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85201A_RK5C_User Manual_02-2017_ENG
6030h – Speed value
This object provides the output speed value. This object is also mapped into sub-index 2 of the PDO1 (see object 1A00h).
Object description
Index
Name
6030h
Speed value
Entry description
SUB Index Name
Access
Data Type
Value Range
Default
0
Highest sub-index
supported
RO
Unsigned8
1
1
1
Preset value
channel 1
RO
Integer16
Integer16
-
6200h – Cyclic timer
This object indicates the transmission period for TPDO 1. The values are given in multiples of 1 ms. It is hard-wired to
the PDO event timer (see object 1800h). A cyclic transmission of the TPDO1 is set, when the cyclic timer is programmed
unequal 0000h and the TPDO1 transmission type is set to 254 or 255.
Cyclic timer settings are explained in the following table.
Value
Description
0
Event-driven TPDO1 transmission disabled
1-65535
TPDO1 event-timer in ms
Figure 40 - Cyclic timer settings
Object description
Index
Name
6200h
Cyclic timer
Entry description
SUB Index Name
Access
Data Type
Value Range
Default
0
Cyclic timer
RW
Unsigned16
0000h..FFFFh
0001h
6500h – Operating status
This object provides the operating status of the encoder functions configured in the object 6000h..
Object description
Index
Name
6500h
Operating status
Entry description
SUB Index Name
Access
Data Type
Value Range
Default
0
Operating status
RO
Unsigned16
0000h
0000h
This object is not supported by the GEFRAN RK5C CANopen device.