Inovance SV820N Series - Page 176

- 175 -
List of Object Groups
Index
(hex)
Sub-
index
(hex)
Name Access
PDO
Mapping
Data
Type
Unit Data Range Default SC EC
6072 00 Max torque RW RPDO UINT16 0.1% 0–0x0BB8 0x0BB8
Run
settings
Imme-
diate
6074 00 Max torque RO TPDO INT16 0.1% - 0 - -
6077 00
Torque
actual value
RO TPDO INT16 0.1% - 0 - -
607A 00
Target
position
RW RPDO INT32
Reference
unit
0x80000000–
0x7FFFFFFF
0
Run
settings
Imme-
diate
607C 00 Home offset RW RPDO INT32
Reference
unit
0x80000000–
0x7FFFFFFF
0
Run
settings
Imme-
diate
607D
Software Absolute Position Limit
00
Highest
sub-index
supported
RO NO UINT8 - - 0x02 - -
01
Min position
limit
RW RPDO INT32
Reference
unit
0x80000000–
0x7FFFFFFF
0x80000000
Run
settings
Imme-
diate
02
Max position
limit
RW RPDO INT32
Reference
unit
0x80000000–
0x7FFFFFFF
0x7FFFFFFF
Run
settings
Imme-
diate
607E 00 Polarity RW RPDO UINT8 - 0–0xFF 0
Run
settings
Imme-
diate
607F 00
Maxprole
velocity
RW RPDO UINT32
Reference
unit/s
0–
0xFFFFFFFF
0x06400000
Run
settings
Imme-
diate
6081 00
Prole
velocity
RW RPDO UINT32
User speed
unit
0–
0xFFFFFFFF
0
Run
settings
Imme-
diate
6083 00
Prole
acceleration
RW RPDO UINT32
Reference
unit/s
2
0–
0xFFFFFFFF
0x682AAAA6
Run
settings
Imme-
diate
6084 00
Prole
deceleration
RW RPDO UINT32
Reference
unit/s
2
0–
0xFFFFFFFF
0x682AAAA6
Run
settings
Imme-
diate
6085 00
Quickstop
deceleration
RW RPDO UINT32
User
acceleration
unit
0–
0xFFFFFFFF
0xAD9C71C0
Run
settings
Imme-
diate
6086 00
Motion
proletype
RW RPDO INT16 -
0x8000–
0x7FFF
0
Run
settings
Imme-
diate
6087 00 Torque slope RW RPDO UINT32 0.1%/s
0–
0xFFFFFFFF
0xFFFFFFFF
Run
settings
Imme-
diate
6091
Gear Ratio
00
Highest
sub-index
supported
RO NO UINT8 Uint8 - 0x02 - -
01
Motor
revolutions
RW RPDO UINT32 -
0–
0xFFFFFFFF
20-bit
encoder:1
23-bit
encoder:8
Run
settings
Imme-
diate
02
Shaft
revolutions
RW RPDO UINT32 -
1–
0xFFFFFFFF
1
Run
settings
Imme-
diate
6098 00
Homing
method
RW RPDO INT8 - 0x01–0x023 0x01
Run
settings
Imme-
diate