CAN Objects 6000 - 6FFF S300-S700
| 28 Apr 2017
|
|
CAN Objects 6000 - 6FFF S300-S700
| Index |
Subindex |
Data Type |
Access |
PDO mappable |
Description |
ASCII |
| 6040h |
0 |
UNSIGNED16 |
w |
yes |
control word |
— |
| 6041h |
0 |
UNSIGNED16 |
ro |
yes |
status word |
— |
| 6060h |
0 |
INTEGER8 |
rw |
yes |
Modes of Operation |
— |
| 6061h |
0 |
INTEGER8 |
ro |
yes |
Modes of Operation Display |
— |
| 6063h |
0 |
INTEGER32 |
ro |
yes |
Position actual value (increments) |
— |
| 6064h |
0 |
INTEGER32 |
ro |
yes |
Position actual value (position units) |
PFB |
| 6065h |
0 |
UNSIGNED32 |
rw |
— |
Following error window |
PEMAX |
| 6067h |
0 |
UNSIGNED32 |
rw |
— |
Position window |
PEINPOS |
| 6068h |
0 |
UNSIGNED16 |
rw |
— |
Position window time |
INPT1 |
| 606Ch |
0 |
INTEGER32 |
ro |
yes |
Velocity actual value |
— |
| 6071h |
0 |
INTEGER16 |
rw |
yes |
Target torque |
— |
| 6073h |
0 |
UNSIGNED16 |
rw |
- |
Max current |
MIPEAK |
| 6077h |
0 |
INTEGER16 |
ro |
yes |
Torque actual value |
— |
| 607Ah |
0 |
INTEGER32 |
rw |
yes |
Target position |
O_P |
| 607Ch |
0 |
INTEGER32 |
rw |
— |
Reference offset |
ROFFS |
| 607Dh |
|
|
|
|
Software position limit |
|
| 607Dh |
0 |
UNSIGNED8 |
ro |
- |
Number of entries |
|
| 607Dh |
1 |
INTEGER32 |
rw |
- |
Software position limit 1 |
SWE1 |
| 607Dh |
2 |
INTEGER32 |
rw |
- |
Software position limit 2 |
SWE2 |
| 607Fh |
0 |
UNSIGNED32 |
rw |
— |
Max profile velocity |
PVMAX |
| 6080h |
0 |
UNSIGNED32 |
rw |
— |
Max motor speed |
VLIM |
| 6081h |
0 |
UNSIGNED32 |
rw |
yes |
Profile Velocity |
O_V |
| 6083h |
0 |
UNSIGNED32 |
rw |
yes |
Profile Acceleration |
O_ACC (pp) / ACC (pv) |
| 6084h |
0 |
UNSIGNED32 |
rw |
yes |
Profile Deceleration |
O_DEC (pp) / DEC (pv) |
| 6085h |
0 |
UNSIGNED32 |
rw |
— |
Quick stop deceleration |
DECSTOP |
| 6086h |
0 |
INTEGER16 |
Rww |
yes |
Motion profile type |
O_C |
| 6089h |
0 |
INTEGER8 |
rw |
— |
Position Notation index |
— |
| 608Ah |
0 |
UNSIGNED8 |
rw |
— |
Position Dimension index |
— |
| 608Bh |
0 |
INTEGER8 |
rw |
— |
Velocity Notation index |
— |
| 608Ch |
0 |
UNSIGNED8 |
rw |
— |
Velocity Dimension index |
— |
| 608Dh |
0 |
INTEGER8 |
rw |
— |
Acceleration Notation index |
— |
| 608Eh |
0 |
UNSIGNED8 |
rw |
— |
Acceleration Dimension index |
— |
| 608Fh |
|
ARRAY |
|
|
Position encoder resolution |
— |
| 608Fh |
0 |
UNSIGNED8 |
ro |
— |
Number of entries |
— |
| 608Fh |
1 |
UNSIGNED32 |
rw |
— |
Encoder increments |
PGEARO |
| 608Fh |
2 |
UNSIGNED32 |
rw |
— |
Motor revolutions |
BUSP7 |
| 6090h |
|
ARRAY |
|
|
Velocity encoder resolution |
— |
| 6090h |
0 |
UNSIGNED8 |
ro |
— |
Number of entries |
— |
| 6090h |
1 |
UNSIGNED32 |
rw |
— |
Encoder increments per second |
— |
| 6090h |
2 |
UNSIGNED32 |
rw |
— |
Motor revolutions per second |
— |
| 6091h |
|
ARRAY |
|
|
Gear ratio |
— |
| 6091h |
0 |
UNSIGNED8 |
ro |
— |
Number of entries |
— |
| 6091h |
1 |
UNSIGNED32 |
rw |
— |
Motor revolutions |
— |
