BS EN 61800-7-201:2016
$215.11
Adjustable speed electrical power drive systems – Generic interface and use of profiles for power drive systems. Profile type 1 specification
| Published By | Publication Date | Number of Pages |
| BSI | 2016 | 200 |
IEC 61800-7-201:2015 is available as /2 which contains the International Standard and its Redline version, showing all changes of the technical content compared to the previous edition. IEC 61800-7-201:2015 specifies profile type 1 for power drive systems (PDS). Profile type 1 can be mapped onto different network technologies. This edition includes the following significant technical changes with respect to the previous edition: – Updates, clarifications and enhancements.
PDF Catalog
| PDF Pages | PDF Title |
|---|---|
| 6 | English CONTENTS |
| 21 | FOREWORD |
| 23 | INTRODUCTION |
| 26 | Figures Figure 1 – Structure of IEC 61800-7 |
| 27 | 1 Scope 2 Normative references 3 Terms, definitions and abbreviated terms 3.1 Terms and definitions |
| 31 | 3.2 Abbreviated terms |
| 32 | 4 General 4.1 General considerations 4.2 Communication interface |
| 33 | 4.3 Object dictionary |
| 34 | 5 Data types 5.1 Standard data types 5.2 Record definitions Tables Table 1 – List of used data types Table 2 – Interpolation time period |
| 35 | 6 General object definitions 6.1 General 6.2 Communication parameter objects Figure 2 – Value definition Table 3 – Interpolation data configuration Table 4 – vl velocity acceleration/deceleration |
| 36 | 6.3 Additional identification and information objects 6.3.1 Object 6402h: Motor type Table 5 – Object description Table 6 – Entry description |
| 37 | 6.3.2 Object 6403h: Motor catalogue number Table 7 – Value definition Table 8 – Object description Table 9 – Entry description |
| 38 | 6.3.3 Object 6404h: Motor manufacturer Table 10 – Object description Table 11 – Entry description Table 12 – Object description Table 13 – Entry description |
| 39 | 6.3.4 Object 6405h: http motor catalogue address 6.3.5 Object 6406h: Motor calibration date Table 14 – Object description Table 15 – Entry description Table 16 – Object description Table 17 – Entry description |
| 40 | 6.3.6 Object 6407h: Motor service period 6.3.7 Object 6503h: Drive catalogue number Table 18 – Object description Table 19 – Entry description Table 20 – Object description Table 21 – Entry description |
| 41 | 6.3.8 Object 6505h: http drive catalogue address 7 Error codes and error behavior 7.1 Error codes Table 22 – Object description Table 23 – Entry description |
| 42 | Table 24 – Error codes |
| 45 | 7.2 Error behavior |
| 46 | 8 Controlling the power drive system 8.1 General 8.2 Finite state automaton Figure 3 – Remote and local control |
| 47 | Figure 4 – Power drive system finite state automaton Table 25 – FSA states and supported functions |
| 48 | Table 26 – Transition events and actions |
| 49 | 8.3 Modes of operation |
| 50 | 8.4 Detailed object specifications 8.4.1 Object 6040h: Controlword Figure 5 – Relation between different value parameters Figure 6 – Value definition |
| 51 | 8.4.2 Object 6041h: Statusword Table 27 – Command coding Table 28 – Object description Table 29 – Entry description |
| 52 | Figure 7 – Value definition Table 30 – State coding |
| 53 | 8.4.3 Object 603Fh: Error code Table 31 – Object description Table 32 – Entry description Table 33 – Object description |
| 54 | 8.4.4 Object 6007h: Abort connection option code Table 34 – Entry description Table 35 – Value definition Table 36 – Object description Table 37 – Entry description |
| 55 | 8.4.5 Object 605Ah: Quick stop option code 8.4.6 Object 605Bh: Shutdown option code Table 38 – Value definition Table 39 – Object description Table 40 – Entry description |
