halstrup-walcher HDA 70, Instruction Manual

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Instruction Manual HIPERDRIVE with EtherCAT
26
Name,
designation
Index
number Function Range of
values Back
up? Delivery
state R/W
Baud rate 20A3 RS485 baud rate of the drive
The values 9600, 19200 and 38400 are
permitted. The appropriate value for the
“message complete time” is also
transmitted at the same time as the baud
rate is being written.
The change to the baud rate will only
come into effect after a reset as well as
after every activation of the operated drive
(SDO #20A4 from 0 to 1)
A change to the baud rate will also be
noticed in the hub or adapter and, if
necessary, saved in its EEPROM (by
setting SDO #200D to 1), so that the
desired baud rate is also valid for a new
drive if the old drive has to be replaced. 32 bit yes 38400 R/W
Drive
required 20A4 0

The drive is not accepting run
commands issued via EtherCAT, the
actual values (status word, actual r.p.m.
and actual position) are not being
updated.
1

The drive can be run via EtherCAT,
the actual values are updated cyclically.
A transition from 0 to 1 sets the drive to
the last baud rate saved in the hub or
adapter and performs a reset.
0…1
8 bit
yes 0 (at the
hub)
1 (at the
adapter) R/W
Drive
temperature 20A5 Internal drive temperature in °C 8 bit R
Table of rated speed and torque values for various models of gears
Device
type HDA 30
HDA 45 HDA 70 PSE441
Name,
designation Index
number Range of values
delivery state
Range of values
delivery state
Range of values
delivery state
Position
lower limit 208A -512 rot
…+512 rot
-511 rot
-16000 rot
…+16000 rot
-16000 rot
-127 rot
…+127 rot
-127 rot
Position
upper limit 208B -512 rot
…+512 rot
+511 rot
-16000 rot
…+16000 rot
+16000 rot
-127 rot
…+127 rot
+127 rot
New target
position 208E
-512 rot
…+512 rot
0
-16000 rot
…+16000 rot
0
-127 rot
…+127rot
0