Manual PD4-C (USB)
4 About this manual
Version: 1.4.1 / 22.07.2016 / FIR-v1626
11
4 About this manual
4.1 Introduction
This manual is directed toward programmers intending to program a motor controller using the motor
controller from Nanotec
®
.
4.2 Numerical values
Numerical values are always presented in decimal notation. If hexadecimal notation must be used, this
is indicated by a subscript "h" at the end of the number.
The objects in the object directory are noted as follows with an index and sub-index: <Index>:<Sub-
index>
Both the index and sub-index are in hexadecimal notation. Sub-index 0 is in force when no sub-index is
noted.
Example: Sub-index 5 of object 1003
h
is addressed with "1003
h
:05
h
", sub-index 0 of object 6040
h
with
"6040
h
".
In the last section of the manual, all objects are listed in full, and the references in the running text and
tables are set in bold, e.g. 6040
.
4.3 Bits
The individual bits of an object are always numbered beginning with 0 at the LSB. See the following
figure, which uses the "UNSIGNED8" data type as an example.
4.4 Counting direction (arrows)
In drawings, the counting direction is always in the direction of the arrow. The objects 60C5
h
and 60C6
h
shown in the following figure are both positive.
Max. acceleration (60C5
h
)
Max. deceleration (60C6
h
)
A
cce
le
ra
ti
o
n
t
