ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 79)

ƒ Entry description:
Access Write only
PDO mapping Yes
Value range No
Default value No
Notes:
ƒ
The transmission type for mapping this object must be 255; otherwise, an Abort
message (code 0604 0043h) will be transmitted.
ƒ 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:
ƒ 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.
ƒ 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.
ƒ 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.
ƒ Object description:
Index 2002h
Name PT data
Object code VAR
Data type PT DataPar (object 0x41)
Category Optional
ƒ 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)
13-2