CANopen Programmer's Manual - Maccon.de

3: Device Control, Configuration, and Status CANopen Programmer’s Manual
AMPLIFIER NAME INDEX 0X21A0
Type Access Units Range Map PDO Memory
String RW - - NO F
Description
This object may be used to assign a name to an amplifier. The data written here is stored to flash
memory and is not used by the amplifier. Although this object is documented as holding a string
(i.e. ASCII data), any values may be written here. Up to 40 bytes are stored.
MISC AMPLIFIER OPTIONS REGISTER INDEX 0X2420
Type Access Units Range Map PDO Memory
Unsigned 32 RW - - YES RF
Description
Miscellaneous Amplifier Options Register. Bit-mapped as follows:
Bit Description
0 If set, input pins 1, 2, and 3 are pulled high on the amplifier. If clear the pins are not pulled up. This option is
only available on the Junus amplifier.
1 Reserved.
2 If set, limit switch inputs will only abort a trajectory in progress, but will not affect current output. If clear, limit
switches limit current.
3 If set, save PDO configuration to a file in the CVM file system when a “Save to Flash” command is received
over the CANopen network. If clear, a PDO is not saved.
4 If set, a limit switch activation will be treated as a fault in the CANopen Status Word (CANopen index
0x6041 as described in the CANopen Programmer’s Manual).
5-31 Reserved.
76 Copley Controls