TR-Electronic MP-200 - Objects of the DSP 402 Device Profile

Printed in the Federal Republic of Germany  TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 91 of 153
9.4 Objects of the DSP 402 device profile
Index (h)
Object
Name
Data length
Attr.
Page
Parameter
^ 6007
VAR
Abort Connection Code
Integer16
rw
93
603F
VAR
Error Code
Unsigned16
ro
93
6040
VAR
Control word
Unsigned16
rw
93
6041
VAR
Status word
Unsigned16
ro
94
^ 605A
VAR
Quick Stop Option Code
Integer16
rw
94
^ 605B
VAR
Shutdown Option Code
Integer16
rw
95
^ 605C
VAR
Disable Operation Option Code
Integer16
rw
95
^ 605D
VAR
Stop Option Code
Integer16
rw
96
^ 605E
VAR
Fault Reaction Option Code
Integer16
rw
96
^ 6060
VAR
Operation Mode
Integer8
rw
97
6061
VAR
Operation Mode Display
Integer8
ro
97
6062
VAR
Required Position
Integer32
ro
97
6064
VAR
Actual Position
Integer32
ro
98
^ 6065
VAR
Following Error Window
Unsigned32
rw
98
^ 6066
VAR
Following Error Timeout
Unsigned16
rw
98
^ 6067
VAR
In-Position Window
Unsigned32
rw
99
^ 6068
VAR
In-Position Timeout
Unsigned16
rw
99
6069
VAR
Sensor Velocity
Integer32
ro
99
606B
VAR
Required Velocity
Integer32
ro
100
606C
VAR
Actual Velocity
Integer32
ro
100
^ 606D
VAR
Velocity Window
Unsigned16
rw
100
^ 606E
VAR
Velocity Window Timeout
Unsigned16
rw
101
^ 606F
VAR
Velocity Threshold
Unsigned16
rw
101
^ 6070
VAR
Velocity Threshold Timeout
Unsigned16
rw
101
6071
VAR
Target Torque
Integer16
rw
102
^ 6072
VAR
Torque Limit
Unsigned16
rw
102
^ 6073
VAR
Limit for Torque generating Current
Unsigned16
rw
102
6074
VAR
Required Torque
Integer16
ro
103
6075
VAR
Motor rated Current/mA
Unsigned32
rw
103
6076
VAR
Motor rated Torque/Nmm
Unsigned32
rw
103
6077
VAR
Actual Torque
Integer16
ro
104
^ : permanent storage must be performed about object 1010h