| 56 | 8.4.7 Object 605Ch: Disable operation option code Table 41 – Value definition Table 42 – Object description Table 43 – Entry description Table 44 – Value definition |
| 57 | 8.4.8 Object 605Dh: Halt option code Table 45 – Object description Table 46 – Entry description Table 47 – Value definition Table 48 – Object description |
| 58 | 8.4.9 Object 605Eh: Fault reaction option code 8.4.10 Object 6060h: Modes of operation Table 49 – Entry description Table 50 – Value definition Table 51 – Object description Table 52 – Entry description |
| 59 | Table 53 – Value definition Table 54 – Object description Table 55 – Entry description |
| 60 | 8.4.11 Object 6061h: Modes of operation display 8.4.12 Object 6502h: Supported drive modes Figure 8 – Value definition Table 56 – Object description Table 57 – Entry description |
| 61 | 9 Factor group 9.1 General Table 58 – Object description Table 59 – Entry description |
| 62 | Figure 9 – Position scaling concept |
| 63 | 9.2 Detailed object definitions 9.2.1 Object 608Fh: Position encoder resolution |
| 64 | 9.2.2 Object 6090h: Velocity encoder resolution Table 60 – Object description Table 61 – Entry description |
| 65 | 9.2.3 Object 6091h: Gear ratio Table 62 – Object description Table 63 – Entry description |
| 66 | 9.2.4 Object 6092h: Feed constant Table 64 – Object description Table 65 – Entry description |
| 67 | Table 66 – Object description Table 67 – Entry description |
| 68 | 9.2.5 Object 6096h: Velocity factor 9.2.6 Object 6097h: Acceleration factor Table 68 – Object description Table 69 – Entry description |
| 69 | 9.2.7 Object 60A2h: Jerk factor Table 70 – Object description Table 71 – Entry description |
| 70 | 9.2.8 Object 607Eh: Polarity Table 72 – Object description Table 73 – Entry description |
| 71 | 9.2.9 Code table for device profile specific units 9.2.10 Object 60A8h: SI unit position Figure 10 – Value definition Table 74 – Object description Table 75 – Entry description Table 76 – Device profile specific units |
| 72 | 9.2.11 Object 60A9h: SI unit velocity Figure 11 – Example for a position unit Table 77 – Object description Table 78 – Entry description Table 79 – Object description |
| 73 | 9.2.12 Object 60AAh: SI unit acceleration Figure 12 – Example for a velocity unit Table 80 – Entry description Table 81 – Object description Table 82 – Entry description |
| 74 | 9.2.13 Object 60ABh: SI unit jerk 10 Profile position mode 10.1 General information Figure 13 – Example for an acceleration unit Figure 14 – Example for a jerk unit Table 83 – Object description Table 84 – Entry description |
| 75 | 10.2 Functional description 10.2.1 General Figure 15 – Trajectory generator and position control function Figure 16 – Trajectory generator for profile position mode |
| 76 | 10.2.2 Single set-point Figure 17 – Set-point example Figure 18 – Handshaking procedure for the single set-point method |
| 77 | 10.2.3 Set of set-points Figure 19 – Handshaking procedure for the set of set-points method |
| 78 | 10.2.4 Usage of halt bit in conjunction with new set-point bit Figure 20 – Set-point handling for two set-points |
| 79 | 10.3 General definitions 10.4 Use of controlword and statusword Figure 21 – Erase set-point Figure 22 – Controlword for profile position (pp) mode |
| 80 | 10.5 Detailed object definitions 10.5.1 Object 607Ah: Target position Figure 23 – Statusword for profile position (pp) mode Table 85 – Definition of bit 4, bit 5, and bit 9 Table 86 – Definition of bit 6 and bit 8 Table 87 – Definition of bit 10, bit 12, and bit 13 |
| 81 | 10.5.2 Object 607Bh: Position range limit Table 88 – Object description Table 89 – Entry description Table 90 – Object description |
| 82 | 10.5.3 Object 607Dh: Software position limit Table 91 – Entry description |
| 83 | Figure 24 – Software position limits Table 92 – Object description |
