halstrup-walcher PSD4 Series - Page 16

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 16 08.04.2020
Designation
Index
no.
Function
Range
of
values
Back
up?
Delivery
state
R/W
Control word
2024
Bit 0: Manual run to larger
values
Bit 1: Manual run to smaller
values
Bit 2: Assign target value
(when transferring a
target value with PDOs,
the positioning run is
only started if this bit is
set.)
Bit 4: Release: The axle will
only run if this bit is set.
Bit 6: Run without loop
Bit 10: Adjustment release
Bit 13: Togglebit
All other bits are reserved and
must be set to 0
16 bit
No
0
R/W
Status
2025
Bit 0: Target position reached
Bit 1: reserved
Bit 2: Togglebit
Bit 3: reserved
Bit 4: Power available to
motor
Bit 5: Positioning run aborted
Bit 6: Drive is running
Bit 7: Temperature too high
Bit 8: Movement opposite to
loop direction
Bit 9: Error
Bit 10: Positioning error
(obstruction)
Bit 11: Manual rotation
Bit 12: Incorrect target value
Bit 13: Motor power not
available
Bit 14: Positive range limit
Bit 15: Negative range limit
0..FFFFh
16 bit
R
CAN
address
2026
Address of the drive (if the
address is set via the CAN bus)
If the address switches are used
(i.e. switch position set to > 0),
this value cannot be changed.
1...127
16 bit
Yes
1
R/W