Oriental motor aSTEP AZ mini Driver, Руководство пользователя

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Object dictionary
123
3 E
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ommunica
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z
Digital outputs (60FEh)
This is used to control the electromagnetic brake.
Index Sub Name Type Access PDO Save Range Update
60FEh
00h
Number of
entries
U8 RO No − 2 −
01h
Physical
output
U32 RW RxPDO −
0000 0000h to FFFF FFFFh
(Initial value: 0000 0000h)
A
02h Bit mask U32 RW No −
0000 0000h to FFFF FFFFh
(Initial value: 0000 0000h)
A
Details of physical outputs
Bit Name Description
0 Electromagnetic brake control
0: Electromagnetic brake releasing
1: Electromagnetic brake holding
1 to 31 − Reserved
Details of bit mask
Bit Name Description
0 Mask of Bit 0
0: Brake control of physical outputs disable
1: Brake control of physical outputs enable
1 to 31 − Reserved
z
Target velocity (60FFh)
This is used to set the operating speed for the Cyclic synchronous velocity mode and the Profile velocity mode.
Index Sub Name Type Access PDO Save Range Update
60FFh 00h
Target velocity
[Hz]
INT32 RW RxPDO −
−4,000,000 to 4,000,000
(Initial value: 0)
A
z
Supported drive modes (6502h)
This indicates the operation mode supported by the product.
Index Sub Name Type Access PDO Save Range Update
6502h 00h Supported drive modes U32 RO No − 0000 01A5h −
Details of range
Bit Name Value Description
0 PP (Profile position mode) 1 1: Supported
1 VL (Velocity mode) 0 0: Not supported
2 PV (Profile velocity mode) 1 1: Supported
3 TQ (Torque profile mode) 0 0: Not supported
4 Reserved 0 Reserved
5 HM (Homing mode) 1 1: Supported
6 IP (Interpolated position mode) 0 0: Not supported
7 CSP (Cyclic synchronous position mode) 1 1: Supported
8 CSV (Cyclic synchronous velocity mode) 1 1: Supported
9 CST (Cyclic synchronous torque mode) 0 0: Not supported
10 to 31 Reserved 0 Reserved