Application Manual POWERLINK Controlled Node
Document no. 5.13013.04 Baumüller Nürnberg GmbH
72
of 80
digital_inputs 0x60FD /ro DigInOutStatus P0461 f 0x60FD
x = 0 .. 2
16
- 1 f y = 0 .. 2
32
-1
Negative limit switch Status limit switch neg. Bit 0 f Bit 0
Positive limit switch Status limit switch pos. Bit 1 f Bit 1
Home switch Status zero point switch Bit 2 f Bit 2
Interlock reservert Bit 4
reserved reserved Bit 3 .. 15
Manufacturer specific not used Bit 16 .. 31
target_velocity 0x60FF f P1179 RFG1Input32 P1179 f 0x60FF The user-defined unit (velocity
units) is interpreted in the b
maXX
®
controller as rpm.
Only in case of changes in Options-
modul G/H-Konfiguration 1 bit 2 = 1:
Indication of the current speed in
1/10 rpm.
e.g.: 200.0 revolutions input
2000.
x = -2
31
.. 2
31
-1 f y = x *
0x40000000 /
MotorMaxSpeed
x = -2
31
.. 2
31
-1 f y = x * Motor-
MaxSpeed /
0x4000000
drive_data 0x6510 0x6510
Manufacturer specific SIX 0x01/ ro ControllerType P0001 f SIX 0x01
f y = x
Manufacturer specific SIX 0x02 / ro SoftwareType P0002 f SIX 0x02
f y = x
Manufacturer specific SIX 0x03 / ro SoftwareID P0003 f SIX 0x03
f y = x
Manufacturer specific SIX 0x04 / ro SoftwareVersion P0004 f SIX 0x04
f y = x
Manufacturer specific SIX 0x05 / ro ParamTableVersion P0005 f SIX 0x05
f y = x
Manufacturer specific SIX 0x06 / ro AmpSW_Version P0009 f SIX 0x06
f y = x
Manufacturer specific SIX 0x07 / ro FbgaVersion P0555 f SIX 0x07
f y = x
Manufacturer specific SIX 0x08 / ro BootloaderVersion P0556 SIX 0x08
y = x
CANopen object Index
Value range
f P. no.
Scaling
Controller parameters P. no.
Value range
f Index
re-scaling
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