Isel IMD1, Руководство пользователя

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Positioning module UVE8112, IMD10 CanOpen
protocol
General parameters
Here, those objects are grouped that cannot be allocated to a certain group, since they affect several
modes of operation or functional groups.
M
Index Sub Name Type Attrib Map t
alue
Meaning
aximum speed
Defaul
v
607F 00 le speed Unsigned 32 RW N 100000 speed. Max. profi Maximum
The maximum speed internally restricts all velocities in the modes of operation “Profile velocity mode”
and “Profile position mode”. Furthermore, it indicates the range which is available as target value
r
the m ion “Velocity con analogue input” (-10 ... +10 V = -Vmax ,..
+
Maximum acceleration
Index Sub Nam Type A
ange in
Vmax)
ode of operat troller with
e ttrib Map Default Meaning
value
60C5 00 Max. acceleration Unsigned 32 RW N 10000000 Maximum acceleration.
The maximum acceleration internally restricts all acceleration and braking ramps in the modes of
n “Profile Velocity Mode” and “Profile Position Mode”, even if the acceleration parameter
Axis direction
operatio
(6083
h
) has a greater value.
Index Sub Name Type Attrib Map Default
value
Meaning
607E 00 Polarity Unsigned 8 RW N 0x00 Axis direction (0x00:
positive, 0xC0: negative).
The Axis direction parameter makes it possible to invert the rotation direction of the motor at identical
Digital inputs
target values.
Index Sub Name Type Attrib Map Default
value
Meaning
60FD 00 Digital inputs Unsigned 8 RO Y 0x00 Current status of the
digital inputs.
The first four bits contain the current status of the four digital inputs. The allocation of the inputs to
the active ra parameters.
e an lloc w
Bit number Meaning
the bits as well as nge of the inputs is set by means of the 6510
h
01
h
- 05
h
Th me ing of the bits is a ated as follo s:
Bit 0 Negative limit switch
Bit 1 Positive limit switch
B t 2 Reference switch i
Bit 3 Enabling signal
101