CanOpen protocol
Positioning module IMD20, IMD40
Motor Data
Typ
Attrib Map Default
Meaning
Index Sub Name
value
6410
Motor
Data
RECORD
General parameters of
the connected motor
6410
00
Number of Entries
Unsigned 8
CONST
N
12
6410 01 Hall_CBA_001
Position
Unsigned 16
for
n 001
RW
N
0
Position [Inkr.]
CBA_Halls_Conditio
6410 02 Hall_CBA_010
Position
Unsigned 16
RW
N
0
r.] for
dition 010
Position [Ink
CBA_Halls_Con
6410 03 Hall_CBA_011
Unsigned 16
RW
N
0
Position [Inkr.] for
CBA_Halls_Condition 011
Position
6410 04
_CBA_100
Unsigned 16
RW
N
0
Position [Inkr.] for
CBA_Halls_Condition 100
Hall
Position
6410 05
_CBA_101
Unsigned 16
RW
N
0
Position [Inkr.] for
CBA_Halls_Condition 101
Hall
Position
6410 06 Hall_CBA_110
Unsigned 16
RW
N
0
] for
Position
Position [Inkr.
CBA_Halls_Condition 110
6410 07 Encoder Index
Position
Unsigned 16
0
RW
N
Position [Inkr.] of encoder
index signal
6410 08 Encoder Index
Emulating
Unsigned 8
RW
N
0
Activation of emulation of
encoder index signal
6410 09 Voltage Constant
Unsigned 16
RW
N
50
e constant (Volt /
(V/Krpm)
Voltag
(1000 rpm))
6410
0A
Rated Speed (rpm)
Unsigned 32
RW
N
3000
Rated speed (rpm)
6410 0B Winding Inductance Unsigned 32
RW
N
1000
(mikro Henry)
Phase inductance in
micro Henry
6410 0C Winding Resistance Unsigned 32
RW
N
1000
(mOhm)
Phase resistor in mOhm
6410
0D
Motor Type
Unsigned 8
RW
N
0
0 = rotation motor
1 = linear motor
6410
0E
Pitch
Unsigned 32
RW
N
31008
ear motor
Pitch of the lin
6410 0F Emulating Encoder
Index Safety
Distance
Unsigned 16
RW
N
50
Emulating Encoder Index
Safety Distance
6410 10 Motor Temperatur
Sensor
Unsigned 8
RW
N
0
1 = Motor temperature
sensor active
0 = Motor temperature
sensor not active
6410 11 Invert Motor
Temperature Input
Unsigned 8
RW
N
0
1 = Motor temperature
sensor input inverted
0 = Motor temperature
sensor input not inverted
6410 12 Motor Temperature
Input
Unsigned 8
RO
N
0
State of motor
temperature sensor input
The motor specific parameters stand in this object. These parameters can be taken out of the motor data
sheet of the manufacturer. The three hall sensors according to the 3 motor phases delivers directly after
switch-on the information in which of the six magnetic field conditions the motor is located. With this raw
position information the motor can turn one revolution, until the first index signal comes. At this point of
time the motor can be commutate precisely. At linear drives it is often the case, that the used length
measuring system delivers no index signal. For this case the option "encoder index emulation" must be
used to generate the index signal out of the hall signals. In the subindexes from 01 to 06 the positions of
the hall conditions must be input. The position of the index signal stands in subindex 07. In case that the
hall positions and index position cannot be find in the motor data sheet it is possible to measure them. But
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