9 Description of the object dictionary
Description
The subindices have the following function:
●
01
h
: If the value 746F6F62
h
is entered here, the firmware is rebooted.
●
02
h
: Time in milliseconds: delays the reboot of the firmware by the respective time.
●
03
h
: Bit 0 can be used to switch short circuiting of the motor windings in boot loader mode off and on:
○
Bit 0 = 1: Short circuiting of the motor windings in boot loader mode is switched off.
○
Bit 0 = 0: Short circuiting of the motor windings in boot loader mode is switched on.
3202h Motor Drive Submode Select
Function
Controls the controller mode, such as the changeover between closed loop / open loop and whether Velocity
Mode is simulated via the S-controller or functions with a real V-controller in closed loop.
Object description
Index 3202
h
Object name Motor Drive Submode Select
Object Code VARIABLE
Data type UNSIGNED32
Savable yes, category: drive
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value
●
PD4-C5918M4204-E-01: 00000000
h
●
PD4-C6018L4204-E-01: 00000000
h
●
PD4-CB59M024035-E-01: 00000040
h
●
PD4-C5918L4204-E-01: 00000000
h
●
PD4-C5918X4204-E-01: 00000000
h
Firmware version FIR-v1426
Change history
Firmware version FIR-v1540: "Savable" entry changed from "yes
category: application" to "yes, category: travel".
Firmware version FIR-v1540: "Savable" entry changed from "yes
category: travel" to "yes, category: movement".
Firmware version FIR-v1650-B527540: entry "Savable" changed from
"yes, category: movement" to "yes, category: drive".
Description
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
15 14 13 12 11 10 9 8
Torque
7 6 5 4 3 2 1 0
BLDC VoS CL/OLCurRed Brake
CL/OL
Changeover between open loop and closed loop
●
Value = "0": open loop
Version: 2.0.1 / FIR-v1650 165
To Next Page
Loading...