| 84 | 10.5.4 Object 607Fh: Max profile velocity Table 93 – Entry description Table 94 – Object description |
| 85 | 10.5.5 Object 6080h: Max motor speed 10.5.6 Object 6081h: Profile velocity Table 95 – Entry description Table 96 – Object description Table 97 – Entry description |
| 86 | 10.5.7 Object 6082h: End velocity 10.5.8 Object 6083h: Profile acceleration Table 98 – Object description Table 99 – Entry description Table 100 – Object description Table 101 – Entry description |
| 87 | 10.5.9 Object 6084h: Profile deceleration 10.5.10 Object 6085h: Quick stop deceleration Table 102 – Object description Table 103 – Entry description Table 104 – Object description Table 105 – Entry description |
| 88 | 10.5.11 Object 6086h: Motion profile type Table 106 – Object description Table 107 – Entry description Table 108 – Value definition Table 109 – Object description |
| 89 | 10.5.12 Object 60A3h: Profile jerk use 10.5.13 Object 60A4h: Profile jerk Table 110 – Entry description Table 111 – Object description Table 112 – Entry description |
| 90 | Figure 25 – Velocity/time diagram with jerk positions Table 113 – Value assignments Table 114 – Object description |
| 91 | 10.5.14 Object 60C5h: Max acceleration Table 115 – Entry description |
| 92 | 10.5.15 Object 60C6h: Max deceleration Table 116 – Object description Table 117 – Entry description Table 118 – Object description Table 119 – Entry description |
| 93 | 11 Homing mode 11.1 General information 11.2 Functional description Figure 26 – Homing mode function |
| 94 | 11.3 General definitions 11.3.1 General 11.3.2 Method 1: Homing on negative limit switch and index pulse 11.3.3 Method 2: Homing on positive limit switch and index pulse 11.3.4 Method 3 and 4: Homing on positive home switch and index pulse Figure 27 – Homing on negative limit switch and index pulse Figure 28 – Homing on positive limit switch and index pulse |
| 95 | 11.3.5 Method 5 and 6: Homing on negative home switch and index pulse 11.3.6 Method 7 to 14: Homing on home switch and index pulse Figure 29 – Homing on positive home switch and index pulse Figure 30 – Homing on negative home switch and index pulse |
| 96 | 11.3.7 Method 15 and 16: Reserved 11.3.8 Method 17 to 30: Homing without index pulse Figure 31 – Homing on home switch and index pulse – positive initial motion Figure 32 – Homing on home switch and index pulse – negative initial motion |
| 97 | 11.3.9 Method 31 and 32: Reserved 11.3.10 Method 33 and 34: Homing on index pulse 11.3.11 Method 35: Homing on current position (obsolete) 11.3.12 Method 36: Reserved for compatibility reasons 11.3.13 Method 37: Homing on current position Figure 33 – Homing on positive home switch Figure 34 – Homing on index pulse |
| 98 | 11.4 Use of controlword and statusword 11.5 Detailed object definitions 11.5.1 Object 607Ch: Home offset Figure 35 – Controlword for homing mode Figure 36 – Statusword for homing mode Table 120 – Definition of bit 4 and bit 8 Table 121 – Definition of bit 10, bit 12, and bit 13 |
| 99 | 11.5.2 Object 6098h: Homing method Figure 37 – Home offset definition Table 122 – Object description Table 123 – Entry description |
| 100 | 11.5.3 Object 60E3h: Supported homing methods Table 124 – Value definition Table 125 – Object description Table 126 – Entry description Table 127 – Object description |
| 101 | 11.5.4 Object 6099h: Homing speeds Table 128 – Entry description |
| 102 | 11.5.5 Object 609Ah: Homing acceleration Table 129 – Object description Table 130 – Entry description |
| 103 | 12 Touch probe functionality 12.1 Object 60B8h: Touch probe function Table 131 – Object description Table 132 – Entry description |
| 104 | Table 133 – Value definition Table 134 – Object description |
