S300-S700 CANopen | 5 CANopen Drive Profile
5.2.1.27 Object 2061h: Current limitation for velocity mode
This object is used for rapid current limitation in velocity mode (0x3). A value of 3280 represents
the maximum device current that can be queried using DIPEAK. This object acts on the ASCII
parameter DPRILIMIT. In order to be effective, the configuration parameter DILIM must be set to 1.
Index 2061h
Name Current limitation in velocity mode
Object code VAR
Data type UNSIGNED16
Category optional
Access rw
PDO mapping possible
Value range 0 .. 3280
Default value 0
5.2.1.28 Object 2080h: Motion Task Select
This object is an extension to the profile position mode. If the value of the object is not 0, the
adressed motion task will be started with the next rising flank of the "New setpoint" bit of the con-
trol word (bit 4), if the bit "Change Set Immediately" (bit 5) is set. After the motion task is started,
the value of the object will be reset automatically to 0.
Index 2080h
Name Motion tasks in PP-Mode
Object code VAR
Data type INTEGER16
Category optional
Access rw
PDO mapping possible
Value range 1 to 300
Default value 0
5.2.1.29 Object 2081h: Active Motion Task Display
This object shows the last motion task, which has been started in the drive. Motion tasks numbers
from 1 to 200 show Flash-EEProm motion tasks, numbers from 201 to 300 show RAM-motion
tasks. If there is no value in object 2080h and a motion task is started via the new-setpoint / set-
point acknowledge mechanism of the profile position mode, motion task 0 will be used and
shown.
If you start a set of stored motion tasks (bit 3 of the motion task control word O_C, Object 35B9
sub1 set), the active motion task will be shown in this object.
Index 2081h
Name Active Motion Task Display
Object code VAR
Data type UNSIGNED16
Category optional
Access rw
PDO mapping possible
Value range 1...300
Default value 0
44 Kollmorgen | kdn.kollmorgen.com | December 2019
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