NANOTEC PD4-C, Technical Manual

Page: 238 / 256

9 Description of the object dictionary
Data type UNSIGNED32
Savable yes, category: application
Firmware version FIR-v1426
Change history
Value description
Subindex 00
h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 02
h
Subindex 01
h
Name Speed During Search For Switch
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000032
h
Subindex 02
h
Name Speed During Search For Zero
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 0000000A
h
Description
This value is calculated with the numerator in object 2061
h
and the dominator in object 2062
h
.
The speed for the search for the switch is specified in subindex 1.
The (lower) speed for the search for the reference position is specified in subindex 2.
Note
●
The speed in subindex 2 is simultaneously the initial speed when starting the acceleration ramp.
If this is set too high, the motor loses steps or fails to turn at all. If the setting is too high, the index
marking will be overlooked. The speed in subindex 2 should therefore be less than 1000 steps
per second.
●
The speed in subindex 1 must be greater than the speed in subindex 2.
Version: 2.0.1 / FIR-v1650 238