Stober SC6 Series, Руководство по эксплуатации

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10 | Appendix STOBER
82
02/2020 | ID 443025.06
10.1.5 CiA 402 Drives and motion control: 6800 hex – 6DFF hex
The following table includes the communication objects of the standardized profile CiA 402 Drives and motion control
device profile – Part 2: Operation modes and application data supported by axis B for motion control, as well as how they
are mapped to the corresponding parameters of STOBER.
The communication objects are used in the applications CiA 402 and CiA 402 HiRes Motion .
Index Subindex TxPDO RxPDO Name Comment
683F hex 0 hex ✓ — Error code A514
6840 hex 0 hex ✓ ✓ Control word A515
6841 hex 0 hex ✓ — Statusword A516
685A hex 0 hex — ✓ Quick stop option code A536
685E hex 0 hex — ✓ Fault reaction option code A540
6860 hex 0 hex
✓ ✓
Modes of operation A541
6861 hex 0 hex ✓ — Modes of operation display A542
6864 hex 0 hex ✓ — Position actual value A545
6865 hex 0 hex ✓ ✓ Following error window A546
6866 hex 0 hex ✓ ✓ Following error time out A547
686C hex 0 hex ✓ — Velocity actual value A553
6871 hex 0 hex
✓ ✓
Target torque A558
6872 hex 0 hex ✓ ✓ Max torque A559
6876 hex 0 hex ✓ — Rated torque A563
6877 hex 0 hex ✓ — Torque actual value A564
6878 hex 0 hex ✓ — Current actual value A565
6879 hex 0 hex
✓
— DC link circuit voltage A566
687A hex 0 hex
✓ ✓
Target position A567
687B hex Highest subindex supported
687B hex 0 hex — — Highest subindex supported Constant value of 2
687B hex 1 hex ✓ ✓ Min. position range limit A568[0]; no function
687B hex 2 hex ✓ ✓ Max. position range limit A568[1]; used as
revolution length
687C hex 0 hex ✓ ✓ Home offset A569
687D hex Software position limit
687D hex 0 hex — — Highest subindex supported Constant value of 2
687D hex 1 hex ✓ ✓ Min. position range limit A570[0]
687D hex 2 hex ✓ ✓ Max. position range limit A570[1]
687E hex 0 hex — ✓ Polarity A571; only bit 7 has
function
687F hex 0 hex ✓ ✓ Max profile velocity A572
6881 hex 0 hex ✓ ✓ Profile velocity A574
6883 hex 0 hex
✓ ✓
Profile acceleration A576
6884 hex 0 hex ✓ ✓ Profile deceleration A577
6885 hex 0 hex ✓ ✓ Quick stop deceleration A578