CANopen Programmer's Manual - Maccon.de

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3: Device Control, Configuration, and Status CANopen Programmer’s Manual CURRENT CORRESPONDING TO MAX A/D READING INDEX 0X2384, SUB-INDEX 14 Type Access Units Range Map PDO Memory Integer 16 RO 0.01 amps - NO F Amplifier current corresponding to maximum A/D reading. VOLTAGE CORRESPONDING TO MAX A/D READING INDEX 0X2384, SUB-INDEX 15 Type Access Units Range Map PDO Memory Integer 16 RO 0.1 volts - NO F Amplifier voltage corresponding to maximum A/D reading. ANALOG INPUT SCALING FACTOR INDEX 0X2384, SUB-INDEX 16 Type Access Units Range Map PDO Memory Integer 16 RO - - NO F Amplifier analog input scaling factor. AMPLIFIER MINIMUM PWM OFF TIME INDEX 0X2384, SUB-INDEX 17 Type Access Units Range Map PDO Memory Integer 16 RO 10 ns - NO F This fixed amplifier parameter gives the minimum amount of time for which all PWM outputs must be disabled for each current loop cycle. PWM DEAD TIME AT CONTINUOUS CURRENT LIMIT INDEX 0X2384, SUB-INDEX 18 Type Access Units Range Map PDO Memory Integer 16 RO CPU cycles - NO F This fixed amplifier parameter gives the PWM dead time used at or above the continuous current limit. The dead time below the continuous current limit is a linear function of this parameter and PWM Dead Time At Zero Current (Index 0x2384, Sub-Index 19, p. 82). PWM DEAD TIME AT ZERO CURRENT INDEX 0X2384, SUB-INDEX 19 Type Access Units Range Map PDO Memory Integer 16 RO CPU cycles - NO F This fixed amplifier parameter gives the PWM dead time used at or above the continuous current limit. The dead time below the continuous current limit is a linear function of this parameter and PWM Dead Time At Continuous Current Limit (Index 0x2384, Sub-Index 18 p. 82). PEAK CURRENT INTERNAL REGEN RESISTOR INDEX 0X2384, SUB-INDEX 20 Type Access Units Range Map PDO Memory Integer 16 RO 0.01 amps - NO F The amplifier’s peak current rating for its internal regen resistor. CONTINUOUS CURRENT INTERNAL REGEN RESISTOR INDEX 0X2384, SUB-INDEX 21 Type Access Units Range Map PDO Memory Integer 16 RO 0.01 amps - NO F The amplifier’s continuous current rating for its internal regen resistor. TIME AT PEAK CURRENT INTERNAL REGEN RESISTOR INDEX 0X2384, SUB-INDEX 22 Type Access Units Range Map PDO Memory Integer 16 RO ms - NO F The amplifier’s maximum time at peak current rating for its internal regen resistor. 82 Copley Controls
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status ANALOG ENCODER SCALING FACTOR INDEX 0X2384, SUB-INDEX 23 Type Access Units Range Map PDO Memory Integer 16 RO - - NO F This parameter selects the resolution of an analog encoder input. The parameter is not used for other encoder types. FIRMWARE VERSION NUMBER INDEX 0X2384, SUB-INDEX 24 Type Access Units Range Map PDO Memory Unsigned 16 RO - - NO F The version number consists of a major version number and a minor version number. The minor number is passed in bits 0-7; the major number is in bits 8-15. For example, the version 1.12 would be encoded 0x010C. AXIS COUNT INDEX 0X2384, SUB-INDEX 25 Type Access Units Range Map PDO Memory Unsigned 16 RO - - NO F Returns the number of axis implemented by this amplifier. INTERNAL REGEN CURRENT INDEX 0X2384, SUB-INDEX 26 Type Access Units Range Map PDO Memory Unsigned 16 RO mA - NO F Amplifier internal maximum regen current. FPGA IMAGE VERSION INDEX 0X2384, SUB-INDEX 27 Type Access Units Range Map PDO Memory Unsigned 16 RO - - NO R FPGA firmware version number (available on certain amplifier models). SECONDARY FIRMWARE VERSION INDEX 0X2384, SUB-INDEX 28 Type Access Units Range Map PDO Memory Unsigned 32 RO - - NO R Firmware version of second processor for amplifiers equipped with two processors. AMPLIFIER DATA INDEX 0X6510 Type Access Units Range Map PDO Memory Record RO - - NO - Description This object is no longer recommended. Use object 0x2384 (p.80).This record lists various amplifier parameters. Sub-index 0 contains the number of sub-elements of this record. AMPLIFIER SERIAL NUMBER INDEX 0X6510, SUB-INDEX 1 Type Access Units Range Map PDO Memory Integer 32 RO - - NO - Description Gives the amplifier serial number. Copley Controls 83
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