Technical Manual N5 (CANopen)
Contents
2065h Jerk Numerator.............................................................................................................................243
2066h Jerk Denominator......................................................................................................................... 244
2084h Bootup Delay................................................................................................................................244
2101h Fieldbus Module Availability......................................................................................................... 245
2102h Fieldbus Module Control.............................................................................................................. 246
2103h Fieldbus Module Status................................................................................................................247
2300h NanoJ Control...............................................................................................................................249
2301h NanoJ Status................................................................................................................................250
2302h NanoJ Error Code........................................................................................................................ 250
2303h Number Of Active User Program................................................................................................. 252
2304h Table Of Available User Programs.............................................................................................. 252
230Fh Uptime Seconds...........................................................................................................................255
2310h NanoJ Input Data Selection......................................................................................................... 255
2320h NanoJ Output Data Selection.......................................................................................................257
2330h NanoJ In/output Data Selection................................................................................................... 258
2400h NanoJ Inputs................................................................................................................................ 259
2410h NanoJ Init Parameters..................................................................................................................260
2500h NanoJ Outputs..............................................................................................................................261
2600h NanoJ Debug Output....................................................................................................................262
2701h Customer Storage Area................................................................................................................263
2800h Bootloader And Reboot Settings..................................................................................................264
3202h Motor Drive Submode Select....................................................................................................... 265
320Ah Motor Drive Sensor Display Open Loop......................................................................................266
320Bh Motor Drive Sensor Display Closed Loop....................................................................................268
3210h Motor Drive Parameter Set.......................................................................................................... 269
3212h Motor Drive Flags.........................................................................................................................273
3220h Analog Inputs................................................................................................................................275
3221h Analogue Inputs Control...............................................................................................................276
3225h Analogue Inputs Switches............................................................................................................276
3240h Digital Inputs Control....................................................................................................................277
3242h Digital Input Routing.....................................................................................................................280
3250h Digital Outputs Control................................................................................................................. 283
3252h Digital Output Routing.................................................................................................................. 285
3320h Read Analogue Input....................................................................................................................287
3321h Analogue Input Offset...................................................................................................................288
3322h Analogue Input Pre-scaling.......................................................................................................... 289
3700h Following Error Option Code........................................................................................................290
4012h HW Information.............................................................................................................................291
4013h HW Configuration......................................................................................................................... 292
4014h Operating Conditions....................................................................................................................293
4040h Drive Serial Number.....................................................................................................................294
4041h Device Id.......................................................................................................................................294
603Fh Error Code....................................................................................................................................295
6040h Controlword...................................................................................................................................295
6041h Statusword....................................................................................................................................297
6042h Vl Target Velocity......................................................................................................................... 298
6043h Vl Velocity Demand......................................................................................................................299
6044h Vl Velocity Actual Value............................................................................................................... 299
6046h Vl Velocity Min Max Amount........................................................................................................300
6048h Vl Velocity Acceleration................................................................................................................301
6049h Vl Velocity Deceleration............................................................................................................... 302
604Ah Vl Velocity Quick Stop................................................................................................................. 303
604Ch Vl Dimension Factor.................................................................................................................... 304
605Ah Quick Stop Option Code..............................................................................................................305
605Bh Shutdown Option Code................................................................................................................306
605Ch Disable Option Code....................................................................................................................306
605Dh Halt Option Code......................................................................................................................... 307
605Eh Fault Option Code........................................................................................................................308
6060h Modes Of Operation.....................................................................................................................308
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