Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 58)

920-0025 Rev K

3/5/2015

CANopen User Manual

0x700A position_actual_value

This object represents the actual position value measured by the position sensor.

Object Type Data Type Access Type PDO Mapping COS Default value

Var INTEGER32 ro yes yes 0

0x700B DSP_statuscode

This object represents the current status code of the driver.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED16 ro yes yes 0

Please see the details in Table 18 in Appendix C of this document.

0x700C zero_Position

This object provides a feature to zero all position parameters, such as position_actual_val-

ue (0x700A).

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED8 wo no no 0

Set this value to 01h to zero all position parameters.

0x700D Acceleration_Current

This object congures the current of the drive during an acceleration state.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED16 rw no no 0

This object is only available on STM-CANopen drivers.

It has the same units as the objects max_current and idle_current; value should be divided

by 100.

0x700E Analog_Input1

This object contains the Analog input value in manufacturer-specic units.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED16 ro yes no 0

The value read from 0x700E should be divided by 10 to obtain Volts.

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Applied-motion ST10-C-CE Manual do Utilizador Página 58