Contents
2330h NanoJ In/output Data Selection.........................................................................................................156
2400h NanoJ Inputs......................................................................................................................................157
2410h NanoJ Init Parameters.......................................................................................................................158
2500h NanoJ Outputs...................................................................................................................................159
2600h NanoJ Debug Output.........................................................................................................................160
2700h User Storage Area.............................................................................................................................161
2800h Bootloader And Reboot Settings....................................................................................................... 163
3202h Motor Drive Submode Select.............................................................................................................165
320Ah Motor Drive Sensor Display Open Loop........................................................................................... 166
320Bh Motor Drive Sensor Display Closed Loop.........................................................................................168
3210h Motor Drive Parameter Set................................................................................................................169
3212h Motor Drive Flags.............................................................................................................................. 173
3220h Analog Inputs.....................................................................................................................................175
3221h Analogue Inputs Control.................................................................................................................... 176
3225h Analogue Inputs Switches................................................................................................................. 177
3240h Digital Inputs Control......................................................................................................................... 178
3241h Digital Input Capture..........................................................................................................................181
3242h Digital Input Routing.......................................................................................................................... 182
3250h Digital Outputs Control.......................................................................................................................185
3252h Digital Output Routing........................................................................................................................187
3320h Read Analogue Input.........................................................................................................................189
3321h Analogue Input Offset........................................................................................................................190
3322h Analogue Input Pre-scaling................................................................................................................191
3502h MODBUS Rx PDO Mapping..............................................................................................................192
3602h MODBUS Tx PDO Mapping.............................................................................................................. 196
3700h Following Error Option Code............................................................................................................. 200
4012h HW Information..................................................................................................................................200
4013h HW Configuration...............................................................................................................................201
4014h Operating Conditions......................................................................................................................... 202
4040h Drive Serial Number.......................................................................................................................... 204
4041h Device Id............................................................................................................................................204
603Fh Error Code......................................................................................................................................... 205
6040h Controlword........................................................................................................................................205
6041h Statusword......................................................................................................................................... 206
6042h Vl Target Velocity.............................................................................................................................. 208
6043h Vl Velocity Demand........................................................................................................................... 208
6044h Vl Velocity Actual Value.................................................................................................................... 209
6046h Vl Velocity Min Max Amount............................................................................................................. 209
6048h Vl Velocity Acceleration..................................................................................................................... 210
6049h Vl Velocity Deceleration.....................................................................................................................211
604Ah Vl Velocity Quick Stop.......................................................................................................................212
604Ch Vl Dimension Factor..........................................................................................................................213
605Ah Quick Stop Option Code................................................................................................................... 215
605Bh Shutdown Option Code..................................................................................................................... 215
605Ch Disable Option Code.........................................................................................................................216
605Dh Halt Option Code.............................................................................................................................. 217
605Eh Fault Option Code............................................................................................................................. 217
6060h Modes Of Operation.......................................................................................................................... 218
6061h Modes Of Operation Display............................................................................................................. 219
6062h Position Demand Value..................................................................................................................... 219
6063h Position Actual Internal Value............................................................................................................220
6064h Position Actual Value.........................................................................................................................220
6065h Following Error Window.....................................................................................................................221
6066h Following Error Time Out.................................................................................................................. 221
6067h Position Window................................................................................................................................ 222
6068h Position Window Time....................................................................................................................... 222
606Bh Velocity Demand Value.....................................................................................................................223
606Ch Velocity Actual Value........................................................................................................................ 223
606Dh Velocity Window................................................................................................................................224
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