Index
A
Acceleration
Phasing ............................................... 102
Acknowledge error messages ..................... 44
Application objects .................................... 30
Application Warnings ............................... 230
B
Baud rate ................................................. 27
Boot-Up .................................................... 40
Bus Failure behavior .................................. 29
Bus termination ......................................... 26
C
CAN Node ID ............................................ 27
CANopen Interface .................................... 28
Communication objects ......................... 30, 45
Communication Objects ............................. 55
Configuration(s) ........................................ 22
Connection ............................................... 26
Control word ........................................... 115
Control Word
Overview ............................................. 227
Copyright.................................................. 10
D
Decommissioning ...................................... 19
Designated use ......................................... 12
Device profile objects ......................... 50, 111
Disassembly of Communication module ....... 25
E
Electrical connections ................................ 17
Error Codes .............................................. 33
F
Fault messages ....................................... 231
Flying homing ......................................... 160
G
Gear ratio ............................................... 143
General Information about Manual ................ 8
Guarding .................................................. 41
H
Heartbeat ................................................. 42
Hexadecimal format................................... 21
Homing .................................................. 160
Method ............................................... 146
Offset ................................................. 137
Speed ................................................. 148
Homing, Flying ........................................ 160
I
Index Parameter ....................................... 83
Reading ................................................ 84
Writing .................................................. 84
Installation ............................................... 17
Communication module .......................... 24
Interface Systembus/CANopen ................... 20
L
Local/Remote .......................................... 164
M
Manufacturer objects ............................ 48, 75
Mapping
RxPDO .................................................. 68
RxPDO Communication ........................... 66
TxPDO .................................................. 73
TxPDO Communication ........................... 70
Modes of operation .................................. 124
Motion Control Interface (MCI) ................. 154
Object and Parameter dependencies ..... 155
Motion Control Interface (MCI) ................... 22
N
NMT .................................................... 39, 40
Node ID ................................................... 27
O
Offset
Phasing ............................................... 102
OS Synchronization ................................... 42
P
Parameter access
Examples Parameter Reading .................. 78
Examples Parameter Writing ................... 77
examples Reading via Segmented Transfer
(> 4 Bytes) ........................................ 81
examples Writing via Segmented Transfer
(> 4 Bytes) ........................................ 79
Index Parameter
Reading ............................................. 84
Index Parameter Writing ......................... 84
PDO ......................................................... 37
Position Controller ................................... 160
Position deviation .................................... 108
R
Ramp Rise/Fall time ................................. 142
S
Safety, General ......................................... 11
SDO ......................................................... 31
Sequence Example
Homing Position mode .......................... 202
Interpolated Position mode ................... 199
Profile Position mode ............................ 193
Profile Velocity mode ............................ 186
Table travel record mode ........ 210, 214, 222
Velocity mode ...................................... 181
Without Positioning Control ................... 176
Service ..................................................... 19
State machine
Device Control ..................................... 168
Status word ............................................ 116
Status Word
Overview ............................................. 228
Storage .................................................... 17
Sync ......................................................... 38
T
Target velocity ........................................ 117
Transition 5 ............................................ 174
Transport ................................................. 17
W
Warning messages .................................. 229
Warning Messages Application .................. 230
Warranty and liability ................................... 9
04/13 CM-CAN ACU 237
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