Applied Motion ST10-C-CE - Manual (Page 6)

6 920-0025 Rev K
3/5/2015
CANopen User Manual
List of Tables
Table 1: Bit Rate Switch Settings .................................................................................. 12
Table 2: Modes of Operation ......................................................................................... 13
Table 3: CiA 301 Object Descriptions ............................................................................ 16
Table 4: Tuning Parameter setting ................................................................................. 16
Table 5: CiA 402 Objects ............................................................................................... 17
Table 6: Applied Motion Products Manufacture Specific Objects .................................. 18
Table 7: User Defined Registers in CANopen and Q Programmer ............................... 20
Table 8: Object Dictionary Structure .............................................................................. 21
Table 9: Description of SYNC COB-ID entry ................................................................. 24
Table 10: Description of PDO COB-ID entry ................................................................. 31
Table 11: Description of transmission type .................................................................... 32
Table 12: Controlword Data Description ........................................................................ 46
Table 13: Device Control Command Bit Patterns (Bits 0-3 and 7) ................................ 46
Table 14: Bits in the statusword ..................................................................................... 47
Table 15: Device State Bits ........................................................................................... 48
Table 16: Parameter Scaling Chart ............................................................................... 60
Table 17: Object 603F
h
CiA 402 Error Codes ................................................................ 61
Table 18: Object 700B
h
DSP Status Codes ................................................................... 61
Table 19: Single Set-Point Profile Position Move .......................................................... 63
Table 20: Multiple Set-Point Profile Position Move with Stopping Between Moves ....... 64
Table 21: Multiple Set-Point Profile Position Move with Continuous Motion ................. 65
Table 22: Multi-Set-Point Profile Position Move with Immediate Change in Motion ...... 66
Table 23: Profile Velocity Mode Example ...................................................................... 68
Table 24: Profile Torque Mode Example ........................................................................ 88
Table 25: Understanding NMT States ........................................................................... 91
Table 26: Example - NMT Data Frame .......................................................................... 91
Table 27: Enable SDO Use ........................................................................................... 92
Table 28: TPDO Transmission Types ............................................................................ 93
Table 29: PDO Mapping ................................................................................................ 93
Table 30: PDO Mapping Example ................................................................................. 94
Table 31: PDO Mapping - Stepper ................................................................................ 95
Table 32: PDO Mapping - Servo .................................................................................... 95
Table 33: PDO COB-IDs ................................................................................................ 96