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Object 2006h: Input Filter Time (ms) .........................................................................................19
Object Description .................................................................................................................19
Entry Description ...................................................................................................................19
Object 2010h: Analog Input .......................................................................................................20
Object Description .................................................................................................................20
Entry Description ...................................................................................................................20
Object 2020h: Software Limits as Hardware Limits.....................................................................20
Object Description .................................................................................................................20
Entry Description ...................................................................................................................20
Object 2022h: Actual Position Software Limit ............................................................................20
Object Description .................................................................................................................20
Entry Description ...................................................................................................................20
Object 2031h: Unit Options (Encoder Enable, Capture In/Trip Out) .........................................21
Object Description .................................................................................................................21
Entry Description ...................................................................................................................21
Object 2032h: Clock Options .....................................................................................................21
Object Description .................................................................................................................21
Entry Description ...................................................................................................................21
Object 2033h: Capture Input ......................................................................................................21
Object Description .................................................................................................................21
Entry Description ...................................................................................................................22
Object 2204h: Run Current Percent ............................................................................................22
Object Description .................................................................................................................22
Entry Description ...................................................................................................................22
Object 2205h: Hold Current Percent ..........................................................................................22
Object Description .................................................................................................................22
Entry Description ...................................................................................................................22
Object 2211h: Position Present Point Target ...............................................................................23
Object Description .................................................................................................................23
Entry Description ...................................................................................................................23
Object 2212h: Position Final Point Target ...................................................................................23
Object Description .................................................................................................................23
Entry Description ...................................................................................................................23
Object 5001h: Configuration ......................................................................................................23
Entry Description ...................................................................................................................24
Object 5002h: ASCII Serial Number ..........................................................................................24
Entry Description ...................................................................................................................24
Object 5003h: ASCII Part Number .............................................................................................24
Entry Description ...................................................................................................................24
Object 5004h: Motor Parameters ................................................................................................24
Entry Description ...................................................................................................................24
Section 4: Device Control ....................................................................................................................25
Device Control ............................................................................................................................25
Control and Status words .......................................................................................................25
State Machine .............................................................................................................................25
Notes On State Transitions ........................................................................................................27
Object 6040h — Controlword ....................................................................................................28
Object Description .................................................................................................................28
Entry Description ...................................................................................................................28
Data Description ....................................................................................................................28
Device Control Command Bit Patterns (Bits 0-3 and 7).........................................................28
Device Operation Mode Bit Patterns (Bits 4-6 and 8) ............................................................28
Object 6041h — Statusword .......................................................................................................29
Object Description .................................................................................................................29
Entry Description ...................................................................................................................29
Data Description ....................................................................................................................29
Section 5: Modes of Operation ............................................................................................................31
Object 6060h — Modes of Operation ........................................................................................31
Object Description ......................................................................................................................31
Entry Description ...................................................................................................................31
Data Description ....................................................................................................................31
Object 6061h — Modes of Operation Display ............................................................................32
Object Description .................................................................................................................32