User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-10 C27750-001
7.9.1 Motor / Drive Parameters
Parameter Name CANopen Index CANopen sub-index PDO mapping Data Type Access Default Value Minimum Value Maximum Value Units Storage Type Data Group Field Number
COMMON ENTRIES
ds402 error code
0x603F 0 yes u16 r 0 - - none N A 4234
MOTOR DATA RECORD
motor name 0x6410 1 no string r/w - - - none C A 1074
motor poles 0x6410 2 no u16 r/w 12 2 - none E A 1072
motor Rtt 0x6410 3 no f32 r/w 2.4 1.0e-9 - Ohms E A 1073
motor Lq 0x6410 4 no f32 r/w 5.180e-3 1.0e-9 - H E A 1075
motor Ld 0x6410 5 no f32 r/w 4.920e-3 1.0e-9 - H E A 1076
motor ke 0x6410 6 no f32 r/w 1.16 1.0e-9 - V/rad/s E A 1077
motor max current 0x6410 7 no f32 r/w 24.0 0.1 - A E A 1078
motor max velocity 0x6410 8 no f32 r/w 1000.0 0.0 20000.0 rad/s E A 1082
motor max continuous rms current 0x6410 12 no f32 r/w 1000.0 0.1 1000.0 A C A 1087
DRIVE DATA
ds402 supported drive
modes
0x6502 0 yes u32 r 0xF0065
MOD402SUP
- - none N A 1649
ds402 http drive catalog
address
0x6505 0 no string r/w "www.moog.com" - - none F A 4235
DRIVE DATA RECORD
brake lock to disable timeout 0x6510 1 no f32 r/w 0.0 0.0 100.0 S C A 1004
enable to brake release timeout 0x6510 27 no f32 r/w 0.0 0.0 100.0 s C A 1014
quickstop mode 0x6510 2 no u08 r/w 1 (i.e. disable) - - none C A 1013
internal loop demand 0x6510 3 yes s32 r - - - inc N A 1034
resolver position 0x6510 4 yes s16 r - - - inc N A 1057
torque max limit 0x6510 5 no f32 r/w 9000 0 10000 Nm C A 1118
manual mode current limit 0x6510 6 no f32 r/w 10.0 0.0 100.0 % C A 1133