Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 57)

920-0025 Rev K

3/5/2015

CANopen User Manual

0x7003 drive_inputs

This object contains the information about drive’s digital inputs.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED16 rw yes yes 0

Bit0: input 1 Bit1: input 2 Bit2: input 3 Bit3: input 4

Bit4: input 5 Bit5: input 6 Bit6: input 7 Bit7: input 8

Bit8-15: reserved

0x7005 torque_Constant

This object congures the motor’s torque constant in manufacturer-specic units. The

units are mNm/Amp.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED16 rw no yes 0

This object is only supported in servo/step-servo drives.

0x7006 DSP_clearAlarm

This object provides a feature to clear an alarm within the drive.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED8 wo no no 0

Set this value to 01h to clear active alarms

0x7007 QSegment.

This object congures the number of Q Segments that will be executed in Q mode.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED8 rw yes no 0

0x7009 velocity_actual_value

This object provides the actual velocity value derived from the position sensor (i.e. encod-

er)

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED16 ro yes yes 0

This object has the same units as the objects velocity_value_calculated (index 0x606C) and

prole_velocity (0x60FF).

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Applied-motion ST10-C-CE Manual do Utilizador Página 57