7 CANopen Drive Profile
7.1 CANopen Emergency Messages and Error Codes 42
7.2 General Definitions 46
7.3 PDO Configuration 79
7.4 Device Control (dc) 87
7.5 Factor Groups (fg) (DS402) 94
7.6 Profile Velocity Mode (pv) (DS402) 99
7.7 Profile Torque Mode (tq) (DS402) 101
7.8 Position Control Function (pc) (DS402) 103
7.9 Interpolated Position Mode (ip) (DS402) 105
7.10 Homing Mode (hm) (DS402) 110
7.11 Profile Position Mode (DS402) 114
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 41
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