AKD CANopen | 8 Appendix
8.1.3 Manufacturer specific SDOs
Index Sub-
index
DataType Float
Scal-
ing
Acces-
s
PDO
map-
p.
Description ASCII object
2014h ARRAY Mask TxPDO Channel 1 —
2014h 1 U32 RW no Mask (Byte 0..3) —
2014h 2 U32 RW no Mask (Byte 4..7) —
2015h ARRAY Mask TxPDO Channel 2 —
2015h 1 U32 RW no Mask (Byte 0..3) —
2015h 2 U32 RW no Mask (Byte 4..7) —
2016h ARRAY Mask TxPDO Channel 3 —
2016h 1 U32 RW no Mask (Byte 0..3) —
2016h 2 U32 RW no Mask (Byte 4..7) —
2017h ARRAY Mask TxPDO Channel 4 —
2017h 1 U32 RW no Mask (Byte 0..3) —
2017h 2 U32 RW no Mask (Byte 4..7) —
2018h ARRAY Firmware version —
2018h 0 U16 const no Number of entries —
2018h 1 U16 const no Major version —
2018h 2 U16 const no Minor version —
2018h 3 U16 const no Revision —
2018h 4 U16 const no Branch version —
204Ch ARRAY pv scaling factor —
204Ch 0 U8 RO no Number of entries —
204Ch 1 INT32 RW no pv scaling factor numerator —
204Ch 2 INT32 RW no pv scaling factor denominator —
2050h 0 INT32 1:1 RO no Position, secondary feedback DRV.HANDWHEEL
2071h 0 INT32 RW yes Target current -
2077h 0 INT32 RO yes Current actual value -
20A0h 0 INT32 var RO yes Latch position 1, positive edge CAP0.PLFB, CAP0.T
20A1h 0 INT32 var RO yes Latch position 1, negative edge CAP0.PLFB, CAP0.T
20A2h 0 INT32 var RO yes Latch position 2, positive edge CAP1.PLFB, CAP1.T
20A3h 0 INT32 var RO yes Latch position 2, negative edge CAP1.PLFB, CAP1.T
20A4h 0 U16 RW yes Latch control register —
20A5h 0 U16 RW yes Latch status register —
20A6h 0 INT32 var RO yes Sets captured position value CAP0.PLFB
20B8h 0 U16 RW yes Clear changed digital input infor-
mation
—
3405h ARRAY VL.ARTYPE —
3405h 0 U8 RO no Number of entries —
3405h 1 U8 RW no Calculation method for BiQuad
filter 1
VL.ARTYPE1
3405h 2 U8 RW no Calculation method for BiQuad
filter 2
VL.ARTYPE2
3405h 3 U8 RW no Calculation method for BiQuad
filter 3
VL.ARTYPE3
122 Kollmorgen™ | November 2012
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