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Table of Content

8.4 Device control objects (6nnn) .............................................................................. 20

8.4.1 0x6060/0 modes of operation (integer 8)................................................................ 20

8.4.2 0x6061/0 modes of operation display (integer 8)..................................................... 20

8.4.3 0x6040/0 control word (unsigned 16)..................................................................... 20

8.4.4 0x6041/0 status word (unsigned 16) ...................................................................... 21

8.5 Velocity mode objects (0x6nnn)........................................................................... 22

8.5.1 0x604D/0 pole number (integer 8) ......................................................................... 22

8.5.2 0x6042/0 Target velocity (integer 16)..................................................................... 22

8.5.3 0x6043/0 Target velocity demand (integer16) ......................................................... 22

8.5.4 0x6044/0 Control effort (integer16)........................................................................ 22

8.5.5 0x6046/n Velocity min max amount......................................................................... 23

8.5.6 0x6048/n Velocity acceleration................................................................................ 24

8.5.7 0x6049/n Velocity deceleration ............................................................................... 25

8.6 Manufacturer object (0x2000/n) .......................................................................... 26

8.6.1 Reading/writing of parameters/values ..................................................................... 26

8.6.2 Error code list........................................................................................................ 27

8.6.3 Handling of the data sets / cyclic writing.................................................................. 28

8.6.4 Subindex 01, int/uint parameters ............................................................................ 28

8.6.5 Subindex 02, long parameters ................................................................................ 29

8.6.6 Subindex 03, string parameters............................................................................... 29

8.7 Manufacturer objects (0x2nnn) ............................................................................ 29

9 Control / reference value............................................................................................. 34

9.1 Control via contacts............................................................................................... 35

9.2 Control via state machine...................................................................................... 36

9.2.1 Behavior in quick stop ............................................................................................ 39

9.2.2 Behavior in transition 5 .......................................................................................... 39

9.3 Control via remote contacts .................................................................................. 41

9.4 Reference value / actual value.............................................................................. 43

10 Parameter list............................................................................................................... 45

10.1 Actual value ........................................................................................................ 45

10.2 Parameter........................................................................................................... 45

11 Annex ........................................................................................................................... 46

11.1 Warning messages ............................................................................................. 46

11.2 Fault messages ................................................................................................... 46

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