User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-11
manual mode velocity limit 0x6510 22 no f32 r/w 10.0 0.0 100.0 % C A 4248
current limit mask 0x6510 7 no u16 r/w Brg,Mot,Amb,I
2
T - - none E A 1135
standby velocity 0x6510 8 no f32 r/w 1.0 0.05 1000.0 rad/s C A 1138
velocity rampdown time limit 0x6510 9 no f32 r/w 1.0 0 1000.0 s C A 1143
velocity actual 0x6510 10 yes f32 r - - - inc/T
samp
N A 1151
position actual 0x6510 11 yes s32 r - - - inc N A 1154
velocity command 0x6510 12 yes f32 r - - - inc/T
samp
N A 1156
velocity command acceleration limited 0x6510 13 yes f32 r 0 - - inc/T
samp
N A 1157
velocity filter cutoff factor 0x6510 14 no f32 r/w 0.25 0.0 100.0 none C A 1164
velocity filtered 0x6510 15 yes f32 r - - - inc/T
samp
N A 1165
position feedback 0x6510 16 no u08 r/w 1 0 2 none C A 1168
velocity feedback 0x6510 24 no u08 r/w 1 0 2 none C A 1169
velocity maximum 0x6510 28 no f32 r/w 1000 0 20000 rad/s C A 1800
velocity limit 0x6510 30 no f32 r/w 1000 0 20000 rad/s C A 1802
acceleration limit 0x6510 17 no f32 r/w 1000000 0 - rad/s
2
C A 1335
deceleration limit 0x6510 23 no f32 r/w 1000000 0 - rad/s
2
C A 1669
deceleration limit – quickstop 0x6510 25 no f32 r/w 1000000 0 - rad/s
2
C A 1670
deceleration limit - fault 0x6510 26 no f32 r/w 1000000 0 - rad/s
2
C A 1671
torque limit 0x6510 19 yes u16 r/w - 0 0xFFFF none N A 1581
actual torque in Nm 0x6510 20 yes f32 r - - - Nm N A 1583
brake control 0x6510 21 no u16 r/w 1 (internal control) - - none C A 1603
brake fault control 0x6510 18 no u16 r/w 1 (brake if fault) - - none C A 1505