Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
0x6061 Modes of operation display
Index
0x6061
Object type
VAR
Name
Modes of operation display
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
TXPDO
rw
INT8
-
Current control mode
Same with 0x6060: Control mode setting
Note: This data type of this object is UINT8. When configuring the master, you need to configure parameter 0x5FFF or
0x5FFE after this object to align the data length.
6.3.2.2
Position Mode
Select objects used by mode 0x01 (PP), 0x07 (IP), 0X08 (CSP) for object 0x6060.
0x6062 Position demand value
Index
0x6062
Object type
VAR
Name
Position demand value
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
TXPDO
ro
INT32
inc
Position command value
Provides the position command value.
0x6063 Position actual internal value
Index
0x6063
Object type
VAR
Name
Position actual internal value
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
TXPDO
ro
INT32
Inc
Actual internal position value (not supported
yet)
0x6064 Position actual value
Index
0x6064
Object type
VAR
Name
Position actual value
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
TXPDO
ro
INT32
inc
Position actual value
Provides the position actual value measured by the position feedback device.
0x6065 Following error window
Index
0x6065
Object type
VAR
Name
Following error window
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
RXPDO
rw
UINT32
inc
Position following error threshold
Set the permissible position following error range. The position following error is relative to the position command. If the
actual position following error exceeds the set threshold, a large position following error fault will be triggered.
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Содержание EtherCAT CoolDrive RC Series
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Страница 17: ...Tsino Dynatron Electrical Technology Beijing Co Ltd Dimension Drawing of RC3 2 3 2 7 ...
Страница 18: ...Tsino Dynatron Electrical Technology Beijing Co Ltd Dimension Drawing of RC4 2 3 3 8 ...
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