S300-S700 CANopen | 6 Appendix
Index Sub-
Index
Data Type Access PDO
mapp.
Description ASCII
object
607Dh ARRAY Software position limit
0 UNSIGNED8 ro — Number of entries
1 INTEGER32 rw — Software position limit 1 SWE1
2 INTEGER32 rw — Software position limit 2 SWE2
607Fh 0 UNSIGNED32 rw — Max profile velocity PVMAX
6080h 0 UNSIGNED32 rw — Max motor speed VLIM
6081h 0 UNSIGNED32 rw yes Profile Velocity O_V
6083h 0 UNSIGNED32 rw yes Profile Acceleration O_ACC (pp)/
ACC (pv)
6084h 0 UNSIGNED32 rw yes Profile Deceleration O_DEC (pp)/
DEC (pv)
6085h 0 UNSIGNED32 rw — Quick stop deceleration DECSTOP
6086h 0 INTEGER16 rw yes Motion profile type O_C
6089h 0 INTEGER8 rw — Position Notation index —
608Ah 0 UNSIGNED8 rw — Position Dimension index —
608Bh 0 INTEGER8 rw — Velocity Notation index —
608Ch 0 UNSIGNED8 rw — Velocity Dimension index —
608Dh 0 INTEGER8 rw — Acceleration Notation index —
608Eh 0 UNSIGNED8 rw — Acceleration Dimension index —
608Fh ARRAY Position encoder resolution —
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 rw — Encoder increments PGEARO
2 UNSIGNED32 rw — Motor revolutions BUSP7
6090h ARRAY Velocity encoder resolution —
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 rw — Encoder increments per second —
2 UNSIGNED32 rw — Motor revolutions per second —
6091h ARRAY Gear ratio —
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 rw — Motor revolutions —
2 UNSIGNED32 rw — Shaft revolutions —
6092h ARRAY Feed constant —
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 rw — Feed PGEARI
2 UNSIGNED32 rw — Shaft revolutions —
6093h ARRAY Position factor —
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 rw — Numerator —
2 UNSIGNED32 rw — Feed constant —
6094h ARRAY Velocity encoder factor —
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 ro — Numerator —
2 UNSIGNED32 ro — Denumerator —
6097h ARRAY Acceleration factor —
0 UNSIGNED8 ro Number of entries —
1 UNSIGNED32 rw — Numerator —
2 UNSIGNED32 rw — Denumerator —
6098h 0 INTEGER8 rw — Homing type NREF, DREF
6099h ARRAY Homing velocity —
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 rw — Speed while searching for limit switch VREF
2 UNSIGNED32 rw — Speed while searching for zero mark VREF0
609Ah 0 UNSIGNED32 rw — Homing acceleration ACCR, DECR
108 Kollmorgen | kdn.kollmorgen.com | December 2019
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