Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 26)

100

101

920-0025 Rev K

3/5/2015

CANopen User Manual

0x500B notchFilterE_Tuning;

0x500C notchFilterF_Tuning;

0x500D notchFilterG_Tuning;

0x500E notchFilterH_Tuning;

0x500F positionError;

0x5010 velocity_MAX;

0x5011 smoothFilter;

0x1011 Restore default parameters (Not yet implemented)

With this object the default values of parameters according to the communication or

device prole are restored.

Object Type Sub Number Data Type Access Type

PDO

Mapping

COS Default value

Var 2 UNSIGNED32 rw no no 0

Subindex Name Default value

00 max sub-index 1

01 restore all parameters 0

0x1014 COB-ID EMCY

This object denes the COB-ID of the Emergency Object (EMCY).

UNSIGNED32

MSB LSB

bits 31 30 29 28-11 10-0

11-bit-ID 0/1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11-bit Identier

29-bit-ID 0/1 0 1 29 -bit Identier

Figure 7: Structure of the EMCY Identier entry

bit number value Meaning

31 (MSB) 0

EMCY exists / is valid

EMCY does not exist / is not valid

30 0 reserved (always 0)

29 0

11-bit ID (CAN 2.0A)

29-bit ID (CAN 2.0B)

28-11 0

if bit 29=0

if bit 29=1: bits 28-11 of 29-bit-COB-ID

10-0 (LSB) X bits 10-0 of COB-ID

Figure 8: Description of EMCY COB-ID entry

1 2 ... 21 22 23 24 25 26 27 28 29 30 31 ... 100 101

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