CANopen Interface for SG5 and SG7

CANopen Interface Manual

7 Examples

7.1 Homing and motion commands

For details on the use of motion commands, consult the manual “Usermanual

MotionCtrlSW 1100”.

The following example shows the homing procedure and execution of a motion command via CANopen with the default PDO mapping:

1) Homing (Control Word = 083Fh)

RxPDO 1

Data

Byte

ControlWord

3Fh 08h

01 (LSB) 02

MCHeader

00h 00h

03 04

00h

05

MC Par Bytes 0..3

00h 00h

06 07

00h

08 (MSB)

2) Enter Operational State (Control Word = 003Fh)

RxPDO 1

Data

Byte

ControlWord

3Fh 00h

01 (LSB) 02

MCHeader

00h 00h

03 04

00h

05

MC Par Bytes 0..3

00h 00h

06 07

00h

08 (MSB)

3) Execute Motion Command : VAI 16Bit Go To Pos (090xh)

CMD Header

Par Byte 0…1

Par Byte 2…3

Par Byte 4…5

Par Byte 6…7











Target Position :50mm

Maximal Velocity :

Acceleration :

Deceleration :

1m/s

10m/s

2

10m/s 2

01F4h

0901h

03E8h

0064h

0064h

RxPDO 1

Data

Byte

ControlWord

3Fh 00h

01 (LSB) 02

RxPDO 2

Data

Byte

64h

01 (LSB)

MCHeader

01h 09h

03 04

MC Par Bytes 4..7

00h 64h

02 03

00h

04

F4h

05

00h

05

MC Par Bytes 0..3

01h E8h

06 07

03h

08 (MSB)

MC Par Bytes 8..11

00h 00h

06 07

00h

08 (MSB)

NTI AG / LinMot

® www.LinMot.com

Page 53/60

CANopen Interface Manual

In the LinMot-Talk1100 Control Panel, one can check the last executed motion command by pressing the «Read Command» button. It should look like this now that the command has been executed:

NTI AG / LinMot

® www.LinMot.com

Page 54/60