Table of Contents
1. Scope .................................................................................................................................................. 4
1.1. Overview .................................................................................................................................... 4
2.1. Name of main parts .................................................................................................................... 4
2.3. CAN RUN LED indicator ............................................................................................................ 5
2.4. CAN ERR LED indicator ............................................................................................................ 5
2.6. Cable Specification .................................................................................................................... 6
2.7. Network configuration ................................................................................................................ 7
2.9. Example of SCAN time .............................................................................................................. 9
3. Parameters .......................................................................................................................................10
4. Communication Object .....................................................................................................................15
4.1.2. SDO sever object ............................................................................................................16
4.1.3. PDO object ......................................................................................................................17
4.1.4. RPDO object ....................................................................................................................17
4.1.5. TPDO object ....................................................................................................................19
5. Drive profile .......................................................................................................................................22
5.1. Velocity mode object ................................................................................................................22
6.1. NMT state machine ..................................................................................................................30
6.2. SDO communication ................................................................................................................30
6.2.3. Abort code .......................................................................................................................32
6.3. PDO communication ................................................................................................................33
6.3.3. SYNC communication .....................................................................................................34
6.3.4. Emergency object ............................................................................................................34
6.4.1. Heartbeat Consumer .......................................................................................................35
6.4.2. Heartbeat producer .........................................................................................................35
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