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920-0025 Rev K
3/5/2015
CANopen User Manual
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
Appendix G - Prole Torque Mode (Servo Only) .......................................................................85
General Mode Description ...................................................................................................85
Enable Prole Torque Mode .................................................................................................85
Set Running Parameters ......................................................................................................85
Enable Drive Operation ........................................................................................................85
Starting/Stopping Torque ...................................................................................................... 86
Parameter Calculations - Example.......................................................................................86
Current Verication - Example .............................................................................................86
Appendix H - Q Program Mode .................................................................................................88
General Mode Description ...................................................................................................88
Loading a Q Program ...........................................................................................................88
Normal Q Program Execution ..............................................................................................88
Synchronous Q Program Execution ..................................................................................... 89
More Information ..................................................................................................................89
Appendix I - Understanding NMT States ...................................................................................90
- 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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