Page History
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Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the target position of the motor.
| DINT | rw | Yes |
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0x607C: Home offset
Sub-index | Description | Type | Access | PDO Mapping | |||||||
---|---|---|---|---|---|---|---|---|---|---|---|
0x00 | Number of entries | UINT | ro | No | Set the offset after a home switch/hardstop has been found.
| DINT | 0x01 | H0 | INT | rw | No |
0x02 | H1 | INT | rw | No | |||||||
0x03 | H2 | INT | rw | No | |||||||
0x04 | H3 | INT | rw | No | |||||||
0x05 | H4 | INT | rw | No | |||||||
0x06 | H5 | INT | rw | No | |||||||
0x07 | H6 | INT | rw | No | |||||||
0x08 | H7 | INT | rw | No | |||||||
0x09 | H8 | INT | rw | No |
- The H parameters are stored in non-volatile memory in the drive. The value will be retained on power down and do not need to be reloaded after a power cycle.
- Information on the H infinity parameters can be found in the RT3 user manual - Motor Tuning.
0x60FD: Digital inputs
0x6081: Profile velocity
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the target velocity in profile position mode
| UDINT | rw | Yes |
0x6083: Profile acceleration
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the profile acceleration.
| UDINT | rw | Yes |
0x6084: Profile deceleration
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the profile deceleration in profile velocity mode.
| UDINT | rw | No |
0x6098: Homing method
Sub- |
---|
index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 |
Set the |
method of the |
Yes
...
home routine.
| SINT | rw | No |
0x6099: Homing speeds
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 |
Set the digital output
Highest sub-index supported | SINT | rw |
No |
- Output 1 is driven by 0x60FD
- Output 2 is driven by 0x60FD or by the motor driver depending on the K34 value. See K Parameters for additional information.
- Set K34=40 for 0x60FD
- Set K34=20 for alarm output
- Set K34=10 for inposition signal output.
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0x01 | Speed during search for switch or hardstop
| UDINT | rw | No |
0x02 | N/A Speed during search for 0 uses the same speed as search for switch/hardstop | UDINT | rw | No |
0x609A: Homing acceleration
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the homing acceleration in homing mode.
| UDINT | rw | No |
0x60F6: K Parameter Settings
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Highest sub-index supported = 0x51 (81d) | USINT | rw | No |
0x51 ... 0x51 | K parameter settings.
| UINT | rw | No |
0x60FB: H Parameter Settings (Tuning Parameters)
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Number of entries | UINT | ro | No |
0x01 | H0 | INT | rw | No |
0x02 | H1 | INT | rw | No |
0x03 | H2 | INT | rw | No |
0x04 | H3 | INT | rw | No |
0x05 | H4 | INT | rw | No |
0x06 | H5 | INT | rw | No |
0x07 | H6 | INT | rw | No |
0x08 | H7 | INT | rw | No |
0x09 | H8 | INT | rw | No |
- The H parameters are stored in non-volatile memory in the drive. The value will be retained on power down and do not need to be reloaded after a power cycle.
- Information on the H infinity parameters can be found in the RT3 user manual - Motor Tuning.
0x60FD: Digital inputs
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the status of the inputs | UINT | ro | Yes |
Bit | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
---|---|---|---|---|---|---|---|---|
INPUT | - | - | - | - | 4 | 3 | 2 | 1 |
0x60FE: Digital outputs
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the digital output | UINT | rw | Yes |
Bit | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
---|---|---|---|---|---|---|---|---|
OUTPUT | - | - | - | - | - | - | OUT2 | OUT1 |
- Output 1 is driven by 0x60FD
- Output 2 is driven by 0x60FD or by the motor driver depending on the K34 value. See K Parameters for additional information.
- Set K34=40 for 0x60FD
- Set K34=20 for alarm output
- Set K34=10 for inposition signal output.
0x60FF: Target velocity
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the target velocity of the motor.
| DINT | rw | Yes |
0x6502: Supported drive modes
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 |
Set the target velocity of the motor.
- Unit - pulses/ms (50,000 pulses/revolution)
- Used in CSV, PV and CML modes
Shows support drive modes Value = 0x1A5 Bit0 = 1: PP mode | UDINT | ro | No |
Manufacturer Specific Objects
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