NP5 CANopen Online Manual

320Bh Motor Drive Sensor Display Closed Loop

Function

This can be used to change the source for objects 6044h and 6064h in closed loop mode.

Object description


Index 320Bh
Object name Motor Drive Sensor Display Closed Loop
Object Code ARRAY
Data type INTEGER32
Savable yes, category: application
Firmware version FIR-v1426
Change history  

Value description


Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values  
Preset value 04h


Subindex 01h
Name Commutation
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values  
Preset value 00000000h


Subindex 02h
Name Torque
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values  
Preset value 00000000h


Subindex 03h
Name Velocity
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values  
Preset value 00000001h


Subindex 04h
Name Position
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values  
Preset value 00000001h

Description

The following subindices have a function:

  • 01h: Not used
  • 02h: Not used
  • 03h: Changes the source of object 6044h:
    • Value = "-1": The internally calculated set value is entered in object 6044h
    • Value = "0": The value is kept at 0
    • Value = "1": The encoder value is entered in object 6044h
  • 04h: Changes the source of object 6064h:
    • Value = "-1": The internally calculated set value is entered in object 6064h
    • Value = "0": The value is kept at 0
    • Value = "1": The encoder value is entered in object 6064h
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