Applied Motion ST10-C-CE - Manual (Page 26)

26 920-0025 Rev K
3/5/2015
CANopen User Manual
0x500B notchFilterE_Tuning;
0x500C notchFilterF_Tuning;
0x500D notchFilterG_Tuning;
0x500E notchFilterH_Tuning;
0x500F positionError;
0x5010 velocity_MAX;
0x5011 smoothFilter;
0x1011 Restore default parameters (Not yet implemented)
With this object the default values of parameters according to the communication or
device profile are restored.
Object Type Sub Number Data Type Access Type
PDO
Mapping
COS Default value
Var 2 UNSIGNED32 rw no no 0
Subindex Name Default value
00 max sub-index 1
01 restore all parameters 0
0x1014 COB-ID EMCY
This object defines the COB-ID of the Emergency Object (EMCY).
UNSIGNED32
MSB
LSB
bits 31 30 29 28-11 10-0
11-bit-ID 0/1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11-bit Identifier
29-bit-ID 0/1 0 1 29 -bit Identifier
Figure 7: Structure of the EMCY Identifier entry
bit number value Meaning
31 (MSB) 0
1
EMCY exists / is valid
EMCY does not exist / is not valid
30 0 reserved (always 0)
29 0
1
11-bit ID (CAN 2.0A)
29-bit ID (CAN 2.0B)
28-11 0
X
if bit 29=0
if bit 29=1: bits 28-11 of 29-bit-COB-ID
10-0 (LSB) X bits 10-0 of COB-ID
Figure 8: Description of EMCY COB-ID entry