Minimotors DBS 55 Series, Installation, Use And Maintenance Manual

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8 - CanOpen / EtherCAT
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1C0C DLL_CnLossSoC_REC X
1C0D DLL_CnLossSoA REC X
1C0E DLL_CnSpCJitter REC X
1C0F DLL_CnCRCError REC X
1C10 Sync manager 0 config X
1C11 Sync manager 1 config X
1C12 Sync manager 2 config X
1C13
Sync manager 3 config (*2) X
DLL_CnSocJitterRange (*2) X
1C14 DLL_CnLossOfSocTolerance X
1C32 Output sync parameters X
1C33 Input sync parameters X
1E40 NWL_IpAddrTable_0h_REC X
1E4A NWL_IpGroup_REC X
1F82 NMT_FeatureFlags_U32 X
1F83 NMT_EPLVersion_U8 X
1F8C NMT_CurrNMTState_U8 X
1F93 NMT_EPLNodeID_REC X
1F98 NMT_CycleTiming_REC X
1F99 NMT_CNBasicEthernetTimeout_U32 X
1F9A NMT_HostName_VSTR X
1F9E NMT_ResetCmd_U8 X
(*1)
To save parameters to non-volatile storage a 32bit write to object 1010h.0 needs to be performed;
in particular the value to be written to save parameter is 65766173h (“SAVE”).
(*2)
PDO config and mapping have different encoding for CoE/CanOPEN and EPL. Please check DLL
manual for details.
8.3.2 Manufacturer parameter area
The object range 2000h ... 21FFh allows to access servodrive parameters; the following table summarize
the details of a parameter object:
Object details
Subidx 0
Object type 16bit, signed integer
Access Read/Write
Pdo mappable NO
Object dictionary for manufacturer parameters
Index
2000 Parameter 0
2001 Parameter 1
...
21FF Parameter 511
For details of the parameter meaning and encoding refer to the servodrive manual.
NOTE: write objects in the 2000h ... 21FFh range will alter only RAM image of the parameter; to actually save
parameter to non-volatile storage a write to object 1010h.0 needs to be performend (see 1010h).