CANopen Programmer's Manual - Maccon.de

3: Device Control, Configuration, and Status CANopen Programmer’s Manual
SERVO LOOP CONFIG INDEX 0X2301
Type Access Units Range Map PDO Memory
Integer32 RW - - YES RF
Description
This parameter allows various parts of the amplifier servo loops to be enabled/disabled. It’s
mapped as follows:
Bit Description
0 If set, this disables the velocity loop gains. The velocity loop command feed forward gain (parameter 0x157)
is still active as are the velocity loop output filters.
1 If set, this enables the position loop I and D gains (parameters 0x155 and 0x156). If clear, these parameters
are treated as zeros.
2-31 Reserved for future use.
AMPLIFIER DATA INDEX 0X2384
Type Access Units Range Map PDO Memory
Record RO - - NO -
Description
This record lists various amplifier parameters. Sub-index 0 contains the number of sub-elements
of this record.
AMPLIFIER SERIAL NUMBER INDEX 0X2384, SUB-INDEX 1
Type Access Units Range Map PDO Memory
Integer 32 RO - - NO -
Description
Gives the amplifier serial number.
AMPLIFIER DATE CODE INDEX 0X2384, SUB-INDEX 2
Type Access Units Range Map PDO Memory
String RO - - NO -
Description
Date of manufacture of the amplifier.
AMPLIFIER PEAK CURRENT INDEX 0X2384, SUB-INDEX 3
Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO -
Description
The amplifier's peak current rating.
AMPLIFIER CONTINUOUS CURRENT INDEX 0X2384, SUB-INDEX 4
Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO -
Description
The amplifier's continuous current rating.
AMPLIFIER PEAK CURRENT TIME INDEX 0X2384, SUB-INDEX 5
Type Access Units Range Map PDO Memory
Integer 16 RO milliseconds - NO -
Description
The maximum time for which the amplifier is rated to output peak current.
80 Copley Controls