Contents

Section 1: Introduction to the MDrivePlus CANopen DSP-402 Implementation

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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

Sub-Indexes

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

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Intelligent Motion Systems DSP-402 manual Contents