Applied-motion ST10-C-CE Instrukcja Użytkownika Pobierz pdf (Strona 13)

100

101

920-0025 Rev K

3/5/2015

CANopen User Manual

Object Dictionary

The Object Dictionary (OD) is the core of any CANopen node. It provides links to all the

communication and running parameters of a node. The Object Dictionary is dened in the

Electronic Data Sheet (EDS), which lists all supported objects, along with any sub-objects.

For more information: see Appendix A for a detail decription of Object Dictionary.

Any OD Entry may be accessed using the standard Service Data Object (SDO) protocol,

while some may be accessed using the low-overhead Process Data Object (PDO) protocol.

For more information: see Appendix J for a description of SDO and PDO Access

1 2 ... 8 9 10 11 12 13 14 15 16 17 18 ... 100 101

Applied Motion Products 1
CANopen Manual 1
Introduction 2
User Advisory: 2
Contents 3
List of Tables 6
Reference Documents 8
Commonly Used Acronyms 8
Drive Setup 9
CANopen BitRate & NodeID 10
Drive Conguration 11
Figure 4: 12
Object Dictionary 13
Electronic Data Sheet 14
INTEGER16 RW Yes 16
Table 5: CiA 402 Objects 17
920-0025 Rev K 18
3/5/2015 18
CANopen User Manual 18
General Purpose Registers 19
Index (hex) Object 20
Communication Prole 21
COS Default value 25
Subindex Name Default value 25
Object Type Sub Number 30
Manufacturer Specic Objects 38
Device Prole 45
0x6041 StatusWord 46
Mode of Operation Action 49
Position polarity 52
Bit number Description 56
Appendix C - Response Codes 60
General Mode Description 61
Enable Prole Position Mode 61
Set Running Parameters 61
Starting/Stopping Motion 61
Figure 12: Single Set-Point 62
Enable Prole Velocity Mode 66
Enable Drive Operation 66
Appendix F - Homing Methods 68
Homing Method 2 69
Homing Method 3 69
Homing Method 4 70
Homing Method 5 70
Homing Method 6 71
Homing Method 7 71
Homing Method 8 72
Homing Method 9 72
Homing Method 10 73
Homing Method 11 73
Homing Method 12 74
Homing Method 13 74
Homing Method 14 75
Homing Methods 15 and 16 75
Homing Method 17 76
Homing Method 18 76
Homing Methods 19 and 20 77
Homing Methods 21 and 22 78
Homing Methods 23 and 24 79
Homing Methods 25 and 26 80
Homing Methods 27 and 28 81
Homing Methods 29 and 30 82
Homing Methods 31 and 32 83
Homing Method 33 83
Homing Method 34 84
Homing Method 35 84
Enable Prole Torque Mode 85
Starting/Stopping Torque 86
Current Verication - Example 86
Appendix H - Q Program Mode 88
More Information 89
NMT Mode NMT Control 90
NMT Status Code 90
(Heartbeat) 90
PDO Access 91
TPDO Transmission Types 92
PDO Mapping Procedure 93
Default PDO Mapping - Stepper 94
Default PDO Mapping - Servo 94
PDO COB-ID 95
Control Word of Homing Mode 97
Status Word of Homing Mode 97
Control Word of Q Mode 98
Status Word of Q Mode 98
Appendix L – Example Programs 99
Prole Velocity Mode 100
Homing Mode 100
Normal Q Mode 101
Sync Q Mode 101
PDO Mapping 101
Applied Motion Products, Inc 101

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