CANopen

CANopen
CANopen
User Manual
Rev. 1.2
AMP & MOONS’ Automation
ChangeLog:
Date
Revision
Changes
7/25/2013
Rev 1.2
Summary of Major changes:
-- Implement the dynamic PDO mapping
-- Detail description of all Object Dictionary
12/1/2010
Rev 1.1
Initial Release
CANopen User Manual
Introduction
This manual describes MOONS’ CANopen implementation of CiA 301 and CiA 402
specifications. It is expected that the user fully understands both CiA standards. That
understanding, along with this specification, will enable the user to develop a distributed motion
control system.
The intent of this manual is to highlight manufacturer specific requirements as they pertain
to MOONS’ drives.
Information and standards may be obtained from the CiA website at http://www.can-cia.
com/. Information and software relating directly to the MOONS’ CANopen drives, including an
open-source example program, may be obtained from our website at http://www.moons.com.
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Contents
ChangeLog:..................................................................................................................................2
Introduction...................................................................................................................................3
Reference Documents............................................................................................................9
Commonly Used Acronyms.....................................................................................................9
CANopen Network Topology Overview ................................................................................10
Drive Setup.................................................................................................................................10
Wiring the Power and Motor.................................................................................................10
Wiring the CANopen Connector for CANopen Drives........................................................... 11
CANopen BitRate & NodeID................................................................................................. 11
Drive Configuration...............................................................................................................12
Supported CiA 402 Modes of Operation.....................................................................................13
Object Dictionary........................................................................................................................14
Electronic Data Sheet...........................................................................................................15
Global Control Word and Status Word..................................................................................19
General Purpose Registers........................................................................................................20
Appendix A - The Object Dictionary............................................................................................21
Communication Profile..........................................................................................................22
Manufacturer Specific Objects..............................................................................................39
Device Profile........................................................................................................................46
Appendix B - Parameter Unit Scaling.........................................................................................60
Appendix C - Response Codes..................................................................................................61
Appendix D - Profile Position Mode............................................................................................62
General Mode Description....................................................................................................62
Enable Profile Position Mode................................................................................................62
Set Running Parameters.......................................................................................................62
Starting/Stopping Motion.......................................................................................................62
Appendix E - Profile Velocity Mode............................................................................................67
General Mode Description....................................................................................................67
Enable Profile Velocity Mode................................................................................................67
Set Running Parameters.......................................................................................................67
Enable Drive Operation.........................................................................................................67
Starting/Stopping Motion.......................................................................................................67
Appendix F - Homing Methods...................................................................................................69
Set Running Parameters.......................................................................................................69
Enable Homing Mode...........................................................................................................69
Starting the Homing Procedure.............................................................................................69
Homing Method Diagrams....................................................................................................69
Homing Method 1 ........................................................................................................................................69
Homing Method 2..................................................................................................................70
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Homing Method 3..................................................................................................................70
Homing Method 4..................................................................................................................71
Homing Method 5..................................................................................................................71
Homing Method 6..................................................................................................................72
Homing Method 7..................................................................................................................72
Homing Method 8..................................................................................................................73
Homing Method 9..................................................................................................................73
Homing Method 10................................................................................................................74
Homing Method 11................................................................................................................74
Homing Method 12................................................................................................................75
Homing Method 13................................................................................................................75
Homing Method 14................................................................................................................76
Homing Methods 15 and 16..................................................................................................76
Homing Method 17................................................................................................................77
Homing Method 18................................................................................................................77
Homing Methods 19 and 20..................................................................................................78
Homing Methods 21 and 22..................................................................................................79
Homing Methods 23 and 24..................................................................................................80
Homing Methods 25 and 26..................................................................................................81
Homing Methods 27 and 28..................................................................................................82
Homing Methods 29 and 30..................................................................................................83
Homing Methods 31 and 32..................................................................................................84
Homing Method 33................................................................................................................84
Homing Method 34................................................................................................................85
Homing Method 35................................................................................................................85
Appendix G - Profile Torque Mode (Servo Only)........................................................................86
General Mode Description....................................................................................................86
Enable Profile Torque Mode..................................................................................................86
Set Running Parameters.......................................................................................................86
Enable Drive Operation.........................................................................................................86
Starting/Stopping Torque.......................................................................................................87
Parameter Calculations - Example.......................................................................................87
Current Verification - Example..............................................................................................87
Appendix H - Q Program Mode..................................................................................................89
General Mode Description....................................................................................................89
Loading a Q Program............................................................................................................89
Normal Q Program Execution...............................................................................................89
Synchronous Q Program Execution......................................................................................90
More Information...................................................................................................................90
Appendix I - Understanding NMT States....................................................................................91
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Building a CANopen NMT Data Frame - Example................................................................91
Appendix J - SDO and PDO Access..........................................................................................92
Enable SDO Use...................................................................................................................92
Building an SDO Read Data Frame - Example.....................................................................92
PDO Access...............................................................................................................................92
Enable PDO Use...................................................................................................................92
TPDO Transmission Types...................................................................................................93
PDO Mapping.......................................................................................................................93
PDO Mapping Procedure .....................................................................................................94
Default Mapping Example - Consumer PDO 2.....................................................................94
Default PDO Mapping - Stepper...........................................................................................95
Default PDO Mapping - Servo..............................................................................................95
PDO COB-ID.........................................................................................................................96
Building an RPDO Data Frame - Example............................................................................96
Appendix K - Operation Mode Specific Control and Status Word..............................................97
Control Word of Profile Position Mode..................................................................................97
Status Word of Profile Position Mode...................................................................................97
Control Word of Profile Velocity Mode..................................................................................98
Status Word of Profile Velocity Mode....................................................................................98
Control Word of Homing Mode..............................................................................................98
Status Word of Homing Mode...............................................................................................98
Control Word of Q Mode.......................................................................................................99
Status Word of Q Mode.........................................................................................................99
Appendix L – Example Programs.............................................................................................100
Profile Position Mode..........................................................................................................100
Profile Velocity Mode..........................................................................................................101
Homing Mode......................................................................................................................101
Normal Q Mode...................................................................................................................102
Sync Q Mode......................................................................................................................102
PDO Mapping.....................................................................................................................102
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List of Tables
Table 1: Bit Rate Switch Settings................................................................................... 12
Table 2: Modes of Operation.......................................................................................... 13
Table 3: CiA 301 Object Descriptions............................................................................. 16
Table 4: Tuning Parameter setting.................................................................................. 16
Table 5: CiA 402 Objects................................................................................................ 17
Table 6: MOONS’ Manufacture Specific Objects............................................................ 18
Table 7: User Defined Registers in CANopen and Q Programmer................................ 20
Table 8: Object Dictionary Structure............................................................................... 21
Table 9: Description of SYNC COB-ID entry.................................................................. 24
Table 10: Description of PDO COB-ID entry.................................................................. 31
Table 11: Description of transmission type..................................................................... 32
Table 12: Controlword Data Description......................................................................... 46
Table 13: Device Control Command Bit Patterns (Bits 0-3 and 7)................................. 46
Table 14: Bits in the statusword...................................................................................... 47
Table 15: Device State Bits............................................................................................ 48
Table 16: Parameter Scaling Chart................................................................................ 60
Table 17: Object 603Fh CiA 402 Error Codes................................................................. 61
Table 18: Object 700Bh DSP Status Codes.................................................................... 61
Table 19: Single Set-Point Profile Position Move........................................................... 63
Table 20: Multiple Set-Point Profile Position Move with Stopping Between Moves........ 64
Table 21: Multiple Set-Point Profile Position Move with Continuous Motion.................. 65
Table 22: Multi-Set-Point Profile Position Move with Immediate Change in Motion....... 66
Table 23: Profile Velocity Mode Example....................................................................... 68
Table 24: Profile Torque Mode Example......................................................................... 88
Table 25: Understanding NMT States............................................................................ 91
Table 26: Example - NMT Data Frame........................................................................... 91
Table 27: Enable SDO Use............................................................................................ 92
Table 28: TPDO Transmission Types............................................................................. 93
Table 29: PDO Mapping................................................................................................. 93
Table 30: PDO Mapping Example.................................................................................. 94
Table 31: PDO Mapping - Stepper................................................................................. 95
Table 32: PDO Mapping - Servo..................................................................................... 95
Table 33: PDO COB-IDs................................................................................................. 96
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List of Figures
Figure 1: ..................................................................................................................10
Figure 2: ..................................................................................................................11
Figure 3: ..................................................................................................................11
Figure 4: ..................................................................................................................13
Figure 5: ..................................................................................................................19
Figure 6: ..................................................................................................................24
Figure 7: ..................................................................................................................27
Figure 8: ..................................................................................................................27
Figure 9: ..................................................................................................................31
Figure 10: ................................................................................................................34
Figure 11: ................................................................................................................35
Figure 12: ................................................................................................................63
Figure 13: ................................................................................................................64
Figure 14: ................................................................................................................65
Figure 15: ................................................................................................................66
Figure 16: ................................................................................................................68
Figure 17: ................................................................................................................86
Figure 18: ................................................................................................................88
Figure 19: ................................................................................................................94
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Reference Documents
MOONS’ CANopen Drive Hardware Manual
CiA 301
CiA 303
CiA 402
Bosch CAN Physical Layer Specifications 2.0B
MOONS’ Host Command Reference
Commonly Used Acronyms
CAN
CiA
COB-ID
EDS
NMT
OD
PDS
PDO
RPDO
SDO
TPDO
Controller Area Network
CAN in Automation Group (Standards Body)
Communication Object Identification
Electronic Data Sheet
Network Management
Object Dictionary
Power Drive System
Process Data Object
Receive (incoming) PDO
Service Data Object
Transmit (outgoing) PDO
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CANopen Network Topology Overview
MOONS’ CANopen drives can be integrated into a CANopen system with other device
types as shown below.
