Applied Motion ST10-C-CE - Manual (Page 54)

54 920-0025 Rev K
3/5/2015
CANopen User Manual
0x6085 quick_stop_deceleration
This object configures deceleration used to stop the motor when the quick stop function is
activated and the quick stop code object (605Ah) is set to 2.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED32 rw yes No 0
The value transmitted to (or read from) the driver should be multiplied by 6 (divided by 6)
to change to rps/s unit.
e.g.: To set the quick_stop_deceleration to 1000 rps/s, the value transmitted to the drive
should be 6000.
0x6087 torque_slop
This parameter describes the rate of change of torque in units of per thousand of rated
torque per second. The units should be Nm/s.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED32 rw yes No 0
0x6098 homing_method
This object determines the method that will be used during homing.
Object Type Data Type Access Type PDO Mapping COS Default value
Var INTEGER8 rw yes No 0
Please see details described in Appendix F of this document.
0x6099 homing_speed
This object determines the speeds that will be used during homing.
There are two parts to define these speeds.
Sub-index 1 to set the speed to search home switch.
Sub-index 2 to set the speed to search zero position.
Object Type Sub Number Data Type Access Type
PDO
Mapping
COS Default value
Array 3 UNSIGNED32 rw yes no 0
Subindex Name Default value
00 max sub-index 2
01 speed_during_search_for_switch 0
02 speed_during_search_for_zero 0