CANopen Programmer's Manual - Maccon.de

1: Introduction CANopen Programmer’s Manual
Overview of the CANopen Profiles
Communication and Device Profiles
CANopen is a set of profiles built on a subset of the CAN application layer protocol. The CANopen
profiles achieve two basic objectives:
They specify methods for packaging multiple CAN messages to send large blocks of data as a
single entity.
They standardize and simplify communication between devices within several application
types, including motion control.
Developed by the CAN In Automation (CiA) group, CANopen includes the underlying CANopen
Application Layer and Communication Profile (DS 301) and several device profiles, including
CANopen Profile for Drives and Motion Control (DSP 402).
Communication Profile
The Application Layer and Communication Profile describes the communication techniques used
by devices on the network. All CANopen applications must implement this profile.
Profile for Drives and Motion Control
Each of the CANopen device profiles describes a standard device for a certain application. Copley
Controls CANopen amplifiers comply with the Profile for Drives and Motion Control. This profile
specifies a state machine and a position control function. It also supports several motion control
modes, including:
Homing
Profile position
Profile velocity
Profile torque
Interpolated position
Cyclic synchronous position
Cyclic synchronous velocity
Cyclic synchronous torque
The amplifier’s operating mode is set using the Mode Of Operation object (index 0x6060, p. 64).
(The Profile for Drives and Motion Control also supports other modes that are not supported by
Copley Controls amplifiers at this time.)
16 Copley Controls