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Chapter 3 - Device Profile
CD1-k – CANopen Communication Profile
3.13.4.4 - Object 30C4h: Analog input 1 offset compensation
Writing to this object will execute the offset compensation procedure on analog input 1.
Index 30C4h
Name
Offset compensation procedure
Object Code
VAR
Data Type
Unsigned32
Object Class
all
Access wo
PDO Mapping
No
In order to avoid running the offset compensation procedure by mistake, the offset compensation is only executed
when a specific signature is written to the this object. This signature is 'offa'.
Signature MSB
LSB
ASCII a
f
f o
hex 61h 66h 66h 6Fh
3.13.4.5 - Object 30C0h: Analog input 1 set point selection
The velocity set point in the Profile velocity mode can be selected either from the CAN bus (see object 60FFh) or
from the Analog input 1 voltage value (10 V for maximum speed).
The torque set point in the Profile torque mode can be selected either from the CAN bus (see object 6071h) or
from the Analog input 1 voltage value (10 V for maximum current).
Index 30C0h
Name
Analog input 1 set point selection
Object Code
VAR
Data Type
Unsigned16
Object Class
pv, pt
Access rw
PDO Mapping
No
Default Value
0
Value Description
0
CAN bus selection for the Profile velocity and Profile torque set point
1
Analog input 1 selection for the Profile velocity and Profile torque set point
3.13.4.6 - Object 30C3h: Analog input 2 voltage
Index 30C3h
Name
Analog input 2 voltage
Object Code
VAR
Data Type
Integer16
Object Class
all
Access ro
PDO Mapping
possible
Conversion
+/- 7FFF correspond to +/- 10V
Note: The analog inputs 1 and 2 must be selected by the 3 jumpers OUT/IN-SEL located on the amplifier
connector board (see
CD1-k manual
).