Figure 1: CANopen Network Topology Overview
Drive Setup
There are four phases to setting up a MOONS’ CANopen Drive:
l
Wiring the power and motor
l
Wiring the CANopen connector to the drive
l
Setting the Bit Rate and Node ID
l
Configuring the Drive
Wiring the Power and Motor
Please refer to the drive’s hardware manual for this step. The appropriate manual can be
found from our website www.moons.com.
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Wiring the CANopen Connector for CANopen Drives
Please refer to MOONS’ CANopen Drive Hardware Manual for the Communication
connection. Hereby we only take the connection of MSST5-C drive for example.
MOONS’ MSST5-C drive uses a four-pin spring connector, shown in Figure 2 below,
and conforms to CiA303 specification. The connector should be wired in a daisy-chain
configuration, as shown in Figure 3 below, with a 120 ohm resistor used to terminate each end.
GND
CAN_L
SHLD
CAN_H
Other wiring topologies, such as star networks, are not recommended due to wave reflection
problems. Please reference specific hardware manuals for your drive’s wiring configuration.
Figure 2: The CANopen Connector
Figure 3 shows a CANopen network with two MOONS’ MSST5-C drive connectors wired
to a Kvaser Leaf USB to CANopen Adapter.
R termination*
120 ohm nominal
CAN_L
CAN_GND
CAN_SHLD
CAN_H
DSUB9 Female
CAN_H
CAN_SHLD
CAN_L
CAN_GND
CAN_BUS
R termination*
120 ohm nominal
4
3
2
1
4
3
2
1
n*
CAN_H
CAN_SHLD
CAN_L
CAN_GND
1
2
3
4
5
6
7
8
9
.1” Spacing Spring Plug
.1” Spacing Spring Plug
n:
Cable may be made with up to 127 drive
connectors. Termination is only required
at each end.
R termination:
Network must be terminated at each
end with a 120 ohm resistor.
Figure 3: Wiring Schematic
CANopen BitRate & NodeID
MOONS’ CANopen drives have three settings, one for Bit Rate and two for Node-ID.
The Bit Rate is configured using an 8-position switch. See Table 1 for the Bit Rate settings.
Please reference the drive’s hardware manual for the location of the Bit Rate switch.
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The Node-ID is configured using a 16-position switch to set the lower 4 bits of the NodeID and a 8 position switch to set the upper 3 bits of the Node-ID. In some cases, the upper
3 bits of the Node-ID are configured using ST Configurator, Step-Servo Quick Tuner or SV
Quick Tuner. Please reference the drive’s hardware manual for Node-ID switch configuration
and setup. Valid ranges for the Node-ID are 01h through 7Fh. Node-ID 00h is reserved in
accordance with the CiA 301 specification.
Note: The Node-ID and Bit Rate are captured only after a power cycle, or after a network
reset command has been sent. Changing the switches while the drive is powered on will NOT
change the Node-ID until one of those conditions has also been met.
Switch Setting
0
1
2
3
4
5
6
7
Resultant Bit Rate
1 Mbps
800 kbps
500 kbps
250 kbps
125 kbps
50 kbps
20 kbps
12.5 kbps
Table 1: Bit Rate Switch Settings
Drive Configuration
Once the CAN connector has been wired to the drive, and the Node-ID and Bit Rate have
been set, the drive can be configured. Drive configuration for MSST , MSSTAC stepper drives
and STM Integrated Motors is accomplished using the ST Configurator software, which can be
found on the MOONS’ website. Drive configuration and tuning for servo drives are performed
using Quick Tuner or Step-Servo Quick Tuner. In all cases the drive will need to be connected
to a Windows PC using the included RS-232 serial cable. Please refer to the appropriate
software manual or built-in help screens for details.
Note: When the CANopen drive is first powered on, the drive will automatically send a
power-up packet over the RS-232 port. If a MOONS’ application is present, it will send a response back to the drive over RS-232 and the drive will hold the CAN node in the Initialization
state until the application is closed. If no response is detected, the drive will continue the normal CANopen start­up procedure: the drive will power up into the Initialization state, send out a
boot-up packet, move into the Pre-Operational state, and start sending out heartbeats with the
Pre-Operational state as a status code.
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Supported CiA 402 Modes of Operation
Mode
Profile Velocity
Profile Position
Homing
MSST/MSSTAC
STM/SWM
SSM/TSM/TXM/SS
SV/SVAC
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
Profile Torque
Interpolated Position
Q Program
Table 2: Modes of Operation
For detailed information on each mode see the corresponding appendix:
Profile Position Mode - Appendix D
Profile Velocity Mode - Appendix E
Homing Modes - Appendix F
Profile Torque Mode - Appendix G
Q Program Mode - Appendix H
CiA 301 -CANopen Communications
CiA 402 - Motion Control Modes
Figure 4: CANopen Drive - Motion Control Modes
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Object Dictionary
The Object Dictionary (OD) is the core of any CANopen node. It provides links to all the
communication and running parameters of a node. The Object Dictionary is defined in the
Electronic Data Sheet (EDS), which lists all supported objects, along with any sub-objects.
For more information: see Appendix A for a detail decription of Object Dictionary.
Any OD Entry may be accessed using the standard Service Data Object (SDO) protocol,
while some may be accessed using the low-overhead Process Data Object (PDO) protocol.
For more information: see Appendix J for a description of SDO and PDO Access
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Electronic Data Sheet
The EDS, available on MOONS’ website, lists all the properties of every supported object
in the OD, here following the list of Object Dictionary description.
Index
Sub
Comment Fields
Data Type
Access
Type
PDO
Mapping
1000h
0
Device Type
UNSIGNED32
RO
1001h
0
Error Register
UNSIGNED8
RO
Yes
1002h
0
Manufacturer status register
UNSIGNED32
RO
Yes
1005h
0
COB-ID Sync message
UNSIGNED32
RW
1006h
0
Communication cycle period
UNSIGNED32
RW
1007h
0
Synchronous window length
UNSIGNED32
RW
1008h
0
Manufacturer Device Name
VISIBLE_STRING
CONST
1009h
0
Manufacturer hardware version
VISIBLE_STRING
CONST
100Ah
0
Manufacturer software version
VISIBLE_STRING
CONST
Store parameters
ARRAY
0
max sub-index
UNSIGNED8
RO
1
save all parameters
UNSIGNED32
RW
1014h
0
COB-ID EMCY
UNSIGNED32
RO
1017h
0
Producer Heart Beat
UNSIGNED16
RW
Identity Object
RECORD
0
max sub-index
UNSIGNED8
RO
1
Vendor-ID
UNSIGNED32
RO
2
Product code
UNSIGNED32
RO
3
Revision number
UNSIGNED32
RO
4
Serial number
UNSIGNED32
RO
1200h
0
Server SDO Parameter 0
RECORD
1400h
0
Receive PDO Communications Parameter 0
RECORD
1401h
0
Receive PDO Communications Parameter 1
RECORD
1402h
0
Receive PDO Communications Parameter 2
RECORD
1403h
0
Receive PDO Communications Parameter 3
RECORD
1600h
0
Receive PDO Mapping Parameter 0
RECORD
1601h
0
Receive PDO Mapping Parameter 1
RECORD
1602h
0
Receive PDO Mapping Parameter 2
RECORD
1603h
0
Receive PDO Mapping Parameter 3
RECORD
1800h
0
Transmit PDO Communications Parameter 0
RECORD
1801h
0
Transmit PDO Communications Parameter 1
RECORD
1802h
0
Transmit PDO Communications Parameter 2
RECORD
1803h
0
Transmit PDO Communications Parameter 3
RECORD
1010h
1018h
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1A00h
0
Transmit PDO Mapping Parameter 0
RECORD
1A01h
0
Transmit PDO Mapping Parameter 1
RECORD
1A02h
0
Transmit PDO Mapping Parameter 2
RECORD
1A03h
0
Transmit PDO Mapping Parameter 3
RECORD
Table 3: CiA 301 Object Descriptions
For more information: see Appendix A for detail decription of OD.
