CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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3: Device Control, Configuration, and Status <strong>CANopen</strong> Programmer’s <strong>Manual</strong><br />
DEVICE TYPE INDEX 0X1000<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RO - See Description, below. NO -<br />
Description<br />
Describes the type of <strong>de</strong>vice and its functionality.<br />
This 32-bit value is composed of two 16-bit components. The lower two bytes i<strong>de</strong>ntify the <strong>de</strong>vice<br />
profile supported by the <strong>de</strong>vice. This amplifier supports the DSP402 <strong>de</strong>vice profile, indicated by<br />
the value 0x0192.<br />
The upper two bytes give <strong>de</strong>tailed information about the type of motors the drive can control. The<br />
bit mapping of this value is <strong>de</strong>fined by the <strong>CANopen</strong> Profile for Drives and Motion Control (DSP<br />
402). For Copley Controls <strong>CANopen</strong> amplifiers, this value is 0x0006, indicating that Copley<br />
Controls supports servo and stepper <strong>de</strong>vices.<br />
DEVICE NAME INDEX 0X1008<br />
Type Access Units Range Map PDO Memory<br />
String RO - - NO -<br />
Description<br />
An ASCII string which gives the amplifier's mo<strong>de</strong>l number.<br />
HARDWARE VERSION STRING INDEX 0X1009<br />
Type Access Units Range Map PDO Memory<br />
String RO - - NO -<br />
Description<br />
Describes amplifier hardware version.<br />
STORE PARAMETERS INDEX 0X1010<br />
Type Access Units Range Map PDO Memory<br />
Record RW - - NO R<br />
Description<br />
Allows the current values programmed into the amplifier's objects to be saved to flash memory.<br />
The various sub-in<strong>de</strong>x values of this object allow either all objects, or specific groups of objects to<br />
be saved. Sub-in<strong>de</strong>x 0 contains the number of sub-elements of this record.<br />
STORE ALL OBJECTS INDEX 0X1010, SUB-INDEX 1 OR STRING<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RW - - NO R<br />
Description<br />
When read, this object will return the value 1 indicating that the <strong>de</strong>vice is able to save objects in<br />
this category.<br />
When the ASCII string “save” (or, the corresponding 32-bit value 0x65766173) is written to this<br />
object, all objects in the object dictionary that can be saved to flash are written. Objects written to<br />
flash will resume the stored value after an amplifier reset.<br />
Note that not every object in the object dictionary may be written to flash. Presently, the objects<br />
that <strong>de</strong>fine the amplifier's <strong>CANopen</strong> communication interface are not stored to flash and will<br />
resume <strong>de</strong>fault values on startup. Most other objects may be stored to flash.<br />
72 Copley Controls
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