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9.1 Digitale Ein- und Ausgänge................................................................................................................ 52
2
9.2 I
t Motor-Überlastungsschutz.............................................................................................................. 54
9.3 Objekte speichern................................................................................................................................56
10 Programmierung mit NanoJ.................................................................. 59
10.1 Einleitung........................................................................................................................................... 59
10.2 Verfügbare Rechenzeit...................................................................................................................... 59
10.3 Interaktion des Benutzerprogramms mit der Steuerung................................................................... 60
10.4 OD-Einträge zur Steuerung und Konfiguration der VMM..................................................................60
10.5 NanoJEasyV2.................................................................................................................................... 61
10.6 Systemcalls........................................................................................................................................64
11 Objektverzeichnis Beschreibung.......................................................... 66
11.1 Übersicht............................................................................................................................................66
11.2 Aufbau der Objektbeschreibung........................................................................................................ 66
11.3 Objektbeschreibung........................................................................................................................... 66
11.4 Wertebeschreibung............................................................................................................................ 68
11.5 Beschreibung..................................................................................................................................... 69
1000h Device Type....................................................................................................................................69
1001h Error Register................................................................................................................................. 70
1003h Pre-defined Error Field................................................................................................................... 71
1008h Manufacturer Device Name............................................................................................................74
1009h Manufacturer Hardware Version.....................................................................................................74
100Ah Manufacturer Software Version......................................................................................................75
1010h Store Parameter............................................................................................................................. 75
1011h Restore Default Parameter.............................................................................................................76
1018h Identity Object.................................................................................................................................77
2010h IP-Configuration.............................................................................................................................. 78
2011h Static-IP-Address............................................................................................................................ 79
2012h Static-IP-Subnet-Mask.................................................................................................................... 80
2018h Current-IP-Address......................................................................................................................... 81
2019h Current-IP-Subnet-Mask................................................................................................................. 82
2020h AppInfo-Static-IP-Address...............................................................................................................83
2021h AppInfo-Static-IP-Subnet-Mask.......................................................................................................84
2022h Drive Serial Number....................................................................................................................... 85
2030h Pole Pair Count.............................................................................................................................. 85
2031h Peak Current.................................................................................................................................. 85
2032h Maximum Speed.............................................................................................................................86
2033h Plunger Block................................................................................................................................. 86
2034h Upper Voltage Warning Level........................................................................................................ 87
2035h Lower Voltage Warning Level........................................................................................................ 87
2036h Open Loop Current Reduction Idle Time....................................................................................... 88
2037h Open Loop Current Reduction Value/factor................................................................................... 88
2038h Brake Controller Timing..................................................................................................................89
2039h Motor Currents................................................................................................................................90
203Ah Homing On Block Configuration.................................................................................................... 92
203Bh I2t Parameters................................................................................................................................93
2050h Encoder Alignment......................................................................................................................... 95
2051h Encoder Optimization..................................................................................................................... 95
2052h Encoder Resolution........................................................................................................................ 96
2053h Index Polarity..................................................................................................................................97
2054h Index Width.....................................................................................................................................97
2056h Limit Switch Tolerance Band..........................................................................................................98
2057h Clock Direction Multiplier................................................................................................................98
2058h Clock Direction Divider................................................................................................................... 98
2059h Encoder Configuration.................................................................................................................... 99
2060h Compensate Polepair Count.......................................................................................................... 99
Handbuch C5 (USB)
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