Index
Sub
Comment Fields
Data Type
Access
Type
5000h
0
PositionGain_Tuning
UNSIGNED16
RW
5001h
0
PositionDeriGain_Tuning
UNSIGNED16
RW
5002h
0
PositionDeriFilter_Tuning
UNSIGNED16
RW
5003h
0
VelocityGain_Tuning
UNSIGNED16
RW
5004h
0
VelocityIntegGain_Tuning
UNSIGNED16
RW
5005h
0
AccFeedForward_Tuning
UNSIGNED16
RW
5006h
0
PIDFilter_Tuning
UNSIGNED16
RW
5007h
-500Eh
0
NotchFilterX_Tuning
INTEGER16
RW
500Fh
0
PositionError
UNSIGNED16
RW
5010h
0
Velocity_MAX
UNSIGNED16
RW
5011h
0
SmoothFilter
UNSIGNED16
RW
5012h
0
Driver_Temperature
INTEGER16
RO
Table 4: Tuning Parameter setting
For more information: see Appendix A for detail decription of OD.
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PDO
Mapping
CANopen User Manual
603Fh
0
Error Code
UNSIGNED16
RO
Yes
6040h
0
Controlword
UNSIGNED16
WO
Yes
6041h
0
Statusword
UNSIGNED16
RO
Yes
605Ah
0
Quick Stop option code
INTEGER16
RW
6060h
0
Modes of Operation
INTEGER8
WO
Yes
6061h
0
Modes of Operation Display
INTEGER8
RO
Yes
6064h
0
Position Target value calculated
INTEGER32
RO
Yes
6065h
0
following_error_window
UNSIGNED32
RW
606Ch
0
Velocity Target value calculated
INTEGER32
RO
Yes
6071h
0
Target Torque (servos only)
INTEGER16
RW
Yes
6073h
0
Max Running Current
UNSIGNED16
RW
Yes
6074h
0
torque_demand_value
INTEGER16
RO
Yes
6078h
0
current_actual_value
INTEGER16
RO
Yes
607Ah
0
Target Position
INTEGER32
RW
Yes
607Ch
0
Home Offset
INTEGER16
RW
Yes
607Eh
0
polarity
UNSIGNED8
RW
Yes
607Fh
0
max_profile_speed
UNSIGNED32
RW
Yes
6081h
0
Profile Velocity
UNSIGNED32
RW
Yes
6083h
0
Profile Acceleration
UNSIGNED32
RW
Yes
6084h
0
Profile Deceleration
UNSIGNED32
RW
Yes
6085h
0
Quick Stop Deceleration
UNSIGNED32
RW
Yes
6087h
0
torque_slope
UNSIGNED32
RW
Yes
6098h
0
Homing Method
INTEGER8
RW
Yes
Homing Speeds
ARRAY
0
max sub-index
UNSIGNED8
RO
1
speed_during_search_for_switch
UNSIGNED32
RW
Yes
2
speed_during_search_for_zero
UNSIGNED32
RW
Yes
0
Homing Acceleration
UNSIGNED32
RW
Yes
Drive Outputs
RECORD
0
max sub-index
UNSIGNED8
RO
1
physical_outputs
UNSIGNED32
RW
Yes
60FFh
0
Target Velocity
INTEGER32
RW
Yes
6502h
0
Supported Drive Modes
UNSIGNED32
RO
609Ah
60FEh
Data Type
PDO
Mapping
Sub
6099h
Comment Fields
Access
Type
Index
Table 5: CiA 402 Objects
For more information: see Appendix A for detail decription of OD.
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Comment Fields
Data Type
Access
Type
PDO
Mapping
Index
Sub
7001h
0
Home Switch
UNSIGNED8
RW
7002h
0
Idle Current
UNSIGNED16
RW
7003h
0
Display Drive Inputs
UNSIGNED16
RO
7005h
0
torque_Constant
UNSIGNED16
RW
7006h
0
DSP_clearAlarm
UNSIGNED8
WO
7007h
0
Q Sequence Number
UNSIGNED8
RW
Yes
7009h
0
Velocity Actual Value
UNSIGNED16
RO
Yes
700Ah
0
Position Actual Value
INTEGER32
RO
Yes
700Bh
0
DSP Status Code
UNSIGNED16
RO
Yes
700Ch
0
zero_Position
UNSIGNED8
WO
700Dh
0
Acceleration_Current
UNSIGNED16
RW
700Eh
0
Analog Input 1
UNSIGNED16
RO
Table 6: MOONS’ Manufacture Specific Objects
For more information: see Appendix A for detail decription of OD.
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Yes
Yes
Yes
CANopen User Manual
Global Control Word and Status Word
Byte
#
Bit
#
Control Word
Homing
Position
Velocity
Status Word
Torque
Q
Homing
Position
Velocity
15
13
Reserved
12
Following
Error
Error
Homing
Set Point
Attained
Ack
Reserved Reserved
Speed
Reserved
11
Internal Limit Active
Target Reached
Reserved
Change of
Set Point
8
Reserved
5
Reserved
4
Operation
Homing
Start
Abs/Rel
Reserved
Remote
Warning
Reserved Reserved Reserved
Change
Set Point
Reserved Reserved Reserved
Immediately
New Set
Point
Reserved
Reserved
Fault Reset
6
3
Reserved Reserved Reserved
Halt
7
2
Homing
10
9
Q
Reserved
14
1
Torque
Switch On Disabled
Quick Stop
Q
Reserved Reserved
Program
Voltage Enabled
Start
Enable Operation
Fault
2
Quick Stop
Operation Enabled
1
Enable Voltage
Switched On
0
Switch On
Ready to Switch On
Figure 5: Global Control Word and Status Word
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General Purpose Registers
MOONS’ CANopen products provide 23 general purpose registers. These registers are
32 bit read/write registers. They are volatile, so the infor­mation sent there will not be saved
after a power cycle.
These registers may also be accessed and manipulated via a stored Q Program, if de­
sired. The table below cross-references the CANopen OD entries and the Q Programmer
register addresses.
For more information on using these general purpose registers in a Q Program, please
see the Host Com­mand Reference, available at www.moons.com.
For more information about the Q Program Mode: see Appendix H
Register Name
OD Address
Q Register Address
User Defined Register 0
4000.01h *
0
User Defined Register 1
4000.02h
1
User Defined Register 2
4000.03h
2
User Defined Register 3
4000.04h
3
User Defined Register 4
4000.05h
4
User Defined Register 5
4000.06h
5
User Defined Register 6
4000.07h
6
User Defined Register 7
4000.08h
7
User Defined Register 8
4000.09h
8
User Defined Register 9
4000.0Ah
9
User Defined Register 10
4000.0Bh
:
User Defined Register 11
4000.0Ch
;
User Defined Register 12
4000.0Dh
<
User Defined Register 13
4000.0Eh
=
User Defined Register 14
4000.0Fh
>
User Defined Register 15
4000.10h
?
User Defined Register 16
4000.11h
@
User Defined Register 17
4000.12h
[
User Defined Register 18
4000.13h
\
User Defined Register 19
4000.14h
]
User Defined Register 20
4000.15h
^
User Defined Register 21
4000.16h
_
User Defined Register 22
4000.17h
`
* Note: 4000.01h means OD address is index 4000h and sub-index 01h.
Table 7: User Defined Registers in CANopen and Q Programmer
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Appendix A - The Object Dictionary
The most important part of a device profile is the Object Dictionary description. The Object
Dictionary is essentially a grouping of objects accessible via the network in an ordered predefined fashion. Each object within the dictionary is addressed using a 16-bit index.
