Cyclic Position Velocity Mode 0X1603; Cyclic Position Velocity Torque Mode 0X1604; Cyclic Torque Mode 0X1606; User Defined Outputs 0X1620 - LinMot C1250-EC-XC-0S Interface Manual

3.2.2

Cyclic Position Velocity Mode 0x1603

Index
0x1603
0x6040:00
0x607A:00
0x60FF:00
0x6060:00
0x0000:00
3.2.3

Cyclic Position Velocity Torque Mode 0x1604

Index
0x1603
0x6040:00
0x607A:00
0x60FF:00
0x6071:00
0x6060:00
0x0000:00
This module can be used, if the operation mode has to be changed during run time. At
the moment the cyclic postion mode (0x08) and the cyclic torque mode (0xA) are
supported. To change the operation mode simply change the value of "Mode of
Operation" variable.
3.2.4

Cyclic Torque Mode 0x1606

Index
0x1606
0x6040:00
0x6071:00
0x6060:00
0x0000:00
3.2.5

User Defined Outputs 0x1620

Index
0x1620
1..8
The PDO 0x1620 could be used to set Variables/Parameters for which no predefined
PDO exists. It is possible to map 1 to 8 entries defined by its UPID in this PDO. Allowed
are only 16 or 32 bit entries. The defined Size of the data has to mach with the size
defined with the UPID.
16 / 60
Size Byte
[Byte] Offset
12 -
2 0
4 2
4 6
1 10
1 11
Size Byte
[Byte] Offset
12 -
2 0
4 2
4 6
2 10
1 12
1 13
Size Byte
[Byte] Offset
6 -
2 0
2 2
1 4
1 5
Size Byte Name
[Byte] Offset
2..32 - Variables
User defined Parameter/Variables
accessed by UPID
Name
Variables
Controlword
Target position
Target velocity
Mode of Operation
Byte Padding
Name
Variables
Controlword
Target position
Target velocity
Target torque
Mode of Operation
Byte Padding
Name
Variables
Controlword
Target torque
Mode of Operation
Byte Padding
Data Type
RECORD
Word16
Int32
Int32
Byte
Byte
Data Type
RECORD
Word16
Int32
Int32
Int16
Byte
Byte
Data Type
RECORD
Word16
Int32
Byte
Byte
Data Type
RECORD
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