Applied-motion ST10-C-CE Bedienungsanleitung Seite 49
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920-0025 Rev K
3/5/2015
CANopen User Manual
0x605A Quick_stop_option_code
The parameter quick_stop_option_code determines what action should be taken if the
Quick Stop Function is executed.
Object Type Data Type Access Type PDO Mapping COS Default value
Var INTEGER16 rw No no 0
quick_stop_option_code Action
-32768…-1 Manufacturer Specic
0 Disable drive function
1 Slow down on slow down ramp
2 Slow down on quick stop ramp
3 Slow down on the current limit
4 Slow down on the voltage limit
5 Slow down on slow down ramp and stay in Quick-Stop
6 Slow down on quick stop ramp and stay in Quick-Stop
7 Slow down on the current limit and stay in Quick-Stop
8 Slow down on the voltage limit and stay in Quick-Stop
9…32767 reserved
At this time, only option codes 1 and 2 of this feature are active.
0x6060 Modes_of_operation
The parameter modes_of_operation switches the actually chosen operation-mode.
Object Type Data Type Access Type PDO Mapping COS Default value
Var INTEGER8 wo yes no 0
Mode of Operation Action
-2 SYNC Q Mode (manufacturer specic)
-1 Normal Q Mode (manufacturer specic)
1 Prole Position Mode
3 Prole Velocity Mode
4 Torque Prole Mode (Servo only)
6 Homing Mode
-1: Normal Q mode (manufacturer specic mode)
-2: SYNC Q mode (manufacturer specic mode)
Velocity Mode and Interpolated Position Mode are not supported in this CANopen driver.
Also the Torque prole Mode is only supported for Servo( or Step Servo) CANopen driver.
- Applied Motion Products 1
- CANopen Manual 1
- Introduction 2
- User Advisory: 2
- Contents 3
- List of Tables 6
- Reference Documents 8
- Commonly Used Acronyms 8
- Drive Setup 9
- CANopen BitRate & NodeID 10
- Drive Conguration 11
- Figure 4: 12
- Object Dictionary 13
- Electronic Data Sheet 14
- INTEGER16 RW Yes 16
- Table 5: CiA 402 Objects 17
- 920-0025 Rev K 18
- 3/5/2015 18
- CANopen User Manual 18
- General Purpose Registers 19
- Index (hex) Object 20
- Communication Prole 21
- COS Default value 25
- Subindex Name Default value 25
- Object Type Sub Number 30
- Manufacturer Specic Objects 38
- Device Prole 45
- 0x6041 StatusWord 46
- Mode of Operation Action 49
- Position polarity 52
- Bit number Description 56
- Appendix C - Response Codes 60
- General Mode Description 61
- Enable Prole Position Mode 61
- Set Running Parameters 61
- Starting/Stopping Motion 61
- Figure 12: Single Set-Point 62
- Enable Prole Velocity Mode 66
- Enable Drive Operation 66
- Appendix F - Homing Methods 68
- Homing Method 2 69
- Homing Method 3 69
- Homing Method 4 70
- Homing Method 5 70
- Homing Method 6 71
- Homing Method 7 71
- Homing Method 8 72
- Homing Method 9 72
- Homing Method 10 73
- Homing Method 11 73
- Homing Method 12 74
- Homing Method 13 74
- Homing Method 14 75
- Homing Methods 15 and 16 75
- Homing Method 17 76
- Homing Method 18 76
- Homing Methods 19 and 20 77
- Homing Methods 21 and 22 78
- Homing Methods 23 and 24 79
- Homing Methods 25 and 26 80
- Homing Methods 27 and 28 81
- Homing Methods 29 and 30 82
- Homing Methods 31 and 32 83
- Homing Method 33 83
- Homing Method 34 84
- Homing Method 35 84
- Enable Prole Torque Mode 85
- Starting/Stopping Torque 86
- Current Verication - Example 86
- Appendix H - Q Program Mode 88
- More Information 89
- NMT Mode NMT Control 90
- NMT Status Code 90
- (Heartbeat) 90
- PDO Access 91
- TPDO Transmission Types 92
- PDO Mapping Procedure 93
- Default PDO Mapping - Stepper 94
- Default PDO Mapping - Servo 94
- PDO COB-ID 95
- Control Word of Homing Mode 97
- Status Word of Homing Mode 97
- Control Word of Q Mode 98
- Status Word of Q Mode 98
- Appendix L – Example Programs 99
- Prole Velocity Mode 100
- Homing Mode 100
- Normal Q Mode 101
- Sync Q Mode 101
- PDO Mapping 101
- Applied Motion Products, Inc 101
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