Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Index Sub-index
Object
Type
Name Data type
Read and
write
operations
PDO
mapping
Unit Right Description
0x607A 0x00 VAR Target position INT32 rw RXPDO inc USER Target position
0x607C 0x00 VAR Home offset INT32 rw NO inc USER Home offset
0x607E 0x00 VAR Polarity UINT8 rw NO - USER Polarity
0x607F 0x00 VAR Max profile velocity UINT32 rw RXPDO inc/s USER
Maximum profile
velocity
0x6080 0x00 VAR Max motor speed UINT32 rw RXPDO r/min USER Maximum motor speed
0x6081 0x00 VAR Profile velocity UINT32 rw RXPDO inc/s USER Profile velocity
0x6082 0x00 VAR End velocity UINT32 rw RXPDO inc/s USER End velocity
0x6083 0x00 VAR Profile acceleration UINT32 rw RXPDO
inc/s^
2
USER Profile acceleration
0x6084 0x00 VAR Profile deceleration UINT32 rw RXPDO
inc/s^
2
USER Profile deceleration
0x6085 0x00 VAR Quickstop deceleration UINT32 rw RXPDO
inc/ms
²
USER
Emergency stop
deceleration
0x6086 0x00 VAR Motion profile type INT16 rw RXPDO - USER Motion profile type
0x6087 0x00 VAR Torque slope UINT32 rw RXPDO ‰/s USER Torque slope
0x6088 0x00 VAR Torque profile type INT16 rw RXPDO - USER Torque profile mode
0x6098 0x00 VAR Homing method INT8 rw RXPDO - USER Homing method
0x6099 -
RECO
RD
Homing speeds - - - - USER Homing speed
0x6099 0x00
RECO
RD
Number of Entries UINT8 ro NO - USER
0x6099 0x01
RECO
RD
Speed during search for
switch
UINT32 rw RXPDO inc/s USER
Speed during search for
switch
0x6099 0x02
RECO
RD
Speed during search for
zero
UINT32 rw RXPDO inc/s USER
Speed during search for
zero
0x609A 0x00 VAR Homing acceleration UINT32 rw RXPDO
inc/ms
²
USER Homing acceleration
0x60B0 0x00 VAR Position offset INT32 rw RXPDO inc USER
Position compensation
value
0x60B1 0x00 VAR Velocity offset INT32 rw RXPDO inc/s USER
Velocity compensation
value
0x60B2 0x00 VAR Torque offset INT16 rw RXPDO ‰ USER
Torque compensation
value
0x60B8 0x00 VAR Touch probe function UINT16 rw RXPDO - USER TP control word
0x60B9 0x00 VAR Touch probe status UINT16 ro TXPDO - USER TP status word
0x60BA 0x00 VAR Touch probe pos 1 pos INT32 ro TXPDO inc USER The position value
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