| 105 | 12.2 Object 60B9h: Touch probe status Table 135 – Entry description Table 136 – Value definition Table 137 – Object description |
| 106 | 12.3 Object 60BAh: Touch probe 1 positive edge 12.4 Object 60BBh: Touch probe 1 negative edge Table 138 – Entry description Table 139 – Object description Table 140 – Entry description Table 141 – Object description |
| 107 | 12.5 Object 60BCh: Touch probe 2 positive edge 12.6 Object 60BDh: Touch probe 2 negative edge Table 142 – Entry description Table 143 – Object description Table 144 – Entry description Table 145 – Object description |
| 108 | 12.7 Object 60D0h: Touch probe source Table 146 – Entry description Table 147 – Value definition Table 148 – Object description |
| 109 | 12.8 Touch probe time stamp latch 12.8.1 General Table 149 – Entry description |
| 110 | 12.8.2 Object 60D1h: Touch probe time stamp 1 positive value 12.8.3 Object 60D2h: Touch probe time stamp 1 negative value Table 150 – Object description Table 151 – Entry description Table 152 – Object description Table 153 – Entry description |
| 111 | 12.8.4 Object 60D3h: Touch probe time stamp 2 positive value 12.8.5 Object 60D4h: Touch probe time stamp 2 negative value Table 154 – Object description Table 155 – Entry description Table 156 – Object description Table 157 – Entry description |
| 112 | 12.9 Touch probe edge counter for continuous mode 12.9.1 General 12.9.2 Object 60D5h: Touch probe 1 positive edge counter 12.9.3 Object 60D6h: Touch probe 1 negative edge counter Table 158 – Object description Table 159 – Entry description |
| 113 | 12.9.4 Object 60D7h: Touch probe 2 positive edge counter Table 160 – Object description Table 161 – Entry description Table 162 – Object description Table 163 – Entry description |
| 114 | 12.9.5 Object 60D8h: Touch probe 2 negative edge counter 12.10 Timing diagram for touch probe example Table 164 – Object description Table 165 – Entry description |
| 115 | Figure 38 – Timing diagram for touch probe example |
| 116 | 13 Position control function 13.1 General information 13.2 Functional description Figure 39 – Position control function Table 166 – Explanation of the timing diagram |
| 117 | Figure 40 – Following error (functional overview) Figure 41 – Position reached (functional overview) |
| 118 | 13.3 Detailed object definitions 13.3.1 Object 6062h: Position demand value Figure 42 – Position reached (definitions) Figure 43 – Following error (definitions) |
| 119 | 13.3.2 Object 6063h: Position actual internal value 13.3.3 Object 6064h: Position actual value Table 167 – Object description Table 168 – Entry description Table 169 – Object description Table 170 – Entry description |
| 120 | 13.3.4 Object 6065h: Following error window Table 171 – Object description Table 172 – Entry description Table 173 – Object description Table 174 – Entry description |
| 121 | 13.3.5 Object 6066h: Following error time out 13.3.6 Object 6067h: Position window Table 175 – Object description Table 176 – Entry description Table 177 – Object description |
| 122 | 13.3.7 Object 6068h: Position window time 13.3.8 Object 60F4h: Following error actual value Table 178 – Entry description Table 179 – Object description Table 180 – Entry description Table 181 – Object description |
| 123 | 13.3.9 Object 60FAh: Control effort 13.3.10 Object 60FCh: Position demand internal value Table 182 – Entry description Table 183 – Object description Table 184 – Entry description |
| 124 | 13.3.11 Object 60F2h: Positioning option code Figure 44 – Object structure Table 185 – Object description Table 186 – Entry description Table 187 – Value definition for bit 0 and bit 1 |
| 125 | Table 188 – Value definition for bit 2 and bit 3 Table 189 – Value definition for bit 4 and bit 5 Table 190 – Value definition for bit 6 and bit 7 |
