EL72x1-0010-DS402 - Object description and parameterization
Index 60BC Touch probe 2 positive edge
Index (hex) Name Meaning Data type Flags Default
60BC:0 Touch probe 2 positive
edge
Positive position value of TP 2
Unit: the given value must be multiplied by the corre-
sponding scaling factor [}100]
INT32 RO 0x00000000
(0
dec
)
Index 60BD Touch probe 2 negative edge
Index (hex) Name Meaning Data type Flags Default
60BD:0 Touch probe 2 nega-
tive edge
Negative position value of TP 2
Unit: the given value must be multiplied by the corre-
sponding scaling factor [}100]
INT32 RO 0x00000000
(0
dec
)
Index 60C2 Interpolation time period
Index (hex) Name Meaning Data type Flags Default
60C2:0 Interpolation time pe-
riod
Maximum subindex x UINT8 RO 0x02 (2
dec
)
60C2:01 Interpolation time pe-
riod value
This object shall indicate the configured interpolation
cycle time. The interpolation time period (sub-index
0x01) value shall be given in 10
(interpolation time index)
(sec-
ond).
The interpolation time index (sub-index 0x02) shall be
dimensionless.
UINT8T8 RO 0x00 (0
dec
)
60C2:02 Interpolation time in-
dex
INT8 RO 0x00 (0
dec
)
Index 60D9 Supported functions
Index (hex) Name Meaning Data type Flags Default
60D9:0 Supported functions This object shall provide information on the supported
functions in the device.
UINT3232 RO 0x00000000
(0
dec
)
Index 60DA Function settings
Index (hex) Name Meaning Data type Flags Default
60DA:0 Function settings This object shall enable/disable supported functions in
the device.
Bit 0: Enable TxPDOToggle-Bit in Statusword: Bit 10
Bit 1-31: reserved
UINT32 RW 0x00000000
(0
dec
)
Index 60EA Commutation angle
Index (hex) Name Meaning Data type Flags Default
60EA:0 Commutation angle Electrical commutation angle (for the CSTCA mode)
Unit: 5.49 * 10-3 °
UINT16 RO 0x0000 (0
dec
)
Index 60F4 Following error actual value
Index (hex) Name Meaning Data type Flags Default
60F4:0 Following error actual
value
Following error
Unit: the given value must be multiplied by the corre-
sponding scaling factor [}100]
INT32 RO 0x00000000
(0
dec
)
Index 60FF Target velocity
Index (hex) Name Meaning Data type Flags Default
60FF:0 Target velocity This object shall indicate the configured target velocity
The velocity scaling can be found in object 0x6090
(Velocity encoder resolution)
INT32 RO 0x00000000
(0
dec
)
Index 6403 Motor catalogue number
Index (hex) Name Meaning Data type Flags Default
6403:0 Motor catalogue num-
ber
This is the order code from the electronic type plate of
the motor, e.g. AM8121-0F20-0000
STRING RO
EL72x1-0010154 Version: 2.0
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