Festo EMCA-EC Serie Manual Original página 233

A CANopen – Object dictionary (OD)
Index/ Name/Discription
Sub
606D Velocity window
h
606E Velocity window time
h
6071 Target torque
h
6073 Max. current
h
6074 Torque demand value
h
6075 Motor rated current
h
6077 Torque actual value
h
6078 Current actual value
h
6079 DC link circuit voltage
h
607A Target position
h
607C Home offset
h
607D Software position limit
h
00 Highest sub-index
h
supported
01 Min. position limit
h
02 Max. position limit
h
607E Polarity
h
6080 Max. motor speed
h
6081 Profile velocity
h
6082 End velocity
h
6083 Profile acceleration
h
6084 Profile deceleration
h
6085 Quick stop deceleration
h
6086 Motion profile type
h
6087 Torque slope
h
6088 Torque profile type
h
608F Position encoder resolution
h
00 Highest sub-index
h
supported
01 Encoder increments
h
02 Motor revolutions
h
6091 Gear ratio
h
00 Highest sub-index
h
supported
01 Motor revolutions
h
02 Shaft revolutions
h
Festo – EMCA-EC-C-CO-ES – 2017-11c – Español
Object Data Ac­
code type cess
VAR UINT16 rw
VAR UINT16 rw
VAR INT16 rw
VAR UINT16 rw
VAR INT16 ro
VAR UINT32 ro
VAR INT16 ro
VAR INT16 ro
VAR UINT32 ro
VAR INT32 rw
VAR INT32 rw
ARRAY – –
VAR UINT8 ro
VAR INT32 rw
VAR INT32 rw
VAR UINT8 rw
VAR UINT32 ro
VAR UINT32 rw
VAR UINT32 rw
VAR UINT32 rw
VAR UINT32 rw
VAR UINT32 rw
VAR INT16 rw
VAR UINT32 ro
VAR INT16 ro
ARRAY – –
VAR UINT8 ro
VAR UINT32 ro
VAR UINT32 ro
ARRAY – –
VAR UINT8 ro
VAR UINT32 rw
VAR UINT32 rw
PDO FCT Página
map­
ping
no FCT 219
no FCT 219
no – 195
no FCT 119
no – 196
no – 120
no – 196
no – 196
no – 197
yes – 181
no FCT 163
– – 182
no –
no FCT
no FCT
no – 154
no FCT 182
yes FCT 182
yes FCT 183
yes FCT 183
yes FCT 183
no FCT 183
no – 184
no – 197
no – 197
– – 155
no –
no –
no –
– – 156
no –
no –
no –
233