Technical Manual PD4-E-M (EtherCAT)
1 Introduction
•
The following bits in object 6041
h
(statusword) have a special function:
•
A list of available system calls can be found in chapter System calls in a NanoJ program.
Text set in italics marks named objects:
•
Read the installation manual.
•
Use the Plug & Drive Studio software to perform the auto setup.
•
For software: You can find the corresponding information in the Operation tab.
•
For hardware: Use the ON/OFF switch to switch the device on.
A text set in
Courier
marks a code section or programming command:
•
The line with the
od_write(0x6040, 0x00, 5 );
command has no effect.
•
The NMT message is structured as follows:
000 | 81 2A
A text in "quotation marks" marks user input:
•
Start the NanoJ program by writing object 2300
h
, bit 0 = "1".
•
If a holding torque is already needed in this state, the value "1" must be written in 3212
h
:01
h
.
1.10 Numerical values
Numerical values are generally specified in decimal notation. The use of hexadecimal notation is
indicated by a subscript h at the end of the number.
The objects in the object dictionary are written with index and subindex as follows:
<Index>:<Subindex>
Both the index as well as the subindex are specified in hexadecimal notation. If no subindex is listed,
the subindex is 00
h
.
Example: Subindex 5 of object 1003
h
is addressed with
1003
h
:05
h
, subindex 00 of object 6040
h
with
6040
h
.
1.11 Bits
The numbering of individual bits in an object always begins with the LSB (bit number 0). See the
following figure, which uses data type UNSIGNED8 as an example.
1.12 Counting direction (arrows)
In figures, the counting direction is always in the direction of an arrow. Objects
60C5
h
and
60C6
h
depicted as examples in the following figure are both specified as positive.
Max. acceleration (60C5
h
)
Max. deceleration (60C6
h
)
Acce
le
ra
tio
n
t
Version: 1.0.1 / FIR-v1748
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