Applied Motion ST10-C-CE - Manual (Page 15)

15 920-0025 Rev K
3/5/2015
CANopen User Manual
Table 3: CiA 301 Object Descriptions
For more information: see Appendix A for detail decription of OD.
Index Sub Comment Fields Data Type
Access
Type
PDO
Mapping
5000h 0 PositionGain_Tuning UNSIGNED16 RW
5001h 0 PositionDeriGain_Tuning UNSIGNED16 RW
5002h 0 PositionDeriFilter_Tuning UNSIGNED16 RW
5003h 0 VelocityGain_Tuning UNSIGNED16 RW
5004h 0 VelocityIntegGain_Tuning UNSIGNED16 RW
5005h 0 AccFeedForward_Tuning UNSIGNED16 RW
5006h 0 PIDFilter_Tuning UNSIGNED16 RW
5007h
-500Eh
0 NotchFilterX_Tuning INTEGER16 RW
500Fh 0 PositionError UNSIGNED16 RW
5010h 0 Velocity_MAX UNSIGNED16 RW
5011h 0 SmoothFilter UNSIGNED16 RW
5012h 0 Driver_Temperature INTEGER16 RO
Table 4: Tuning Parameter setting
For more information: see Appendix A for detail decription of OD.
Index Sub Comment Fields Data Type
Access
Type
PDO
Mapping
603Fh 0 Error Code UNSIGNED16 RO Yes
6040h 0 Controlword UNSIGNED16 WO Yes
6041h 0 Statusword UNSIGNED16 RO Yes