Nanotec PD2-C4118X1404-E-08 Handbuch Seite 4

Handbuch PD2-C (CANopen)
Inhalt
1800h Transmit PDO 1 Communication Parameter................................................................................132
1801h Transmit PDO 2 Communication Parameter................................................................................133
1802h Transmit PDO 3 Communication Parameter................................................................................134
1803h Transmit PDO 4 Communication Parameter................................................................................136
1804h Transmit PDO 5 Communication Parameter................................................................................137
1805h Transmit PDO 6 Communication Parameter................................................................................139
1806h Transmit PDO 7 Communication Parameter................................................................................140
1807h Transmit PDO 8 Communication Parameter................................................................................141
1A00h Transmit PDO 1 Mapping Parameter.......................................................................................... 143
1A01h Transmit PDO 2 Mapping Parameter.......................................................................................... 145
1A02h Transmit PDO 3 Mapping Parameter.......................................................................................... 147
1A03h Transmit PDO 4 Mapping Parameter.......................................................................................... 150
1A04h Transmit PDO 5 Mapping Parameter.......................................................................................... 152
1A05h Transmit PDO 6 Mapping Parameter.......................................................................................... 154
1A06h Transmit PDO 7 Mapping Parameter.......................................................................................... 156
1A07h Transmit PDO 8 Mapping Parameter.......................................................................................... 159
2005h CANopen Baudrate.......................................................................................................................161
2006h CANopen WheelConfig.................................................................................................................162
2007h CANopen Config...........................................................................................................................163
2009h CANopen NodeID......................................................................................................................... 164
2030h Pole Pair Count............................................................................................................................ 164
2031h Maximum Current......................................................................................................................... 165
2032h Maximum Speed...........................................................................................................................165
2033h Plunger Block............................................................................................................................... 166
2034h Upper Voltage Warning Level...................................................................................................... 167
2035h Lower Voltage Warning Level...................................................................................................... 167
2036h Open Loop Current Reduction Idle Time..................................................................................... 168
2037h Open Loop Current Reduction Value/factor................................................................................. 168
2039h Motor Currents..............................................................................................................................169
203Ah Homing On Block Configuration.................................................................................................. 170
203Bh I2t Parameters..............................................................................................................................172
203Dh Torque Window............................................................................................................................ 174
203Eh Torque Window Time...................................................................................................................175
2050h Encoder Alignment....................................................................................................................... 175
2051h Encoder Optimization................................................................................................................... 176
2052h Encoder Resolution...................................................................................................................... 177
2056h Limit Switch Tolerance Band........................................................................................................177
2057h Clock Direction Multiplier..............................................................................................................178
2058h Clock Direction Divider................................................................................................................. 178
2059h Encoder Configuration.................................................................................................................. 179
205Ah Encoder Boot Value..................................................................................................................... 179
205Bh Clock Direction Or Clockwise/Counter Clockwise Mode..............................................................180
2060h Compensate Polepair Count........................................................................................................ 180
2061h Velocity Numerator....................................................................................................................... 181
2062h Velocity Denominator....................................................................................................................181
2063h Acceleration Numerator................................................................................................................ 182
2064h Acceleration Denominator............................................................................................................ 182
2065h Jerk Numerator............................................................................................................................. 183
2066h Jerk Denominator......................................................................................................................... 183
2067h Jerk Limit (internal).......................................................................................................................184
2084h Bootup Delay................................................................................................................................ 184
2101h Fieldbus Module Availability......................................................................................................... 185
2102h Fieldbus Module Control.............................................................................................................. 186
2103h Fieldbus Module Status................................................................................................................187
2200h Sampler Control............................................................................................................................189
2201h Sampler Status............................................................................................................................. 190
2202h Sample Data Selection.................................................................................................................190
2203h Sampler Buffer Information.......................................................................................................... 193
2204h Sample Time In Ms...................................................................................................................... 194