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Page 6 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020
9.4.30 Object 0x6076: Motor rated Torque/mNm ............................................................ 103
9.4.31 Object 0x6077: Actual Torque .............................................................................. 104
9.4.32 Object 0x6078: Actual Current .............................................................................. 104
9.4.33 Object 0x6079: Actual DC Link Circuit Voltage/mV .............................................. 104
9.4.34 Object 0x607A: Target Position ............................................................................ 105
9.4.35 Object 0x607B: Position Range Limits ................................................................. 105
9.4.36 Object 0x607C: Home Offset ................................................................................ 106
9.4.37 Object 0x607D: Software Position Limits .............................................................. 106
9.4.38 Object 0x607E: Polarity ........................................................................................ 107
9.4.39 Object 0x607F: Max Profile Velocity ..................................................................... 107
9.4.40 Object 0x6080: Max Motor Speed ........................................................................ 107
9.4.41 Object 0x6081: Profile Velocity ............................................................................. 108
9.4.42 Object 0x6083: Profile Acceleration ...................................................................... 108
9.4.43 Object 0x6084: Profile Deceleration ..................................................................... 108
9.4.44 Object 0x6085: Quick Stop Deceleration .............................................................. 109
9.4.45 Object 0x608F: Position Encoder Resolution ....................................................... 109
9.4.46 Object 0x6090: Velocity Encoder Resolution........................................................ 110
9.4.47 Object 0x6093: Position Factor ............................................................................. 111
9.4.48 Object 0x6094: Velocity Encoder Factor .............................................................. 112
9.4.49 Object 0x6097: Acceleration Factor ...................................................................... 113
9.4.50 Object 0x6098: Homing Method ........................................................................... 113
9.4.51 Object 0x6099: Homing speeds ............................................................................ 114
9.4.52 Object 0x609A: Homing Acceleration ................................................................... 114
9.4.53 Object 0x60B0: Position Offset ............................................................................. 115
9.4.54 Object 0x60B1: Velocity Offset ............................................................................. 115
9.4.55 Object 0x60B2: Torque Offset .............................................................................. 115
9.4.56 Object 0x60C5: Max Acceleration ........................................................................ 116
9.4.57 Object 0x60C6: Max Deceleration ........................................................................ 116
9.4.58 Object 0x60F4: Following Error ............................................................................ 116
9.4.59 Object 0x60FD: Digital Inputs ............................................................................... 117
9.4.60 Object 0x60FE: Digital Outputs ............................................................................ 117
9.4.61 Object 0x60FF: Target Velocity ............................................................................ 118
9.4.62 Object 0x6402: Motor Type .................................................................................. 118
9.4.63 Object 0x6502: Supported Drive Modes ............................................................... 118
9.4.64 Object 0x6508: Runtime in 0.1 hours ................................................................... 119
9.4.65 Object 0x6510: Measuring Range in revolutions .................................................. 119
10 Projecting with TwinCAT System Manager V2.10 ...................................................................... 120
10.1 Installation of the ESI file ...................................................................................................... 120
10.2 Connection of the encoTRive device .................................................................................... 120
10.3 Creation of a TwinCAT project for an encoTRive device ..................................................... 121
10.4 Changing data objects .......................................................................................................... 122
10.5 Storing and resetting backup parameters ............................................................................. 123
10.6 Stop conditions, Digital Inputs and Hardware Limit Switches .............................................. 124
10.6.1 Turning on the drive .............................................................................................. 124
10.6.2 Stop conditions: Priorities, Behavior ..................................................................... 124
10.6.3 Control of the Digital Inputs................................................................................... 127
10.6.4 Operation of the Digital Inputs as Limit Switches ................................................. 128
10.7 Control word and Status word .............................................................................................. 131
10.7.1 General ................................................................................................................. 131
10.7.2 Status bit 2
7
- Warning .......................................................................................... 131
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