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
value captured by TP1 rising
edge
0x60BB 0x00 VAR
Touch probe pos 1 neg
value
INT32 ro TXPDO inc USER
The position value
captured by TP1 falling
edge
0x60C2 -
RECO
RD
Interpolation time period - - - - USER
0x60C2 0x00
RECO
RD
Number of Entries UINT8 ro NO - USER
0x60C2 0x01
RECO
RD
ip time units UINT8 rw RXPDO - USER
0x60C2 0x02
RECO
RD
ip time index UINT8 rw RXPDO - USER
0x60C5 0x00 VAR Max acceleration UINT32 rw RXPDO
inc/ms
²
USER Max acceleration
0x60C6 0x00 VAR Max deceleration UINT32 rw RXPDO
inc/ms
²
USER Max deceleration
0x60E0 0x00 VAR
Positive torque limit
value
UINT16 rw RXPDO ‰ USER
Positive torque limit
value
0x60E1 0x00 VAR
Negative torque limit
value
UINT16 rw RXPDO ‰ USER
Negative torque limit
value
0x60F2 0x00 VAR Positioning option code UINT16 rw RXPDO - USER
0x60F4 0x00 VAR
Following error actual
value
INT32 ro TXPDO inc USER
Following error actual
value
0x60FC 0x00 VAR
Position demand internal
value
INT32 ro TXPDO inc USER
Internal position
command value
0x60FD 0x00 VAR Digital inputs UINT32 ro TXPDO - USER Digital inputs
0x60FF 0x00 VAR Target velocity INT32 rw RXPDO inc/s USER Target velocity
0x6402 0x00 VAR Motor type UINT16 rw NO - USER Motor type
0x6502 0x00 VAR Supported drive modes UINT32 ro NO - USER Supported control modes
RC Series Parameter Objects
10.2.3
Table 10.2-3. RC Series Parameter Objects
Index Sub-index
Object
Type
Name
Data
type
Read and
write
operations
PDO
mappin
g
Unit Right Description
0x2000 0x00 VAR Position control switch UINT32 rw NO - USER Position control switch
0x2001 0x00 VAR
Position Disturbance
Compensation Gain
UINT32 rw NO ‰ USER
Position Disturbance
Compensation Gain
245