12.2.15 0x1017/0 Producer Heartbeat Time ...................................................................... 64
12.2.16 0x1018/n Identity Object .................................................................................... 65
12.2.17 0x1029/n Error Behavior ..................................................................................... 65
12.2.18 0x1200/n SDO Server Parameter ......................................................................... 66
12.2.19 0x1400/n, 0x1401/n, 0x1402/n RxPDO Communication Parameters ........................ 66
12.2.20 0x1600/n, 0x1601/n, 0x1602 RxPDO Mapping Parameters ..................................... 68
12.2.21 0x1800/n, 0x1801/n, 0x1802/n TxPDO Communication Parameters ........................ 70
12.2.22 0x1A00/n, 0x1A01/n, 0x1A02/n TxPDO Mapping Parameters .................................. 73
12.3 Manufacturer objects (0x2nnn) – Parameter access ......................................... 75
12.3.1 Handling of data sets/cyclic writing of the parameters ............................................... 75
12.3.1.1 SDO examples (expedited transfer only) ............................................................ 76
12.3.1.2 Examples of writing parameters ........................................................................ 77
12.3.1.3 Examples of reading parameters ....................................................................... 78
12.3.1.4 Example to Write parameters via Segmented Transfer ........................................ 79
12.3.1.5 Examples to Read parameters via Segmented Transfer ....................................... 81
12.3.2 Handling of index parameters/cyclic writing ............................................................. 83
12.3.2.1 Example Writing an index parameter ................................................................ 84
12.3.2.2 Example Reading an index parameter ............................................................... 84
12.4 Manufacturer objects (0x3000 … 0x5FFF) ......................................................... 85
12.4.1 0x3000/0 SYNC Jitter ............................................................................................. 85
12.4.2 0x3001/0 Digital In actual value .............................................................................. 86
12.4.3 0x3002/0 Digital Out actual value ............................................................................ 86
12.4.4 0x3003/0 Digital Out set values .............................................................................. 87
12.4.5 0x3004/0 Boolean Mux ........................................................................................... 88
12.4.6 0x3005/0 Boolean DeMux ....................................................................................... 89
12.4.7 0x3006/0 Percentage set value ............................................................................... 90
12.4.8 0x3007/0 Percentage actual value 1 ........................................................................ 91
12.4.9 0x3008/0 Percentage actual value 2 ........................................................................ 92
12.4.10 0x3011/0 Actual value Word 1 ............................................................................. 93
12.4.11 0x3012/0 Actual value Word 2 ............................................................................. 94
12.4.12 0x3021/0 Actual value Long 1.............................................................................. 95
12.4.13 0x3022/0 Actual value Long 2.............................................................................. 96
12.4.14 0x3111/0 Ref. Value word 1 ................................................................................ 97
12.4.15 0x3112/0 Ref. Value word 2 ................................................................................ 98
12.4.16 0x3121/0 Ref. Value long 1 ................................................................................. 99
12.4.17 0x3122/0 Ref. Value long 2 ............................................................................... 100
12.4.18 0x5F10/0 Gear factor ........................................................................................ 101
12.4.19 0x5F11/n…0x5F14/n Phasing 1…4 ..................................................................... 102
12.4.20 0x5F15/0 In Gear Threshold .............................................................................. 105
12.4.21 0x5F16/0 In Gear Time ..................................................................................... 106
12.4.22 0x5F17/n Position Controller .............................................................................. 106
12.4.23 0x5FF0/0 Active motion block ............................................................................ 108
12.4.24 0x5FF1/0 Motion block to resume ...................................................................... 110
12.5 Device Profile Objects (0x6nnn) ...................................................................... 111
12.5.1 0x6007/0 Abort Connection option code ................................................................ 111
12.5.2 0x603F/0 Error code ............................................................................................ 114
12.5.3 0x6040/0 Control word ......................................................................................... 115
12.5.4 0x6041/0 Status word .......................................................................................... 116
12.5.5 0x6042/0 Target velocity [rpm] ............................................................................. 117
12.5.6 0x6043/0 Target velocity demand ......................................................................... 118
12.5.7 0x6044/0 Control effort ........................................................................................ 118
12.5.8 0x6046/n Velocity min max amount....................................................................... 119
12.5.9 0x6048/n Velocity acceleration .............................................................................. 121
12.5.10 0x6049/n Velocity deceleration .......................................................................... 122
12.5.11 0x604A/n Velocity quick stop ............................................................................. 123
12.5.12 0x6060/0 Modes of operation ............................................................................ 124
12.5.13 0x6061/0 Modes of operation display ................................................................. 125
04/13 CM-CAN ACU 5
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