Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Operation Parameters 6.4.5
0x2000 Position control switch
Index 0x2000 Object type VAR Name Position control switch
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT32 - Position control switch
Byte0: Soft limit enable/disable
0x00-Disable soft limit in all modes
0x01-Enable soft limit in all modes
0x02-Enable soft limit only in position mode
Byte1: Infinity position mode switch
0x00-Disable infinity position control mode
0x01-Enable infinity position control mode, and enable power on position control overflow detection
0x02-Enable infinity position control mode, and disable power on position control overflow detection
Byte2: Position compensation control switch
0x00-Disable position compensation control
0x01-Enable position compensation control
Byte3: Detection switch of position following error
0x00-Disable detection of position following error
0x01-Enable detection of position following error
0x2001 Position Disturbance Compensation Gain
Index 0x2001 Object type VAR Name Position Disturbance Compensation Gain
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT32 ‰ Position Disturbance Compensation Gain
Position Disturbance Compensation Gain
0x2002 Position approach window time
Index 0x2002 Object type VAR Name Position approach window time
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT16 ms Position approach window time
Set the position approach window time.
0x200E Power On Position Error Limit
Index 0x200E Object type VAR Name Power On Position Error Limit
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT32 inc Power On Position Error Threshold
Set the power on position error threshold. If this value is set to 0, the power on position error detection will be disabled.
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