Isel IMD1, Руководство пользователя

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CanOpen protocol
Positioning module UVE8112, IMD10
Current control test signal
Index Sub Name Type Attrib Map Default Meaning
value
2090 Torque control test: RECORD
input Test signal for current
controllers.
2090 00 Number of entries Unsigned 8 CONST N 3 Number of entries.
2090 01 Test: input duration Unsigned 8 RW N 25 Duration of the test signal.
2090 02 Test: input value Unsigned 8 RW N 100 Amplitude of the test
signal.
2090 03 Test: input status Unsigned 8 Y 0x00 Status of the execution RO
(Bit 7: test signal active).
Attrib Map Default Meaning
Velocity control test signal
Index Sub Name Type
value
2091 Velocity / Position
control: test input RECORD Test signal for velocity
and position controller.
2091 00 Number of entries Unsigned 8 CONST N 4 Number of entries.
2091 01 Test: input duration Unsigned 16 RW N 500 Duration of the test signal.
2091 02 Test: input velocity Signed 32 RW N 10000 Amplitude of the test
signal (target velocity
[Incr./s])
(1)
.
2091 03 Test: input
acceleration
Unsigned 32 RW N 10000000 Ramp slope of the test
signal (Incr./s²).
2091 04 Max Move Length Signed 32 RW N 50000
Maximal Move Length
(inc)
(1)
Attention: If the “Configure test input” object (index 20A0 and sub-index 01) amounts to the value
of 6, the maximum speed is determined. In this case, the amplitude of the test signal is the maximum
path length to be moved in [Incr.]. This object restricts the range of movement of the axis during the
determination process.
Start test signal
Index Sub Name Type Attrib Map Default
value
Meaning
20A0 Test input RECORD Choose test signal and
start.
20A0 00 Number of entries Unsigned 8 CONST N 2 Number of entries.
20A0 01 Configure test input Unsigned 8 RW N 0 Selection of the test
signal.
20A0 02 Start test input Unsigned 8 WO N 0 The writing of a 1
launches the test signal.
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