| 6091h |
2 |
UNSIGNED32 |
rw |
— |
Shaft revolutions |
— |
| 6092h |
|
ARRAY |
|
|
Feed constant |
— |
| 6092h |
0 |
UNSIGNED8 |
ro |
— |
Number of entries |
— |
| 6092h |
1 |
UNSIGNED32 |
rw |
— |
Feed |
PGEARI |
| 6092h |
2 |
UNSIGNED32 |
rw |
— |
Shaft revolutions |
— |
| 6093h |
|
ARRAY |
|
|
Position factor |
— |
| 6093h |
0 |
UNSIGNED8 |
ro |
— |
Number of entries |
— |
| 6093h |
1 |
UNSIGNED32 |
rw |
— |
Numerator |
— |
| 6093h |
2 |
UNSIGNED32 |
rw |
— |
Feed constant |
— |
| 6094h |
|
ARRAY |
|
|
Velocity encoder factor |
— |
| 6094h |
0 |
UNSIGNED8 |
ro |
— |
Number of entries |
— |
| 6094h |
1 |
UNSIGNED32 |
ro |
— |
Numerator |
— |
| 6094h |
2 |
UNSIGNED32 |
ro |
— |
Denumerator |
— |
| 6097h |
|
ARRAY |
|
|
Acceleration factor |
— |
| 6097h |
0 |
UNSIGNED8 |
ro |
|
Number of entries |
— |
| 6097h |
1 |
UNSIGNED32 |
rw |
— |
Numerator |
— |
| 6097h |
2 |
UNSIGNED32 |
rw |
— |
Denumerator |
— |
| 6098h |
0 |
INTEGER8 |
rw |
— |
Homing type |
NREF, DREF |
| 6099h |
|
ARRAY |
|
|
Homing velocity |
— |
| 6099h |
0 |
UNSIGNED8 |
ro |
— |
Number of entries |
— |
| 6099h |
1 |
UNSIGNED32 |
rw |
— |
Speed while searching for limit switch |
VREF |
| 6099h |
2 |
UNSIGNED32 |
rw |
— |
Speed while searching for zero mark |
VREF0 |
| 609Ah |
0 |
UNSIGNED32 |
rw |
— |
Homing acceleration |
ACCR, DECR |
| 60C0h |
0 |
INTEGER8 |
rw |
— |
Interpolation submode select |
— |
| 60C1h |
|
ARRAY |
|
|
Interpolation data record |
— |
| 60C1h |
0 |
UNSIGNED8 |
ro |
— |
Number of entries |
— |
| 60C1h |
1 |
INTEGER32 |
rw |
yes |
x1, first parameter of ip function |
— |
| 60C2h |
|
RECORD |
|
|
Interpolation time period |
— |
| 60C2h |
0 |
UNSIGNED8 |
ro |
— |
Number of entries |
PTBASE |
| 60C2h |
1 |
UNSIGNED8 |
rw |
— |
Interpolation time units |
— |
| 60C2h |
2 |
INTEGER16 |
rw |
— |
Interpolation time index |
— |
| 60C3h |
|
ARRAY |
|
|
Interpolation sync definition |
— |
| 60C3h |
0 |
UNSIGNED8 |
ro |
— |
Number of entries |
— |
| 60C3h |
1 |
UNSIGNED8 |
rw |
— |
Synchronize on group |
— |
| 60C3h |
2 |
UNSIGNED8 |
rw |
— |
ip sync every n event |
— |
| 60C4h |
|
RECORD |
|
|
Interpolation data configuration |
— |
| 60C4h |
0 |
UNSIGNED8 |
ro |
— |
Number of entries |
— |
| 60C4h |
1 |
UNSIGNED32 |
ro |
— |
Maximum buffer size |
— |
| 60C4h |
2 |
UNSIGNED32 |
rw |
— |
Actual buffer size |
— |
| 60C4h |
3 |
UNSIGNED8 |
rw |
— |
Buffer organization |
— |
| 60C4h |
4 |
UNSIGNED16 |
rw |
— |
Buffer position |
— |
| 60C4h |
5 |
UNSIGNED8 |
w |
— |
Siza of data record |
— |
| 60C5h |
0 |
UNSIGNED32 |
rw |
— |
Max acceleration /deceleration |
— |
| 60C4h |
6 |
UNSIGNED8 |
w |
— |
Buffer clear |
— |
| 60F4h |
0 |
INTEGER32 |
ro |
yes |
Following error actual value |
PE |
| 60FDh |
0 |
UNSIGNED32 |
ro |
yes |
Digital inputs |
IN1 .. IN4 |
| 60FFh |
0 |
INTEGER32 |
rw |
yes |
Target velocity |
J |
| 6502h |
0 |
UNSIGNED32 |
ro |
— |
Supported drive modes |
— |
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