The overall layout of the standard Object Dictionary is shown below. This layout closely
conforms with other industrial serial bus system concepts:
Index (hex)
Object
0000
not used
0001-001F
Static Data Types
0020-003F
Complex Data Types
0040-005F
Manufacturer Specific Complex Data Types
0060-007F
Device Profile Specific Static Data Types
0080-009F
Device Profile Specific Complex Data Types
00A0-0FFF
Reserved for further use
1000-1FFF
Communication Profile Area
2000-5FFF
Manufacturer Specific Profile Area
6000-9FFF
Standardised Device Profile Area
A000-FFFF
Reserved for further use
Table 8: Object Dictionary Structure
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Communication Profile
0x1000 - Device type
Contains information about the device type. The object at index 1000h describes the
type of device and its functionality. It is composed of a 16-bit field which describes the device
profile that is used and a second 16-bit field which gives additional information about optional
functionality of the device. The Additional Information parameter is device profile specific. Its
specification does not fall within the scope of this document, it is defined in the appropriate
device profile. The value 0000h indicates a device that does not follow a standardised device
profile. For multiple device modules the Additional Information parameter contains FFFFh and
the device profile number referenced by object 1000h is the device profile of the first device
in the Object Dictionary. All other devices of a multiple device module identify their profiles at
objects 67FFh + x*800h with x = internal number of the device (0-7).
These entries describe the device type of the preceding device.
Object Type
Var
Data Type
Access Type
UNSIGNED32
PDO Mapping
ro
no
COS1
no
Default value
0x00000000
bit 0-15: Device profile number
bit 16-31: Additional information
Note 1: COS means: TPDO detects the change of State
0x1001 - Error Register
This object is an error register for the device. The device can map internal errors in this
byte. This entry is mandatory for all devices. It is a part of an Emergency object.
Object Type
Var
Data Type
UNSIGNED8
Access Type
PDO Mapping
ro
optional
bit 0: generic error
bit 1: current
bit 2: voltage
bit 3: temperature
bit 4: communication error (overrun, error state)
bit 5: Reserved (always 0)
bit 6: Reserved (always 0)
bit 7: Reserved (always 0)
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COS
no
Default value
0
CANopen User Manual
0x1002 –Manufacturer status register(not implement)
This object is a common status register for manufacturer specific purposes.
Object Type
Var
Data Type
Access Type
UNSIGNED32
PDO Mapping
ro
optional
COS
Default value
no
0
0x1003 - Pre-defined error field
The object at index 1003h holds the errors that have occurred on the device and have
been signaled via the Emergency Object. In doing so it provides an error history.
1.The entry at sub-index 0 contains the number of actual errors that are recorded in the
array starting at sub-index 1.
2.Every new error is stored at sub-index 1, the older ones move down the list.
3.Writing a “0” to sub-index 0 deletes the entire error history (empties the array). Values
higher than 0 are not allowed to write. This have to lead to an abort message (error code: 0609
0030h).
4.The error numbers are of type UNSIGNED32 and are composed of a 16 bit error code
and a 16 bit additional error information field which is manufacturer specific. The error code is
contained in the lower 2 bytes (LSB) and the additional information is included in the upper 2
bytes (MSB). If this object is supported it must consist of two entries at least. The length entry
on sub-index 0h and at least one error entry at sub-index 1H.
Object Type Sub Number
Array
Subindex
9
Data Type
Access
Type
UNSIGNED32
Name
PDO
Mapping
COS
optional
no
ro
Default
value
0
Default value
00
Number of errors
0
01
Standard error field
0
02
Standard error field
0
03
Standard error field
0
04
Standard error field
0
05
Standard error field
0
06
Standard error field
0
07
Standard error field
0
08
Standard error field
0
Number of Errors (subindex = 0) :
bit 0-7: Zero can be written to erase error history
Standard Error Field (subindex = 1~ 8) :
bit 0-15: Error code as transmited in the Emergency object
bit 16-31: Manufacturer specific additional information
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0x1005 COB-ID SYNC message
Index 1005h defines the COB-ID of the Synchronisation Object (SYNC). Further, it defines
whether the device generates the SYNC. The structure of this object is shown in following Fig.
and Table.
UNSIGNED32
MSB
LSB
bits
31
30
29
28-11
10-0
11-bit-ID
0/1
0/1
0
000000000000000000
11-bit Identifier
29-bit-ID
0/1
0/1
1
29 -bit Identifier
Figure 6: Structure of TIME COB-ID entry
bit number
value
meaning
31 (MSB)
0
1
Device does not consume TIME message
Device consumes TIME message
30
0
1
Device does not produce TIME message
Device produces TIME message
29
0
1
11-bit ID (CAN 2.0A)
29-bit ID (CAN 2.0B)
28 -11
0
X
if bit 29=0
if bit 29=1: bits 28-11 of 29-bit-TIME-COB-ID
10-0 (LSB)
X
bits 10-0 of TIME-COB-ID
Table 9: Description of SYNC COB-ID entry
Bits 29, 30 may be static (not changeable). If a device is not able to generate SYNC
messages, an attempt to set bit 30 is responded with an abort message (abort code: 0609
0030h). Devices supporting the standard CAN frame type only either ignore attempts
to change bit 29 or respond with an abort message (abort code: 0609 0030h). The first
transmission of SYNC object starts within 1 sync cycle after setting Bit 30 to 1. It is not allowed
to change Bit 0-29, while the objects exists (Bit 30=1).
Object Type
Var
Data Type
UNSIGNED32
Access Type
PDO Mapping
rw
no
COS
Default value
no
0x00000080
bit 0-10: COB-ID for SYNC object
bit 11-29: set to 0
bit 30: 1(0) - node generates (does NOT generate) SYNC object
bit 31: set to 0
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0x1006 Communication cycle period
This object defines the communication cycle period in ms. This period defines the SYNC
interval. It is 0 if not used. If the communication cycle period on sync producer is changed to a
new value unequal 0, the transmission of sync object resumes within 1 sync cycle of the new
value.
Object Type
Var
Data Type
UNSIGNED32
Access Type
PDO Mapping
rw
no
COS
Default value
no
0
bit 0-31: period of SYNC transmission in ms (0 = no transmission, no checking)
0x1007 Synchronous window length
Contains the length of the time window for synchronous PDOs in ms. It is 0 if not used.
Object Type
Var
Data Type
UNSIGNED32
Access Type
PDO Mapping
rw
no
COS
no
Default value
0
bit 0-31: window length after SYNC when PDOS must be transmited in µs, (0 = not used)
0x1008 Manufacturer device name
Contains the manufacturer device name.
Object Type
Var
Data Type
Visible string
Access Type
PDO Mapping
const
no
COS
Default value
no
AMA
CANopen
Motor Driver
COS
Default value
Name of the manufacturer as string
0x1009 Manufacturer hardware version
Contains the manufacturer hardware version description.
Object Type
Var
Data Type
Visible string
Access Type
PDO Mapping
const
no
no
A001
Name of the hardware version as string.
0x100A Manufacturer software version
Contains the manufacturer software version description.
Object Type
Var
Data Type
Visible string
Access Type
PDO Mapping
const
no
COS
no
Default value
2.00A
Name of the software version as string.
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0x1010 Store parameters
This object supports the saving of parameters in non-volatile memory.
1.Sub-Index 0 contains the largest Sub-Index that is supported.
2.Sub-Index 1 refers to all parameters that can be stored on the device.
3.Sub-Index 2 refers to communication related parameters (Index 1000h - 1FFFh
manufacturer specific communication parameters).
4.Sub-Index 3 refers to application related parameters (Index 6000h - 9FFFh
manufacturer specific application parameters).
5.At Sub-Index 4 - 127 manufacturers may store their choice of parameters individually.
6.Sub-Index 128 - 254 are reserved for future use.
In order to avoid storage of parameters by mistake, storage is only executed when a
specific signature is written to the appropriate Sub-Index. The signature is “save”.
Signature
ISO 8859
(“ASCII“)
hex
Object Type
Array
Subindex
MSB
LSB
e
v
a
s
65h
76h
61h
73h
Sub Number
2
Data Type
Access Type
UNSIGNED32
Name
rw
PDO
Mapping
no
COS
no
Default value
0
Default value
00
max sub-index
1
01
save all parameters
0
Writing value 0x65766173 (‘s’,’a’,’v’,’e’ from LSB to MSB) into this location stores all
Manufacture specific parameters into the EEPROM.
