Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 79)

 Entry description:

Access Write only

PDO mapping Yes

Value range No

Default value No

Notes:

 The transmission type for mapping this object must be 255; otherwise, an Abort

message (code 0604 0043h) will be transmitted.

 When this object is used to feed PVT reference points to the drive while a PVT

motion is executing, the drive automatically enters Online Feed mode, in which

the drive is aware of the position written and takes the following precautions:

 If the feed is too slow, the drive needs to fetch points not yet programmed,

and the motion will abort with a “Queue underflow” emergency.

 If the feed is too fast, so that points not yet used are overstruck, the drive will

reject the feed attempt with a “Queue overflow” emergency.

 The Online Feed mode will continue until at least one setting of PVT parameters

has been completed without using the RPDO.

Object 0x2002: PT data

This

object sets PT data for the PT motion mode.

 Object description:

Index 2002h

Name PT data

Object code VAR

Data type PT DataPar (object 0x41)

Category Optional

 Entry description:

Access Write only

PDO mapping Yes

Value range No

Default value No

CANopen DS 301 Implementation Guide Manufacturer-specific Objects

MAN-CAN301IG (Ver. 2.1)

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 79