User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-34 C27750-001
7.13.1 Direct Velocity Mode Parameters
Parameter Name CANopen Index CANopen sub-index PDO mapping Data Type Access Default Value Minimum Value Maximum Value Units Storage Type Data Group Field Number
INPUT PARAMETERS
ds402 max motor speed
(Note 1)
0x6080 0 yes u32 r/w 0 - - rpm N A 4161
ds402 target velocity
0x60FF 0 yes s32 r/w 0 - - vel units N A 4228
ds402 max load speed (Note
2)
0x6510 32 yes u32 r/w 0 - - vel units N A 4178
FEEDBACK VALUES
ds402 velocity sensor
actual value
0x6069 0 yes s32 r 0 - - incs/sec N A 4233
ds402 velocity demand
value
0x606B 0 yes s32 r 0 - - vel. units N A 4231
ds402 velocity actual
value
0x606C 0 yes s32 r 0 - - vel. units N A 4232
GENERAL PARAMETERS
ds402 control word
0x6040 0 yes u16 r/w 0 - - none N A 1650
ds402 status word
0x6041 0 yes u16 r 0 - - none N A 1651
ds402 modes of operation
0x6060 0 yes s08 r/w 0 - - none N A 1652
ds402 modes of operation display 0x6061 0 yes s08 r 0 - - none N A 1653
ds402 error code 0x603F 0 yes u16 r - - - none N A 4234
Note 1: ds402 max motor speed is derived from (and can set) motor max velocity and therefore need not be saved to NVM.
Note 2: ds402 max load speed is derived from (and can set) velocity_maximum and therefore need not be saved to NVM.