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COMPAX-M/S Bus-Option: CANopen
U s e r G u i d e
B u s - O p t i o n : C A N o p e n ( F 8 )
W e a u t o m a t e m o t i o n
Subject to technical modification. Data based on the technical prior art at the time of printing.
From CANopen - Version V 1.01
from COMPAX software version >V3.0
Main Office
Parker Hannifin GmbH
DIN EN ISO 9001
EMD HAUSER
P. O. Box: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg, Germany
Phone: +49 (0)781 509-0
Reg. Nr. 36 38
Fax:
http://www.Parker-EMD.com
Great Britain:
Parker Hannifin plc
EMD Digiplan
21 Balena Close
Poole, Dorset
BH17 7DX UK
Phone: +44 (0)1202 69 9000
+49 (0)781 509-176
Fax:
http://www.Parker-EMD.com
19.06.00 17:09
192-040038 N1
Bus User Guide
June 2000
+44 (0)1202 69 5750
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Summary of Contents for Parker Hauser COMPAX-S Series
- Page 1 B u s - O p t i o n : C A N o p e n ( F 8 ) From CANopen - Version V 1.01 June 2000 from COMPAX software version >V3.0 Main Office Great Britain: Parker Hannifin GmbH Parker Hannifin plc DIN EN ISO 9001 EMD HAUSER EMD Digiplan P. O. Box: 77607-1720...
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Page 2: Table Of Contents
COMPAX CANopen 1 C o n t e n t 6.7.5 Mapping parameter for receiving PDO2 1 Content ..............2 (R-PDO2) ..........22 6.8 Reading process data from COMPAX....23 6.8.1 Communication parameters for 2 Device assignment ..........3 transmission PDO1 (T-PDO1)....23 6.8.2 Communication parameters for 3 General.............. -
Page 3: Device Assignment
6.13.1 Traverse speed..........46 6.13.2 Override .............46 2 Device assignment 6.13.3 POSR 0 SPEED ........46 6.13.4 Speed step profiling........47 6.13.5 Speed step profiling with acceleration ..47 This documentation applies for these devices: 6.13.6 Maximum motor speed ......48 6.13.7 Maximum speed ........48 ♦... -
Page 4: General
COMPAX CANopen 3 G e n e r a l CANopen provides for the use of two types of communication with different characteristics: Real-time data are transmitted with the process data objects (PDO). Parameters- and programs are transmitted via the service data objects (SDO). The communication channels of CANopen are configured using specific communication objects. -
Page 5: Can-Bus Components
4.1 CAN-Bus components 4.2 Device Settings CAN-Bus settings are made using COMPAX parameters; A computer or PLC with a CAN-Bus interface. these may be set from the front panel (see next page). Cable from the IPC or PLC to the network module or directly to COMPAX-S. -
Page 6: Bus Setting Via Front Panel
COMPAX CANopen Bus Wiring Baud rate 4.3 Bus setting via front panel The bus protocol (COMPAX parameters P194, P195 and P196) can be set via the COMPAX front panel. Procedure: choice of operation modes Enter Enter call smaller call higher call higher call smaller Status... -
Page 7: Data Types
Data types Integer 4.4 Data types Physically, the types consist of one or more octets (Bytes). One byte consists of 8 bits (Bit 0 to 7). Bit 0 is the LSB (Least Significant Bit). A byte can also be depicted hexadecimally (0x00 ... 0xff). If a data type consists of n byte, the following applies: Data byte 1 (Byte in address x) highest value byte... -
Page 8: Object Types
COMPAX CANopen Object types Unsigned 5 Object types Each object type is determined by a C o m m u n i c a t i o n O b j e c t I d e n t i f i e r (COB-ID). This is made up of a 4 bit wide function code which represents the object type, and the 7 bit wide device address (node ID). -
Page 9: Object List
Overview of communication-specific objects Unsigned 6 O b j e c t l i s t 6.1 Overview of communication-specific objects Index Description General objects 1000 Device type 1001 Error register 1004 Number of PDOs 1005 COB-ID SYNC 1006 Communication cycle period 1007 Synchronization window length 1008... -
Page 10: General Objects
COMPAX CANopen Object list Device type 6.2 General objects 6.2.1 Device type The device type specifies the type of device. The low value 16 bits contain the device profile number. Additional information is stored in the 16 higher value bits . Object Description Index 0x1000... -
Page 11: Number Of Pdos
General objects Number of PDOs 6.2.3 Number of PDOs This object contains the number of supported PDOs. Sub-index 0 describes the total number of PDOs. Sub-index 1 specifies the number of synchronous and sub-index 2 the number of asynchronous PDOs. Each of these entries is made up of two 16 bit numbers. -
