NANOTEC PD4-C - Page 167

9 Description of the object dictionary
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000
h
Subindex 02
h
Name Torque
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000
h
Subindex 03
h
Name Velocity
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values
Preset value 00000001
h
Subindex 04
h
Name Position
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values
Preset value 00000001
h
Description
The following subindices have a function:
●
01
h
: Not used
●
02
h
: Not used
●
03
h
: Changes the source of object 6044
h
:
○
Value = "-1": The internally calculated set value is entered in object 6044
h
○
Value = "0": The value is kept at 0
○
Value = "1": The encoder value is entered in object 6044
h
●
04
h
: Changes the source of 6064
h
:
○
Value = "-1": The internally calculated set value is entered in object 6064
h
○
Value = "0": The value is kept at 0
○
Value = "1": The encoder value is entered in object 6064
h
Version: 2.0.1 / FIR-v1650 167