1 Introduction
●
For software: You can find the corresponding information in the Operation tab.
●
For hardware: Use the ON/OFF switch to switch the device on.
A text set in Courier marks a code section or programming command:
●
The line with the od_write(0x6040, 0x00, 5 ); command has no effect.
●
The NMT message is structured as follows: 000 | 81 2A
A text in "quotation marks" marks user input:
●
Start the NanoJ program by writing object 2300
h
, bit 0 = "1".
●
If a holding torque is already needed in this state, the value "1" must be written in 3212
h
:01
h
.
1.10 Numerical values
Numerical values are generally specified in decimal notation. The use of hexadecimal notation is indicated by
a subscript h at the end of the number.
The objects in the object dictionary are written with index and subindex as follows: <Index>:<Subindex>
Both the index as well as the subindex are specified in hexadecimal notation. If no subindex is listed, the
subindex is 00
h
.
Example: Subindex 5 of object 1003
h
is addressed with 1003
h
:05
h
, subindex 00 of object 6040
h
with
6040
h
.
1.11 Bits
The numbering of individual bits in an object always begins with the LSB (bit number 0). See the following
figure, which uses data type UNSIGNED8 as an example.
1.12 Counting direction (arrows)
In figures, the counting direction is always in the direction of an arrow. Objects 60C5
h
and 60C6
h
depicted as
examples in the following figure are both specified as positive.
Max. acceleration (60C5
h
)
Max. deceleration (60C6
h
)
Acceleration
t
Version: 2.0.1 / FIR-v1650 11
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