Page 12: Synchronization Window Length
COMPAX CANopen Object list Synchronization window length 6.2.6 Synchronization window length The synchronization window length is the period between the arrival of the SYNC message and the last synchronous PDO which was thereby triggered in µs. It is 0 when it is not in use. COMPAX does not support this function. -
Page 13: Node Number (Address, Node Id)
General objects Node number (address, node ID) 6.2.10 Node number (address, node ID) The node number is the module number of the device. It may only be assigned once per network. (address, node ID) Object Description Index 0x100B 0x00000020 0x00000001 Standard Length Object code... -
Page 14: Node Guarding (Node Guarding)
COMPAX CANopen Object list COB-ID for node guarding (node guarding) 6.3 Node guarding (node guarding) Node guarding is used for monitoring bus communication. A check is made whether a specific bus subscriber is still active. The master transmits an object after expiry of the monitoring period and receives a response from the addressed subscriber (slave). -
Page 15: Emergency
Emergency COB-ID EMCY 6.4 Emergency 6.4.1 COB-ID EMCY This object defines the COB-ID of the emergency message. Object Description Index 0x1014 0x00000080 + 0x00000001 Standard Length node ID Object code Elements 0xFFFFFFFF Variable Unsigned32 read/write Data type Access rights PDO mapping 6.4.2 Emergency message COMPAX can generate the following pop-up messages via the emergency object if P196 Bit 0 = 0: # an error has occurred. -
Page 16: Service Data Objects
COMPAX CANopen Object list Number of SDOs 6.6 Service data objects 6.6.1 Number of SDOs This object contains the number of supported SDOs. Each of these entries is made up of two 16 bit numbers. The higher-value 16 bits contain the number of the client SDOs and the lower value 16 bits the number of server PDOs. -
Page 17: Server Sdo2 Parameters
Service data objects Server SDO2 parameters 6.6.3 Server SDO2 parameters This object describes the SDO2 parameters for which the device is server. SDO2 is switched off by the standard value 0x8..Object Description Index 0x1201 Standard Length Object code Array Elements Data type... -
Page 18: Transmission Of Process Data To Compax
COMPAX CANopen Object list Communication parameters for receiving PDO1 (R-PDO1) 6.7 Transmission of process data to COMPAX 6.7.1 Communication parameters for receiving PDO1 (R-PDO1) This object describes the communication parameters of the first receiving PDO. Sub-index 0 contains the highest implementable sub-index number. Sub-index 1 describes the COB-ID. When bit 31 of this entry is set, the PDO is deactivated. -
Page 19: Communication Parameters For Receiving Pdo2 (R-Pdo2)
Transmission of process data to COMPAX Communication parameters for receiving PDO2 (R-PDO2) 6.7.2 Communication parameters for receiving PDO2 (R-PDO2) This object describes the communication parameters of the second receiving PDO. Sub-index 0 contains the highest implementable sub-index number. Sub-index 1 describes the COB-ID. When bit 31 of this entry is set, the PDO is deactivated. -
Page 20: Mapping-Parameter Receiving Pdo1 (R- Pdo1)
COMPAX CANopen Object list Mapping-Parameter receiving PDO1 (R-PDO1) 6.7.3 Mapping-Parameter receiving PDO1 (R-PDO1) This entry contains information about the data to be received on this PDO (mapping). Sub-index 0 contains the number of mapped objects. A maximum of 5 objects with a total length of 8 bytes can be mapped. All other indices contain the index, sub-index and the length of the individual objects. -
Page 21: R-Pdo Control
Transmission of process data to COMPAX R-PDO control COMPAX objects which can be used as receiving PDOs (R-PDOs) Object Access Index Sub- COMPAX Length index parameters P139- page P142 Control byte rd/wr 0x2000 2097152 COMPAX control word rd/wr 0x2002 2097664 Control commands 0x2004 2098176... -
Page 22: Mapping Parameter For Receiving Pdo2 (R-Pdo2)
COMPAX CANopen Object list Mapping parameter for receiving PDO2 (R-PDO2) 6.7.5 Mapping parameter for receiving PDO2 (R-PDO2) This entry contains information about the data to be received on this PDO (mapping). Sub-index 0 contains the number of mapped objects. A maximum of 5 objects with a total length of 8 bytes can be mapped. All other indices contain the index, sub-index and the length of the individual objects. -
