Intelligent Motion Systems MDrive DSP-402, Application Manual

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6 MDrivePlus CANopen R020507
Object Formatting
This manual will display the Object and Entry data using the model detailed below.
Object Description
Index
XXXX
h
Name
Index Name
Object Code
VAR
Data Type
I/U
Index
The Index is the hexadecimal number that represents the index number of the object in the CANopen Object
Dictionary. With the exception of IMS Manufacturer specific objects these are defined in CiA Device Profile for
Drives and Controls DSP402. The applicable objects are defined in this document as well.
Index Name
The Index Name is the general name and description of the object. With the exception of IMS Manufacturer spe-
cific objects these are defined in CiA Device Profile for Drives and Controls DSP402.
Object Code
VAR - Variable
Data Type
Physically, the types consist of one or more bytes. One byte consists of 8 bits (Bit 0 to 7). Bit 0 is the LSB (Least
Significant Bit). A byte can also be depicted hexadecimally (0x00 ... 0xff).
If a data type consists of n byte, the following applies:
Data byte 1 (Byte in address x) = highest value byte
Data byte n (Byte in address x+n-1) = lowest value byte
The data coding and the value ranges for the respective data types apply, unless otherwise explicitly stated in the
data description of an MDrivePlus communication object.
Integer (I) Range Length
± Integer 8
–128 ... +127 1 Byte
± Integer 16 – 32,768 ... +32,767 2 Bytes
± Integer 32 – 2,147,483,647 ... +2,147,483,647 4 Bytes
Coding 2’s Complement
Unsigned (U) Range Length
Unsigned 8 0 ... 255 1 Byte
Unsigned 16 0 ... 65,535 2 Bytes
Unsigned 32 0 ... 4,294,967,295 4 Bytes
Coding Binary
Entry Description
Access
R/W/S/K
PDO Mapping
Yes/No
Category
M/O
Range
I/U
Default
I/U
Access
R .......................................................................................Read Access
W .....................................................................................Write Access
S ........................................ Storable to Non Volatile Memory (NVM)
K .......................................................... Key Required for Write Access