| 126 | Figure 45 – Rotary axis positioning example Figure 46 – Example for absolute movement greater than modulo value |
| 127 | 14 Interpolated position mode 14.1 General information Figure 47 – Example for relative movement greater than modulo value Table 191 – Object description Table 192 – Entry description |
| 129 | 14.2 Functional description 14.2.1 General 14.2.2 Linear interpolated position mode with several axes Figure 48 – Interpolation controller |
| 130 | Figure 49 – Interpolated position mode for two axes Table 193 – Position calculation in interpolated position mode for several axes |
| 131 | 14.2.3 Buffer strategies for the interpolated position mode Figure 50 – Linear interpolation for one axis |
| 132 | 14.2.4 Interpolated position mode FSA Figure 51 – Input buffer organization Figure 52 – Input buffer examples |
| 133 | 14.3 General definitions 14.4 Use of controlword and statusword Figure 53 – Interpolated position mode FSA Figure 54 – Controlword for interpolated position mode Table 194 – FSA states and supported functions Table 195 – Transition events and actions |
| 134 | 14.5 Detailed object definitions 14.5.1 Object 60C0h: Interpolation sub mode select Figure 55 – Statusword for interpolated position mode Table 196 – Definition of bit 4 and bit 8 Table 197 – Definition of bit 10 and bit 12 Table 198 – Value definition |
| 135 | 14.5.2 Object 60C1h: Interpolation data record Table 199 – Object description Table 200 – Entry description Table 201 – Object description |
| 136 | 14.5.3 Object 60C2h: Interpolation time period Table 202 – Entry description |
| 137 | 14.5.4 Object 60C4h: Interpolation data configuration Table 203 – Object description Table 204 – Entry description |
| 138 | Table 205 – Object description |
| 139 | Table 206 – Entry description |
| 140 | 15 Profile velocity mode 15.1 General information 15.2 Functional description |
| 141 | 15.3 General definitions 15.4 Use of controlword and statusword Figure 56 – Profile velocity mode Figure 57 – Controlword for profile velocity mode |
| 142 | 15.5 Detailed object definitions 15.5.1 Object 6069h: Velocity sensor actual value Figure 58 – Statusword for profile velocity mode Table 207 – Definition of bit 8 Table 208 – Definition of bit 10, bit 12, and bit 13 Table 209 – Object description |
| 143 | 15.5.2 Object 606Ah: Sensor selection code 15.5.3 Object 606Bh: Velocity demand value Table 210 – Entry description Table 211 – Value definition Table 212 – Object description Table 213 – Entry description |
| 144 | 15.5.4 Object 606Ch: Velocity actual value 15.5.5 Object 606Dh: Velocity window Table 214 – Object description Table 215 – Entry description Table 216 – Object description Table 217 – Entry description |
| 145 | 15.5.6 Object 606Eh: Velocity window time 15.5.7 Object 606Fh: Velocity threshold Table 218 – Object description Table 219 – Entry description Table 220 – Object description Table 221 – Entry description |
| 146 | 15.5.8 Object 6070h: Velocity threshold time 15.5.9 Object 60FFh: Target velocity Table 222 – Object description Table 223 – Entry description Table 224 – Object description Table 225 – Entry description |
| 147 | 15.5.10 Object 60F8h: Max slippage Table 226 – Object description Table 227 – Entry description Table 228 – Object description Table 229 – Entry description |
| 148 | 16 Profile torque mode 16.1 General information 16.2 Functional description Figure 59 – Structure of the profile torque mode |
| 149 | 16.3 General definitions 16.4 Use of controlword and statusword 16.5 Detailed object definitions 16.5.1 Object 6071h: Target torque Figure 60 – Controlword for profile torque mode Figure 61 – Statusword for profile torque mode Table 230 – Definition of bit 8 Table 231 – Definition of bit 10 |
