RoboteQ CANBus Series, Руководство пользователя

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Object Dictionary
CANBus Networking Manual 37
DS402 Profile
Index Sub (hex) Entry Name Type Access PDO Command
0x6040 00 Control Word CH1 U16 RW Yes CW
0x6041 00 Status Word CH1 U16 RO Yes SW
0x6042 00 Target Velocity CH1 S16 RW Yes S
0x6043 00 VL Velocity Demand CH1 S16 RO Yes RMP
0x6044 00 VL Velocity Actual Value CH1 S16 RO Yes F
0x6046 01 VL Velocity Min Amount CH1 U32 RW Yes SPL
02 VL Velocity Max Amount CH1 U32 RW Yes SPL
0x6048 01 Velocity Acceleration Delta Speed CH1 U32 RW Yes SAC
02 Velocity Acceleration Delta Time CH1 U16 RW Yes SAC
0x6049 01 Velocity Deceleration Delta Speed CH1 U32 RW Yes SDC
02 Velocity Acceleration Delta Time CH1 U16 RW Yes SDC
0x6060 00 Modes of Operation CH1 S8 RW Yes ROM
0x6061 00 Modes of Operation Display CH1 S8 RO No AOM
0x6064 00 Position Actual Value CH1 S32 RO Yes F
0x606C 00 Velocity Actual Value CH1 S32 RO Yes F
0x6071 00 Target Torque CH1 S16 RW Yes TC
0x6077 00 Torque Actual Value CH1 S16 RO Yes TRQ
0x607A 00 Target Position CH1 S32 RW Yes POS
0x6081 00 Profile Velocity CH1 U32 RW Yes PSP
0x6083 00 Profile Acceleration CH1 U32 RW Yes PAC
0x6084 00 Profile Deceleration CH1 U32 RW Yes PDC
0x6087 00 Torque Slope CH1 U32 RW Yes TSL
0x60FF 00 Target Profile Velocity CH1 U32 RW Yes S
0x6502 00 Supported Drive Modes CH1 U32 CONST No SDM
0x67FE 00 Version Number CH1 U32 CONST No VNM
0x6840 00 Control Word CH2 U16 RW Yes CW
0x6841 00 Status Word CH2 U16 RO Yes SW
0x6842 00 Target Velocity CH2 S16 RW Yes S
0x6843 00 VL Velocity Demand CH2 S16 RO Yes RMP
0x6844 00 VL Velocity Actual Value CH2 S16 RO Yes F
0x6046 01 VL Velocity Min Amount CH2 U32 RW Yes SPL
02 VL Velocity Max Amount CH2 U32 RW Yes SPL
0x6048 01 Velocity Acceleration Delta Speed CH2 U32 RW Yes SAC
02 Velocity Acceleration Delta Time CH2 U16 RW Yes SAC
0x6049 01 Velocity Deceleration Delta Speed CH2 U32 RW Yes SDC
02 Velocity Acceleration Delta Time CH2 U16 RW Yes SDC
0x6860 00 Modes of Operation CH2 S8 RW Yes ROM