CANopen Programmer's Manual - Maccon.de

More documents

Recommendations

Info

3: Device Control, Configuration, and Status CANopen Programmer’s Manual INPUT MAPPING FOR CAN NODE ID INDEX 0X21B1 Type Access Units Range Map PDO Memory Unsigned 32 RW - See Description, below. NO F Description When the CANopen Network Configuration object (index 0x21B0, p. 77) indicates that 1 or more input pins will be used to select the CAN node ID, this mapping register is used to select which input pins will be mapped to which ID bit. Fields include: Bit Description 0-3 Identify the general purpose input pin associated with ID bit 0. 4-7 Identify the general purpose input pin associated with ID bit 1. 8-11 Identify the general purpose input pin associated with ID bit 2. 12-15 Identify the general purpose input pin associated with ID bit 3. 16-19 Identify the general purpose input pin associated with ID bit 4. 20-23 Identify the general purpose input pin associated with ID bit 5. 24-27 Identify the general purpose input pin associated with ID bit 6. 28-30 Reserved for future use. 31 Set to enable this register. Clear to use default mapping. If bit 31 is zero, then a default bit mapping is used and the rest of this register is ignored. The default bit mapping uses the top N input pins and maps them such that the high-numbered pins are used for higher-numbered bits in the ID. For example, the Accelnet panel amplifier has 12 general purpose input pins (0 to 11). If 3 of these pins are used for ID configuration and the default mapping is used, then the highest 3 pins (9, 10 and 11) will be used for the ID. In this case, pin 9 is bit 0, pin 10 is bit 1 and pin 11 is bit 2. If bit 31 is set, then the rest of this register is used to define which input pin is assigned to which bit of the ID. The input pins are numbered from 0 to 15 and each nibble of the register gives the input pin number associated with one bit of the ID. For example, if three input pins are configured for address selection and the mapping register is set to 0x80000012, then input pin 2 is used for ID bit 0, input pin 1 is used for ID bit 1, and input pin 0 is used for ID bit 2. Note that the CAN node ID is calculated at startup only. The input pins assigned to the node ID are sampled once during power up and used to calculate the ID. These pins may be assigned other uses after power up if necessary. CAN ID SELECTION SWITCH VALUE INDEX 0X2197 Type Access Units Range Map PDO Memory Integer 16 RO - 0 - 15 YES - Description This object gives the current state of the CAN address switch. For amplifiers that do not have a switch, the value returned is undefined. MULTI-MODE PORT CONFIGURATION INDEX 0X2241 Type Access Units Range Map PDO Memory Unsigned 16 RW - - YES RF Description Multi-mode Port Configuration. The available settings are: Value Description 0 Output buffered primary encoder (hardware buffering). 1 Configure pins as inputs. 2 Output simulated encoder outputs tracking motor encoder. 3 Output simulated encoder outputs tracking position encoder. 78 Copley Controls
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status SUPPORTED DRIVE MODES INDEX 0X6502 Type Access Units Range Map PDO Memory Unsigned 32 RO - See Description, below. NO - Description This bit-mapped value gives the modes of operation supported by the amplifier. The standard device profile (DSP402) defines several modes of operation. Each mode is assigned one bit in this variable. A drive indicates its support for the mode of operation by setting the corresponding bit. The modes of operation supported by this device, and their corresponding bits in this object, are as follows: Bit Description 0 Position profile mode. 1 Profile velocity mode. 3 Profile torque mode. 5 Homing mode. 6 Interpolated Position Mode. The current version of amplifier firmware supports only these five modes of operation and the corresponding bits are the only ones set in the object. Therefore the expected value of this object is 0x00000061. Future versions of Copley Controls CANopen amplifier firmware might support additional operating modes. If so, those versions will return additional values. AMPLIFIER MODEL NUMBER INDEX 0X6503 Type Access Units Range Map PDO Memory String RO - - NO - Description This ASCII string gives the amplifier model number. AMPLIFIER MANUFACTURER INDEX 0X6504 Type Access Units Range Map PDO Memory Amplifier Manufacturer are given a visible string type RO - - NO - Description This ASCII string identifies the amplifier's manufacturer as “Copley Controls ”. MANUFACTURER'S WEB ADDRESS INDEX 0X6505 Type Access Units Range Map PDO Memory String RO - - NO - Description This ASCII string gives the web address of Copley Controls. Copley Controls 79
Page 1:
CANopen Programmer’s Manual Part
Page 5 and 6:
CANopen Programmer’s Manual Table
Page 7 and 8:
About this Manual CANopen Programme
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 15 and 16:
Page 17 and 18:
Page 19 and 20:
Page 21 and 22:
Page 23 and 24:
Page 25 and 26:
Page 27 and 28: 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 77: CANopen Programmer’s Manual 3: De
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

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?