RoboteQ CANBus Series, User'S Reference Manual

Page: 56 / 56

CAN Networking on Roboteq Controllers
56 CANBus Networking Manual V2.0 July 8, 2019
0x60FF - Target Velocity (PV)
Table 4-37 gives a short description of the object.
TABLE 4-37. Target Velocity
Sub-Index 00 Optional CND Type U32 Access RW PDO R
Value Range Default 0
RoboCommand S
Description This object shall indicate the configured target velocity, in RPM, and
shall be used as input for the trajectory generator.
0x6502 - Supported Drive Modes
Table 4-38 gives a short description of the object.
TABLE 4-38. Supported Drive Modes
Sub-Index 00 Optional REQ Type U32 Access C PDO N
Value Range Default 0x0000000F
RoboCommand SDM
Description The supported drive modes.
Roboteq Controllers support:
•
Profile Position Mode (PP).
•
Velocity Mode (VL).
•
Profile Velocity Mode (PV).
•
Torque Mode (TQ).
0x67FE - Version Number
Table 4-39 gives a short description of the object.
TABLE 4-39. Version Number
Sub-Index 00 Optional REQ Type U32 Access C PDO N
Value Range Default 0x00040100
RoboCommand VNM
Description
This object shall provide the version number of the CiA 402 profile,
which is implemented in the device.
References
1 . CiA® 402 Draft Standard Proposal, v4.1.0, https://www.can-cia.org/can-knowledge/
canopen/cia402/