Page 23: Reading Process Data From Compax
Reading process data from COMPAX Communication parameters for transmission PDO1 (T-PDO1) 6.8 Reading process data from COMPAX 6.8.1 Communication parameters for transmission PDO1 (T-PDO1) This object describes the communication parameters of the first transmission PDO. Sub-index 0 contains the highest implementable sub-index number. Sub-index 1 describes the COB-ID. When bit 31 of this entry is set, the PDO is deactivated. -
Page 24: Communication Parameters For Transmission Pdo2 (T-Pdo2)
COMPAX CANopen Object list Communication parameters for transmission PDO2 (T-PDO2) 6.8.2 Communication parameters for transmission PDO2 (T-PDO2) This object describes the communication parameters of the second transmission PDO. Sub-index 0 contains the highest implementable sub-index number. Sub-index 1 describes the COB-ID. When bit 31 of this entry is set, the PDO is deactivated. -
Page 25: Mapping Parameters For Transmission Pdo1 (T-Pdo1)
Reading process data from COMPAX Mapping parameters for transmission PDO1 (T-PDO1) 6.8.3 Mapping parameters for transmission PDO1 (T-PDO1) This entry contains information about the data to be transmitted on this PDO (mapping). Sub-index 0 contains the number of mapped objects. A maximum of 5 objects with a total length of 8 bytes can be mapped. -
Page 26: Mapping Parameters For Transmission
COMPAX CANopen Object list Mapping parameters for transmission PDO2 (T-PDO2) 6.8.4 Mapping parameters for transmission PDO2 (T-PDO2) This entry contains information about the data to be transmitted on this PDO (mapping). Sub-index 0 contains the number of mapped objects. A maximum of 5 objects with a total length of 8 bytes can be mapped. All other indices contain the index, sub-index and the length of the individual objects. -
Page 27: Control
Control Selection code operating mode 6.9 Control 6.9.1 Selection code operating mode Selection function to determine the operating mode. Object Description Index 0x6060 Symbol Length OPERATING 0x80 MODE Object code Simple var. 0x7F Data type Access rights PDO mapping Integer8 Read/write all Data Description Selection code... -
Page 28: Control Byte
COMPAX CANopen Object list Control byte 6.9.3 Control byte Allows program start from record 1 - 15. The record pointer is set to the corresponding program record. The program can be started, stopped, and continued. On record selection = "0000" and "Start", machine zero is set. An error acknowledgment is possible. -
Page 29: Compax Control Word
Control COMPAX control word 6.9.5 COMPAX control word Activation of device control commands and setting/resetting of virtual inputs E17...E32 Control of the COMPAX M/S via the COMPAX control word is only possible when the corresponding bits have been set in P221. -
Page 30: Cpx_Zsw
COMPAX CANopen Object list CPX_ZSW 6.9.6 CPX_ZSW The CPX status word shows information about the status of the device as well as messages. From COMPAX Software Version 3.64 or higher the status information S16 and S17 can be placed on CPX_ZSW with parameter 203 bit 0 = 1. -
Page 31: Status Word
Control Status word Data Description Assignment Assignment Reset fault Approach machine zero (MZ) Target position relative or absolute START Hand- New set point Hand+ Enable operation reserved Rapid stop reserved Disable voltage STOP Power on 6.9.8 Status word Information about the status of the device as well as messages are displayed in the status word, if SPM (status word) equals SPM (control word). -
Page 32: Control Commands
COMPAX CANopen Object list Control commands " " " " The required settings can be obtained by inputting the sum of the significants in P193 If the pop-up message processing is active and there is a pop-up message, COMPAX interrupts the normal status display in the status word, toggles the pop-up message flag "SPM"... -
Page 33: Compax Commands
Control COMPAX commands 6.9.11 COMPAX commands All COMPAX commands which exist for the RS232 interface can be transmitted with this object in plain language (as ASCII string in capital letters). Object Description Index 0x2005 Symbol COMMAND Length Object code Variable Data type Access rights PDO mapping... -
Page 34: Diagnostics
