weintek iR-PU01-P, Руководство пользователя

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iR-PU01-P
30
Standardized device profile Area (6000h - 7FFFh) 8.2
Item Index Range
Axis 0(1
st
PU) 6000-67FF*
Axis 1(2
nd
PU) 6800-6FFF
Axis 2(3
rd
PU) 7000-77FF
Axis 3(4
th
PU) 7800-7FFF
Axis 0’s Object will be in the same index range 6000-67FF as AIO and DIO. Please see
Cia402’s document for more information on Object Dictionary.
In the following list, n=0~3 which represents Axis 0~3.
Index
Sub
Index
Description Type ro/rw Default
6007h+n*800h 00h Abort connection option code
INT
rw 1h
603Fh+n*800h 00h Error code
UINT
ro ----
6040h+n*800h 00h Control word
UINT
rw 0h
6041h+n*800h 00h Status word
UINT
ro ----
605Eh+n*800h 00h Fault reaction option code
INT
rw 0h
6060h+n*800h 00h Modes of operation
SINT
rw 0h
6061h+n*800h 00h Modes of operation display
SINT
ro 0h
6062h+n*800h 00h Position demand value
DINT
ro 0h
6063h+n*800h 00h Position actual internal value
DINT
ro 0h
6064h+n*800h 00h Position actual value
DINT
ro 0h
606Bh+n*800h 00h Velocity demand value
DINT
ro 0h
606Ch+n*800h 00h Velocity actual value
DINT
ro 0h
607Ah+n*800h 00h Target Position
DINT
rw 0h
607Bh+n*800h
Position range limit
01h Min position range limit
DINT
ro 0h
02h Max position range limit
DINT
rw 0h
607Ch+n*800h 00h Home offset
DINT
rw 0h
607Dh+n*800h
Software position limit
01h Min position limit
DINT
rw 0h
02h Max position limit
DINT
rw 0h
607Fh+n*800h 00h Max profile velocity
UDINT
rw
2000000
6080h+n*800h 00h Max motor speed
UDINT
rw
2000000
6081h+n*800h 00h Profile velocity
UDINT
rw
0h
6083h+n*800h 00h Profile acceleration
UDINT
rw
0h
6084h+n*800h 00h Profile deceleration
UDINT
rw
0h
6085h+n*800h 00h Quick stop deceleration
UDINT
rw
10000000
608Fh+n*800h
Position encoder resolution
01h Encoder increments
UDINT
rw
1h
02h Motor revolutions
UDINT
rw
1h