3.1.9.1.156 0x60FA Control effort
3.1.9.1.157 0x60FC Position demand internal value
3.1.9.1.158 0x60FD Digital inputs
3.1.9.1.159 0x60FE Digital outputs
3.1.9.1.160 0x60FF Target velocity
3.1.9.1.161 0x6502 Supported drive modes
3.1.9.1.162 0x6621 Safety statusword
3.1.9.2 Communication Area
3.1.9.3 Process Data Objects
3.1.9.3.1 Standard RxPDO mapped Objects
3.1.9.3.2 Standard TxPDO mapped Objects
3.1.9.3.3 Advanced PDO mapping
3.1.9.3.3.1 Changing the content of an object
3.1.9.4 Manufacturer Specific Area
3.1.9.5 Profile Specific Area
3.1.10 Device Information
3.1.10.1 Saving and restoring configurations
3.1.10.1.1 Overview
3.1.10.1.2 Usage
3.1.10.1.2.1 Restore configuration
3.1.10.1.2.2 Save configuration
3.1.10.1.3 Parameters related to Saving and restoring configurations
4 Resources
4.1 System integration guidelines
4.1.1 Drive Sizing
4.1.1.1 Considering the requirements of the application
4.1.1.1.1 What the Application Requires
4.1.1.1.2 What the Servo Drive has to Provide
4.1.1.1.3 What the Servo Drive Consumes
4.1.1.2 Calculating the phase current
4.1.1.2.1 Estimating the required nonlinearity buffer
4.1.2 Choosing a power supply
4.1.2.1 Regenerated voltage
4.1.2.2 Bus capacitance
4.1.2.2.1 Calculating the Capacitance
4.1.2.3 Power supply sizing
4.1.2.4 Calculating the amperage
4.1.2.5 Contactors behind the power supply
4.1.3 Regenerative energy
4.1.3.1 Estimation of regenerated energy
4.1.3.2 Braking chopper
4.1.4 Measuring the brake output voltage
4.1.4.1 Non-safety brake output
4.1.4.2 Safety brake output
4.1.5 Connecting and configuring analog inputs
4.1.5.1 Overview
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