COMPAX CANopen Object list Status S6 6.10 Diagnostics 6.10.1 Status S6 Temperature of the power output stage. Object Description Index 0x2011 Symbol Length Object code Variable 0xFFFF Data type Access rights PDO mapping Unsigned16 read Data Description 1 ⇔ 0.1°C Unit Resolution degrees Celsius... -
Page 35: Status S11
Diagnostics Status S11 6.10.4 Status S11 Loop counter for a running REPEAT loop. Object Description Index 0x2015 Symbol Length Object code Variable 0xFFFF Data type Unsigned16 Access rights read PDO mapping 6.10.5 Status S16_S17 Status bits 1 and status bits 2. Object Description Index 0x2016... -
Page 36: Status S30
COMPAX CANopen Object list Status S30 6.10.7 Status S30 Error message. This object contains the error number of the current error and the last occurring error. If the error number of the current error = 0, there is no error. Object Description Index 0x2018... -
Page 37: Error
Diagnostics Error 6.10.8 Error Fault code. If COMPAX is in the "Fault" status, the fault code is given a value not equal to 0. If COMPAX is not in the "Fault" status, this object then gives the value 0. Object Description Index 0x603f Symbol... -
Page 38: Torque, Power, Voltage
COMPAX CANopen Object list Maximum permissible motor torque 6.11 Torque, power, voltage 6.11.1 Maximum permissible motor torque Max. torque value. This value is the maximum permissible torque for the motor. Object Description Index 0x6072 Symbol MOMENT_MAX Length 0x0000 Object code Variable 0xFFFF Data type... -
Page 39: Status S5
Torque, power, voltage Status S5 6.11.4 Status S5 Current motor torque. Value in % of the rated torque. Object Description Index 0x2010 Symbol Length 0x8000 Object code Variable 0x7FFF Data type Access rights PDO mapping Integer16 read Data Description 1 ⇔ %;... -
Page 40: Status S7_S8
COMPAX CANopen Object list Status S7_S8 6.11.7 Status S7_S8 Control voltage and power or intermediate circuit voltage. Object Description Index 0x2012 Symbol S7_S8 Length 0x0000 Object code Array Elements 0xFFFF Data type Unsigned16 Access rights read PDO mapping Data Description 1 ⇔... -
Page 41: Positioning
Positioning Position target 6.12 Positioning 6.12.1 Position target Position set point default Absolute positioning. Reference point is the real null (RN) or relative positioning: adjustable via the control word bit 6 (0 = absolute; 1 = relative). Positioning is done with the set acceleration time (deceleration time) and the set speed. If these values were not set, then valid are substitute values: Velocity: Parameter P002;... -
Page 42: Status S2
COMPAX CANopen Object list Status S2 6.12.3 Status S2 Target position. End position of the current or last positioning cycle implemented. Object Description Index 0x2020 Symbol Length 0x80000000 Object code Variable 0x7FFFFFFF Data type Integer32 Access rights Read all PDO mapping Data Description 1 ⇔... -
Page 43: Limits
Positioning Limits 6.12.6 Limits Position limit value min-max. The position limit values are software end limits and correspond to the absolute position limits, within which the set values and actual values (in absolute form) must be moved. Each new target position is checked with these limits. They always refer to the machine zero point;... -
Page 44: Status S3
COMPAX CANopen Object list Status S3 6.12.9 Status S3 Contour error. Difference between set and actual position in a positioning cycle. Object Description Index 0x2021 Symbol Length 0x8000 Object code Variable 0x7FFF Data type Integer16 Access rights read PDO mapping Data Description 1 ⇔... -
Page 45: Traverse Rate And Set Point Position Default
Positioning Traverse rate and set point position default 6.12.12 Traverse rate and set point position default Traverse speed in % of the nominal speed (nominal rpm * travel per motor revolution). and position set point default Absolute positioning. Reference point is the real null (RN) or relative positioning: adjustable via the control word bit 6 (0 = absolute;... -
Page 46: Speed
COMPAX CANopen Object list Traverse speed 6.13 Speed 6.13.1 Traverse speed Traverse speed in % of the nominal speed (nominal rpm * travel per motor revolution). The value is valid until a new value is programmed. The set speed can be reduced by using the OVERRIDE object. A speed change during the positioning cycle is possible by using the POSR0SPEED object. -
Page 47: Speed Step Profiling
