S300-S700 CANopen | 6 Appendix
CAN Object
number
ASCII
Command
ASCII
Type Description
3600 (hex) SWCNFG Variable rw Configuration of software limit switches
3604 (hex) SWE1 Variable rw SW limit switch (smalest position)
3606 (hex) SWE2 Variable rw SW limit switch (biggest position)
360E (hex) T Command Digital Current Setpoint
360F (hex) TASK Variable ro Task Workload
3610 (hex) TEMPE Variable ro Ambient Temperature
3611 (hex) TEMPH Variable ro Heat Sink Temperature
3612 (hex) TEMPM Variable ro Motor Temperature
3613 (hex) TRJSTAT Variable ro Status2 Information
3614 (hex) TRUN Variable ro Run-time counter
3617 (hex) UVLTMODE Variable rw Undervoltage Mode
3618 (hex) V Variable ro Actual Velocity
361A (hex) VBUS Variable ro DC-bus voltage
361B (hex) VBUSBAL Variable rw Maximum Line Voltage
361C (hex) VBUSMAX Variable ro Maximum DC-bus Voltage
361D (hex) VBUSMIN Variable rw Minimum DC-bus Voltage
361E (hex) VCMD Variable ro Internal Velocity Setpoint in RPM
3620 (hex) VEL0 Variable rw Standstill Threshold
3621 (hex) VJOG Variable rw Speed for Jog Mode
3622 (hex) VLIMP Variable rw Max. Velocity
3623 (hex) VLIMN Variable rw Max. Negative Velocity
3626 (hex) VMUL Variable rw Velocity Scale Factor
3627 (hex) VOSPD Variable rw Overspeed
3628 (hex) VREF Variable rw Speed for Homing
3629 (hex) VSCALE1 Variable rw SW1 Velocity Scaling Factor
362A (hex) VSCALE2 Variable rw SW2 Velocity Scaling Factor
362B (hex) \ Command Selection of Remote Address
362C (hex) DILIM Variable rw DPR current limit
362D (hex) DENA Variable rw DPR software disable reset mode
362F (hex) KTN Variable rw Current Controller Integral-Action Time
3630 (hex) INPT0 Variable rw In-Position Delay
3632 (hex) COLDSTART Command Drive Reset
3636 (hex) WPOS Variable ro Enable Position Registers
3637 (hex) SRND Variable rw Start Position of Modulo Axes
3638 (hex) ERND Variable rw End position of modulo axes
363A (hex) BCC Variable ro EEPROM check sum
363C (hex) REFMODE Variable rw Source of the Zero Pulse in Homing Mode
363D (hex) VLO Variable rw Software Resolver/Digital Converter Feedforward
363E (hex) WMASK Variable rw Warning as Fault Mask
363F (hex) WPOSE Variable ro Enable Fast Position Registers 1 ... 16
3640 (hex) WPOSP Variable rw Polarity of Fast Position Registers 1 ... 16
3641 (hex) WPOSX Variable rw Mode of Fast Position Registers 1 ... 16
3642 (hex) MOVE Command Start Motion Task
3643 (hex) POSRSTAT Variable rw Status of Fast Position Registers 1 ... 16
3644 (hex) P1 Variable rw Fast Position Register
3645 (hex) P2 Variable rw Fast Position Register
3646 (hex) P3 Variable rw Fast Position Register
3647 (hex) P4 Variable rw Fast Position Register
3648 (hex) P5 Variable rw Fast Position Register
3649 (hex) P6 Variable rw Fast Position Register
364A (hex) P7 Variable rw Fast Position Register
364B (hex) P8 Variable rw Fast Position Register
364C (hex) P9 Variable rw Fast Position Register
364D (hex) P10 Variable rw Fast Position Register
98 Kollmorgen | kdn.kollmorgen.com | December 2019
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