CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 3: Device Control, Configuration, and Status
HALL SENSOR WIRING INDEX 0X6410, SUB-INDEX 5
Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Defines the wiring of the Hall sensors. Bit-mapped as follows (when analog Halls are used, only bit
8 is relevant):
Bits Description
0-2 The Hall wiring code (see below).
3 Reserved.
4 Invert W Hall input if set. Inversion occurs after Halls wiring has been modified by bits 0-2.
5 Invert V Hall input if set. Inversion occurs after Halls wiring has been modified by bits 0-2.
6 Invert U Hall input if set. Inversion occurs after Halls wiring has been modified by bits 0-2.
7 Reserved.
8 Swap analog Halls if set.
9-15 Reserved.
The Hall wiring codes define the order of the Hall connections:
Code Hall ordering
0 U V W
1 U W V
2 V U W
3 V W U
4 W V U
5 W U V
6 Reserved
7 Reserved
HALL OFFSET INDEX 0X6410, SUB-INDEX 6
Type Access Units Range Map PDO Memory
Integer 16 RW degrees -360 - 360 NO F
Description
Offset angle to be applied to the Hall sensors.
MOTOR RESISTANCE INDEX 0X6410, SUB-INDEX 7
Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 Ohm 0 - 32,767 NO F
Description
Motor winding resistance, in 0.01-Ohm units.
MOTOR INDUCTANCE INDEX 0X6410, SUB-INDEX 8
Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 milliHenry 0 - 32,767 NO F
Description
Motor winding inductance, in 0.01-milliHenry units.
Copley Controls 99