Priorities of the set values
| Description | Data type | PDO | DPR no. | NC assignment / remark |
|---|---|---|---|---|---|
A | Position setpoint | UINT32 | 0x6062 | 1003 | Drv->Out->nOutData1 |
B | Speed setpoint | INT32 | 0x606B | 1007 | Drv->Out->nOutData2 |
C | Current setpoint | INT16 | 0x6074 | 1002 | Standardised to 3280 digits from DIPEAK |
D | Additive current setpoint | INT16 | 0x60F6[1] | 1036 |
|
E | Torque limit (2 ms*) | UINT16 | 0x6072 | 1039 |
|
F | Operating mode request (2 ms*) | UINT16 | 0x6060 | 180 |
|
G | Control word (2 ms*) | UINT16 | 0x6040 | 1000 | Drv->Out->nCtrl1/nCtrl2 |
H | Latch control word (2 ms*) | UINT16 | 0x2802 | 1035 | Enc->Out->nCtrl1/nCtrl2 (see below) |
* Update times: PDO 1-5 with 2 ms, PDO 6 with 1 ms, PDO 7-8 with 4 ms