Applied Motion ST10-C-CE - Manual (Page 56)

56 920-0025 Rev K
3/5/2015
CANopen User Manual
0x6502 supported_drive_modes
This object provides information on the supported drive modes.
Bit number Description
0 Profile Position Mode
1 Velocity Mode
2 Profile Velocity Mode
3 Profile Torque Mode
4 reserved
5 Homing Mode
6 Interpolated Position Mode
7 reserved
8 reserved
9 reserved
10…15 reserved
16…31 Manufacturer sepcific
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED32 ro no no 0
The supported modes in Applied Motion Products CANopen drives are:
Bit0: Profile Position Mode
Bit2: Profile Velocity Mode
Bit3: Profile Torque Mode (Servo/ Step-Servo only)
Bit5; Homing Mode
0x7001 home_switch
This object shall configure the input number of the Home switch used for Homing.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED8 rw yes no 3
0x7002 idle_current
This object configures/monitors the motor holding current of the device in idle mode.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 rw yes no 3
The units of this object is current in Amps multiplied by 100.
e.g.: If the value of this object read from the drive is 210, it means the idle current at this
moment is 2.1Amps.