Here list the parameters which can be stored:
0x5000
positionGain_Tuning;
0x5001
positionDeriGain_Tuning;
0x5002
positionDeriFilter_Tuning;
0x5003
velocityGain_Tuning;
0x5004
velocityIntegGain_Tuning;
0x5005
accFeedForward_Tuning;
0x5006
PIDFilter_Tuning;
0x5007
notchFilterA_Tuning;
0x5008
notchFilterB_Tuning;
0x5009
notchFilterC_Tuning;
0x500A
notchFilterD_Tuning;
0x500B
notchFilterE_Tuning;
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0x500C
notchFilterF_Tuning;
0x500D
notchFilterG_Tuning;
0x500E
notchFilterH_Tuning;
0x500F
positionError;
0x5010
velocity_MAX;
0x5011
smoothFilter;
0x1011 Restore default parameters (Not implement)
With this object the default values of parameters according to the communication or
device profile are restored.
Object Type
Sub Number
Var
2
Subindex
Data Type
Access Type
UNSIGNED32
Name
rw
PDO
Mapping
no
COS
Default value
no
0
Default value
00
max sub-index
1
01
restore all parameters
0
0x1014 COB-ID EMCY
This object defines the COB-ID of the Emergency Object (EMCY).
UNSIGNED32
MSB
LSB
bits
31
30
29
28-11
10-0
11-bit-ID
0/1
0
0
000000000000000000
11-bit Identifier
29-bit-ID
0/1
0
1
29 -bit Identifier
Figure 7: Structure of the EMCY Identifier entry
bit number
value
Meaning
31 (MSB)
0
1
EMCY exists / is valid
EMCY does not exist / is not valid
30
0
reserved (always 0)
29
0
1
11-bit ID (CAN 2.0A)
29-bit ID (CAN 2.0B)
28-11
0
X
if bit 29=0
if bit 29=1: bits 28-11 of 29-bit-COB-ID
10-0 (LSB)
X
bits 10-0 of COB-ID
Figure 8: Description of EMCY COB-ID entry
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Devices supporting the standard CAN frame type only, an attempt to set bit 29 is
responded with anabort message (abort code: 0609 0030h). It is not allowed to change Bits
0-29, while the object exists (Bit 31=0).
Object Type
Var
Data Type
Access Type
UNSIGNED32
PDO Mapping
ro
COS
no
no
Default value
0x80+$NODEID
bit 0-10: COB-ID
bit 11-30: set to 0 for 11 bit COB-ID
bit 31:
0(1) - node uses (does NOT use) Emergency object
0x1015 inhibit time EMCY
The inhibit time for the EMCY message can be adjusted via this entry. The time has to be
a multiple of 100ms.
Object Type
Var
Data Type
Access Type
UNSIGNED16
PDO Mapping
rw
COS
no
Default value
no
200
bit 0-15: Inhibit time of emergency message in 100µs
0x1017 Producer heartbeat time
The producer hartbeat time defines the cycle time of the heartbeat. The producer
heartbeat time is 0 if it not used. The time has to be a multiple of 1ms.
Object Type
Var
Data Type
UNSIGNED16
Access Type
rw
PDO Mapping
no
COS
no
Default value
1000
bit 0-15: Heartbeat producer time in ms (0 = disable transmission)
0x1018 Identity
The object at index 1018h contains general information about the device.
1.The Vendor ID (sub-index 1h) contains a unique value allocated to each manufacturer.
2.The manufacturer-specific Product code (sub-index 2h) identifies a specific device
version.
3.The manufacturer-specific Revision number (sub-index 3h) consists of a major revision
number and a minor revision number. The major revision number identifies a specific CANopen
behaviour. If theCANopen functionality is expanded, the major revision has to be incremented.
The minor revisionnumber identifies different versions with the same CANopen behaviour.
4.The manufacturer-specific Serial number (sub-index 4h) identifies a specific device.
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Object Type
Sub Number
Record
5
Subindex
Access Type
PDO
Mapping
Name
Data Type
COS
Default value
00
max sub-index
UNSIGNED8
ro
no
no
4
01
Vendor-ID
UNSIGNED32
ro
no
no
0x000002D9
02
Product code
UNSIGNED32
ro
no
no
0x00000000
03
Revision number
UNSIGNED32
ro
no
no
0x00000000
04
Serial number
UNSIGNED32
ro
no
no
0x00000000
max sub-index
Vendor-ID
bit 0-31: Assigned by CiA (here is 0x000002D9 for Shanghai AMP and Moons’ Automation)
Product code
bit 0-31: Manufacturer specific
Revision number
bit 0-15: Minor revision num. (CANopen behavior has not changed)
bit 16-31: Major revision number (CANopen behavior has changed)
Serial number
bit 0-31: Manufacturer specific (Lot Number)
0x1019 Synchronous counter overflow value
This object contains the max counters of SYNC message. If it is 0 the producer will send
the SYNC message without any data, otherwise with data length 1.
Object Type
Var
Data Type
UNSIGNED8
Access Type
PDO Mapping
rw
no
COS
no
Default value
0
If value is zero, then SYNC message is transmitted with data length 0.
If value is from 2 to 240, then SYNC message has one data byte, which contains the
counter.
Other values are reserved.
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0x1029 Error behavior
This object contains the error information of the CANopen driver.
Object Type
Sub Number
Array
7
Subindex
Data Type
Access Type
UNSIGNED8
Name
PDO Mapping
rw
Default value
00
max sub-index
6
01
Communication
0x00
02
Communication other
0x00
03
Communication passive
0x01
04
Generic
0x00
05
Device profile
0x00
06
Manufacturer specific
0x00
no
COS
no
Actual value
Value definition for all subindexes:
0x00 - if operational, switch to NMT pre-operational
0x01 - do nothing
0x02 - switch to NMT stopped
01 - Communication error - bus off or Heartbeat consumer error.
02 - Communication other error (critical errors - see ‘Error status bits’) except CAN bus
passive but including bus off or Heartbeat consumer.
03 - Communication passive - any communication error including CAN bus passive.
04 - Generic error (critical errors - see ‘Error status bits’).
05 - Device profile error - bit 5 in error register is set.
06 - Manufacturer specific error - bit 7 in error register is set.
0x1200 SDO server parameter
The object holds the COB-ID (communication object ID, also known as CAN message ID)
values used to access the driver’s SDO.
1.Sub-index 0 contains the number of sub-elements of this record.
2.Sub-index 1 used by the driver to receive SDO packets. The value is 0x600 +
$NODEID.
3.Sub-index 2 gives the COB-ID used by the driver to transmit SDO packets. The value is
0x580 + $NODEID.
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Object Type
Sub Number
Record
3
Subindex
Name
Data Type
Access Type PDO Mapping
COS
Default value
00
max sub-index
UNSIGNED8
ro
no
no
2
01
COB-ID client
to server
UNSIGNED32
ro
no
no
0x600+$NODEID
02
COB-ID server
to client
UNSIGNED32
ro
no
no
0x580+$NODEID
0x1400~0x1403 RPDO communication
Contains the communication parameters for the PDOs the device is able to receive. The
type of the PDO communication parameter (20h) is described in CiA 301 section 9.5.4. The
sub-index 0h contains the number of valid entries within the communication record. Its value
is at least 2. If inhibit time supported the value is 3. At sub-index 1h resides the COB-ID of the
PDO. This entry has been defined as UNSIGNED32 in order to cater for 11-bit CAN Identifiers
(CAN 2.0A) as well as for 29-bit CAN identifiers (CAN 2.0B).
UNSIGNED32
MSB
LSB
bits
31
30
29
28-11
10-0
11-bit-ID
0/1
0/1
0
000000000000000000
11-bit Identifier
29-bit-ID
0/1
0/1
1
29 -bit Identifier
Figure 9: Structure of PDO COB-ID entry
bit number
31 (MSB)
30
29
28-11
10-0 (LSB)
value
meaning
0
PDO exists / is valid
1
PDO does not exist / is not valid
0
RTR allowed on this PDO
1
no RTR allowed on this PDO
0
11-bit ID (CAN 2.0A)
1
29-bit ID (CAN 2.0B)
0
if bit 29=0
X
if bit 29=1: bits 28-11 of 29-bitCOB-ID
X
bits 10-0 of COB-ID
Table 10: Description of PDO COB-ID entry
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The PDO valid/not valid allows to select which PDOs are used in the operational state.
There may be PDOs fully configured (e.g. by default) but not used, and therefore set to “not
valid” (deleted). The feature is necessary for devices supporting more than 4 RPDOs or 4
TPDOs, because each device has only default identifiers for the first four RPDOs/TPDOs.
