Applied Motion ST10-C-CE - Manual (Page 57)

57 920-0025 Rev K
3/5/2015
CANopen User Manual
0x7003 drive_inputs
This object contains the information about drive’s digital inputs.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 rw yes yes 0
Bit0: input 1 Bit1: input 2 Bit2: input 3 Bit3: input 4
Bit4: input 5 Bit5: input 6 Bit6: input 7 Bit7: input 8
Bit8-15: reserved
0x7005 torque_Constant
This object configures the motor’s torque constant in manufacturer-specific units. The
units are mNm/Amp.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 rw no yes 0
This object is only supported in servo/step-servo drives.
0x7006 DSP_clearAlarm
This object provides a feature to clear an alarm within the drive.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED8 wo no no 0
Set this value to 01h to clear active alarms
0x7007 QSegment.
This object configures the number of Q Segments that will be executed in Q mode.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED8 rw yes no 0
0x7009 velocity_actual_value
This object provides the actual velocity value derived from the position sensor (i.e. encod-
er)
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED16 ro yes yes 0
This object has the same units as the objects velocity_value_calculated (index 0x606C) and
profile_velocity (0x60FF).