Applied Motion ST10-C-CE - Manual (Page 101)

101 920-0025 Rev K
3/5/2015
CANopen User Manual
Normal Q Mode
**** Enable Motor Power - CiA 402 State Machine ****
ID DLC Data
$0603 $8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on
$0603 $8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on
$0603 $8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Operation Enabled
**** Set to Normal Q Mode ****
$0603 $8 $2F $60 $60 $00 $FF $00 $00 $00 ‘Set to Normal Q Mode
$0603 $8 $2F $07 $70 $00 $01 $00 $00 $00 ‘Set Q Segment Number to 1
**** Start/Stop Q Program ****
$0603 $8 $2B $40 $60 $00 $1F $00 $00 $00 ‘Q Program Starts
$0603 $8 $2B $40 $60 $00 $1F $01 $00 $00 ‘Q Program Halts
Sync Q Mode
**** Enable Motor Power - CiA 402 State Machine ****
ID DLC Data
$0603 $8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on
$0603 $8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on
$0603 $8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Operation Enabled
**** Set to Sync Q Mode ****
$0603 $8 $2F $60 $60 $00 $FE $00 $00 $00 ‘Set to Sync Q Mode
$0603 $8 $2F $07 $70 $00 $01 $00 $00 $00 ‘Set Q Segment Number to 1
$0603 $8 $23 $05 $10 $00 $80 $00 $00 $00 ‘Set Sync Pulse to 0x80
**** Start/Stop Q Program ****
$80 $0 ‘Q Program Starts
$0603 $8 $2B $40 $60 $00 $0F $01 $00 $00 ‘Q Program Halts
PDO Mapping
****Mapping TPDO2 ****
$0000 $2 $80 $03 ‘Return back to “PreOperation” Mode
$0603 $8 $23 $01 $18 $01 $80 $02 $00 $80 ‘Turn off the TPDO2
$0603 $8 $2F $01 $1A $00 $00 $00 $00 $00 ‘Set Number of Mapped objects to zero
$0603 $8 $23 $01 $1A $01 $10 $00 $41 $61 ‘Map object1(0x6041) to TPDO2 subindex1.
$0603 $8 $23 $01 $1A $02 $20 $00 $0A $70 ‘Map object2(0x700A) to TPDO2 subindex2.
$0603 $8 $2F $01 $1A $00 $02 $00 $00 $00 ‘Set Number of total Mapped objects to Two
$0603 $8 $23 $01 $18 $01 $80 $02 $00 $00 ‘Turn on the TPDO2
Applied Motion Products, Inc.
404 Westridge Drive Watsonville, CA 95076
Tel (831) 761-6555 (800) 525-1609 Fax (831) 761-6544