7
Data transmission with PDO and SDO
ID 441896.05
WE KEEP THINGS MOVING
Operation manual
26
Process input data to the MDS (= reference values = outputs in TwinCAT):
Process output data from the MDS (= actual values = inputs in TwinCAT):
Parameter Bit Length Data Type Content
A180 Device
controlbyte
8 USINT • Bit-0: Additional enable, takes effect in addition to terminal
enable. Must be HIGH. Removal of the enable can also trigger a
quick stop (set enable quick stop A44 =1:active ). The brakes are
applied and the end stage switches off.
• Bit-1: Acknowledge (reset) faults
• Bit-2: Quick stop. The active ramp is I17 (for position control) or
D81 (speed control)
• Bits 3 - 7: must remain 0. Offers other special functions which are
not needed in this application.
D230 n-Soll
Relativ
16 INT Relative speed reference value as related to D02. This value is
added to D231.
C230 M-Max 16 INT Specification of torque limit for scaling in speed mode: 32767
LSB=200 %.
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