CANopen Programmer's Manual - Maccon.de

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3: Device Control, Configuration, and Status CANopen Programmer’s Manual DEVICE TYPE INDEX 0X1000 Type Access Units Range Map PDO Memory Unsigned 32 RO - See Description, below. NO - Description Describes the type of device and its functionality. This 32-bit value is composed of two 16-bit components. The lower two bytes identify the device profile supported by the device. This amplifier supports the DSP402 device profile, indicated by the value 0x0192. The upper two bytes give detailed information about the type of motors the drive can control. The bit mapping of this value is defined by the CANopen Profile for Drives and Motion Control (DSP 402). For Copley Controls CANopen amplifiers, this value is 0x0006, indicating that Copley Controls supports servo and stepper devices. DEVICE NAME INDEX 0X1008 Type Access Units Range Map PDO Memory String RO - - NO - Description An ASCII string which gives the amplifier's model number. HARDWARE VERSION STRING INDEX 0X1009 Type Access Units Range Map PDO Memory String RO - - NO - Description Describes amplifier hardware version. STORE PARAMETERS INDEX 0X1010 Type Access Units Range Map PDO Memory Record RW - - NO R Description Allows the current values programmed into the amplifier's objects to be saved to flash memory. The various sub-index values of this object allow either all objects, or specific groups of objects to be saved. Sub-index 0 contains the number of sub-elements of this record. STORE ALL OBJECTS INDEX 0X1010, SUB-INDEX 1 OR STRING Type Access Units Range Map PDO Memory Unsigned 32 RW - - NO R Description When read, this object will return the value 1 indicating that the device is able to save objects in this category. When the ASCII string “save” (or, the corresponding 32-bit value 0x65766173) is written to this object, all objects in the object dictionary that can be saved to flash are written. Objects written to flash will resume the stored value after an amplifier reset. Note that not every object in the object dictionary may be written to flash. Presently, the objects that define the amplifier's CANopen communication interface are not stored to flash and will resume default values on startup. Most other objects may be stored to flash. 72 Copley Controls
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status STORE COMMUNICATION PARAMETERS INDEX 0X1010, SUB-INDEX 2 Type Access Units Range Map PDO Memory Unsigned 32 RW - - NO R Description When read, this object returns the value 1, indicating that the device can save objects in this category. When the ASCII string “save” (or, the corresponding 32-bit value 0x65766173) is written to this object, all objects in the object dictionary that can be saved to flash are written. Objects written to flash resume the stored value after an amplifier reset. Objects in the category are the objects with indexes in the range 0x1000 – 0x1FFF. STORE DEVICE PROFILE PARAMETERS INDEX 0X1010, SUB-INDEX 3 Type Access Units Range Map PDO Memory Unsigned 32 RW - - NO R Description When read, this object returns the value 1, indicating that the device can save objects in this category. When the ASCII string “save” (or, the corresponding 32-bit value 0x65766173) is written to this object, all objects in the object dictionary that can be saved to flash are written. Objects written to flash resume the stored value after an amplifier reset. Objects in the category are the objects with indexes in the range 0x6000 – 0x9FFF. STORE MANUFACTURER SPECIFIC PARAMETERS INDEX 0X1010, SUB-INDEX 4 Type Access Units Range Map PDO Memory Unsigned 32 RW - - NO R Description When read, this object returns the value 1 indicating that the device is able to save objects in this category. When the ASCII string “save” (or, the corresponding 32-bit value 0x65766173) is written to this object, all objects in the object dictionary that can be saved to flash are written. Objects written to flash resume the stored value after an amplifier reset. Objects in the category are the objects with indexes in the range 0x2000 – 0x5FFF. SOFTWARE VERSION NUMBER INDEX 0X100A Type Access Units Range Map PDO Memory String RO - - NO - Description Contains an ASCII string listing the software version number of the amplifier. IDENTITY OBJECT INDEX 0X1018 Type Access Units Range Map PDO Memory Record RO - - NO - Description This object can uniquely identify an amplifier by unique manufacturer ID, serial number, and product revision information. Sub-index 0 contains the number of sub-elements of this record. Copley Controls 73
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CANopen Programmer's Manual - Maccon.de

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