CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 3: Device Control, Configuration, and Status
VELOCITY OFFSET IN CSV MODE INDEX 0X60B1
Type Access Units Range Map PDO Memory
Integer 32 RW - User defined units YES -
Description
This object provides the offset for a target velocity. For more information see section (p. Error!
Bookmark not defined.).
VELOCITY OFFSET IN CSV MODE INDEX 0X60B2
Type Access Units Range Map PDO Memory
Integer 32 RW - User defined units YES -
Description
This object provides the offset for a target torque. For more information see section (p. Error!
Bookmark not defined.).
DESIRED STATE INDEX 0X2300
Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO RF
Description
This object defines what input source controls the amplifier, and what general mode the amplifier
runs in. It is encoded as follows:
Code Description
0 Disabled.
1 The current loop is driven by the programmed current value.
2 The current loop is driven by the analog command input.
3 The current loop is driven by the PWM & direction input pins.
4 The current loop is driven by the internal function generator.
5 The current loop is driven by UV commands via PWM inputs.
11 The velocity loop is driven by the programmed velocity value.
12 The velocity loop is driven by the analog command input.
13 The velocity loop is driven by the PWM & direction input pins.
14 The velocity loop is driven by the internal function generator.
21 In servo mode, the position loop is driven by the trajectory generator.
22 In servo mode, the position loop is driven by the analog command input.
23 In servo mode, the position loop is driven by the digital inputs (pulse & direction, master encoder, etc).
24 In servo mode, the position loop is driven by the internal function generator.
25 In servo mode, the position loop is driven by the camming function.
30 In servo mode, the position loop is driven by the CANopen interface.
31 In microstepping mode, the position loop is driven by the trajectory generator.
33 In microstepping mode, the position loop is driven by the digital inputs (pulse & direction, master encoder,
etc).
34 In microstepping mode, the position loop is driven by the internal function generator.
35 In microstepping mode, the position loop is driven by the camming function.
40 In microstepping mode, the amplifier is driven by the CANopen interface.
42 Micro-stepping diagnostic mode. The current loop is driven by the programmed current value, and the phase
angle is micro-stepped.
Unlisted codes are reserved.
Note that this object should normally be programmed to 30 (or 40 for stepper motors) for use
under the CANopen interface.
Copley Controls 65