Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 56)

920-0025 Rev K

3/5/2015

CANopen User Manual

0x6502 supported_drive_modes

This object provides information on the supported drive modes.

Bit number Description

0 Prole Position Mode

1 Velocity Mode

2 Prole Velocity Mode

3 Prole Torque Mode

4 reserved

5 Homing Mode

6 Interpolated Position Mode

7 reserved

8 reserved

9 reserved

10…15 reserved

16…31 Manufacturer sepcic

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED32 ro no no 0

The supported modes in Applied Motion Products CANopen drives are:

Bit0: Prole Position Mode

Bit2: Prole Velocity Mode

Bit3: Prole Torque Mode (Servo/ Step-Servo only)

Bit5; Homing Mode

0x7001 home_switch

This object shall congure the input number of the Home switch used for Homing.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED8 rw yes no 3

0x7002 idle_current

This object congures/monitors the motor holding current of the device in idle mode.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED16 rw yes no 3

The units of this object is current in Amps multiplied by 100.

e.g.: If the value of this object read from the drive is 210, it means the idle current at this

moment is 2.1Amps.

1 2 ... 51 52 53 54 55 56 57 58 59 60 61 ... 100 101

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Applied-motion ST10-C-CE Manual do Utilizador Página 56