halstrup-walcher PSD4 Series - Define Pdos; Detailed Description of Status Bits

Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 23 08.04.2020
3.4 Define PDOs
1) Receive PDO (from the perspective of the PSD4xx)
Address: 200h + CAN address (possible values: 201h...27Fh)
Assignment (cannot be modified):
Bit
Byte
Meaning
Corresponding SDO index number
0-15
0.1
Control word
2024h
16-31
2.3
Unused
32-63
4-7
Target value
2001h
2) Transmit PDO (from the perspective of the PSD4xx)
Address: 180h + CAN address (possible values: 181h...1FFh)
Assignment (cannot be modified):
Bit
Byte
Meaning
Corresponding SDO index number
0-15
0.1
Status
2025h
16-31
2.3
Current rpm
2030h
32-63
4-7
Actual value
2003h
3.5 Detailed description of status bits
Bit 0: Target position achieved
This bit is set:
- when a transferred target position has been reached successfully
- after running a loop, when the actual value corresponds to the
previously transferred target value
This bit is reset:
- after transferring a target position when the difference from the actual
value is larger than the positioning window (SDO #2006)
- by a manual run
- if an invalid target value has been transferred
- as a result of manual rotation when not in operation
Bit 1: Reserved