Camozzi DRCS Series, User Manual

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User manual DRCS - CanOpen
10
The drive allows the modification of bit 2 “NMT master start”:
- 0 = Allows the device to go into “operating status” automatically at startup
- 1 = Does not allow the device to go into the “operating status” automatically.
And change bit 3 “Start node”:
- 0 = The master must put the device into “operating status”
- 1 = the device immediately goes into “operating status” at startup
Attempting to set a bit that is not managed by the device, returns an object writing abort error.
3.2.25 1F80h NMT Startup
This object contains the drive startup behaviour configuration, the bit description of its value is described in the following
image:
31 24 23 16 15 8 7 0
Reserved
0000 00
h
Configuration
MSB LSB
7 6 5 4 3 2 1 0
Reserved
0
b
Stop
all nodes
Flying
master
Reset
all nodes
Start
node
NMT
master start
Start
all nodes
NMT
master
MSB LSB
ID Sub Description Type Access PDO
mapping
Default
value
603Fh 0 Error code U16 RO Yes
6040h 0 Controlword U16 WO Yes
6041h 0 Statusword U16 RO Yes
6060h 0 Modes of operatoin S8 RW Yes 0
6061h 0 Modes of operation display S8 RO Yes 0
6062h 0 Position demand value S32 RO
6064h 0 Position actual value S32 RO Yes 0 mm
606Bh 0 Velocity demand value S32 RO 0 mm/s
606Ch 0 Velocity actual value S32 RO Yes 0 mm/s
606Dh 0 Velocity window U16 RW 0 mm/s
606Eh 0 Velocity window time U16 RW 0 ms
606Fh 0 Velocity threshold U16 RW 0 mm/s
6070h 0 Velocity threshold time U16 RW 0 ms
607Ah 0 Target position S32 RW Yes 0 mm
607Ch 0 Home offset S32 RW Yes 0 mm
607Dh Software position limit
0 Sub-index support U32 CONST
1 Min software position limit S32 RO QSet
2 Max software position limit S32 RO Qset
607Eh 0 Polarity U8 RW Yes 0
6081h 0 Profile velocity in pp-mode U32 RW Yes 0 mm/s
6083h 0 Profile acceleration U32 RW Yes 0 mm/s2
6084h 0 Profile deceleration U32 RW Yes 0 mm/s2
608Fh Position encoder resolution
0 Sub-index supported U32 CONST 2
1 Encoder increments U32 RO 1000
2 Motor revolutions U32 RO 1
6091h Gear ratio
0 Sub-index supported U32 RO 2
1 Motor revolutions U32 RO Qset
2 Shaft revolutions U32 RO Qset
6092h Feed constant
0 Sub-index supported U32 RO 2
1 Feed U32 RO QSet
2 Shaft revolutions U32 RO QSet
6098h 0 Homing metod U8 RW Yes 17
6099h Homing speed
0 Sub-index supported U32 RO 2
1 Fast homing speed U32 RW Yes 0 mm/s
2 Slow homing speed U32 RW Yes 0 mm/s
60FFh 0 Target velocity S32 RW Yes 0 mm/s
6402h 0 Motor type U16 RO 0x09
6402h 0 Motor manufacturer STR RO Camozzi
6502h 0 Supported drive modes U32 RO 0x25
67FFh 0 Single device type U32 RO 0x00440192
3.3 CIA 402 profile objects