Overview

Observe the following information on communication:

Communication occurs via the I/O area.
The most important data from the object list is mapped in the I/O area. For further information, refer to chapter Input/output area.
You can access the unmapped objects via the acyclical channel. See chapter Acyclical channel for more information.

Depending on the setting for "0x8F00-01 – Encoder feedback configuration", the function module operates in open-loop or closed-loop mode. A distinction is made between the following encoder configurations:

The following operating modes are available with device profile CiA 402:

Possible combinations

Open loop \| PtP position profile (1), speed profile (3), homing (6), synchronous positioning (8)
0x8F00-01 – Encoder feedback configuration	0: Open loop
0x8280-01 – Setpoint operating mode	Operating mode: 1, 3, 6 or 8
0x8480-02 – Actual position	Position value of the profile generator.
0x8F00-02 – Encoder – Actual value	0 (fixed)

Open loop \| PtP position profile (1), speed profile (3), homing (6), synchronous positioning (8)
0x8F00-01 – Encoder feedback configuration	1: Open loop
0x8280-01 – Setpoint operating mode	Operating mode: 1, 3, 6 or 8
0x8480-02 – Actual position	Position value of the profile generator.
0x8F00-02 – Encoder – Actual value	Encoder value

Pseudo closed loop \| PtP position profile (1), homing (6)
0x8F00-01 – Encoder feedback configuration	5: Pseudo closed loop
0x8280-01 – Setpoint operating mode	Operating mode: 1 or 6
0x8480-02 – Actual position	Encoder value normalized to position.
0x8F00-02 – Encoder – Actual value	Encoder value.

Closed loop \| PtP position profile (1), speed profile (3), homing (6), synchronous positioning (8), torque control (10), commutation detection (15)
0x8F00-01 – Encoder feedback configuration	3: Closed loop (FOC)
0x8280-01 – Setpoint operating mode	Operating mode: 1, 3, 6, 8, 10 or 15
0x8480-02 – Actual position	Encoder value normalized to position.
0x8F00-02 – Encoder – Actual value	Encoder value.