Speed Speed step profiling 6.13.4 Speed step profiling Each speed step profiling can have a maximum of 8 speed steps. The position value is given as a relative measurement. It is referenced to the positioning start point. Object Description Index 0x2033 Symbol POSRXSPEEDY Length... -
Page 48: Maximum Motor Speed
COMPAX CANopen Object list Maximum motor speed 6.13.6 Maximum motor speed The maximum speed is specified for both directions of rotation together with a resolution of 1 rpm. These are for the protection of the motor and can be found in the motor data sheet. Object Description Index 0x6080... -
Page 49: Status S4
Speed Status S4 6.13.9 Status S4 Current axis process speed. Value in % of the nominal speed (nominal rpm * travel per motor revolution). Object Description Index 0x2035 Symbol Length 0x8000 Object code Variable 0x7FFF Data type Access rights PDO mapping Integer16 read Data Description... -
Page 50: Acceleration
COMPAX CANopen Object list Ramp form 6.14 Acceleration 1.1.1 Ramp form Selection function which describes acceleration process. Object Description Index 0x6086 Symbol RAMPENFORM Length 0x8000 Object code Variable 0x7FFF Data type Integer16 Access rights read/write PDO mapping Data Description Selection code Ramp shape Selection code Ramp shape... -
Page 51: Time Specification For The Braking Process
Acceleration Time specification for the braking process 6.14.3 Time specification for the braking process SPEED • RAMPE_NEG The time specification applies to nominal speed (100%). 100% Object Description Index 0x6084 Symbol RAMPE_NEG Length 0x00000000 Object code Variable 0x0000FDE8 Data type Unsigned32 Access rights read/write... -
Page 52: Inputs/Outputs
COMPAX CANopen Object list INPUT_WORD 6.15 Inputs/outputs 1.1.1 INPUT_WORD Logic state of the 16 digital inputs. Some inputs are assigned fixed control functions. Input Assignment Input Assignment SHIFT 1 & 3 Find real null (RN) Hand+ 1 & 4 Teach real zero Hand- 1 &... -
Page 53: Output_Word
Inputs/outputs OUTPUT_WORD Data Description Assignment Parameter 15 ... 8 no function (="0") P222/Bit 7 ... 0 7...6 no function (="0") P221/Bit 7 ... 6 5...0 Mask input 6...1 P221/Bit 5 ... 0 6.15.3 OUTPUT_WORD Logic state of the 16 digital outputs. Some outputs are assigned a fixed status information. -
Page 54: Output_Mask
COMPAX CANopen Object list OUTPUT_MASK 6.15.4 OUTPUT_MASK Mask outputs. Each output which is to be influenced via the object OUTPUT_WORD must be explicitly released (masked) for this purpose. The output thereby loses any status information which was assigned to it. OUTPUT-MASK directly reads/describes the parameters P223 (LSB) and P224 (MSB). -
Page 55: Output
Inputs/outputs OUTPUT 6.15.5 OUTPUT Set or reset a digital output. The corresponding output is selected using the Sub-index (Sub-index = output no.). Some outputs have a fixed status information assigned (see OUTPUT-WORD). Object Description Index 0x2042 Symbol OUTPUT Length 0x00 Object code Elements Array... -
Page 56: Programming
COMPAX CANopen Object list Reading and writing the program memory. 6.16 Programming 6.16.1 Reading and writing the program memory. Reading and writing the program memory with command records in binary format. The record number is determined with the Sub-index (Sub-index = record No.) Object Description Index 0x2050... - Page 57 Programming Reading and writing the program memory. COMPAX Command Codes Definition of the command code: (A command code consists of 1 byte). Sorted according to command code Sorted by command Code Command Code Command Empty instruction (No Operation) 0x20 0x6C ACCEL Parameter 0x01 VALIDP / C / F...
- Page 58 COMPAX CANopen Object list Reading and writing the program memory. Definition of Operands An operand consists of 7 bytes; 1 byte for the type indicator and 6 data bytes. Operand Type Parameter 0x50 No.H No.L 0x00 0x00 0x00 0x00 Status 0x53 No.H No.L...
- Page 59 Programming Reading and writing the program memory. COMPAX natural language memory command code table Command Code ACCEL Parameter 0x6C No.H Nr.L ACCEL Variable 0xCC No.H Nr.L ACCEL Value 0x4C 0x45 0x00 GOSUB EXT 0x42 0x00 0x00 GOSUB Value 0x42 GOTO EXT 0x47 0x00 0x00...
- Page 60 COMPAX CANopen Object list Reading and writing the program memory. Command Code SETM Value 0x4D SETM Parameter 0x6D No.H Nr.L 0x00 0x00 0x00 0x00 SETM Variable 0xCD No.H Nr.L 0x00 0x00 0x00 0x00 SETS Value 0x51 SETS Parameter 0x71 No.H Nr.L 0x00 0x00...
