Technical Manual PD4-E-M (EtherCAT)1 Introduction• The following bits in object 6041h (statusword) have a special function:• A list of available system calls can be found in chapter System calls in a NanoJ program.Text set in italics marks named objects:• Read the installation manual.• Use the Plug & Drive Studio software to perform the auto setup.• For software: You can find the corresponding information in the Operation tab.• For hardware: Use the ON/OFF switch to switch the device on.A text set in Courier marks a code section or programming command:• The line with the od_write(0x6040, 0x00, 5 ); command has no effect.• The NMT message is structured as follows: 000 | 81 2AA text in "quotation marks" marks user input:• Start the NanoJ program by writing object 2300h, bit 0 = "1".• If a holding torque is already needed in this state, the value "1" must be written in 3212h:01h.1.10 Numerical valuesNumerical values are generally specified in decimal notation. The use of hexadecimal notation isindicated by a subscript h at the end of the number.The objects in the object dictionary are written with index and subindex as follows::Both the index as well as the subindex are specified in hexadecimal notation. If no subindex is listed,the subindex is 00h.Example: Subindex 5 of object 1003h is addressed with 1003h:05h, subindex 00 of object 6040h with6040h.1.11 BitsThe numbering of individual bits in an object always begins with the LSB (bit number 0). See thefollowing figure, which uses data type UNSIGNED8 as an example.1.12 Counting direction (arrows)In figures, the counting direction is always in the direction of an arrow. Objects 60C5h and 60C6hdepicted as examples in the following figure are both specified as positive.Max. acceleration (60C5h)Max. deceleration (60C6h)AccelerationtVersion: 1.0.1 / FIR-v1748 9
