halstrup-walcher PSD4 Series, Руководство пользователя

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Description of EtherCAT
7100.006514_Bus description_PSD4xx_EC_F_EN 15 2022-12-12
Designation Index
no. Function Range
of
values Back-
up? De-
livery
state R/W
Upper
mapping end 2028 Definition of the positioning range
relative to the absolute value encoder
Permissible values:
(actual po 3
rotations) …
(actual po 4,029 rotations)
Writing only possible when at a
standstill.

31 bit
Yes 102400 R/W
Maximum
holding
torque 202B Holding torque at standstill in cNm
(after the phase “max. holding torque
at end
of run”)
See
chap.
3.4
16 bit
Yes See
chap.
3.4 R/W
Direction of
rotation 202C 0: Clockwise rotation to larger values
(if looking at the output shaft)
1: Anti-clockwise rotation to larger
values
Writing is only possible when at a
standstill.
0 or 1
16 bit Yes 0 R/W
Idle period 202E Reserved
Actual speed 2030 Value in rpm

15 bit
R
Max. current
during last
run 2031 Maximum current occurring during the
most recent run (the start-up phase,
during which the start-up torque
applies, see SDOs #2018/2019, and
braking phase are not taken into
account);
value in mA
16 bit R
Actual current 2033 Actual current, in mA 16 bit R
U control 203A Current supply voltage to control unit,
in 0.1 V
16 bit R
U motor 203B Current supply voltage to motor,
in 0.1 V
16 bit R