Delta ASDA-B3 Series, Руководство пользователя

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CANopen Mode ASDA-B3
11-38
11
Sub-index 0
Description Number of sub-index
Data type UNSIGNED8
Access RO
PDO mapping No
Setting range UNSIGNED8
Default 1
Sub-index 1
Description Restore communication parameters
Data type UNSIGNED32
Access RW
PDO mapping No
Setting range No
Default 1
Object function:
Write 0x64616F6C (load) to sub-index 1 to reset all OD parameters to their default values.
Object 1014h: COB-ID EMCY
Index 1014h
Name COB-ID emergency message
Object code VAR
Data type UNSIGNED32
Access RO
PDO mapping No
Setting range UNSIGNED32
Default 80h + Node-ID
Object function:
31 30 29 28 27 26 25 24
Bit
15 14 13 12 11 10 9 8
Bit
7 6 5 4 3 2 1 0
23 22 21
20 19
18 17 16
Bit Function Description
Bit 31 Emergency (EMCY) function
0: the emergency (EMCY) function is enabled
(servo drive sends the EMCY command).
1: the emergency (EMCY) function is disabled
(servo drive does not send the EMCY
command).
Bit 30 - Bit 11 Reserved -
Bit 10 - Bit 0 11-bit Identifier COB-ID 80h + Node-ID
The emergency (EMCY) function is as follows:
Communication
object
Function
code
Node ID COB-ID
Object parameter
index
EMCY object 0001 1 - 127 129 (81h) - 255 (FFh) 1014h