FAULHABER Motion Control Systems LM-Motors ... - MicroMo

3 CANopen protocol description3.7 Entries in the object dictionaryIndex SubindexName Typ Attr. Map Meaning0x2338 General settings ARRAY General controller settings0 Number of entries Unsigned8 ro1 Pure sinus commutation Unsigned16 rw2 Activate position limits in velocity Unsigned16 rwmode3 Activate position limits in position Unsigned16 rwmode0x2350 Motor data RECORD Motor data0 Number of entries Unsigned8 ro1 Speed constant KN Unsigned16 rw2 Terminal resistance RM Unsigned32 rw4 Magnetic pitch τm Unsigned8 rw5 Thermal time constant TW1 Unsigned16 rw0x2351 Encoder data RECORD Encoder data0 Number of entries Unsigned8 ro1 Sensor type Unsigned8 rw2 Resolution external encoder Unsigned32 rw3 Resolution internal encoder Unsigned32 ro0x2361 Velocity actual value unfiltered Integer16 ro yes Actual speed unfiltered0x2400 Baudrate set Unsigned8 ro Set baud rate0x2562 Position demand internal value Integer32 ro yes Last target position in internal units0x257A Target position internal value Integer32 rw yes Target position in increments0x257B Position range limit internal value ARRAY Internal position limits in increments0 Number of entries Unsigned8 ro1 Min. position range limit Integer32 ro yes2 Max. position range limit Integer32 ro yes0x257D Software position limit internal ARRAYPosition limits in incrementsvalue0 Number of entries Unsigned8 ro1 Min. position limit Integer32 rw yes2 Max. position limit Integer32 rw yes*)Dependent on the configuration of the motion controller33