CANopen用户手册

AMP&MOONS’AutomationCANopenUserManualRev.1.2ChangeLog:DateRevisionChanges7/25/2013Rev1.2SummaryofMajorchanges:--ImplementthedynamicPDOmapping--DetaildescriptionofallObjectDictionary12/1/2010Rev1.1InitialRelease3Rev.1.27/25/2013CANopenUserManualIntroductionThismanualdescribesMOONS’CANopenimplementationofCiA301andCiA402specifications.ItisexpectedthattheuserfullyunderstandsbothCiAstandards.Thatunderstanding,alongwiththisspecification,willenabletheusertodevelopadistributedmotioncontrolsystem.TheintentofthismanualistohighlightmanufacturerspecificrequirementsastheypertaintoMOONS’drives.InformationandstandardsmaybeobtainedfromtheCiAwebsiteat’CANopendrives,includinganopen-sourceexampleprogram,maybeobtainedfromourwebsiteat:.................................................................................................................................2Introduction..................................................................................................................................3ReferenceDocuments...........................................................................................................9CommonlyUsedAcronyms....................................................................................................9CANopenNetworkTopologyOverview...............................................................................10DriveSetup................................................................................................................................10WiringthePowerandMotor.................................................................................................10WiringtheCANopenConnectorforCANopenDrives..........................................................11CANopenBitRate&NodeID................................................................................................11DriveConfiguration..............................................................................................................12SupportedCiA402ModesofOperation....................................................................................13ObjectDictionary.......................................................................................................................14ElectronicDataSheet..........................................................................................................15GlobalControlWordandStatusWord.................................................................................19GeneralPurposeRegisters.......................................................................................................20AppendixA-TheObjectDictionary...........................................................................................21CommunicationProfile.........................................................................................................22ManufacturerSpecificObjects.............................................................................................39DeviceProfile.......................................................................................................................46AppendixB-ParameterUnitScaling........................................................................................60AppendixC-ResponseCodes.................................................................................................61AppendixD-ProfilePositionMode...........................................................................................62GeneralModeDescription...................................................................................................62EnableProfilePositionMode...............................................................................................62SetRunningParameters......................................................................................................62Starting/StoppingMotion......................................................................................................62AppendixE-ProfileVelocityMode...........................................................................................67GeneralModeDescription...................................................................................................67EnableProfileVelocityMode...............................................................................................67SetRunningParameters......................................................................................................67EnableDriveOperation........................................................................................................67Starting/StoppingMotion......................................................................................................67AppendixF-HomingMethods..................................................................................................69SetRunningParameters................