Contents
6.6.6 Use..................................................................................................................................................71
6.6.7 Setup...............................................................................................................................................71
6.6.8 Operation........................................................................................................................................ 71
6.7 Cyclic Synchronous Position.................................................................................................................... 72
6.7.1 Note regarding USB....................................................................................................................... 72
6.7.2 Overview......................................................................................................................................... 72
6.7.3 Object entries..................................................................................................................................73
6.8 Cyclic Synchronous Velocity.....................................................................................................................73
6.8.1 Note regarding USB....................................................................................................................... 73
6.8.2 Overview......................................................................................................................................... 73
6.8.3 Object entries..................................................................................................................................74
6.9 Cyclic Synchronous Torque......................................................................................................................75
6.9.1 Note regarding USB....................................................................................................................... 75
6.9.2 Overview......................................................................................................................................... 75
6.9.3 Object entries..................................................................................................................................76
6.10 Clock-direction mode.............................................................................................................................. 76
6.10.1 Description.................................................................................................................................... 76
6.10.2 Activation.......................................................................................................................................76
6.10.3 General......................................................................................................................................... 76
6.10.4 Statusword.................................................................................................................................... 77
6.10.5 Subtypes of the clock-direction mode.......................................................................................... 77
6.11 Auto setup...............................................................................................................................................78
6.11.1 Description.................................................................................................................................... 78
6.11.2 Activation.......................................................................................................................................78
6.11.3 Controlword...................................................................................................................................78
6.11.4 Statusword.................................................................................................................................... 78
7 Special functions......................................................................................... 79
7.1 Digital inputs and outputs.........................................................................................................................79
7.1.1 Bit assignment................................................................................................................................ 79
7.1.2 Digital inputs................................................................................................................................... 79
7.1.3 Digital outputs.................................................................................................................................83
7.2 I
2
t Motor overload protection.................................................................................................................... 87
7.2.1 Description...................................................................................................................................... 87
7.2.2 Object entries..................................................................................................................................88
7.2.3 Activation.........................................................................................................................................88
7.2.4 Function of I
2
t.................................................................................................................................88
7.3 Saving objects...........................................................................................................................................89
7.3.1 General........................................................................................................................................... 89
7.3.2 Category: communication............................................................................................................... 90
7.3.3 Category: application...................................................................................................................... 90
7.3.4 Category: drive............................................................................................................................... 91
7.3.5 Category: tuning............................................................................................................................. 92
7.3.6 Starting the save process...............................................................................................................92
7.3.7 Discarding the saved data..............................................................................................................92
7.3.8 Verifying the configuration..............................................................................................................93
7.3.9 User memory area 2700
h
...............................................................................................................93
8 Programming with NanoJ........................................................................... 95
8.1 NanoJ program......................................................................................................................................... 95
8.2 Mapping in the NanoJ program................................................................................................................98
8.3 System calls in a NanoJ program..........................................................................................................100
9 Description of the object dictionary........................................................ 103
9.1 Overview................................................................................................................................................. 103
9.2 Structure of the object description..........................................................................................................103
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