Balluff BDG F-NH Series, Руководство по настройке

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6.2 Device specific objects
The device specific objects comply with the CiA encoder profile specification 406 v3.2 and have the object
addresses range 6000h to 9FFFh.
Object
No.
Name Sub
Idx
Function Data type ro
rw
co
Map Default
value
6000h
p. 54
Operating
Parameters 00h Changing / Indicating
the operating
parameters Unsigned16 rw no 0004h
6001h
p. 55
Measuring
units per
revolution 00h Changing / Indicating
the singleturn resolution
(STR) Unsigned32 rw no 0000 4000h
6002h
p. 55
Total
measuring
range 00h Changing / Indicating
the total measuring
range Unsigned32 rw no i*
6003h
p. 55
Preset value 00h Setting / Indicating the
preset value to adapt
the position value to the
application Unsigned32 rw no 0000 0000h
6004h Position value 00h current position value Unsigned32 ro yes dyn
6008h High precision
position value 00h Current position value,
when measuring range
>32 bit Unsigned64 ro yes dyn
6009h High precision
Preset Value 00h Setting/indicating the
High-precision-preset-
value. Access via
segmented or block
transfer Unsigned64 rw no 0000 0000
0000 0000h
6030h Speed Value 00h Rotation speed in units
(bit) per second Unsigned8 ro yes 01h
01h Speed value Signed16 ro dyn
6040h Acceleration
Value 00h Acceleration value in
units(bit) per second
2
Unsigned8 ro yes 01h
01h Acceleration value Signed16 ro dyn
6050h Jerk Value 00h Jerk value in units (bit)
per second
3
Unsigned8 ro yes 01h
01h Jerk value Signed16 ro dyn
6200h Cyclic-Timer 00h Changing / Indicating
the transmission period
of asynchronous
TPDOs Unsigned16 rw no 0001h
6300h
p.33
CAM state
register 00h Status bits of the cams
of the corresponding
cam channel Unsigned8 ro yes 01h
01h Cam state channel1
0b=inactive
1h=active Unsigned8 ro 00h
6301h
p. 33
CAM enable
register 00h Changing / Indicating
the cam enable bits of
the corresponding cam
channel Unsigned8 ro no 01h
01h Cam enable channel1
0b=inactive
1b=active Unsigned8 rw 00h
6302h
p. 33
CAM polarity
register 00h Changing / Indicating
the inversion of the
corresponding cam in
(6300h) Unsigned8 ro no 01h
01h Cam polarity channel1
0b=cam state not
inverted /
1b=cam state inverted Unsigned8 rw 00h