Lika RD4, User Manual

Page: 40 / 72

RD4 CANopen®
Byte 1
bit 8 … 11 Not used.
Axis torque
bit 12 When the axis has reached the commanded position, it
keeps the torque.
If set to “=0”, when the axis is in position, PWM is
deactivated.
If set to ”=1”, when the axis is in position, PWM is kept
active.
OUT 1
bit 13 This is intended to activate / deactivate the operation of the
digital output 1. The meaning of the available outputs is
described in section “Programming parameters“ on page 46.
OUT 1 = 0 output 1 low (not active)
OUT 1 = 1 output 1 high (active)
OUT 2
bit 14 This is intended to activate / deactivate the operation of the
digital output 2. The meaning of the available outputs is
described in section “Programming parameters“ on page 46.
OUT 2 = 0 output 2 low (not active)
OUT 2
= 1 output 2 high (active)
OUT 3
bit 15 This is intended to activate / deactivate the operation of the
digital output 3. The meaning of the available outputs is
described in section “Programming parameters“ on page 46.
OUT 3
= 0 output 3 low (not active)
OUT 3
= 1 output 3 high (active)
Bytes 2 and 3
Not used.
MAN RD4 CB E 1.5 CANopen® interface 40 of 72