Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 49)

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 Specic

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 specic)

-1 Normal Q Mode (manufacturer specic)

1 Prole Position Mode

3 Prole Velocity Mode

4 Torque Prole Mode (Servo only)

6 Homing Mode

-1: Normal Q mode (manufacturer specic mode)

-2: SYNC Q mode (manufacturer specic mode)

Velocity Mode and Interpolated Position Mode are not supported in this CANopen driver.

Also the Torque prole Mode is only supported for Servo( or Step Servo) CANopen driver.

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Applied-motion ST10-C-CE Manual do Utilizador Página 49