| 150 | 16.5.2 Object 6072h: Max torque 16.5.3 Object 60E0h: Positive torque limit value Table 232 – Object description Table 233 – Entry description Table 234 – Object description Table 235 – Entry description |
| 151 | 16.5.4 Object 60E1h: Negative torque limit value Table 236 – Object description Table 237 – Entry description Table 238 – Object description Table 239 – Entry description |
| 152 | 16.5.5 Object 6073h: Max current 16.5.6 Object 6074h: Torque demand Table 240 – Object description Table 241 – Entry description Table 242 – Object description Table 243 – Entry description |
| 153 | 16.5.7 Object 6075h: Motor rated current 16.5.8 Object 6076h: Motor rated torque Table 244 – Object description Table 245 – Entry description Table 246 – Object description |
| 154 | 16.5.9 Object 6077h: Torque actual value 16.5.10 Object 6078h: Current actual value Table 247 – Entry description Table 248 – Object description Table 249 – Entry description Table 250 – Object description |
| 155 | 16.5.11 Object 6079h: DC link circuit voltage 16.5.12 Object 6087h: Torque slope Table 251 – Entry description Table 252 – Object description Table 253 – Entry description Table 254 – Object description |
| 156 | 16.5.13 Object 6088h: Torque profile type 17 Velocity mode 17.1 General information Table 255 – Entry description Table 256 – Value definition Table 257 – Object description Table 258 – Entry description |
| 157 | 17.2 Functional description 17.2.1 Ramp function Figure 62 – Velocity mode with all objects Figure 63 – Velocity mode with mandatory objects only |
| 158 | 17.2.2 Velocity control function 17.2.3 Factor function Figure 64 – Velocity profile Figure 65 – Factor function Figure 66 – Reverse factor function |
| 159 | 17.3 General definitions 17.4 Use of controlword and statusword Figure 67 – Controlword for profile velocity mode Figure 68 – Usage of controlword bits in velocity mode Table 259 – Definition of bit 4, bit 5, bit 6, and bit 8 |
| 160 | 17.5 Detailed object definitions 17.5.1 Object 6042h: vl target velocity 17.5.2 Object 6043h: vl velocity demand Figure 69 – Statusword for profile velocity mode Table 260 – Object description Table 261 – Entry description |
| 161 | 17.5.3 Object 6044h: vl velocity actual value Table 262 – Object description Table 263 – Entry description Table 264 – Object description Table 265 – Entry description |
| 162 | 17.5.4 Object 6046h: vl velocity min max amount Figure 70 – Transfer characteristic of vl velocity min max amount Table 266 – Object description |
| 163 | 17.5.5 Object 6049h: vl velocity deceleration Figure 71 – Transfer characteristic of the velocity deceleration Table 267 – Entry description |
| 164 | 17.5.6 Object 6048h: vl velocity acceleration Table 268 – Object description Table 269 – Entry description |
| 165 | Figure 72 – Transfer characteristic of the velocity acceleration Table 270 – Object description |
| 166 | 17.5.7 Object 604Ah: vl velocity quick stop Figure 73 – Transfer characteristic of the quick stop deceleration Table 271 – Entry description |
| 167 | 17.5.8 Object 604Bh: vl set-point factor Table 272 – Object description Table 273 – Entry description |
| 168 | 17.5.9 Object 604Ch: vl dimension factor Table 274 – Object description Table 275 – Entry description |
| 169 | Table 276 – Object description Table 277 – Entry description |
| 170 | 18 Cyclic synchronous position mode 18.1 General information 18.2 Functional description Figure 74 – Cyclic synchronous position mode overview |
| 171 | 18.3 Use of controlword and statusword Figure 75 – Cyclic synchronous position control function Figure 76 – Statusword for profile cyclic synchronous position mode |