Devices supporting the standard CAN frame type only or do not support Remote Frames, an
attempt to set bit 29 to 1 or bit 30 to 0 is responded with an abort message (abort code: 0609
0030h). It is not allowed to change bit 0-29 while the PDO exists (Bit 31=0).
The transmission type (sub-index 2) defines the transmission/reception character of the
PDO. Table 11 describes the usage of this entry. On an attempt to change the value of the
transmission type to a value that is not supported by the device an abort message (abort code:
0609 0030h) is generated.
transmission type PDO transmission
cyclic
0
1-240
acyclic
synchronous
X
asynchronous
RTR only
X
X
X
241-251
- reserved -
252
X
X
253
X
254
X
255
X
X
Table 11: Description of transmission type
Synchronous (transmission types 0-240 and 252) means that the transmission of the
PDO shall be related to the SYNC object. Preferably the devices use the SYNC as a trigger
to output or actuate based on the previous synchronous Receive PDO respectively to update
the data transmitted at the following synchronous Transmit PDO. Details of this mechanism
depend on the device type and are defined in the device profile if applicable.
Asynchronous means that the transmission of the PDO is not related to the SYNC object.
A transmission type of zero means that the message shall be transmitted synchronously
with the SYNC object but not periodically. A value between 1 and 240 means that the PDO is
transferred synchronously and cyclically. The transmission type indicating the number of SYNC
which are necessary to trigger PDO transmissions.
Receive PDOs are always triggered by the following SYNC upon receiption of data
independent of the transmission types 0 - 240. The transmission types 252 and 253 mean that
the PDO is only transmitted on remote transmission request. At transmission type 252, the
data is updated (but not sent) immediately after reception of the SYNC object.
At transmission type 253 the data is updated at the reception of the remote transmission
request (hardware and software restrictions may apply). These value are only possible for
TPDOs.
For TPDOs transmission type 254 means, the application event is manufacturer specific
(manufacturer specific part of the Object Dictionary), transmission type 255 means, the
application event is defined in the device profile. RPDOs with that type trigger the update of the
mapped data with the reception.
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Sub-index 3h contains the inhibit time. This time is a minimum interval for PDO
transmission. The value is defined as multiple of 100μs. It is not allowed to change the value
while the PDO exists (Bit 31 of sub-index 1 is 0).Sub-index 4h is reserved. It does not have to
be implemented, in this case read or write access leads to Abort SDO Transfer (abort code:
0609 0011h).
In mode 254/255 additionally an event time can be used for TPDO. If an event timer exists
for a TPDO (value not equal to 0) the elapsed timer is considered to be an event. The event
timer elapses as multiple of 1 ms of the entry in sub-index 5h of the TPDO. This event will
cause the transmission of this TPDO in addition to otherwise defined events. The occurrence
of the events set the timer. Independent of the transmission type the RPDO event timer is used
recognize the expiration of the RPDO.
Object Type
Sub Number
Record
Subindex
3
Name
Data Type
Access
Type
PDO
Mapping
COS
Default value
00
max sub-index
UNSIGNED8
ro
no
no
2
01
COB-ID used by
RPDO
UNSIGNED32
rw
no
no
$NODEID+0x2002
02
transmission type
UNSIGNED8
rw
no
no
255
0x1400 - 0x1403 RPDO communication parameter
max sub-index
COB-ID
bit 0-10: COB-ID for PDO, to change it bit 31 must be set
bit 11-29: set to 0 for 11 bit COB-ID
bit 30: 0(1) - rtr are allowed (are NOT allowed) for PDO
bit 31: 0(1) - node uses (does NOT use) PDO
Transmission type
value = 0-240: receiving is synchronous, process after next reception of SYNC object
value = 241-253: not used
value = 254: manufacturer specific
value = 255: asynchronous
*Note 2: Index 1400.01h Default value is 0x200+$NODEID
Index 1401.01h Default value is 0x300+$NODEID
Index 1402.01h Default value is 0x400+$NODEID
Index 1403.01h Default value is 0x500+$NODEID
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0x1600~0x1603 RPDO mapping parameter
Contains the mapping for the PDOs the device is able to receive. The type of the PDO
mapping
parameter (21h) is described in 9.5.4 of CiA 301. The sub-index 0h contains the number
of valid entries within the mapping record. This number of entries is also the number of the
application variables which shall be transmitted/received with the corresponding PDO. The
sub-indices from 1h to number of entries contain the information about the mapped application
variables. These entries describe the PDO contents by their index, sub-index and length . All
three values are hexadecimal coded. The length entry contains the length of the object in bit
(1..40h). This parameter can be used to verify the overall mapping length. It is mandatory.
The structure of the entries from sub-index 1h - 40h is as follows:
Byte:
MSB
LSB
index (16 bit)
sub-index (8 bit)
object length (8 bit)
Figure 10: Structure of PDO Mapping Entry
If the change of the PDO mapping cannot be executed (e.g. the PDO length is exceeded
or the SDO client attempts to map an object that cannot be mapped) the device responds with
an Abort SDO Transfer Service.
Subindex 0 determines the valid number of objects that have been mapped. For changing
the PDO mapping first the PDO has to be deleted, the sub-index 0 must be set to 0 (mapping
is deactivated). Then the objects can be remapped. When a new object is mapped by writing
a subindex between 1 and 64, the device may check whether the object specified by index /
sub-index exists. If the object does not exist or the object cannot be mapped, the SDO transfer
must be aborted with the Abort SDO Transfer Service with one of the abort codes 0602 0000h
or 0604 0041h.
After all objects are mapped subindex 0 is set to the valid number of mapped objects.
Finally the PDO will be created by writing to its communication parameter COB-ID. When
subindex 0 is set to a value >0 the device may validate the new PDO mapping before
transmitting the response of the SDO service. If an error is detected the device has to transmit
the Abort SDO Transfer Service with one of the abort codes 0602 0000h, 0604 0041h or 0604
0042h.
When subindex 0 is read the actual number of valid mapped objects is returned. If data
types (Index 1h-7h) are mapped they serve as “dummy entries”. The corresponding data in
the PDO is not evaluated by the device. This optional feature is useful e.g. to transmit data to
several devices using one PDO, each device only utilising a part of the PDO. It is not possible
to create a dummy mapping for a TPDO.
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A device that supports dynamic mapping of PDOs must support this during the state PREOPERATIONAL state. If dynamic mapping during the state OPERATIONAL is supported, the
SDO client is responsible for data consistency.
Object Dictionary
0
1
PDO Mapping
3
yyyyh yyh 08h
2
zzzzh
zzh 10h
3
xxxxh
xxh 08h
PDO:
Appl. Obj. 2
xxxxh
xxh
Application Object 1
yyyyh
yyh
Application Object 2
zzzzh
zzh
Application Object 3
Application Object 3
Appl. Obj. 1
Figure 11: Principle of PDO mapping
Object Type
Sub Number
Record
Subindex
9
Access
PDO
Type Mapping
Name
Data Type
COS
Default value
00
Number of
mapped objects
UNSIGNED8
rw
no
no
0
01
mapped object 1
UNSIGNED32
rw
no
no
0x00000000
02
mapped object 2
UNSIGNED32
rw
no
no
0x00000000
03
mapped object 3
UNSIGNED32
rw
no
no
0x00000000
04
mapped object 4
UNSIGNED32
rw
no
no
0x00000000
05
mapped object 5
UNSIGNED32
rw
no
no
0x00000000
06
mapped object 6
UNSIGNED32
rw
no
no
0x00000000
07
mapped object 7
UNSIGNED32
rw
no
no
0x00000000
08
mapped object 8
UNSIGNED32
rw
no
no
0x00000000
0x1600 - 0x1603 RPDO mapping parameter (To change mapping, ‘Number of mapped
objects’ must be set to 0)
Number of mapped objects
mapped object (subindex 1...8)
bit 0-7: data length in bits
bit 8-15: subindex from OD
bit 16-31: index from OD
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0x1800~0x1803 TPDO communication parameter
Contains the communication parameters for the PDOs the device is able to transmit.
The type of the PDO communication parameter (20h) is described in 9.5.4 of CiA 301. A
detailed description of the entries is done in the section for the Receive PDO Communication
Parameter (1400h – 1403h).
