Applied-motion ST10-C-CE Manual do Utilizador Página 29
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920-0025 Rev K
3/5/2015
CANopen User Manual
0x1029 Error behavior
This object contains the error information of the CANopen driver.
Object Type Sub Number Data Type Access Type PDO Mapping COS
Array 7 UNSIGNED8 rw no no
Subindex Name Default value Actual value
00 max sub-index 6
01 Communication 0x00
02 Communication other 0x00
03 Communication passive 0x01
04 Generic 0x00
05 Device prole 0x00
06 Manufacturer specic 0x00
Value denition for all subindexes:
0x00 - if operational, switch to NMT pre-operational
0x01 - do nothing
0x02 - switch to NMT stopped
01 - Communication error - bus off or Heartbeat consumer error.
02 - Communication other error (critical errors - see ‘Error status bits’) except CAN bus
passive but including bus off or Heartbeat consumer.
03 - Communication passive - any communication error including CAN bus passive.
04 - Generic error (critical errors - see ‘Error status bits’).
05 - Device prole error - bit 5 in error register is set.
06 - Manufacturer specic error - bit 7 in error register is set.
0x1200 SDO server parameter
The object holds the COB-ID (communication object ID, also known as CAN message ID)
values used to access the driver’s SDO.
1. Sub-index 0 contains the number of sub-elements of this record.
2. Sub-index 1 used by the driver to receive SDO packets. The value is 0x600 +
$NODEID.
3. Sub-index 2 gives the COB-ID used by the driver to transmit SDO packets. The value is
0x580 + $NODEID.
- 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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