CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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<strong>CANopen</strong> Programmer’s <strong>Manual</strong> 3: Device Control, Configuration, and Status<br />
MOTOR BRAKE VELOCITY INDEX 0X2383, SUB-INDEX 19<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW 0.1 counts / second 0 - 500,000,000 NO F<br />
Description<br />
During the Motor Stopping Time (In<strong>de</strong>x 0x2383, Sub-In<strong>de</strong>x 17, p. 94), if the motor's actual velocity<br />
falls below this value the brake output is activated immediately.<br />
ENCODER TYPE CODE INDEX 0X2383, SUB-INDEX 20<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW - See Description, below. NO F<br />
Description<br />
Also known as Motor Enco<strong>de</strong>r Type. I<strong>de</strong>ntifies the type of enco<strong>de</strong>r attached to the motor:<br />
Value Description<br />
0 Primary incremental quadrature enco<strong>de</strong>r.<br />
1 No enco<strong>de</strong>r.<br />
2 Analog enco<strong>de</strong>r.<br />
3 Multi-mo<strong>de</strong> port incremental quadrature enco<strong>de</strong>r<br />
4 Analog Halls used for position feedback.<br />
5 Resolver input.<br />
6 Digital Halls.<br />
7 Analog enco<strong>de</strong>r, special.<br />
8 Reserved.<br />
9<br />
10<br />
11<br />
12<br />
Panasonic Minas-A.<br />
SPI Command<br />
SSI<br />
EnDat 2.2<br />
ENCODER UNITS INDEX 0X2383, SUB-INDEX 21<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW - See Description, below. NO F<br />
Description<br />
This value <strong>de</strong>fines the units used to <strong>de</strong>scribe linear motor enco<strong>de</strong>rs. It is not used with rotary<br />
motors.<br />
Value Description<br />
0 microns<br />
1 nanometers<br />
2 millimeters<br />
MOTOR ENCODER DIRECTION INDEX 0X2383, SUB-INDEX 22<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW - See Description, below. NO F<br />
Description<br />
Motor enco<strong>de</strong>r direction. Value 0 for standard, value 1 to reverse direction.<br />
Copley Controls 95