TR-Electronic LMPI-46, User Manual

Page: 60 / 111

Contents
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TR-Electronic GmbH 2018, All Rights Reserved Printed in the Federal Republic of Germany
Page 60 of 111 TR - ELA - BA - DGB - 0029 - 00 08/29/2018
6 Communication-Specific Standard Objects (CiA DS-301) .......................................................... 83
6.1 Mapping .................................................................................................................................. 84
6.1.1 Object 1A00h: PDO_TxMappParam_00h_AU64 ................................................... 84
7 Manufacturer and Profile Specific Objects (CiA DS-406) ............................................................ 85
7.1 Object 2000h: Mode ............................................................................................................... 86
7.1.1 Standard Mode ....................................................................................................... 87
7.1.2 Reference-Reversal ................................................................................................ 88
7.2 Object 2001h: Interpolation ..................................................................................................... 89
7.3 Object 2002h: Speed_Filter .................................................................................................... 89
7.4 Object 2003h: Position_Filter .................................................................................................. 89
7.5 Object 2004h: Number_Of_Magnets ...................................................................................... 90
7.6 Object 2005h: Speed_Limit .................................................................................................... 90
7.7 Object 2007h: Save_Parameter ............................................................................................. 91
7.8 Object 2010h: Preset_Release ............................................................................................... 92
7.9 Object 2011h: Reference_Zero_To_Preset ............................................................................ 93
7.10 Object 2012h: Offset ............................................................................................................. 94
7.10.1 Operating method Offset / Preset ......................................................................... 95
7.11 Object 3000h: Status ............................................................................................................ 96
7.12 Object 3002h: Cycle_Time_Encoder .................................................................................... 96
7.13 Object 6000h: Operating_Parameter .................................................................................... 97
7.14 Object 6005h: Linear_Encoder_Measuring_Steps ............................................................... 97
7.15 Object 6010h: Preset_Values ............................................................................................... 98
7.16 Object 6020h: Position_Values............................................................................................. 99
7.17 Object 6030h: Speed_Values ............................................................................................... 100
8 Error handling .................................................................................................................................. 101
8.1 Possible Error sources and Error symptoms .......................................................................... 101
8.2 Error registration ..................................................................................................................... 103
8.2.1 Threshold Counter .................................................................................................. 103
8.2.2 Cumulative Counter ................................................................................................ 103
8.3 Supported Error messages ..................................................................................................... 104
8.3.1 Transmission- / CRC error ...................................................................................... 104
8.3.2 Loss of SoC ............................................................................................................ 105
8.3.3 Rx MAC Buffer Overflow / Tx MAC Buffer Underrun .............................................. 106
8.3.4 Collisions ................................................................................................................. 107
9 Error Causes and Remedies .......................................................................................................... 108
9.1 Optical displays ....................................................................................................................... 108
9.2 SDO Abort Codes ................................................................................................................... 109
9.3 Error Codes ............................................................................................................................. 110
9.4 Error Register, Object 0x1001 ................................................................................................ 111
9.5 Miscellaneous faults ............................................................................................................... 111