Additional Information On The Virtual Address Area Allocation - ABB FCAN-01 User Manual

Additional information on the virtual address area
allocation
The drive virtual address area is allocated as follows:
1 Control 16-bit
word
2 Refer- 16-bit
ence 1
3 Refer- 16-bit
ence 2
4 Status 16-bit
word
5 Actual 16-bit
value 1
6 Actual 16-bit
value 2
7...10 Reserved N/A
11 Control 32-bit
word
12 Refer- 32-bit
ence 1
13 Refer- 32-bit
ence 2
14 Status 32-bit
word
15 Actual 32-bit
value 1
16 Actual 32-bit
value 2
hm = homing mode
pp = profile position mode
ip = interpolated position mode
CiA 402
hm pp ip pv
6040h 6040h 6040h
- - -
- - -
6041h 6041h 6041h
- - -
- - -
- - -
- - -
- 607Ah 60FFh
- - -
- - -
- 6064h 606Ch
- - -
pv = profile velocity mode
pt = profile torque mode
vl = velocity mode
Profile
1)
pt vl
6040h 6040h 6040h
- 6042h 6042h
6071h - 2000h03
6041h 6041h 6041h
6077h 6044h 6044h
- - 2000h06
- - -
- - -
- - -
- - -
- - -
- - -
- - -
1)
ACS355 supports only vl.
1)
ACS850 and ACS880 support vl and
pt.
1)
ACSM1 supports hm, pp, pv, pt and vl.
Start-up 57
6040h -
6042h -
2000h03 -
6041h -
6044h -
2000h06 -
- -
- 2001h
- 2002h
- 2003h
- 2004h
- 2005h
- 2006h