User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
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Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Not used rw no — —
2 Direction of rotation
(external encoders only)
rw no 0/1 0
3 Initialize position rw no 0/1 1
Table 69: Entry Description (200B
h
)
4.2.9 Object 200C
h
: Brake Current Feed
This object configures how much current has to be fed into the brake to apply and to release it. 0 means
0%, 255 means 100% of the maximum current (this depends on the module). In most cases it is needed to
feed current into the brake to release it. Setting both values to 0 disables the automatic brake control. This
object is only writable in SWITCHED_ON_DISABLED state.
Object Description
Index Name Object Type Data Type
200C
h
Brake current feed Array UNSIGNED8
Table 70: Object Description (200C
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Apply current rw no 0. . . 255 0
2 Release current rw no 0. . . 255 0
Table 71: Entry Description (200C
h
)
4.2.10 Object 2085
h
: Ramp Divisor
Use this object to define the ramp divisor when internal units are selected for velocity and acceleration.
Writing to this object is only possible in SWITCHED_ON_DISABLED state. The acceleration pre-scaler should
be decremented or incremented carefully (in steps of one).
Object Description
Index Name Object Type Data Type
2085
h
Ramp Divisor Variable UNSIGNED8
Table 72: Object Description (2085
h
)
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