3U
8.12 Control Effort ............................................................................................................................. 165
8.13.1 Position actual value.................................................................................................................. 165
8.13.2 Target position........................................................................................................................... 166
8.14 Profile Velocity .......................................................................................................................... 166
8.15.1 Target velocity ........................................................................................................................... 166
8.15.2 Velocity actual value.................................................................................................................. 166
8.16 Load Value ................................................................................................................................ 166
8.17 Load Signalling.......................................................................................................................... 166
9.4 Layer 2 RTR Flags ...................................................................................................................... 175
9.6 PLC RUN>STOP Messages ....................................................................................................... 176
10.2 SDO Request ............................................................................................................................ 180
10.2.1 CIF SDO read access................................................................................................................ 180
10.2.3 CIF SDO write access ............................................................................................................... 182
10.3 Set Heartbeat ............................................................................................................................ 184
10.9 Error Messages......................................................................................................................... 190
10.9.1 Error messages ......................................................................................................................... 190
10.9.2 CIF busy message..................................................................................................................... 192
6
®
405 Mode ............................................................................................................... 195
®
417 Mode ............................................................................................................... 196
Table of Contents
167
179
193
194