CANopen Programmer's Manual - Maccon.de

3: Device Control, Configuration, and Status CANopen Programmer’s Manual
MOTOR DATA INDEX 0X6410
Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
This object is no longer recommended. Use object 0x2383 (p.91).This record holds a variety of
motor parameters.
Note that all motor parameters are stored to non-volatile memory on the amplifier. The
programmed values are preserved across power cycles. Sub-index 0 contains the number of subelements
of this record.
MOTOR TYPE INDEX 0X6410, SUB-INDEX 1
Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Defines the type of motor connected to the amplifier:
Type Description
0 Rotary motor.
1 Linear motor.
MOTOR POLE PAIRS INDEX 0X6410, SUB-INDEX 2
Type Access Units Range Map PDO Memory
Integer 16 RW - 0 - 32,767 NO F
Description
Number of motor pole pairs (electrical cycles) per rotation. For example, a 1.8 deg/step motor
would require setting motor poll pairs to 50.
This parameter is only used for rotary motors. For linear motors its value is ignored.
MOTOR WIRING CONFIGURATION INDEX 0X6410, SUB-INDEX 3
Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Defines the direction of the motor wiring:
Type Description
0 Standard wiring.
1 Motor's U and V wires are swapped.
HALL SENSOR TYPE INDEX 0X6410, SUB-INDEX 4
Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Defines the type of Hall Effect sensors attached to the motor:
Type Description
0 No Hall sensors available.
1 Digital Hall sensors.
2 Analog Hall sensors.
98 Copley Controls