CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual Table of Contents
TABLE OF CONTENTS
About This Manual .......................................................................................................................................... 6
1: Introduction ............................................................................................................................................... 11
1.1: CAN and CANopen ............................................................................................................................... 12
1.2: Defining and Accessing CANopen Devices .......................................................................................... 17
1.3: Objects that Define SDOs and PDOs ................................................................................................... 30
2: Network Management ............................................................................................................................... 39
2.1: Network Management Overview ........................................................................................................... 40
2.2: Network Management Objects.............................................................................................................. 45
2.3: Sending Serial Commands over CANopen ........................................................................................... 49
3: Device Control, Configuration, and Status ............................................................................................. 51
3.1: Device Control and Status Overview .................................................................................................... 52
3.2: Device Control and Status Objects ....................................................................................................... 57
3.3: Error Management Objects ................................................................................................................... 66
3.4: Basic Amplifier Configuration Objects................................................................................................... 70
3.5: Basic Motor Configuration Objects ....................................................................................................... 89
3.6: Real-time Amplifier and Motor Status Objects .................................................................................... 110
4: Control Loop Configuration ................................................................................................................... 127
4.1: Control Loop Configuration Overview ................................................................................................. 128
4.2: Position Loop Configuration Objects ................................................................................................... 136
4.3: Velocity Loop Configuration Objects ................................................................................................... 143
4.4: Current Loop Configuration Objects ................................................................................................... 149
4.5: Gain Scheduling Configuration ........................................................................................................... 154
4.6: Chained Biquad Filters ........................................................................................................................ 155
5: Stepper Mode Support ............................................................................................................................ 157
5.1: Stepper Mode Operation ..................................................................................................................... 158
5.2: Stepper Mode Objects ........................................................................................................................ 160
6: Homing Mode Operation ........................................................................................................................ 163
6.1: Homing Mode Operation Overview ..................................................................................................... 164
6.2: Homing Mode Operation Objects ........................................................................................................ 182
7: Profile Position, Velocity, and Torque Mode Operation ...................................................................... 189
7.1: Profile Position Mode Operation ......................................................................................................... 190
7.2: Profile Velocity Mode Operation .......................................................................................................... 198
7.3: Profile Torque Mode Operation ........................................................................................................... 199
7.4: Profile Mode Objects ........................................................................................................................... 200
8: Interpolated Position Operation............................................................................................................. 205
8.1: Interpolated Position Mode Overview ................................................................................................. 206
8.2: Interpolated Position Mode Objects .................................................................................................... 212
9: Cyclic Synchronous Modes ................................................................................................................... 219
9.1: Cyclic Synchronous Position Mode (CSP) .......................................................................................... 220
9.2: Cyclic Synchronous Velocity Mode (CSV) .......................................................................................... 221
9.3: Cyclic Synchronous Torque Mode (CST)............................................................................................ 222
A: Alternative Control Sources .................................................................................................................. 223
A.1: Alternative Control Sources Overview ................................................................................................ 224
A.2: Alternative Control Source Objects .................................................................................................... 225
A.3: Running CAM Tables from RAM ........................................................................................................ 231
B: Trace Tool ................................................................................................................................................ 235
B.1: Trace Tool Overview .......................................................................................................................... 236
B.2: Trace Tool Objects ............................................................................................................................. 237
C: Objects By Function ............................................................................................................................... 243
D: Objects By Index ID ................................................................................................................................ 253
Copley Controls 4