Object Type
Sub Number
Record
Subindex
7
Access
Type
PDO
Mapping
Name
Data Type
COS
Default value
00
max sub-index
UNSIGNED8
ro
no
no
6
01
COB-ID used by TPDO
UNSIGNED32
rw
no
no
0x180+$NODEID3
02
transmission type
UNSIGNED8
rw
no
no
255
03
inhibit time
UNSIGNED16
rw
no
no
100
04
compatibility entry
UNSIGNED8
rw
no
no
0
05
event timer
UNSIGNED16
rw
no
no
0
06
SYNC start value
UNSIGNED8
rw
no
no
0
0x1800 - 0x1803 TPDO communication parameter
max sub-index
COB-ID
bit 0-10: COB-ID for PDO, to change it bit 31 must be set
bit 11-29: set to 0 for 11 bit COB-ID
bit 30: 0(1) - RTR are allowed (are NOT allowed) for PDO
bit 31: 0(1) - node uses (does NOT use) PDO
Transmission type
value = 0: transmiting is synchronous, specification in device profile
value = 1-240: transmiting is synchronous after every N-th SYNC object
value = 241-251: not used
value = 252-253: Transmited only on reception of Remote Transmission Request
value = 254: manufacturer specific
value = 255: asinchronous, specification in device profile
inhibit time
bit 0-15: Minimum time between transmissions of the PDO in 100µs. Zero disables
functionality.
compatibility entry
bit 0-7: Not used.
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event timer
bit 0-15: Time between periodic transmissions of the PDO in ms. Zero disables
functionality.
SYNC start value
value = 0: Counter of the SYNC message shall not be processed.
value = 1-240: The SYNC message with the counter value equal to this value shall be
regarded as the first received SYNC message.
Note 3: Index 1800.01h Default Value is 0x180+$NODEID
Index 1801.01h Default Value is 0x280+$NODEID
Index 1802.01h Default Value is 0x380+$NODEID
Index 1803.01h Default Value is 0x480+$NODEID
0x1A00 ~ 0x1A03 TPDO mapping parameter
Contains the mapping for the PDOs the device is able to transmit. The type of the PDO
mapping
parameter (21h) is described in 9.5.4 of CiA 301. A detailed description of the entries is
done in the section for the Receive PDO Mapping Parameter (1600h – 1603h).
Object Type
Sub Number
Record
9
Name
Data Type
Access Type
PDO
Mapping
COS
00
Number of
mapped objects
UNSIGNED8
rw
no
no
1
01
mapped object 1
UNSIGNED32
rw
no
no
0x60410010
02
mapped object 2
UNSIGNED32
rw
no
no
0x00000000
03
mapped object 3
UNSIGNED32
rw
no
no
0x00000000
04
mapped object 4
UNSIGNED32
rw
no
no
0x00000000
05
mapped object 5
UNSIGNED32
rw
no
no
0x00000000
06
mapped object 6
UNSIGNED32
rw
no
no
0x00000000
07
mapped object 7
UNSIGNED32
rw
no
no
0x00000000
08
mapped object 8
UNSIGNED32
rw
no
no
0x00000000
Subindex
Default value
0x1A00 - 0x1A03 TPDO mapping parameter. (To change mapping, ‘Number of mapped
objects’ must be set to 0).
Number of mapped objects
mapped object (subindex 1...8)
bit 0-7: bit 8-15: bit 16-31: data length in bits
subindex from OD
index from OD
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0x1F80 NMT startup (Not implemented)
The object set the NMT status when the device powerup.
Object Type
Var
Data Type
UNSIGNED32
Access Type
PDO Mapping
rw
no
COS
Default value
no
0x00000000
bit 0: 0(1) - device is not (is) NMT master
bit 1: 0(1) - if bit3=0, start explicitly assigned (all) nodes
bit 2: 0(1) - automaticaly enter (DO NOT automaticaly enter) the operational state on
bootup
bit 3: 0(1) - NMT master may (may not) start nodes automatically
bit 4: 0(1) - if monitored node fails heartbeat handle that (all) node(s)
bit 5: 0(1) - flying master process not (yes) supported
bit 6: 0(1) - use bit 4 (ignore bit 4, stop all nodes)
bit 7-31: reserved, set to 0
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Manufacturer Specific Objects
The object describe this section is manufacturer specific by AMA to config or monitor the
AMA CANopen driver.
0x2014~0x2017 PDOx_transmit_mask
The “TPDO detects COS” (means “on change data”) transmit event for PDOs can be
mask off by these indexs. By default, all data in a PDO is considered when checking for
change.
Each Index has 2 sub-indexes, sub-index 1 is used to mask (or reveal) bits in the lower
32bits (4bytes) of data. Sub-index 2 is the same for the upper 32bits.
Object Type
Array
Subindex
Sub Number
3
Data Type
PDO
Mapping
Access Type
UNSIGNED32
rw
Name
no
COS
Default value
no
0
Default value
00
max sub-index
2
01
PDOx_mask_LowerBytes
0xFFFFFFFF
02
PDOx_mask_upperBytes
0xFFFFFFFF
PDOx_mask_LowerBytes
bit0-31: mask off the lower 4 bytes of a TPDO when the data is “on change”
PDOx_mask_upperBytes
bit0-31: mask off the upper 4 bytes of a TPDO when the data is “on change”
0x2100 Error status bits
Error Status Bits indicates error conditions inside stack or inside application.
Object Type
Var
Access
Type
Data Type
OCTET_STRING
ro
PDO
Mapping
optional
COS
no
Default value
00 00 00 00 00 00 00 00 00 00
Default error status bits are:
Communication or protocol errors from driver (informative):
00 - ERROR_NO_ERROR - Error Reset or No Error.
01 - ERROR_CAN_BUS_WARNING - CAN bus warning.
02 - ERROR_RXMSG_WRONG_LENGTH - Wrong data length of received CAN message.
03 - ERROR_RXMSG_OVERFLOW - Previous received CAN message wasn’t processed yet.
04 - ERROR_RPDO_WRONG_LENGTH - Wrong data length of received PDO.
05 - ERROR_RPDO_OVERFLOW - Previous received PDO wasn’t processed yet.
06 - ERROR_CAN_RX_BUS_PASSIVE - CAN receive bus is passive.
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07 - ERROR_CAN_TX_BUS_PASSIVE - CAN transmit bus is passive.
Communication or protocol errors from driver (critical):
08 - ERROR_08_reserved - (reserved)
09 - ERROR_09_reserved - (reserved)
0A - ERROR_CAN_TX_BUS_OFF - CAN transmit bus is off.
0B - ERROR_CAN_RXB_OVERFLOW - CAN module receive buffer has overflowed.
0C - ERROR_CAN_TX_OVERFLOW - CAN transmit buffer has overflowed.
0D - ERROR_TPDO_OUTSIDE_WINDOW - TPDO is outside SYNC window.
0E - ERROR_CAN_CONFIGURATION_FAILED - Configuration of CAN module CAN
failed (Rx or Tx).
0F - ERROR_0F_reserved - (reserved)
Communication or protocol errors (informative):
10 - ERROR_NMT_WRONG_COMMAND - Wrong NMT command received.
11 - ERROR_SYNC_EARLY - SYNC message was too early.
12 - ERROR_12_reserved - (reserved)
13 - ERROR_13_reserved - (reserved)
14 - ERROR_14_reserved - (reserved)
15 - ERROR_15_reserved - (reserved)
16 - ERROR_16_reserved - (reserved)
17 - ERROR_17_reserved - (reserved)
Communication or protocol errors (critical):
18 - ERROR_SYNC_TIME_OUT - SYNC message timeout.
19 - ERROR_SYNC_LENGTH - Unexpected SYNC data length
1A - ERROR_PDO_WRONG_MAPPING - Error with PDO mapping.
1B - ERROR_HEARTBEAT_CONSUMER - Heartbeat consumer timeout.
1C - ERROR_HEARTBEAT_CONSUMER_REMOTE_RESET - Heartbeat consumer
detected remote node reset.
1D - ERROR_1D_reserved - (reserved)
1E - ERROR_1E_reserved - (reserved)
1F - ERROR_1F_reserved - (reserved)
Generic errors (informative):
20 - ERROR_20_reserved - (reserved)
21 - ERROR_21_reserved - (reserved)
22 - ERROR_22_reserved - (reserved)
23 - ERROR_23_reserved - (reserved)
24 - ERROR_24_reserved - (reserved)
25 - ERROR_25_reserved - (reserved)
26 - ERROR_26_reserved - (reserved)
27 - ERROR_27_reserved - (reserved)
Generic errors (critical):
28 - ERROR_WRONG_ERROR_REPORT - Wrong parameters to <CO_errorReport()>
function.
29 - ERROR_ISR_TIMER_OVERFLOW - Timer task has overflowed.
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2A - ERROR_MEMORY_ALLOCATION_ERROR - Unable to allocate memory for objects.
