TR-Electronic MP-200 - Object 0 X60 Ff: Target Velocity; Object 0 X6402: Motor Type; Object 0 X6502: Supported Drive Modes

Object directory
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Page 118 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020
9.4.61 Object 0x60FF: Target Velocity
Object code
VAR
Data type
INTEGER32
Attribute
rw
Default
0
Min
-2
31
Max
2
31
–1
PDO mapping
yes
Description
This parameter specifies the target speed in user-defined speed units in the
“Profile Velocity” operating mode.
9.4.62 Object 0x6402: Motor Type
Object code
VAR
Data type
UNSIGNED16
Attribute
ro
Default
3
Min
-
Max
-
PDO mapping
yes
Description
This parameter specifies the type of motor used. In the case of encoTRive, this is
a synchronous motor with permanent magnet = value 3
9.4.63 Object 0x6502: Supported Drive Modes
Object code
VAR
Data type
UNSIGNED32
Attribute
ro
Default
0x0000 03A5
Min
-
Max
-
PDO mapping
Yes
Description
This parameter specifies the operating modes supported by the drive in bit code.
The default value 03A5h (0000 0011 1010 0101) means that encoTRive supports
the “Profile Position” (bit 0), “Profile velocity” (bit 2), “Homing”
(bit 5) “Cyclic synchronous position” (bit 7), “Cyclic synchronous velocity” (bit 8)
and “Cyclic synchronous torque” (bit 9) operating modes.