Table of Contents
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3.7
Legacy Sync Watchdog ....................................................................................... 16
3.7.1
Watchdog Enable .......................................................................................... 16
3.7.2
LSW monitored Cycle Time .......................................................................... 16
4.
CANopen Variables ............................................................................................ 17
5.
Mapping of the PDOs ......................................................................................... 18
5.1
Default Mapping ................................................................................................... 18
5.1.1
Default Mapping of the Receive PDOs ......................................................... 18
5.1.2
Default Mapping of the Transmit PDOs ....................................................... 18
5.1.3
Default Identifier ............................................................................................ 18
5.2
modes ................................................................................................................... 19
6.
Object Dictionary ................................................................................................ 20
6.1
Communication Profile Area (1000h - 1FFFh) .................................................... 20
6.2
Manufacturer specific Profile Area (2000h - 5FFFh) ......................................... 25
6.2.1
UPID Commands ........................................................................................... 25
6.2.2
System Commands ....................................................................................... 29
6.2.3
Curve Service Commands ............................................................................ 31
6.2.4
Error Log Commands ................................................................................... 38
6.2.5
Command Table Commands ........................................................................ 41
7.
Examples ............................................................................................................. 47
7.1
Homing and motion commands .......................................................................... 47
8.
Reset Parameters to default values .................................................................. 49
9.
Configuration of the drive with an EDS File ..................................................... 50
9.1
Configuring a PDO variable by UPID with the EDS file ..................................... 50
9.1.1
Setting the UPIDs of the parameter to map to a PDO ................................. 50
9.1.2
Getting UPID PDO data into PLC variables ................................................. 50
9.1.3
Example ......................................................................................................... 50
10. RT LEDs ............................................................................................................... 52
11. Interface Error Codes ......................................................................................... 53
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NTI AG / LinMot
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