Inhaltsverzeichnis
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Inhalt
) Write Single Register................................................................................................. 108
) Write Multiple Registers........................................................................................... 109
) Read/Write Multiple registers................................................................................... 110
) Encapsulated Interface Transport............................................................................ 111
8.4.8 Ausnahmecodes........................................................................................................................... 125
8.5 Prozessdatenobjekte (PDO)................................................................................................................... 125
8.5.1 Konfiguration................................................................................................................................. 126
8.5.2 Übertragung.................................................................................................................................. 126
8.6 NanoJ-Objekte........................................................................................................................................ 127
9 Programmierung mit NanoJ......................................................................128
9.1 NanoJ-Programm.................................................................................................................................... 128
9.2 Mapping im NanoJ-Programm................................................................................................................132
9.3 NanoJ-Funktionen im NanoJ-Programm................................................................................................ 133
9.4 Einschränkungen und mögliche Probleme............................................................................................. 135
10 Objektverzeichnis Beschreibung............................................................137
10.1 Übersicht............................................................................................................................................... 137
10.2 Aufbau der Objektbeschreibung........................................................................................................... 137
10.3 Objektbeschreibung.............................................................................................................................. 137
10.4 Wertebeschreibung............................................................................................................................... 138
10.5 Beschreibung........................................................................................................................................ 139
1000h Device Type....................................................................................................................................... 140
1001h Error Register.....................................................................................................................................141
1003h Pre-defined Error Field...................................................................................................................... 142
1008h Manufacturer Device Name............................................................................................................... 146
1009h Manufacturer Hardware Version........................................................................................................ 147
100Ah Manufacturer Software Version......................................................................................................... 147
1010h Store Parameters............................................................................................................................... 147
1011h Restore Default Parameters.............................................................................................................. 151
1018h Identity Object.................................................................................................................................... 154
1020h Verify Configuration........................................................................................................................... 156
1F50h Program Data.................................................................................................................................... 157
1F51h Program Control................................................................................................................................ 158
1F57h Program Status..................................................................................................................................159
200Fh IEEE 802 MAC Address....................................................................................................................160
2010h IP-Configuration................................................................................................................................. 161
2011h Static-IPv4-Address............................................................................................................................162
2012h Static-IPv4-Subnet-Mask....................................................................................................................163
2013h Static-IPv4-Gateway-Address............................................................................................................ 164
2014h Current-IPv4-Address.........................................................................................................................165
2015h Current-IPv4-Subnet-Mask.................................................................................................................166
2016h Current-IPv4-Gateway-Address......................................................................................................... 167
2030h Pole Pair Count................................................................................................................................. 167
2031h Max Motor Current.............................................................................................................................168
2034h Upper Voltage Warning Level............................................................................................................169
2035h Lower Voltage Warning Level............................................................................................................169
2036h Open Loop Current Reduction Idle Time.......................................................................................... 170
2037h Open Loop Current Reduction Value/factor...................................................................................... 170
2038h Brake Controller Timing..................................................................................................................... 171
2039h Motor Currents................................................................................................................................... 173
203Ah Homing On Block Configuration........................................................................................................175
203Bh I2t Parameters................................................................................................................................... 177
203Dh Torque Window................................................................................................................................. 179
) Read complete object dictionary............................................................................ 118
) Read complete array or record.............................................................................. 122
) Read Holding Registers....................................... 107
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