Applied-motion ST10-C-CE Manual do Utilizador Página 60
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920-0025 Rev K
3/5/2015
CANopen User Manual
Appendix C - Response Codes
Table 17: Object 603F
h
CiA 402 Error Codes
Table 18: Object 700B
h
DSP Status Codes
Hex Value SV/SVAC SSM/TSM/TXM/SS MSST/MSSTAC STM/SWM
0001 Position Limit
0002 CCW Limit
0004 CW Limit
0008 Over Temp
0010 Internal Voltage Internal Voltage Internal Voltage Internal Voltage
0020 Over Voltage
0040 Under Voltage Under Voltage Under Voltage Under Voltage
0080 Over Current
0100 Bad Hall Sensor Open Motor Winding
0200 Bad Encoder Not Used
0400 Comm Error
0800 Bad Flash
1000 Wizard Failed No Move
2000 Current Foldback Not Used Not Used
4000 Blank Q Segment
8000 No Move Not Used
Note: Items in bold italic represent Drive Faults, which automatically disable the motor. Use the OF command
in a Q Program to branch on a Drive Fault.
Hex Value Status Code Bit Denition
0001 Motor Enabled - motor disabled is this bit = 0
0002 Sampling - for Quick Tuner
0004 Drive Fault - check alarm code
0008 In Position - motor is in position
0010 Moving - motor is moving
0020 Jogging - currently in jog mode
0040 Stopping - in the process of stopping from a stop command
0080 Waiting - for an input
0100 Saving - parameter data is being saved
0200 Alarm present - check alarm code
0400 Homing - executing an SH command
0800 Wait Time - executing a WT command
1000 Wizard running - timing wizard is running
2000 Checking encoder - timing wizard is running
4000 Q Program is running
8000 Initializing
- Applied Motion Products 1
- CANopen Manual 1
- Introduction 2
- User Advisory: 2
- Contents 3
- List of Tables 6
- Reference Documents 8
- Commonly Used Acronyms 8
- Drive Setup 9
- CANopen BitRate & NodeID 10
- Drive Conguration 11
- Figure 4: 12
- Object Dictionary 13
- Electronic Data Sheet 14
- INTEGER16 RW Yes 16
- Table 5: CiA 402 Objects 17
- 920-0025 Rev K 18
- 3/5/2015 18
- CANopen User Manual 18
- General Purpose Registers 19
- Index (hex) Object 20
- Communication Prole 21
- COS Default value 25
- Subindex Name Default value 25
- Object Type Sub Number 30
- Manufacturer Specic Objects 38
- Device Prole 45
- 0x6041 StatusWord 46
- Mode of Operation Action 49
- Position polarity 52
- Bit number Description 56
- Appendix C - Response Codes 60
- General Mode Description 61
- Enable Prole Position Mode 61
- Set Running Parameters 61
- Starting/Stopping Motion 61
- Figure 12: Single Set-Point 62
- Enable Prole Velocity Mode 66
- Enable Drive Operation 66
- Appendix F - Homing Methods 68
- Homing Method 2 69
- Homing Method 3 69
- Homing Method 4 70
- Homing Method 5 70
- Homing Method 6 71
- Homing Method 7 71
- Homing Method 8 72
- Homing Method 9 72
- Homing Method 10 73
- Homing Method 11 73
- Homing Method 12 74
- Homing Method 13 74
- Homing Method 14 75
- Homing Methods 15 and 16 75
- Homing Method 17 76
- Homing Method 18 76
- Homing Methods 19 and 20 77
- Homing Methods 21 and 22 78
- Homing Methods 23 and 24 79
- Homing Methods 25 and 26 80
- Homing Methods 27 and 28 81
- Homing Methods 29 and 30 82
- Homing Methods 31 and 32 83
- Homing Method 33 83
- Homing Method 34 84
- Homing Method 35 84
- Enable Prole Torque Mode 85
- Starting/Stopping Torque 86
- Current Verication - Example 86
- Appendix H - Q Program Mode 88
- More Information 89
- NMT Mode NMT Control 90
- NMT Status Code 90
- (Heartbeat) 90
- PDO Access 91
- TPDO Transmission Types 92
- PDO Mapping Procedure 93
- Default PDO Mapping - Stepper 94
- Default PDO Mapping - Servo 94
- PDO COB-ID 95
- Control Word of Homing Mode 97
- Status Word of Homing Mode 97
- Control Word of Q Mode 98
- Status Word of Q Mode 98
- Appendix L – Example Programs 99
- Prole Velocity Mode 100
- Homing Mode 100
- Normal Q Mode 101
- Sync Q Mode 101
- PDO Mapping 101
- Applied Motion Products, Inc 101
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