User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-37
7.14.1 Profile 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 profile
velocity
0x607F 0 yes u32 r/w 0 - - vel. units C A 4160
ds402 max motor speed
(Note 1)
0x6080 0 yes u32 r/w 0 - - rpm N A 4161
ds402 max load speed (Note
2)
0x6510 32 yes u32 r/w 0 - - vel units N A 4178
ds402 profile
acceleration
0x6083 0 yes u32 r/w 0 - - acc. units C A 4164
ds402 motion profile type
(Note 3)
0x6086 0 yes s16 r/w 0 - - none N A 4166
ds402 max acceleration
0x60C5 0 yes u32 r/w 0 - - acc. units C A 4163
ds402 target velocity
0x60FF 0 yes s32 r/w 0 - - vel. units N A 4228
ds402 velocity window
0x606D 0 yes u16 r/w 0 - - vel. units C A 4229
ds402 velocity threshold
0x606F 0 yes u16 r/w 0 - - vel. units C A 4230
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