User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-42 C27750-001
7.15.1 Direct Position Mode 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
INPUT PARAMETERS
ds402 target position
0x607A 0 yes s32 r/w 0 - - pos units N A 4146
ds402 position range min
0x607B 1 yes s32 r/w -2147483648 - - pos units C A 1644
ds402 position range max
0x607B 2 yes s32 r/w 2147483647 - - pos units C A 1645
ds402 software position
limit min
0x607D 1 yes s32 r/w -2147483648 - - pos units C A 4149
ds402 software position
limit max
0x607D 2 yes s32 r/w 2147483647 - - pos units C A 4150
ds402 home offset
0x607C 0 yes s32 r/w 0 - - pos units C A 4147
ds402 following error
window (Note 1)
0x6065 0 yes u32 r/w 0 - - pos units N A 4171
ds402 position window
0x6067 0 yes u32 r/w 0 - - pos units C A 4172
FEEDBACK VALUES
ds402 position demand value
0x6062 0 yes s32 r 0 - - pos units N A 4167
ds402 position demand value
increments
0x60FC 0 yes s32 r 0 - - incs N A 4168
ds402 position actual value
0x6064 0 yes s32 r 0 - - pos units N A 4169
ds402 position actual value
increments
0x6063 0 yes s32 r 0 - - incs N A 4170
GENERAL PARAMETERS
ds402 control word
0x6040 0 yes u16 r/w 0 - - none N A 1650
ds402 status word
0x6041 0 yes u16 r 0 - - none N A 1651
ds402 modes of operation
0x6060 0 yes s08 r/w 0 - - none N A 1652
ds402 modes of operation display 0x6061 0 yes s08 r 0 - - none N A 1653
ds402 error code 0x603F 0 yes u16 r - - - none N A 4234
Note 1: ds402 following error is derived from (and can set) position error limit and therefore need not be saved to NVM.