User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-47
7.16.1 Profile Position 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 target position
0x607A 0 yes s32 r/w 0 - - pos units N A 4146
ds402 position range min
0x607B 1 yes s32 r/w -2147483648 - - pos units C A 1644
ds402 position range max
0x607B 2 yes s32 r/w 2147483647 - - pos units C A 1645
ds402 software position
limit min
0x607D 1 yes s32 r/w -2147483648 - - pos units C A 4149
ds402 software position
limit max
0x607D 2 yes s32 r/w 2147483647 - - pos units C A 4150
ds402 home offset
0x607C 0 yes s32 r/w 0 - - pos units C A 4147
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 velocity
0x6081 0 yes u32 r/w 0 - - vel units C A 4162
ds402 max acceleration
0x60C5 0 yes u32 r/w 0 - - acc units C A 4163
ds402 profile acceleration
0x6083 0 yes u32 r/w 0 - - acc units C A 4164
ds402 motion profile type
0x6086 0 yes s16 r/w 0 - - none N A 4166
ds402 following error
window (Note 3)
0x6065 0 yes u32 r/w 0 - - pos units N A 4171
ds402 position window
0x6067 0 yes u32 r/w 0 - - pos units C A 4172
FEEDBACK VALUES
ds402 position demand value
0x6062 0 yes s32 r 0 - - pos units N A 4167
ds402 position demand value
increments
0x60FC 0 yes s32 r 0 - - incs N A 4168
ds402 position actual value
0x6064 0 yes s32 r 0 - - pos units N A 4169
ds402 position actual value
increments
0x6063 0 yes s32 r 0 - - incs N A 4170