CANopen Programmer's Manual - Maccon.de

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3: Device Control, Configuration, and Status CANopen Programmer’s Manual RUNNING SUM OF AMP CURRENT LIMIT INDEX 0X2117 Type Access Units Range Map PDO Memory Integer16 RO 0.01% - YES R* Description Running sum of the amp current limit. D/A CONVERTER CONFIGURATION. INDEX 0X21E0 Type Access Units Range Map PDO Memory Integer32 RW - - NO RF Description This parameter sets the mode for the D/A converter on drives so equipped. The bits are mapped as follows: Bit Description 0-3 Define the mode of the D/A converter 16-17 Identify the axis associated with the D/A converter Mode Description 0 Manual configuration (set using parameter 0x135) 1 Actual current of configured axis D/A CONVERTER OUTPUT VALUE INDEX 0X21E1 Type Access Units Range Map PDO Memory Integer16 mV - R Description For drives that support an auxiliary D/A converter, this parameter sets the output value in mV units when the D/A is in manual mode. In other modes, the current value being output on the D/A can be read here. 88 Copley Controls
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status 3.5: Basic Motor Configuration Objects Contents of this Section Objects described in this section provide access to basic motor parameters. They include: Motor Model Number Index 0x6403 .......................................................................................................... 91 Motor Manufacturer Index 0x6404 ............................................................................................................ 91 Motor Data Index 0x2383 .......................................................................................................................... 91 Motor Type Index 0x2383, Sub-Index 1 ............................................................................. 91 Motor Pole Pairs Index 0x2383, Sub-Index 2 ............................................................................. 91 Motor Wiring Configuration Index 0x2383, Sub-Index 3 ....................................................................... 92 Hall Sensor Type Index 0x2383, Sub-Index 4 ............................................................................. 92 Hall Sensor Wiring Index 0x2383, Sub-Index 5 ............................................................................. 92 Hall Offset Index 0x2383, Sub-Index 6 ............................................................................. 93 Motor Resistance Index 0x2383, Sub-Index 7 ............................................................................. 93 Motor Inductance Index 0x2383, Sub-Index 8 ............................................................................. 93 Motor Inertia Index 0x2383, Sub-Index 9 ............................................................................. 93 Motor Back EMF Index 0x2383, Sub-index 10 ........................................................................... 93 Motor Maximum Velocity Index 0x2383, Sub-Index 11 ........................................................................... 93 Motor Torque Constant Index 0x2383, Sub-Index 12 ........................................................................... 93 Motor Peak Torque Index 0x2383, Sub-Index 13 ........................................................................... 94 Motor Continuous Torque Index 0x2383, Sub-Index 14 ........................................................................... 94 Motor Temperature Sensor Index 0x2383, Sub-Index 15 ..................................................................... 94 Motor Has A Brake Index 0x2383, Sub-Index 16 ........................................................................... 94 Motor Stopping Time Index 0x2383, Sub-Index 17 ........................................................................... 94 Motor Brake Delay Index 0x2383, Sub-Index 18 ........................................................................... 94 Motor Brake Velocity Index 0x2383, Sub-Index 19 ........................................................................... 95 Encoder Type Code Index 0x2383, Sub-Index 20 ........................................................................... 95 Encoder Units Index 0x2383, Sub-Index 21 ........................................................................... 95 Motor Encoder Direction Index 0x2383, Sub-Index 22 ........................................................................... 95 Motor Counts/Rev Index 0x2383, Sub-Index 23 ........................................................................... 96 Motor Encoder Resolution Index 0x2383, Sub-Index 24 ...................................................................... 96 Motor Electrical Distance Index 0x2383, Sub-Index 25 ........................................................................... 96 Reserved Index 0x2383, Sub-Index 26-27...................................................................... 96 Analog Encoder Shift Index 0x2383, Sub-Index 28 ........................................................................... 96 Microsteps/Rev Index 0x2383, Sub-Index 29 ........................................................................... 96 Load Encoder Type Index 0x2383, Sub-Index 30 ........................................................................... 97 Load Encoder Direction Index 0x2383, Sub-Index 31 ........................................................................... 97 Load Encoder Resolution Index 0x2383, Sub-Index 32 ........................................................................... 97 Bi-Quad Filter Coefficients Index 0x2383, Sub-Index 33 ...................................................................... 97 Number of Resolver Cycles/Motor Rev Index 0x2383, Sub-Index 34 ................................................... 97 Motor Data Index 0x6410 .......................................................................................................................... 98 Motor Type Index 0x6410, Sub-Index 1 ............................................................................. 98 Motor Pole Pairs Index 0x6410, Sub-Index 2 ............................................................................. 98 Motor Wiring Configuration Index 0x6410, Sub-Index 3 ....................................................................... 98 Hall Sensor Type Index 0x6410, Sub-Index 4 ............................................................................. 98 Hall Sensor Wiring Index 0x6410, Sub-Index 5 ............................................................................. 99 Hall Offset Index 0x6410, Sub-Index 6 ............................................................................. 99 Motor Resistance Index 0x6410, Sub-Index 7 ............................................................................. 99 Motor Inductance Index 0x6410, Sub-Index 8 ............................................................................. 99 Motor Inertia Index 0x6410, Sub-Index 9 ........................................................................... 100 Motor Back EMF Index 0x6410, Sub-index 10 ......................................................................... 100 Motor Maximum Velocity Index 0x6410, Sub-Index 11 ......................................................................... 100 Motor Torque Constant Index 0x6410, Sub-Index 12 ......................................................................... 100 Motor Peak Torque Index 0x6410, Sub-Index 13 ......................................................................... 100 Motor Continuous Torque Index 0x6410, Sub-Index 14 ......................................................................... 100 Copley Controls 89
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