gives the motor position rather than the load encoder
position. For more information, see Load Encoder Velocity (index 0x2231, p. 144).
LOAD ENCODER POSITION INDEX 0X2242
Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES R
Description
For dual encoder systems, this object gives the load (position) encoder position and is the same
as the Position Actual Value object (index 0x6063, p. 137). For single encoder systems, this object
is not used.
MINIMUM PWM PULSE WIDTH INDEX 0X2323
Type Access Units Range Map PDO Memory
Integer 16 RW microseconds - NO RF
Description
Minimum PWM pulse width in microseconds. Used when running in PWM position mode. In this
mode the PWM input pulse width is captured by the drive and used to calculate an absolute
position using the following formula:
pos = ((PW-MIN) / (MAX-MIN)) * SCALE + OFFSET
where this parameter is the minimum pulse width (MIN), parameter 0x13D is the maximum pulse
width (MAX), parameter 0xA9 is the scaling factor (SCALE) and parameter 0x10F is the offset
(OFFSET).
MAXIMUM PWM PULSE WIDTH INDEX 0X2324
Type Access Units Range Map PDO Memory
Integer 16 microseconds - RF
Description
Maximum PWM pulse width used when running in PWM position mode.
142 Copley Controls