Nanotec PD2-C4118X1404-E-08 Handbuch Seite 3

9.8 Cyclic Synchronous Velocity............................................................................................................... 60
9.9 Cyclic Synchronous Torque................................................................................................................ 61
9.10 Takt/Richtungs-Modus....................................................................................................................... 62
9.11 Auto-Setup Mode...............................................................................................................................64
10 Spezielle Funktionen.............................................................................. 67
10.1 Digitale Ein- und Ausgänge.............................................................................................................. 67
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10.2 I t Motor-Überlastungsschutz............................................................................................................ 75
10.3 Objekte speichern..............................................................................................................................77
11 Programmierung mit NanoJ.................................................................. 83
11.1 Einleitung........................................................................................................................................... 83
11.2 Verfügbare Rechenzeit...................................................................................................................... 83
11.3 Interaktion des Benutzerprogramms mit der Steuerung................................................................... 84
11.4 OD-Einträge zur Steuerung und Konfiguration der VMM..................................................................85
11.5 NanoJEasyV2.................................................................................................................................... 86
11.6 Systemcalls........................................................................................................................................88
12 Objektverzeichnis Beschreibung.......................................................... 90
12.1 Übersicht............................................................................................................................................90
12.2 Aufbau der Objektbeschreibung........................................................................................................ 90
12.3 Objektbeschreibung........................................................................................................................... 90
12.4 Wertebeschreibung............................................................................................................................ 92
12.5 Beschreibung..................................................................................................................................... 93
1000h Device Type....................................................................................................................................93
1001h Error Register................................................................................................................................. 94
1003h Pre-defined Error Field................................................................................................................... 95
1005h COB-ID Sync.................................................................................................................................. 98
1007h Synchronous Window Length.........................................................................................................99
1008h Manufacturer Device Name............................................................................................................99
1009h Manufacturer Hardware Version...................................................................................................100
100Ah Manufacturer Software Version....................................................................................................100
100Ch Guard Time.................................................................................................................................. 101
100Dh Live Time Factor.......................................................................................................................... 101
1010h Store Parameters..........................................................................................................................102
1011h Restore Default Parameters......................................................................................................... 103
1014h COB-ID EMCY..............................................................................................................................105
1017h Producer Heartbeat Time............................................................................................................. 106
1018h Identity Object...............................................................................................................................106
1020h Verify Configuration...................................................................................................................... 108
1400h Receive PDO 1 Communication Parameter.................................................................................109
1401h Receive PDO 2 Communication Parameter.................................................................................110
1402h Receive PDO 3 Communication Parameter.................................................................................110
1403h Receive PDO 4 Communication Parameter.................................................................................111
1404h Receive PDO 5 Communication Parameter.................................................................................112
1405h Receive PDO 6 Communication Parameter.................................................................................113
1406h Receive PDO 7 Communication Parameter.................................................................................114
1407h Receive PDO 8 Communication Parameter.................................................................................115
1600h Receive PDO 1 Mapping Parameter............................................................................................116
1601h Receive PDO 2 Mapping Parameter............................................................................................118
1602h Receive PDO 3 Mapping Parameter............................................................................................120
1603h Receive PDO 4 Mapping Parameter............................................................................................122
1604h Receive PDO 5 Mapping Parameter............................................................................................124
1605h Receive PDO 6 Mapping Parameter............................................................................................126
1606h Receive PDO 7 Mapping Parameter............................................................................................128
1607h Receive PDO 8 Mapping Parameter............................................................................................130
Handbuch PD2-C (CANopen)
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