CANopen Programmer's Manual - Maccon.de

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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
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status AMPLIFIER MAXIMUM VOLTAGE INDEX 0X2384, SUB-INDEX 6 Type Access Units Range Map PDO Memory Integer 16 RO 0.1 volts - NO - Description Maximum bus voltage rating for amplifier. AMPLIFIER MINIMUM VOLTAGE INDEX 0X2384, SUB-INDEX 7 Type Access Units Range Map PDO Memory Integer 16 RO 0.1 volts - NO - Description Minimum bus voltage rating for amplifier. AMPLIFIER VOLTAGE HYSTERESIS INDEX 0X2384, SUB-INDEX 8 Type Access Units Range Map PDO Memory Integer 16 RO 0.1 volts - NO - Description Hysteresis for maximum bus voltage cut-out. AMPLIFIER MAXIMUM TEMPERATURE INDEX 0X2384, SUB-INDEX 9 Type Access Units Range Map PDO Memory Integer 16 RO degrees centigrade - NO - Description Temperature limit for amplifier. AMPLIFIER TEMPERATURE HYSTERESIS INDEX 0X2384, SUB-INDEX 10 Type Access Units Range Map PDO Memory Integer 16 RO degrees centigrade - NO - Description Hysteresis value for amplifier over temperature cut-out. AMPLIFIER CURRENT LOOP PERIOD INDEX 0X2384, SUB-INDEX 11 Type Access Units Range Map PDO Memory Integer 16 RO 10 nanoseconds - NO - Description Current loop update period in 10-nanosecond units. AMPLIFIER SERVO LOOP PERIOD INDEX 0X2384, SUB-INDEX 12 Type Access Units Range Map PDO Memory Integer 16 RO - - NO - Description Servo loop update period as a multiple of the current loop period. AMPLIFIER TYPE CODE INDEX 0X2384, SUB-INDEX 13 Type Access Units Range Map PDO Memory Integer 16 RO - See Description, below. NO - Description Identifies the specific amplifier model. Also known as Amplifier Hardware Type. Identical to Product Code (index 0x1018, Sub-index 2, p. 74). Go to page 74 (index 0x1018, Sub-index 2) for a table of current defined values. Copley Controls 81
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CANopen Programmer's Manual - Maccon.de

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