RD4 CANopen®
Byte 1
Target position reached
bit 8
If value is “=1” device has reached the target position
(see
). Bit is kept active until new
sent.
bits 9 ... 11
Not used.
DAC Saturation
bit 12
The current supplied by power electronic for
controlling the motor has reached the maximum
value and cannot be increased further.
IN 1
bit 13
This is meant to show the status of the digital input 1.
The meaning of the available inputs is described in
section “Programming parameters“ on page 46.
input 1 low (not active)
input 1 high (active)
IN 2
bit 14
This is meant to show the status of the digital input 2.
The meaning of the available inputs is described in
section “Programming parameters“ on page 46.
input 2 low (not active)
input 2 high (active)
IN 3
bit 15
This is meant to show the status of the digital input 3.
The meaning of the available inputs is described in
section “Programming parameters“ on page 46.
input 3 low (not active)
input 3 high (active)
Bytes 2 and 3
Current velocity
Speed of the device expressed in pulses per second [PPS], updated at every
second.
Bytes 4 … 7
Current position
Absolute position of the device when the PDO message is sent.
MAN RD4 CB E 1.5
CANopen® interface
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