CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual A: Alternative Control Sources
A.1: Alternative Control Sources Overview
Typically, when a Copley amplifier is used on a CANopen network, the CANopen master uses the
network to send commands that drive the amplifier’s position, velocity, or current loop.
Alternately, an amplifier on a CANopen network can accept position, velocity, or current
commands over the device’s serial port, digital I/O channels, or analog reference inputs, or run
under the control of the amplifier’s internal generator or a Copley Virtual Machine (CVM) program.
Use the Indexer Register Values object (index 0x2600, p. 231) to read and write the CVM Indexer
program registers.
An amplifier can also run in camming mode to execute moves programmed in camming tables.
The Camming Configuration object (index 0x2360, p. 229) and several other objects described in
this chapter are used to configure and operate the amplifier in camming mode.
Even while operating under an alternative control source, a device’s status can still be monitored
over the CANopen network.
Specify a control source by choosing a mode in the Desired State object (index 0x2300). For more
information, see page 65.
Other objects affect the amplifier under alternative control sources. They are described in the next
section.
Copley Controls 225