Contents
Section 1: Introduction to the MDrivePlus CANopen | ..................................3 |
Introduction | 3 |
CAN Message Format | 3 |
MDrivePlus Architecture | 3 |
Device Control | 4 |
Modes of Operation | 4 |
Homing Mode | 4 |
Profile Position Mode | 4 |
Profile Velocity Mode | 4 |
Trajectory Generator | 5 |
Objects and the Object Dictionary | 5 |
Object Formatting | 6 |
Object Description | 6 |
Entry Description | 6 |
7 | |
Section 2: Accessing The MDrivePlus CANopen | 9 |
Introduction | 9 |
Process Data Object (PDO) | 9 |
PDO Attributes | 9 |
Service Data Object (SDO) | 9 |
SDO Attributes | 9 |
PDO Mapping | 10 |
PDO Mapping Procedure (Consumer PDO) | 10 |
PDO Objects | 11 |
Consumer PDO1 (RPDO1) 1400h (Object Description) | 11 |
Consumer PDO1 (RPDO1) 1400h (Entry Description) | 11 |
1600h (Object Description – Mapping Parameters) | 11 |
1600h (Entry Description – Mapping Parameters) | 11 |
Consumer PDO2 (RPDO2) 1401h (Object Description) | 12 |
Consumer PDO2 (RPDO2) 1401h (Entry Description) | 12 |
1601h (Object Description – Mapping Parameters) | 12 |
1601h (Entry Description – Mapping Parameters) | 12 |
Consumer PDO3 (RPDO3) 1402h (Object Description) | 13 |
Consumer PDO3 (RPDO3) 1402h (Entry Description) | 13 |
1602h (Object Description – Mapping Parameters) | 13 |
1602h (Entry Description – Mapping Parameters) | 13 |
Producer PDO1 (TPDO1) 1800h (Object Description) | 13 |
Producer PDO1 (TPDO1) 1800h (Entry Description) | 14 |
1A00h (Object Description – Mapping Parameters) | 14 |
1A00h (Entry Description – Mapping Parameters) | 14 |
Producer PDO2 (TPDO2) 1801h (Object Description) | 14 |
Producer PDO2 (TPDO2) 1801h (Entry Description) | 14 |
1A01h (Object Description – Mapping Parameters) | 15 |
1A01h (Entry Description – Mapping Parameters) | 15 |
Producer PDO3 (TPDO3) 1802h (Object Description) | 15 |
Producer PDO3 (TPDO3) 1802h (Entry Description) | 15 |
1A02h (Object Description – Mapping Parameters) | 15 |
1A02h (Entry Description – Mapping Parameters) | 16 |
Section 3: Manufacturer Specific Objects | 17 |
Introduction | 17 |
Accessibility Codes | 17 |
Object 2000h: I/O Discretes (Config) | 17 |
Object Description | 17 |
Entry Description | 17 |
Object 2002h: I/O Discretes (Config) | 18 |
Object Description | 18 |
Entry Description | 18 |
Object 2004h: Input Filter Mask (Config) | 18 |
Object Description | 19 |
Entry Description | 19 |