CANopen Programmer's Manual - Maccon.de

More documents

Recommendations

Info

CANopen Programmer’s Manual About this Manual Overview and Scope ABOUT THIS MANUAL This manual describes the CANopen implementation developed by Copley Controls for the Accelnet, Xenus, R-Series, and Stepnet amplifiers. It contains useful information for anyone who participates in the evaluation or design of a distributed motion control system. The reader should have prior knowledge of motion control, networks, and CANopen. Related Documentation Readers of this book should also read information on CAN and CANopen at the “CAN in Automation” website at http://www.can-cia.org/index.php?id=530. Those interested in Running CAM Tables from RAM (p. 232) should also see the Copley Camming User Guide. Information on Copley Controls Software can be found at: http://www.copleycontrols.com/Motion/Products/Software/index.html Comments Copley Controls welcomes your comments on this manual. See http://www.copleycontrols.com for contact information. Copyrights No part of this document may be reproduced in any form or by any means, electronic or mechanical, including photocopying, without express written permission of Copley Controls . Accelnet, Stepnet, Xenus, and CME 2 are registered trademarks of Copley Controls. Document Validity We reserve the right to modify our products. The information in this document is subject to change without notice and does not represent a commitment by Copley Controls. Copley Controls assumes no responsibility for any errors that may appear in this document. Product Warnings ! WARNING Use caution in designing and programming machines that affect the safety of operators. The programmer is responsible for creating program code that operates safely for the amplifiers and motors in any given machine. Failure to heed this warning can cause equipment damage, injury, or death. Copley Controls 6
About this Manual CANopen Programmer’s Manual Revision History Revision Date ECO # Comments 1.0 Oct, 2002 Initial publication. 2.0 Dec, 2003 Added descriptions of new objects to support stepper mode and profile velocity mode operation, additional homing methods, and amplifier configuration. 2.1 Jan, 2004 Various minor edits and updates. 2.2 March, 2004 Added information about emergency message (EMCY) and memory storage options for objects. 3 June, 2006 Added information on EMCY Message Error Codes (p. 43), a new Camming mode and an object for reading/writing CVM Indexer Program registers (see Alternative Control Sources, p. 224), a new Trace Tool (p. 236), and a new Profile Torque Mode Operation (p. 200). Also, instructions for Ending an Interpolated Position Move (p. 211). 4 June, 2008 16591 Various updates, including Web page references and details on Running CAM Tables from RAM (p. 232). 5 October, 2008 17339 Various updates. 6 July, 2011 40588 Various updates and additions. 7 November, 2012 47567 Updated the motor encoder types. Copley Controls 7
Page 1: CANopen Programmer’s Manual Part
Page 5: CANopen Programmer’s Manual Table
Page 9 and 10: About this Manual CANopen Programme
Page 11 and 12: CHAPTER 1: INTRODUCTION This chapte
Page 13 and 14: CANopen Programmer’s Manual 1: In
Page 39 and 40: CHAPTER 2: NETWORK MANAGEMENT This
Page 41 and 42: CANopen Programmer’s Manual 2: Ne
Page 51 and 52: CHAPTER 3: DEVICE CONTROL, CONFIGUR
Page 53 and 54: CANopen Programmer’s Manual 3: De
Page 55 and 56: CANopen Programmer’s Manual 3: De
Page 57 and 58:
CANopen Programmer’s Manual 3: De
Page 59 and 60:
Page 61 and 62:
Page 63 and 64:
Page 65 and 66:
Page 67 and 68:
Page 69 and 70:
Page 71 and 72:
Page 73 and 74:
Page 75 and 76:
Page 77 and 78:
Page 79 and 80:
Page 81 and 82:
Page 83 and 84:
Page 85 and 86:
Page 87 and 88:
Page 89 and 90:
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
Page 97 and 98:
Page 99 and 100:
Page 101 and 102:
Page 103 and 104:
Page 105 and 106:
Page 107 and 108:
Page 109 and 110:
Page 111 and 112:
Page 113 and 114:
Page 115 and 116:
Page 117 and 118:
Page 119 and 120:
Page 121 and 122:
Page 123 and 124:
Page 125 and 126:
Page 127 and 128:
CHAPTER 4: CONTROL LOOP CONFIGURATI
Page 129 and 130:
CANopen Programmer’s Manual 4: Co
Page 131 and 132:
Page 133 and 134:
Page 135 and 136:
Page 137 and 138:
Page 139 and 140:
Page 141 and 142:
Page 143 and 144:
Page 145 and 146:
Page 147 and 148:
Page 149 and 150:
Page 151 and 152:
Page 153 and 154:
Page 155 and 156:
Page 157 and 158:
Page 159 and 160:
CANopen Programmer’s Manual 5: St
Page 161 and 162:
Page 163 and 164:
Page 165 and 166:
CANopen Programmer’s Manual 6: Ho
Page 167 and 168:
Page 169 and 170:
Page 171 and 172:
Page 173 and 174:
Page 175 and 176:
Page 177 and 178:
Page 179 and 180:
Page 181 and 182:
Page 183 and 184:
Page 185 and 186:
Page 187 and 188:
Page 189 and 190:
Page 191 and 192:
CANopen Programmer’s Manual 7: Pr
Page 193 and 194:
Page 195 and 196:
Page 197 and 198:
Page 199 and 200:
Page 201 and 202:
Page 203 and 204:
Page 205 and 206:
Page 207 and 208:
CANopen Programmer’s Manual 9: Cy
Page 209 and 210:
Page 211 and 212:
Page 213 and 214:
Page 215 and 216:
Page 217 and 218:
Page 219 and 220:
Page 221 and 222:
Page 223 and 224:
Page 225 and 226:
CANopen Programmer’s Manual A: Al
Page 227 and 228:
Page 229 and 230:
Page 231 and 232:
Page 233 and 234:
Page 235 and 236:
Page 237 and 238:
CANopen Programmer’s Manual B: Tr
Page 239 and 240:
Page 241 and 242:
Page 243 and 244:
Page 245 and 246:
CANopen Programmer’s Manual C: Ob
Page 247 and 248:
Page 249 and 250:
Page 251 and 252:
Page 253 and 254:
Page 255 and 256:
Page 257:
CANopen Programmer’s Manual P/N 9
show all

CANopen Programmer's Manual - Maccon.de

Create successful ePaper yourself

Delete template?

Save as template?