Applied Motion ST10-C-CE - Manual (Page 49)

49 920-0025 Rev K
3/5/2015
CANopen User Manual
0x605A Quick_stop_option_code
The parameter quick_stop_option_code determines what action should be taken if the
Quick Stop Function is executed.
Object Type Data Type Access Type PDO Mapping COS Default value
Var INTEGER16 rw No no 0
quick_stop_option_code Action
-32768…-1 Manufacturer Specific
0 Disable drive function
1 Slow down on slow down ramp
2 Slow down on quick stop ramp
3 Slow down on the current limit
4 Slow down on the voltage limit
5 Slow down on slow down ramp and stay in Quick-Stop
6 Slow down on quick stop ramp and stay in Quick-Stop
7 Slow down on the current limit and stay in Quick-Stop
8 Slow down on the voltage limit and stay in Quick-Stop
9…32767 reserved
At this time, only option codes 1 and 2 of this feature are active.
0x6060 Modes_of_operation
The parameter modes_of_operation switches the actually chosen operation-mode.
Object Type Data Type Access Type PDO Mapping COS Default value
Var INTEGER8 wo yes no 0
Mode of Operation Action
-2 SYNC Q Mode (manufacturer specific)
-1 Normal Q Mode (manufacturer specific)
1 Profile Position Mode
3 Profile Velocity Mode
4 Torque Profile Mode (Servo only)
6 Homing Mode
-1: Normal Q mode (manufacturer specific mode)
-2: SYNC Q mode (manufacturer specific mode)
Velocity Mode and Interpolated Position Mode are not supported in this CANopen driver.
Also the Torque profile Mode is only supported for Servo( or Step Servo) CANopen driver.