Lika AM58K 13/4096CB Series, User Manual

Page: 44 / 56

AM58K CANopen®
6004-00 Position value
[Unsigned32, ro]
This object contains the position value, transmitted value is calculated
considering the scaling values. Value is transmitted cyclically or synchronously
according to the settings in the objects
1800 PDO1 parameters
,
1801 PDO2
parameters
and
1802 PDO3 parameters
.
6200-00 Cyclic time
[Unsigned16, rw]
Cyclic timer value is used in asynchronous transmission mode (
Transmission
Type
= FEh) to set the interval between two PDO issues.
If the value next to this object
6200-00 Cyclic time
≠ 0, the PDO message is
sent cyclically and the interval between two messages is the time set here;
otherwise, if the value next to this object
6200-00 Cyclic time
= 0, the PDO
message is not sent.
Value is expressed in milliseconds. See on pages 26 and 31.
Default = 0000h
6500-00 Operating states
[Unsigned16, ro]
Bit Function bit = 0 bit = 1
0
Code sequence
Clockwise CCW
1 not used
2 Scaling function Disabled Enabled
3…11 not used
12 Limit switch min.
posit. > 2104-
00 Limit switch
min.
posit. < 2104-
00 Limit
switch min.
13 Limit switch max.
posit. <
2105-
00 Limit switch
max.
posit. >
2105-
00 Limit
switch max.
14 not used
15 Current operating state
Stopped
/
Pre-operational
Operational
Code sequence
It shows whether the code sequence is set to clockwise (CW) or
counterclockwise (CCW). To set the code sequence to either CW or CCW you
must set the bit 0
Code sequence
of the object
6000-00 Operating
parameters
to 0 / 1.
MAN AM58K CB E 1.1.odt 44 6 - CANopen® interface