| 172 | 18.4 Detailed object definitions 18.4.1 Object 60B0h: Position offset 18.4.2 Object 60B1h: Velocity offset Table 278 – Definition of bit 10, bit 12, and bit 13 Table 279 – Object description Table 280 – Entry description |
| 173 | 18.4.3 Object 60B2h: Torque offset Table 281 – Object description Table 282 – Entry description Table 283 – Object description |
| 174 | 19 Cyclic synchronous velocity mode 19.1 General information Figure 77 – Cyclic synchronous velocity mode overview Table 284 – Entry description |
| 175 | 19.2 General definitions 19.3 Functional description 19.4 Use of controlword and statusword Figure 78 – Cyclic synchronous velocity control function |
| 176 | 20 Cyclic synchronous torque mode 20.1 General information Figure 79 – Statusword for profile cyclic synchronous velocity mode Table 285 – Definition of bit 10, bit 12, and bit 13 |
| 177 | 20.2 General definitions 20.3 Functional description 20.4 Use of controlword and statusword Figure 80 – Cyclic synchronous torque mode overview Figure 81 – Cyclic synchronous torque control function |
| 178 | 21 Cyclic synchronous torque mode with commutation angle (cstca) 21.1 General information Figure 82 – Statusword for profile cyclic synchronous torque mode Figure 83 – Cyclic synchronous torque mode with commutation angle overview Table 286 – Definition of bit 10, bit 12, and bit 13 |
| 179 | 21.2 General definitions 21.3 Functional description 21.4 Use of controlword and statusword Figure 84 – Cyclic synchronous torque with commutation angle control function Figure 85 – Statusword for cstca mode |
| 180 | 21.5 Object 60EAh: Commutation angle 22 Support of additional sensor interfaces 22.1 General Table 287 – Definition of bit 10, bit 12, and bit 13 Table 288 – Object description Table 289 – Entry description |
| 181 | 22.2 Object 60E4h: Additional position actual value Table 290 – Object description |
| 182 | 22.3 Object 60E5h: Additional velocity actual value Table 291 – Entry description |
| 183 | 22.4 Object 60E6h: Additional position encoder resolution – encoder increments Table 292 – Object description Table 293 – Entry description |
| 184 | 22.5 Object 60EBh: Additional position encoder resolution – motor revolutions Table 294 – Object description Table 295 – Entry description |
| 185 | Table 296 – Object description Table 297 – Entry description |
| 186 | 22.6 Object 60E7h: Additional velocity encoder resolution – encoder increments per second Table 298 – Object description |
| 187 | 22.7 Object 60ECh: Additional velocity encoder resolution – motor revolutions per second Table 299 – Entry description |
| 188 | Table 300 – Object description Table 301 – Entry description |
| 189 | 22.8 Object 60E8h: Additional gear ratio – motor shaft revolutions Table 302 – Object description Table 303 – Entry description |
| 190 | 22.9 Object 60EDh: Additional gear ratio – driving shaft revolutions 22.10 Object 60E9h: Additional feed constant – feed Table 304 – Object description Table 305 – Entry description |
| 191 | Table 306 – Object description Table 307 – Entry description |
| 192 | 22.11 Object 60EEh: Additional feed constant – driving shaft revolutions Table 308 – Object description Table 309 – Entry description |
| 193 | 23 Optional application FE 23.1 General 23.2 Object 60FDh: Digital inputs Figure 86 – Object structure Table 310 – Value definition Table 311 – Object description |
| 194 | 23.3 Object 60FEh: Digital outputs Figure 87 – Object structure Table 312 – Entry description Table 313 – Value definition Table 314 – Object description |
| 195 | 24 Device information 24.1 General 24.2 Object 67FEh: Version number Figure 88 – Structure of the standard version parameter Table 315 – Entry description |
| 196 | Table 316 – Object description Table 317 – Entry description |
| 197 | Bibliography |
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