Data Sheet

Copyright © Roboteq Inc. 2018. All Rights Reserved. 2
CONTENTS
Revision History .................................................................................................................... 5
Abbreviations ........................................................................................................................ 6
1. Introduction ....................................................................................................................... 7
1.1 What is DS402 ............................................................................................................. 7
2. Implementation .................................................................................................................. 8
2.1 Index Range & Channel Selection ................................................................................ 8
2.2 Modes of Operation...................................................................................................... 8
2.3 Supported SDOs .......................................................................................................... 9
2.4 PDS FSA ..................................................................................................................... 9
3. SDO Description.............................................................................................................. 12
3.1 0x6040 - Control Word ............................................................................................... 12
3.1.1 Profile Position Mode ........................................................................................... 13
3.1.2 Velocity Mode ...................................................................................................... 13
3.2 0x6041 - Status Word ................................................................................................ 14
3.2.1 Profile Position Mode ........................................................................................... 15
3.2.2 Profile Velocity Mode ........................................................................................... 15
3.3 0x6042 - VL Target Velocity ....................................................................................... 16
3.4 0x6043 - VL Velocity Demand .................................................................................... 16
3.5 0x6044 - VL Velocity Actual Value .............................................................................. 16
3.6 0x6046 - VL Velocity Min Max Amount ....................................................................... 17
3.7 0x6048 - VL Velocity Acceleration .............................................................................. 18
3.8 0x6049 - VL Velocity Deceleration .............................................................................. 18
3.9 0x6060 - Modes of Operation ..................................................................................... 19
3.10 0x6061 - Modes of Operation Display ....................................................................... 19
3.11 0x6064 - Position Actual Value (PP) ......................................................................... 19
3.12 0x606C - Velocity Actual Value (PV) ........................................................................ 19
3.13 0x6071 - Target Torque (TQ) ................................................................................... 20
3.14 0x6077 - Torque Actual Value (TQ) .......................................................................... 20
3.15 0x607A - Target Position (PP) .................................................................................. 20
3.16 0x6081 - Profile Velocity (PP) ................................................................................... 21
3.17 0x6083 - Profile Acceleration (PP) ............................................................................ 21
3.18 0x6084 - Profile Deceleration (PP) ........................................................................... 22
3.19 0x6087 - Torque Slope (TQ) ..................................................................................... 22
3.20 0x60FF - Target Velocity (PV) .................................................................................. 22