Instruction Manual HIPERDRIVE with EtherCAT
21
For HIPERDRIVE Hubs, the following section is repeated for each additional drive:
The area above 0x2080 of the object dictionary contains those objects that exist once for
each connectable drive.
The following table describes the SDOs for the first drive connected, i.e. drive 1 on the hub or
the drive connected to the HIPERDRIVE bus adapter.
For each additional drive, an index number is created for a specific SDO by adding n * 0x80
to the stated number. i.e.
Index number
Drive n
= Index number
Drive 1
+ (n - 1) * 0x80
Name,
designation
Index
number
Function
Range of
values
Back
up?
Delivery
state
R/W
Control word
2080
Start and finish positioning runs (see
diagram)
16 bit
no
0
R/W
Percentaged
target speed
2081
Sets the speed (r.p.m.) as a % of the
max. value (SDO #208C)
1…100
8 bit
no
100
R/W
Percentaged
maximum
torque
2082
Sets the torque as % of the maximum
value. Internally, the value is rounded up
to multiples of 25%.
1…100
8 bit
no
100
R/W
Target
position
2083
Target position
The upper 16 bits represent the number
of rotations, the lower 16 bits represent
the desired angle within a rotation
(applicable for default values of the scale
setting SDO #2095)
31 bit
no
0
R/W
Status word
2084
Status of the drive (see diagram)
16 bit
R
Actual r.p.m.
2085
Current speed in [0.1 r.p.m.] (applicable
for default values of the scale setting SDO
#2096)
15 bit
R
Actual
position
2086
Actual position of the output shaft
The upper 16 bits represent the number
of rotations, the lower 16 bits represent
the desired angle within a rotation
(applicable for default values of the scale
setting SDO #2095).
31 bit
R