- Page 61 Programming Reading and writing the program memory. Command Code SPEED Value WAIT Value 0x53 0x57 SPEED . . . WAIT . . . (Combinations examples.: ... Value ..V12, ..P40 ..V10) SPEED Variable WAIT Variable 0x3D No.H Nr.L 0x00 0x00 0x00...
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Page 62: Goto
COMPAX CANopen Object list Goto 6.16.2 Goto Set and read record pointer. Object Description Index 0x2051 Symbol GOTO Length 0x01 Object code Variable 0xFF Data type Unsigned8 Access rights read/write PDO mapping Data Description Data format Unit binary Record number Value range Resolution 1 ... -
Page 63: Assign Current Position In Record N
Programming Assign current position in record N 6.16.5 Assign current position in record N The command "POSA current position" is saved in data record N. Object Description Index 0x2054 Symbol Length TEACH_N 0x01 Object code Variable 0xFF Data type Unsigned8 Access rights write PDO mapping... -
Page 64: Compax Xx50 Commands
COMPAX CANopen Object list 6.17 COMPAX XX50 commands 6.17.1 WAITPOSA Synchronization with automatic reverse travel (clocked command; COMPAX XX50). Starting from the rest position of the drive, a complete synchronization move is carried out. The value for this object is the processing interval (length of material when cutting). Object Description Index 0x2025... -
Page 65: Compax Xx70 Commands
6.18 COMPAX XX70 commands 6.18.1 Cam commands The corresponding command is selected using the sub-index (sub-index = CAM command). Object Description Index 0x2024 Symbol CAM_CMD Length 0x80000000 Object code Elements Array 0x7FFFFFFF Data type Integer32 Access rights write all PDO mapping Data Description Sub-index Command... -
Page 66: Device Profile Dsp 402
COMPAX CANopen Device Profile DSP 402 7 D e v i c e P r o f i l e D S P 4 0 2 From COMPAX program version V3.01 onwards, the operating mode 'Device Profile DSP 402' is available in all COMPAX variations. - Page 67 Status Description NOT READY FOR Self-test is running SWITCHING ON: Initialisation is running Drive function is disabled All functions are disabled SWITCHING ON DISABLED: Software/hardware initialization is terminated Communication via all interfaces is enabled Modifications to parameters, variables, records is possible Drive function is disabled (motor dead) Display shows 'OFF' READY TO SWITCH ON:...
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Page 68: Canopen Compax Parameter
COMPAX CANopen CANopen COMPAX parameter 8 C A N o p e n C O M P A X p a r a m e t e r Meaning Minimum Default Maximum When value value value valid P190 Sets "Device profile DSP 402" operating mode ="0": "DSP402 "... -
Page 69: Overview: Manufacturer-Specific Objects
10 Overview: manufacturer-specific objects 10.1 Objects sorted by index Command Service Index Subind. Byte See page Control byte rd/wr 0x2000 Status byte 0x2001 COMPAX control word rd/wr 0x2002 COMPAX status word 0x2003 Control commands 0x2004 Command input in ASCII format rd/wr 0x2005 Read/write parameters in binary format... -
Page 70: Objects Sorted By Command
COMPAX CANopen Overview: manufacturer-specific objects Command Service Index Subind. Byte See page Contour error window rd/wr 0x6065 Positioning window rd/wr 0x6067 Traverse speed actual value 0x606C Torque max. value rd/wr 0x6072 Motor nominal current rd/wr 0x6075 Rated torque motor rd/wr 0x6076 Torque actual value 0x6077... - Page 71 Command Service Index Subind. Byte See page Loop counter for a running REPEAT loop 0x2015 Mask inputs rd/wr 0x2040 Mask outputs rd/wr 0x2041 Max motor speed value rd/wr 0x6080 Max speed value rd/wr 0x607F Motor nominal current rd/wr 0x6075 Number of axis motion cycles 0x2013 One digit.
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Page 72: Index
COMPAX CANopen Index 1 1 I n d e x Absolute value sensor ....42 Execute program data record N ...62 Power or intermediate circuit Acceleration .........50 Fault codes ........37 voltage ......... 40 GOTO...........62 Priority..........8 Address ........13 arithmetischen Operatoren...58 Guard period ........14 Program memory ......
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