index
cess
map-
setting
ing.
0x609A 0
h)
Read/write Unsigned32 No 0x0005.0000
p.1134
0x60C1
Interpolation data
record
i)
0
Highest sub-index
supported
Read only Unsigned8 No - - -
1
Interpolation data
record 1
Read/write Integer32 Rx 0
…
0x60F4 0
Following error actual
value
Read only Integer32 Tx
p.1109
0x60F8 0 Max Slippage
u)
Read/write Integer32 No 0
p. 1275
v) Velocity Mode only: This Object is only used in Velocity mode [rpm].
u) Profile Velocity Mode only: This Object is only used in Profile Velocity mode [u/s].
h) Homing Mode only: This Object is only used in Homing mode.
i) Interpolated Position Mode only: This Object is only used in Interpolated Position mode.
p) Profile Position Mode only: This Object is only used in Profile Position mode.
t) Table travel record mode only: This Object is only used in Table travel record mode.
The Modes “Homing”, “Interpolated Position”, “Profile Position”, “Profile Velocity” and “Table travel
record” require a configuration capable of Positioning. Check chapter 14.4 “Motion control configura-
tions” for details.
The notations of CANopen
®
objects and parameters can be different (refer to the
corresponding object description).
Note
Some of the above listed CANopen
®
objects have corresponding inverter parame-
ters.
These objects are handled in a special way. If one of these CANopen
®
been written by SDO followed by a “save” command (see object 0x1010), the writ-
ten value is stored to non-
volatile memory of the inverter. After the next power on
of the inverter these CANopen
®
object values are restored again and overwrite the
inverter parameter values.
Be careful when using this method. If a CANopen
®
object was writt
then the corresponding inverter parameter was set by e. g. VPlus, the next power on
cycle overwrites the value set by VPlus with the value stored by the “save” com-
mand.
52 CM-CAN ACU 04/13
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