Table of Contents
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Motor commutation sensor ..............................................................................................5-12
Initial power up sequence ........................................................ 5-15
Checks prior to power up .................................................................................................5-15
Checks after power is applied .........................................................................................5-15
Introduction ................................................................................ 6-2
DVT configuration tool ............................................................... 6-2
DVT functionality ................................................................................................................ 6-2
Saving, duplicating and restoring a node's configuration ..................................................... 6-2
Data Logging. ..................................................................................................................... 6-3
CANopen ................................................................................... 6-3
CANopen protocol ............................................................................................................. 6-3
Object Dictionary ............................................................................................................... 6-4
Communication objects ..................................................................................................... 6-4
Network Configuration ....................................................................................................... 6-5
Configuration process overview ................................................. 6-7
Access authorization .......................................................................................................... 6-7
How NMT state affects access to parameters ................................................................... 6-7
Motor characterization ............................................................... 6-8
Determining motor parameters .......................................................................................... 6-8
Self characterization .......................................................................................................... 6-9
Additional Motor Configuration ........................................................................................6-10
I/O configuration ...................................................................... 6-11
Object mapping ................................................................................................................6-11
Encoder ............................................................................................................................6-14
Digital inputs ....................................................................................................................6-14
Analogue inputs ...............................................................................................................6-14
Analogue (contactor) outputs...........................................................................................6-16
Vehicle performance configuration .......................................... 6-18
Safety Interlocks ..............................................................................................................6-18
Torque mode/speed mode...............................................................................................6-19
Throttle .............................................................................................................................6-20
iv
6-1
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