Nanotec CANopen N5 Handbuch Seite 5

Handbuch N5 (CANopen)
Inhalt
320Bh Motor Drive Sensor Display Closed Loop....................................................................................200
3210h Motor Drive Parameter Set.......................................................................................................... 202
3220h Analog Inputs................................................................................................................................204
3221h Analogue Inputs Control...............................................................................................................205
3240h Digital Inputs Control.................................................................................................................... 206
3250h Digital Outputs Control................................................................................................................. 208
3320h Read Analogue Input....................................................................................................................209
3321h Analogue Input Offset...................................................................................................................210
3322h Analogue Input Pre-scaling.......................................................................................................... 211
3700h Following Error Option Code........................................................................................................212
603Fh Error Code....................................................................................................................................213
6040h Controlword...................................................................................................................................213
6041h Statusword.................................................................................................................................... 214
6042h Vl Target Velocity......................................................................................................................... 215
6043h Vl Velocity Demand...................................................................................................................... 216
6044h Vl Velocity Actual Value............................................................................................................... 216
6046h Vl Velocity Min Max Amount........................................................................................................ 217
6048h Vl Velocity Acceleration................................................................................................................218
6049h Vl Velocity Deceleration............................................................................................................... 219
604Ah Vl Velocity Quick Stop................................................................................................................. 220
604Ch Vl Dimension Factor.................................................................................................................... 221
605Ah Quick Stop Option Code.............................................................................................................. 222
605Bh Shutdown Option Code................................................................................................................222
605Ch Disable Option Code....................................................................................................................223
605Dh Halt Option Code......................................................................................................................... 223
605Eh Fault Option Code........................................................................................................................224
6060h Modes Of Operation..................................................................................................................... 225
6061h Modes Of Operation Display........................................................................................................ 225
6062h Position Demand Value................................................................................................................226
6063h Position Actual Internal Value...................................................................................................... 226
6064h Position Actual Value................................................................................................................... 227
6065h Following Error Window............................................................................................................... 227
6066h Following Error Time Out............................................................................................................. 228
6067h Position Window........................................................................................................................... 228
6068h Position Window Time..................................................................................................................229
606Bh Velocity Demand Value................................................................................................................229
606Ch Velocity Actual Value................................................................................................................... 230
606Dh Velocity Window...........................................................................................................................230
606Eh Velocity Window Time..................................................................................................................230
6071h Target Torque............................................................................................................................... 231
6072h Max Torque.................................................................................................................................. 231
6074h Torque Demand............................................................................................................................232
607Ah Target Position............................................................................................................................. 232
607Bh Position Range Limit.................................................................................................................... 233
607Ch Home Offset.................................................................................................................................234
607Dh Software Position Limit................................................................................................................ 234
607Eh Polarity..........................................................................................................................................235
6081h Profile Velocity.............................................................................................................................. 236
6082h End Velocity..................................................................................................................................236
6083h Profile Acceleration.......................................................................................................................237
6084h Profile Deceleration...................................................................................................................... 237
6085h Quick Stop Deceleration...............................................................................................................237
6086h Motion Profile Type...................................................................................................................... 238
6087h Torque Slope................................................................................................................................ 238
608Fh Position Encoder Resolution........................................................................................................ 239
6091h Gear Ratio.................................................................................................................................... 240
6092h Feed Constant.............................................................................................................................. 240
6098h Homing Method............................................................................................................................ 241
6099h Homing Speed.............................................................................................................................. 242