CANopen Programmer's Manual - Maccon.de

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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
CANopen Programmer’s Manual 1: Introduction 1.2: Defining and Accessing CANopen Devices Contents of this Section This section describes the objects and methods used to configure and control devices on a CANopen network. Topics include: Defining a Device: CANopen Objects and Object Dictionaries .................................................................... 18 Accessing the Object Dictionary .................................................................................................................. 20 SDOs: Description and Examples ................................................................................................................ 22 PDOs: Description and Examples ................................................................................................................ 24 SDO vs. PDO: Design Considerations ......................................................................................................... 27 How to Map (or Remap) a PDO ................................................................................................................... 28 Copley Controls 17
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