Object 20A5h: Latch Status Register 76
Object 20A6h: Latch position 1, positive or negative edge 76
Object 20B8h: Reset of changed input information 77
20.6.2.3 Profile specific objects 78
Object 60FDh: Digital inputs (DS402) 78
Object 60FEh: Digital outputs (DS402) 78
Object 6502h: Supported drive modes (DS402) 79
20.6.3 PDO Configuration 80
20.6.3.1 Receive PDOs (RXPDO) 81
Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301) 81
Objects 1600-1603h: 1st - 4th RXPDO mapping parameter (DS301) 82
Default RXPDO definition 83
20.6.3.2 Transmit PDOs (TXPDO) 84
Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301) 84
Objects 1A00-1A03h: 1st - 4th TXPDO mapping parameter (DS301) 86
Default TXPDO definition 87
20.6.4 Device Control (dc) 88
20.6.4.1 Status Machine (DS402) 88
States of the Status Machine 89
Transitions of the status machine 90
20.6.4.2 Object Description 91
Object 6040h: Control word (DS402) 91
Object 6041h: Status word (DS402) 92
Object 6060h: Modes of Operation (DS402) 94
Object 6061h: Modes of Operation Display (DS402) 95
20.6.5 Factor Groups (fg) (DS402) 95
20.6.5.1 General Information 95
Factors 95
Relationship between Physical and Internal Units 95
20.6.5.2 Objects for position calculation 96
Object 608Fh: Position encoder resolution (DS402) 96
Object 6092h: Feed constant (DS402) 97
20.6.6 Profile Velocity Mode (pv) (DS402) 98
20.6.6.1 General Information 98
Objects that are defined in this section 98
AKD User Guide | Table of Contents
Kollmorgen | December 2010 24
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