Applied-motion ST10-C-CE Bedienungsanleitung PDF herunterladen (Seite 54)

920-0025 Rev K

3/5/2015

CANopen User Manual

0x6085 quick_stop_deceleration

This object congures deceleration used to stop the motor when the quick stop function is

activated and the quick stop code object (605Ah) is set to 2.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED32 rw yes No 0

The value transmitted to (or read from) the driver should be multiplied by 6 (divided by 6)

to change to rps/s unit.

e.g.: To set the quick_stop_deceleration to 1000 rps/s, the value transmitted to the drive

should be 6000.

0x6087 torque_slop

This parameter describes the rate of change of torque in units of per thousand of rated

torque per second. The units should be Nm/s.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED32 rw yes No 0

0x6098 homing_method

This object determines the method that will be used during homing.

Object Type Data Type Access Type PDO Mapping COS Default value

Var INTEGER8 rw yes No 0

Please see details described in Appendix F of this document.

0x6099 homing_speed

This object determines the speeds that will be used during homing.

There are two parts to dene these speeds.

Sub-index 1 to set the speed to search home switch.

Sub-index 2 to set the speed to search zero position.

Object Type Sub Number Data Type Access Type

PDO

Mapping

COS Default value

Array 3 UNSIGNED32 rw yes no 0

Subindex Name Default value

00 max sub-index 2

01 speed_during_search_for_switch 0

02 speed_during_search_for_zero 0

1 2 ... 49 50 51 52 53 54 55 56 57 58 59 ... 100 101

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Applied-motion ST10-C-CE Bedienungsanleitung Seite 54