CANopen Programmer's Manual - Maccon.de

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2: Network Management CANopen Programmer’s Manual Overview CANopen object 0x2000 (sub-index 0) is used to send serial commands and retrieve the response from the amplifier. Each serial command consists of two parts, a command message sent to the amplifier, and a response message retrieved from it. Sending a command to the amplifier is done by writing to CANopen object 0x2000. The first byte sent is the command code of the serial command to be executed. This is followed by any data bytes that are required for the command. Then, the response from the amplifier is retrieved by reading from object 0x2000. The first byte received will be an error code (same error codes as used in the serial interface). This is followed by zero or more bytes of response data. For example: To read actual position, the following bytes would be written to object 0x2000 using an SDO transfer: 0x0C 0x17 0x00 The first byte (0x0C) is the command code for a GET command. The second and third bytes (0x17 0x00) make up the one word of data passed to a GET command. This data word (0x0017) is the variable ID that is to be read (in this case, variable 0x17, which is the actual position). The response is read from an SDO reading back the value of object 0x2000. For example: If the following data bytes were read from 0x2000: 0x00 0x34 0x12 0x78 0x56 The first byte gives an error code. A zero here indicates no error. The next four bytes are the position read back from the amplifier. In this case, the position read back is 0x12345678. Byte order The byte order of data sent to or from the amplifier requires some further explanation. The amplifier (serial port interface) works internally with 16-bit words of data. All serial commands take zero or more words of data and return zero or more words. When 32-bit values are passed to or from the amplifier, they are always sent most significant word first. When this array of 16-bit words of data is sent over the CANopen interface, each word of data is split into two bytes. CANopen always sends data least significant byte first. Therefore, when a 32-bit value is sent over the CANopen interface, it's first split into two 16-bit words (most significant word followed by least significant word). Then, each word is split into two bytes using the CANopen standard of least significant byte followed by most significant. For example: The 32-bit value 0x12345678 would first be split into the words 0x1234 0x5678. These two words would then be split into the bytes 0x34 0x12 0x78 0x56. Any serial command that is processed by the main amplifier firmware (as opposed to the boot loader) can be sent over the CANopen interface using this method. Any command that needs to be sent to the boot loader (such as a firmware upload) cannot be sent using this method. 50 Copley Controls
CHAPTER 3: DEVICE CONTROL, CONFIGURATION, AND STATUS This chapter describes a wide range of device control, configuration, and status methods and objects. Contents include: 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 Copley Controls 51
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CANopen Programmer's Manual - Maccon.de

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