CANopen Programmer's Manual - Maccon.de

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3: Device Control, Configuration, and Status CANopen Programmer’s Manual HALT OPTION CODE INDEX 0X605D 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 halt command is issued. 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). 2 Slow down using the quick stop ramp. 3 Stop the move abruptly. All other values will produce unspecified results and should not be used. MODE OF OPERATION INDEX 0X6060 Type Access Units Range Map PDO Memory Integer 8 RW - See Description, below. YES R Description This object selects the amplifier's mode of operation. The modes of operation presently supported by this device are: Mode Description 1 Profile Position mode. 3 Profile Velocity mode. 4 Profile Torque mode. 6 Homing mode. 7 Interpolated Position mode. 8 Cyclic Synchronous Position mode. 9 Cyclic Synchronous Velocity mode. 10 Cyclic Synchronous Torque mode. The amplifier will not accept other values. Note that there may be some delay between setting the mode of operation and the amplifier assuming that mode. To read the active mode of operation, use object 0x6061. MODE OF OPERATION DISPLAY INDEX 0X6061 Type Access Units Range Map PDO Memory Integer 8 RO - See Description, below. EVENT - Description This object displays the current mode of operation. See Mode Of Operation (index 0x6060, p. 64). POSITION OFFSET IN CST MODE INDEX 0X60B0 Type Access Units Range Map PDO Memory Integer 32 RW - User defined units YES - Description This object provides the offset for a target position. 64 Copley Controls
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status VELOCITY OFFSET IN CSV MODE INDEX 0X60B1 Type Access Units Range Map PDO Memory Integer 32 RW - User defined units YES - Description This object provides the offset for a target velocity. For more information see section (p. Error! Bookmark not defined.). VELOCITY OFFSET IN CSV MODE INDEX 0X60B2 Type Access Units Range Map PDO Memory Integer 32 RW - User defined units YES - Description This object provides the offset for a target torque. For more information see section (p. Error! Bookmark not defined.). DESIRED STATE INDEX 0X2300 Type Access Units Range Map PDO Memory Integer 16 RW - See Description, below. NO RF Description This object defines what input source controls the amplifier, and what general mode the amplifier runs in. It is encoded as follows: Code Description 0 Disabled. 1 The current loop is driven by the programmed current value. 2 The current loop is driven by the analog command input. 3 The current loop is driven by the PWM & direction input pins. 4 The current loop is driven by the internal function generator. 5 The current loop is driven by UV commands via PWM inputs. 11 The velocity loop is driven by the programmed velocity value. 12 The velocity loop is driven by the analog command input. 13 The velocity loop is driven by the PWM & direction input pins. 14 The velocity loop is driven by the internal function generator. 21 In servo mode, the position loop is driven by the trajectory generator. 22 In servo mode, the position loop is driven by the analog command input. 23 In servo mode, the position loop is driven by the digital inputs (pulse & direction, master encoder, etc). 24 In servo mode, the position loop is driven by the internal function generator. 25 In servo mode, the position loop is driven by the camming function. 30 In servo mode, the position loop is driven by the CANopen interface. 31 In microstepping mode, the position loop is driven by the trajectory generator. 33 In microstepping mode, the position loop is driven by the digital inputs (pulse & direction, master encoder, etc). 34 In microstepping mode, the position loop is driven by the internal function generator. 35 In microstepping mode, the position loop is driven by the camming function. 40 In microstepping mode, the amplifier is driven by the CANopen interface. 42 Micro-stepping diagnostic mode. The current loop is driven by the programmed current value, and the phase angle is micro-stepped. Unlisted codes are reserved. Note that this object should normally be programmed to 30 (or 40 for stepper motors) for use under the CANopen interface. Copley Controls 65
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CANopen Programmer's Manual - Maccon.de

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