保存对象
注: 不当使用此函数可导致无法启动控制器。因此,使用函数前请仔细阅读整章内容。
概述
可保存对象目录中的许多对象,然后在下次打开或重置控制器时自动重新加载这些对象。此外,在固件更新后也会保留保存的值。
只有整组对象(下文称为 类别)可以一起保存;无法保存单个对象。
可为对象分配以下
分类之一:
- 通信:与外部接口相关的参数,如 PDO 配置等。
- 应用:与工作模式相关的参数。
- 用户:仅由客户/用户写入和读取,并被控制器固件忽略的参数。
- 运动:与电机和传感器相关的参数(直流无刷电机/步进电机、 闭环/开环…)。部分由自动设置进行设定和保存。
- 优化:与电机和编码器相关的参数,此类参数由自动设置设定或可在数据表中找到,如极对和最大电流。
如果没有为对象分配这些 分类,则无法保存对象,如状态字和其值取决于控制器当前状态的所有对象。
以下列出了各个 分类中的对象。在 对象目录说明一章中,也指定了各个对象的相应 分类。
分类:通信
- 1600h: Receive PDO 1 Mapping Parameter
- 1601h: Receive PDO 2 Mapping Parameter
- 1602h: Receive PDO 3 Mapping Parameter
- 1603h: Receive PDO 4 Mapping Parameter
- 1A00h: Transmit PDO 1 Mapping Parameter
- 1A01h: Transmit PDO 2 Mapping Parameter
- 1A02h: Transmit PDO 3 Mapping Parameter
- 1A03h: Transmit PDO 4 Mapping Parameter
- 1C12h: Sync Manager PDO Assignment
- 1C13h: Sync Manager PDO Assignment
- 2102h: Fieldbus Module Control
分类:应用
- 2034h: Upper Voltage Warning Level
- 2035h: Lower Voltage Warning Level
- 2036h: Open Loop Current Reduction Idle Time
- 2037h: Open Loop Current Reduction Value/factor
- 2038h: Brake Controller Timing
- 203Ah: Homing On Block Configuration
- 203Dh: Torque Window
- 203Eh: Torque Window Time Out
- 203Fh: Max Slippage Time Out
- 2056h: Limit Switch Tolerance Band
- 2057h: Clock Direction Multiplier
- 2058h: Clock Direction Divider
- 205Bh: Clock Direction Or Clockwise/Counter Clockwise Mode
- 2084h: Bootup Delay
- 2300h: NanoJ Control
- 2410h: NanoJ Init Parameters
- 2800h: Bootloader And Reboot Settings
- 3210h: Motor Drive Parameter Set
- 3212h: Motor Drive Flags
- 3221h: Analogue Inputs Control
- 3240h: Digital Inputs Control
- 3241h: Digital Input Capture
- 3242h: Digital Input Routing
- 3243h: Digital Input Homing Capture
- 3250h: Digital Outputs Control
- 3252h: Digital Output Routing
- 3321h: Analogue Input Offset
- 3322h: Analogue Input Pre-scaling
- 3700h: Deviation Error Option Code
- 4013h: HW Configuration
- 4015h: Special Drive Modes
- 6040h: Controlword
- 6042h: Vl Target Velocity
- 6046h: Vl Velocity Min Max Amount
- 6048h: Vl Velocity Acceleration
- 6049h: Vl Velocity Deceleration
- 604Ah: Vl Velocity Quick Stop
- 604Ch: Vl Dimension Factor
- 605Ah: Quick Stop Option Code
- 605Bh: Shutdown Option Code
- 605Ch: Disable Option Code
- 605Dh: Halt Option Code
- 605Eh: Fault Option Code
- 6060h: Modes Of Operation
- 6065h: Following Error Window
- 6066h: Following Error Time Out
- 6067h: Position Window
- 6068h: Position Window Time
- 606Dh: Velocity Window
- 606Eh: Velocity Window Time
- 6071h: Target Torque
- 6072h: Max Torque
- 607Ah: Target Position
- 607Bh: Position Range Limit
- 607Ch: Home Offset
- 607Dh: Software Position Limit
- 607Eh: Polarity
- 607Fh: Max Profile Velocity
- 6081h: Profile Velocity
- 6082h: End Velocity
- 6083h: Profile Acceleration
- 6084h: Profile Deceleration
- 6085h: Quick Stop Deceleration
- 6086h: Motion Profile Type
- 6087h: Torque Slope
- 6091h: Gear Ratio
- 6092h: Feed Constant
- 6096h: Velocity Factor
- 6097h: Acceleration Factor
- 6098h: Homing Method
- 6099h: Homing Speed
- 609Ah: Homing Acceleration
- 60A2h: Jerk Factor
- 60A4h: Profile Jerk
- 60A8h: SI Unit Position
- 60A9h: SI Unit Velocity
- 60B0h: Position Offset
- 60B1h: Velocity Offset
- 60B2h: Torque Offset
- 60C1h: Interpolation Data Record
- 60C2h: Interpolation Time Period
- 60C4h: Interpolation Data Configuration
- 60C5h: Max Acceleration
- 60C6h: Max Deceleration
- 60E8h: Additional Gear Ratio - Motor Shaft Revolutions
- 60E9h: Additional Feed Constant - Feed
- 60EDh: Additional Gear Ratio - Driving Shaft Revolutions
- 60EEh: Additional Feed Constant - Driving Shaft Revolutions
- 60F2h: Positioning Option Code
- 60F8h: Max Slippage
- 60FEh: Digital Outputs
- 60FFh: Target Velocity
分类:用户
- 2701h: Customer Storage Area
分类:运动
分类:优化
- 2030h: Pole Pair Count
- 2031h: Maximum Current
- 203Bh: I2t Parameters
- 2059h: Encoder Configuration
- 33A0h: Feedback Incremental A/B/I 1
- 6075h: Motor Rated Current
- 6080h: Max Motor Speed
- 608Fh: Position Encoder Resolution
- 6090h: Velocity Encoder Resolution
- 60E6h: Additional Position Encoder Resolution - Encoder Increments
- 60EBh: Additional Position Encoder Resolution - Motor Revolutions