CANopen Programmer's Manual - Maccon.de

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3: Device Control, Configuration, and Status CANopen Programmer’s Manual 'STICKY' EVENT STATUS REGISTER INDEX 0X2180 Type Access Units Range Map PDO Memory Unsigned 32 RO - - YES - Description Sticky Amplifier Event Status Register. This read-only parameter is bit-mapped in exactly the same way as the Manufacturer Status Register (index 0x1002, p. 60), but instead of giving the present status of the amplifier, the sticky version indicates any bits in the Manufacturer Status Register that have been set since the last reading of the sticky register. The sticky register is similar to the Latched Event Status Register (index 0x2181, p. 62), but the latched register must be cleared explicitly, whereas the sticky register is cleared automatically each time it is read. LATCHED EVENT STATUS REGISTER INDEX 0X2181 Type Access Units Range Map PDO Memory Unsigned 32 RC - - YES R Description This is a latched version of the Manufacturer Status Register object (index 0x1002, p. 60). Bits are set by the amplifier when events occur. Bits are cleared only by a set command. When writing to the Latched Event Status Register, any bit set in the written value will cause the corresponding bit in the register to be cleared. For example, writing the value 0x0010020C would clear bits 2, 3, 9, and 20. To clear the short circuit detected bit, write a 1 to the register. To clear all bits, write 0xFFFFFFFF to the register. LIMIT STATUS MASK INDEX 0X2184 Type Access Units Range Map PDO Memory Unsigned 32 RW - - YES RF Description This parameter defines which bits in the Manufacturer Status Register object (index 0x1002, p. 60) can set the limit bit (bit 11) of the Status Word object (index 0x6041, p. 58). If a Manufacturer Status Register bit and its corresponding Limit Mask bit are both set, then the CANopen Status Word limit bit is set. If all selected a Manufacturer Status Register bits are clear, then the limit bit is clear. 62 Copley Controls
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status QUICK STOP OPTION CODE INDEX 0X605A Type Access Units Range Map PDO Memory Integer 16 RW - See Description, below. NO R Description This object defines the behavior of the amplifier when a quick stop command is issued. The following values are defined. Value Description 0 Disable the amplifier's outputs 1 Slow down using the normal slow down ramp programmed in Profile Deceleration (index 0x6084, p. 204). When the move has been successfully aborted the amplifier's state will transition to the 'switch on disabled' state. 2 Slow down using the quick stop ramp programmed in Quick Stop Deceleration (index 0x6085, p. 205) then transition to 'switch on disabled'. 3 Stop the move abruptly and transition to 'switch on disabled'. 5 Slow down using the slow down ramp. The amplifier state will remain in the 'quick stop' state after the move has been finished. 6 Slow down using the quick stop ramp and stay in 'quick stop' state. 7 Stop the move abruptly and stay in 'quick stop' state. All other values will produce unspecified results and should not be used. SHUTDOWN OPTION CODE INDEX 0X605B Type Access Units Range Map PDO Memory Integer 16 RW - See Description, below. NO R Description This object defines the behavior of the amplifier when the amplifier's state is changed from “operation enabled” to “ready to switch on.” The following values are defined: Value Description 0 Disable the amplifier's outputs. 1 Slow down using the slow down ramp (i.e. the normal move deceleration value). All other values will produce unspecified results and should not be used. DISABLE OPERATION OPTION CODE INDEX 0X605C Type Access Units Range Map PDO Memory Integer 16 RW - See Description, below. NO R Description This object defines the behavior of the amplifier when the amplifier's state is changed from “operation enabled” to “switched on.” The following values are defined. Value Description 0 Disable the amplifier's outputs. 1 Slow down using the slow down ramp (i.e. the normal move deceleration value). All other values will produce unspecified results and should not be used. Copley Controls 63
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