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Appendix E CANopen Function |
E-12 Revision June 2008, 04EE, SW--PW V1.11/CTL V2.11
Index Sub Definition
Factory
Setting
R/W Size Unit NOTE
3 Inhibit time
0
RW U16 100us
It is set to be
multiple of 10.
4 Reserved 3 RW U8
5 Event timer 0 RW U16 1ms
0 Number 2 RW U8
1 1.Mapped Object 0x60410010 RW U32
2 2.Mapped Object 0x60430010 RW U32
3 3.Mapped Object 0 RW U32
0x1A00
4 4.Mapped Object 0 RW U32
0 Number 0 RW U8
1 1.Mapped Object 0 RW U32
2 2.Mapped Object 0 RW U32
3 3.Mapped Object 0 RW U32
0x1A01
4 4.Mapped Object 0 RW U32
Index Sub Definition
Factory
Setting
RW Size Unit Map NOTE
0: No action
2: Disable Voltage
0x6007 0
Abort connection
option code
2 RW S16 Yes
3: Quick stop
0x603F 0 Error code 0 RO U16 Yes
0x6040 0 Control word 0 RW U16 Yes
bit 0 ~ 3: switch status
bit 4: rfg enable
bit 5: rfg unlock
bit 6: rfg use ref
bit 7: Fault reset
0x6041 0 Status word 0 RO U16 Yes
Bit0 Ready to switch on
Bit1 Switched on
Bit2 Operation enabled
Bit3 Fault
Bit4 Voltage enabled
Bit5 Quick stop
Bit6 Switch on disabled
Bit7 Warning
Bit8
Bit9 Remote
Bit10 Target reached
Bit11 Internal limit active
Bit12 - 13
Bit14 - 15
0x6042 0 vl target velocity 0 RW S16 rpm Yes
0x6043 0
vl velocity
demand
0 RO S16 rpm Yes
0x604F 0
vl ramp function
time
10000 RW U32 1ms Yes
If Pr.01.19 is set to 0.1, the
unit must be 100ms and
can’t be set to 0.
0x6050 0 vl slow down time 10000 RW U32 1ms Yes
If Pr.01.19 is set to 0.1, the
unit must be 100ms and
can’t be set to 0.
0x6051 0 vl quick stop time 1000 RW U32 1ms Yes
If Pr.01.19 is set to 0.1, the
unit must be 100ms and
can’t be set to 0.