CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 3: Device Control, Configuration, and Status
FPGA IMAGE VERSION INDEX 0X6510, 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 0X6510, 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.
FIRMWARE VERSION NUMBER (EXTENDED) INDEX 0X2422
Type Access Units Range Map PDO Memory
Integer 32 RO - - NO F
Description
Firmware Version Number (extended). The upper 16 bits give the same major/minor version
number as Firmware Version Number (Index 0x2384, Sub-Index 24
, p. 83). The lower 16 bits hold a release number (upper byte) and a reserved byte (lower).
DEVICE TYPE INDEX 0X67FF
Type Access Units Range Map PDO Memory
Unsigned 32 RO - - NO -
Description
Holds the same data as object 0x1000. Repeated as required by the CANopen specification.
PWM MODE INDEX 0X2140
Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO RF
Description
PWM mode and status. This bit-mapped register allows some details of the PWM output to be
controlled and monitored. Fields are described below:
Bit Description
0 Force bus clamping if set, disable bus clamping if clear. Note that if bit 1 is set, then this bit is ignored.
1 Automatic bus clamping mode if set. Setting this bit causes bus clamping mode to be automatically selected
based on the output voltage. Bit 0 is ignored if this bit is set.
3 Factory reserved. If set, DBrk mode is enabled.
4 Use hex voltage limiting if set, circular limiting if clear. This setting is only used with brushless motors.
6 Double PWM frequency if set.
8 Status bit, set when bus clamping is active.
RUNNING SUM OF USER CURRENT LIMIT INDEX 0X2116
Type Access Units Range Map PDO Memory
Integer16 RO 0.01% - YES R*
Description
Running sum of user current limit.
Copley Controls 87