Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 50)

920-0025 Rev K

3/5/2015

CANopen User Manual

0x6061 Modes_of_operation_display

The modes_of_operation_display shows the current mode of operation. The meaning of

the returned value corresponds to that of the Modes of Operation option code (index 6060h)

Object Type Data Type Access Type PDO Mapping COS Default value

Var INTEGER8 ro yes yes 0

This value of operation mode indicates the current mode of operation.

0x6064 Position_value_calculated

This object represents the calculated value of the position at the current moment in user

dened units.

Object Type Data Type Access Type PDO Mapping COS Default value

Var INTEGER32 ro yes yes 0

0x6065 following_error_window

This object shall indicate the congured range of tolerated position values symmetrically

to the position demand value. If the position actual value is out of the following error window,

a following error (Position Limit) occurs. A following error may occur when a drive is blocked,

unreachable prole velocity occurs (Jog mode should be Mode 1), or improperly tuned (Servo

and Step Servo only). The value shall be given in user dened position units. If the value of the

following error window is 0, the following control shall be switched off.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED32 rw no No 0

This object is the same functionally as Manufacturer specic object 0x500F.

0x606C Velocity_value_calculated

This object represents the calculated value of the velocity at the current moment in user

dened units.

Object Type Data Type Access Type PDO Mapping COS Default value

Var INTEGER32 ro yes yes 0

The value reading from driver should be divided by 240 to change to rps units.

e.g.: a value of 2400 in index 0x606c, means the calculated velocity is 10rps.

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