5.2.1.30 Object 2082h: Copy motion tasks
With the help of this object motion tasks can be copied in the drive. The motion task addressed in
the low word is copied to the motion task addressed in the high word.
EEPROM motion task between 1 and 200 can be written only if the power stage is disabled!
Index 2082h
Name Copy motion tasks
Object code VAR
Data type UNSIGNED32
Category optional
Access wo
PDO mapping not possible
Value range High Word: 0 .. 300, low word: 0 .. 300
Default value -
5.2.1.31 Object 2083h: Delete Motion tasks
This object gives the possibility to delete all Flash-EEPROM motion tasks. This action is only been
taken, if a special signature ("prom”) is written.
"prom” has to be transmitted as unsigned32 - number 6D6F7270h.
Deletion is only possible if the power stage is disabled and the NMT-state is PREOPERATIONAL.
Index 2083h
Name delete motion tasks
Object code VAR
Data type UNSIGNED32
Category optional
Access wo
PDO mapping not possible
Value range UNSIGNED32
Default value -
5.2.1.32 Object 2090h: DP-RAM Variables (read only)
Index 2090h
Name DP-Ram Variables, read only (PDO)
Object code ARRAY
Data type INTEGER32
Category optional
Subindex 0
Description Number of entries
Data type UNSIGNED8
Category optional
Access ro
PDO mapping not possible
Value range 9
Default value 9
Subindex 1...8
Description DP-Ram Variables 9...16
Category optional
Access ro
PDO mapping possible
Value range INTEGER32
Default value 0
S300-S700 CANopen | 5 CANopen Drive Profile
Kollmorgen | kdn.kollmorgen.com | December 2019 45
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