halstrup-walcher PSD4 Series, Instruction Manual

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Description of CANopen
7100.006424_Bus description_PSD4xx_CA_H_ENG 17 08.04.2020
Designation Index
no. Function Range of
values Back
up? Delivery
state R/W
Baud rate 2027 0: 20 kBaud 4: 500 kBaud
1: 50 kBaud 5: 800 kBaud
2: 125 kBaud 6: 1000 kBaud
3: 250 kBaud
If the baud rate switch is in use
(i.e. switch position not set to
OFF-OFF-OFF), this value
cannot be changed. 0...6
16 bit yes 4 R/W
Upper
mapping
end 2028 Definition of the positioning
range relative to the absolute
value encoder
Permissible values:
(current po 3
revolutions) …
(current po 4029
revolutions)
For models with an auxiliary
gearbox, the range of values is
reduced in accordance with the
gear ratio.

31 bit
Yes
see
chap. 3.3
R/W
Maximum
holding
current 202B Holding torque at standstill in
mA
see
chap. 3.3
16 bit
Yes see
chap. 3.3 R/W
Direction of
rotation 202C 0: Clockwise
(when looking at the output
shaft)
1: Counterclockwise
0 or 1
16 bit Yes 0 R/W
Actual rpm 2030 Current speed in rpm ±15 bit R
Max. actual
current
during last
run 2031 Max. actual current during last
run in mA 16 bit R
Actual
current 2033 Actual current in mA 16 bit R
U control 203A Current supply voltage to
control unit, in 0.1 V
16 bit R
U motor 203B Current supply voltage to
motor, in 0.1 V
16 bit R