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920-0025 Rev K
3/5/2015
CANopen User Manual
Contents
Introduction ..................................................................................................................................2
User Advisory: .............................................................................................................................2
Reference Documents ...........................................................................................................8
Commonly Used Acronyms .................................................................................................... 8
CANopen Network Topology Overview .................................................................................9
Drive Setup ..................................................................................................................................9
Wiring the Power and Motor...................................................................................................9
Wiring the CANopen Connector for CANopen Drives .......................................................... 10
CANopen BitRate & NodeID ................................................................................................10
Drive Conguration ..............................................................................................................11
Supported CiA 402 Modes of Operation ....................................................................................12
Object Dictionary .......................................................................................................................13
Electronic Data Sheet ..........................................................................................................14
Global Control Word and Status Word .................................................................................18
General Purpose Registers .......................................................................................................19
Appendix A - The Object Dictionary ........................................................................................... 20
Communication Prole .........................................................................................................21
Manufacturer Specic Objects .............................................................................................38
Device Prole .......................................................................................................................45
Appendix B - Parameter Unit Scaling ........................................................................................ 59
Appendix C - Response Codes .................................................................................................60
Appendix D - Prole Position Mode ...........................................................................................61
General Mode Description ...................................................................................................61
Enable Prole Position Mode ...............................................................................................61
Set Running Parameters ......................................................................................................61
Starting/Stopping Motion ...................................................................................................... 61
Appendix E - Prole Velocity Mode ...........................................................................................66
General Mode Description ...................................................................................................66
Enable Prole Velocity Mode ...............................................................................................66
Set Running Parameters ......................................................................................................66
Enable Drive Operation ........................................................................................................66
Starting/Stopping Motion ...................................................................................................... 66
Appendix F - Homing Methods .................................................................................................. 68
Set Running Parameters ......................................................................................................68
Enable Homing Mode...........................................................................................................68
Starting the Homing Procedure ............................................................................................ 68
Homing Method Diagrams ...................................................................................................68
Homing Method 1 .......................................................................................................................................68
Homing Method 2 .................................................................................................................69
- 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 Conguration 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 Prole 21
- COS Default value 25
- Subindex Name Default value 25
- Object Type Sub Number 30
- Manufacturer Specic Objects 38
- Device Prole 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 Prole Position Mode 61
- Set Running Parameters 61
- Starting/Stopping Motion 61
- Figure 12: Single Set-Point 62
- Enable Prole 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 Prole Torque Mode 85
- Starting/Stopping Torque 86
- Current Verication - 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
- Prole 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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