Nanotec PD4-E-M Technisches Handbuch Seite 5

Inhalt
1018h Identity Object.................................................................................................................................... 126
1020h Verify Configuration........................................................................................................................... 128
1600h Receive PDO 1 Mapping Parameter................................................................................................. 129
1601h Receive PDO 2 Mapping Parameter................................................................................................. 131
1602h Receive PDO 3 Mapping Parameter................................................................................................. 134
1603h Receive PDO 4 Mapping Parameter................................................................................................. 136
1A00h Transmit PDO 1 Mapping Parameter................................................................................................138
1A01h Transmit PDO 2 Mapping Parameter................................................................................................141
1A02h Transmit PDO 3 Mapping Parameter................................................................................................143
1A03h Transmit PDO 4 Mapping Parameter................................................................................................146
1C00h Sync Manager Communication Type................................................................................................ 148
1C12h Sync Manager RxPDO Assignment.................................................................................................. 150
1C13h Sync Manager TxPDO Assignment.................................................................................................. 152
1C32h Output Sync Manager Synchronization.............................................................................................153
1C33h Input Sync Manager Synchronization............................................................................................... 155
1F50h Program Data.................................................................................................................................... 156
1F51h Program Control................................................................................................................................ 157
1F57h Program Status..................................................................................................................................158
2030h Pole Pair Count................................................................................................................................. 159
2031h Max Motor Current.............................................................................................................................160
2034h Upper Voltage Warning Level............................................................................................................160
2035h Lower Voltage Warning Level............................................................................................................161
2036h Open Loop Current Reduction Idle Time.......................................................................................... 162
2037h Open Loop Current Reduction Value/factor...................................................................................... 162
2038h Brake Controller Timing..................................................................................................................... 163
2039h Motor Currents................................................................................................................................... 165
203Ah Homing On Block Configuration........................................................................................................167
203Bh I2t Parameters................................................................................................................................... 168
203Dh Torque Window................................................................................................................................. 171
203Eh Torque Window Time Out................................................................................................................. 171
203Fh Max Slippage Time Out.....................................................................................................................172
205Ah Absolute Sensor Boot Value (in User Units).....................................................................................172
2084h Bootup Delay..................................................................................................................................... 173
2101h Fieldbus Module Availability.............................................................................................................. 173
2102h Fieldbus Module Control....................................................................................................................174
2103h Fieldbus Module Status..................................................................................................................... 176
2110h EtherCAT Slave Status......................................................................................................................177
2290h PDI Control........................................................................................................................................ 178
2291h PDI Input............................................................................................................................................ 179
2292h PDI Output......................................................................................................................................... 180
2300h NanoJ Control.................................................................................................................................... 181
2301h NanoJ Status..................................................................................................................................... 182
2302h NanoJ Error Code..............................................................................................................................183
230Eh Timer..................................................................................................................................................184
230Fh Uptime Seconds................................................................................................................................ 185
2310h NanoJ Input Data Selection...............................................................................................................186
2320h NanoJ Output Data Selection............................................................................................................ 187
2330h NanoJ In/output Data Selection.........................................................................................................188
2400h NanoJ Inputs......................................................................................................................................190
2410h NanoJ Init Parameters....................................................................................................................... 191
2500h NanoJ Outputs................................................................................................................................... 192
2600h NanoJ Debug Output......................................................................................................................... 192
2701h Customer Storage Area..................................................................................................................... 193
2800h Bootloader And Reboot Settings....................................................................................................... 194
3202h Motor Drive Submode Select.............................................................................................................196
3203h Feedback Selection........................................................................................................................... 197
3204h Feedback Mapping............................................................................................................................ 198
320Dh Torque Of Inertia Factor................................................................................................................... 200
3210h Motor Drive Parameter Set................................................................................................................201