2B - ERROR_GENERIC_ERROR - Generic error, test usage.
2C - ERROR_MAIN_TIMER_OVERFLOW - Mainline function exceeded maximum
execution time.
2D - ERROR_INTERNAL_STATE_APPL - Error in application software internal state.
2E - ERROR_2E_reserved - (reserved)
2F - ERROR_2F_reserved - (reserved)
0x2101 CAN node ID
The object allows the user to set the CAN Node ID of the Node, the change takes effect at
next power cycle.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED8
rw
no
no
3
This object can not be stored in non- volatile memory at this moment.
0x2102 CAN bit rate
The object allows the user to set the CAN bit rate of the Node, the change takes effect at
next power cycle.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
This object can not be stored in non- volatile memory at this moment.
0x2103 SYNC counter
The object contains the counts of the SYNC message transmits/receives.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
SYNC Counter is incremented each time, SYNC message is received or transmitted.
0x2104 SYNC time
Contains the time information between every adjacent two SYNC message.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
ro
no
no
0
SYNC Time is incremented each timer period and reset to zero, each time SYNC is
received or transmitted.
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0x3000 switch value (for factory use only)
The object contains the rotary switch, such as NodeID and BitRate switchs setting
information if it has. (there is no those switches in IP65 compatibles CANopen driver )
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
ro
no
no
0
0x4000 UserRegisters
This object provide user 23 general purpose registers. They are volatile, so the information
sent there will not be saved after a power cycle.
Object Type
Sub Number
Data Type
Array
24
INTEGER32
Subindex
Name
Default value
0x00
max sub-index
23
0x01
userRegister1
0
0x02
userRegister2
0
0x03
userRegister3
0
0x04
userRegister4
0
0x05
userRegister5
0
0x06
userRegister6
0
0x07
userRegister7
0
0x08
userRegister8
0
0x09
userRegister9
0
0x0A
userRegister10
0
0x0B
userRegister11
0
0x0C
userRegister12
0
0x0D
userRegister13
0
0x0E
userRegister14
0
0x0F
userRegister15
0
0x10
userRegister16
0
0x11
userRegister17
0
0x12
userRegister18
0
0x13
userRegister19
0
0x14
userRegister20
0
0x15
userRegister21
0
0x16
userRegister22
0
0x17
userRegister23
0
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Access Type PDO Mapping
rw
42
yes
COS
Default value
no
0
CANopen User Manual
0x5000 PositionGain_Tuning
This object shall configure the proportional Gain in Position loop to step-servo drive. This
object is only available on step-servo driver.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
0x5001 PositionDeriGain_Tuning
This object shall configure the Derivative Gain in Position loop to step-servo drive. This
object is only available on step-servo driver.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
0x5002 PositionDeriFilter_Tuning
This object provides a very simple single-pole low pass filter that is used to limit this high
frequency noise and make the system quieter and more stable.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
0x5003 VelocityGain_Tuning
This object shall configure the proportional Gain in Velocity loop to step-servo drive. This
object is only available on step-servo driver.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
0x5004 VelocityIntegGain_Tuning
This object shall configure the Integral Gain in Velocity loop to step-servo drive. This
object is only available on step-servo driver.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
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0x5005 AccFeedForward_Tuning
This object shall configure to add a feed forward acceleration/deceleration to the torque
command to faster the system’s response. This object is only available on step-servo driver.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
0x5006 PIDFilter_Tuning
This object provide a torque command over-all filter at the end of Velocity loop. The filter
is a very simple single-pole low pass filter that is used to limit the high frequency response of
the Velocity and therefore the Position control loops. This object is only available on step-servo
driver.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
0x5007~0x500E NotchFilterx_Tuning3
These eight objects shall configure the NotchFilter parameters in torque mode. This object
is only available on step-servo driver.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER16
rw
no
no
0
*Note3: x should be from A to H
0x500F PositionError
This object shall indicate the configured range of tolerated position values symmetrically
to the position demand value. If the position actual value is out of the following error window, a
following error (Position Limit) occurs.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
This object is the same functional with standard object which index is 0x6065.
0x5010 Velocity_MAX
This object shall configure the max velocity can be allowed in the driver. This value have
no effect in Profile Position Mode.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
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0x5011 SmoothFilter
This object provides a filter to change in the position command to cause a smoother
movement of the motor.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
Please note that a lower filter value will result in much smoother motion but will cause a
lag in response.
0x5012 Driver_Temperature
This object contains the information of driver’s temperature.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER16
ro
no
no
0
The unit of this object is 0.1 centigrade.
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Device Profile
The objects described in this section are parameters for all those motion profile, such as
profile position mode, profile velocity mode and also Homing mode.
0x603F DSP Error Code
The DSP error code captures the DSP alarm code of the last error that occurred in the drive.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
ro
yes
no
0
Each bit in DSP Error code indicate one type alarm or faults status.
(see the detail described in Appendix C)
0x6040 ControlWord
This object is used to controls the state and motion control of the drive. It can be used to
enable / disable the driver power output, start, and abort moves in all operating modes, and
clear fault conditions.
The bits of the controlword are defined as follows:
LSB
15
MSB
11
10
9
8
7
6
4
3
Manufacturer
Specific
Reserved
Halt
Fault
Reset
Operation
Mode
Specific
Enable
Operation
O
O
O
M
O
M
2
1
Quick
Stop
M
0
Enable
Voltage
Switch
On
M
M
Table 12: Controlword Data Description
Command
Bit of Controlword(6040h)
Fault
Reset
(Bit7)
Enable
Operation
(Bit 3)
Quick
Stop
(Bit 2)
Enable
Voltage
(Bit 1)
Switch On
(Bit 0)
Shutdown
0
×
1
1
0
Switch On
0
0
1
1
1
Switch On
0
1
1
1
1
Disable Voltage
0
×
×
0
×
Quick Stop
0
×
0
1
×
Disable Operation
0
0
1
1
1
Enable Operation
0
1
1
1
1
×
×
×
×
Fault Reset
Table 13: Device Control Command Bit Patterns (Bits 0-3 and 7)
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Here is the Command Structure.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
wo
yes
yes
0
0x6041 StatusWord
The read only object “statusword” indicates the current status of the drive, and it’s bit
mapped as following:
MSB
Bit
15
Bit
14
Bit
13
Bit
12
Bit
11
LSB
Bit
10
Bit
9
Bit
8
Bit
7
Bit
6
Bit
5
High-Byte
Bit
4
Bit
3
Bit
2
Bit
1
Bit
0
L-Byte
Bit
Name
Mandatory
0
Ready to Switch On
√
1
Switch On
√
2
Operation Enabled
√
3
Fault
√
4
Voltage Disabled
√
5
Quick Stop
√
6
Switch On Disabled
√
7
Warming
8
Manufacturer Specific
9
Remote
√
10
Target Reached
√
11
Internal Limit Active
√
12
Operation Mode Specific
13
Operation Mode Specific
14
Manufacturer Specific
15
Manufacturer Specific
Table 14: Bits in the statusword
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The following bits indicate the status of the device:
State
Bit 6
Switch On
Disable
Bit 5
Quick
Stop
Bit 3
Fault
Bit 2
Operation
Enabled
Bit 1
Switch
On
Bit 0
Ready to
Switch On
Not Ready
to Switch On
0
X
0
0
0
0
Switch On
Disabled
1
X
0
0
0
0
Ready to
Switch On
0
1
0
0
0
1
Switched On
0
1
0
0
1
1
Operation
Enabled
0
1
0
1
1
1
Fault
0
X
1
1
1
1
Fault
Reaction
Active
0
X
1
1
1
1
Quick Stop
Active
0
0
0
1
1
1
Table 15: Device State Bits
Bits marked × are irrelevant for the state. Other bit combinations are not allowed
Bit 9: Remote
If bit 9 is set, then parameters may be modified via the CAN-network, and the drive
executes the content of a command message. If the bit remote is reset, then the drive is in
local mode and will not execute the command message. The drive may transmit messages
containing valid actual values like a position_actual_value, depending on the actual drive
configuration. The drive will accept accesses via service data objects (SDOs) in local mode.
Bit 10: Target Reached
If bit 10 is set by the drive, then a setpoint has been reached (torque, speed or position
depending on the modes_of_operation). The change of a target value by software alters this
bit. If quickstop_option_code is 5, 6, 7 or 8, this bit must be set, when the quick stop operation
is finished and the drive is halted. If Halt occured and the drive has halted then this bit is set
too.
Bit 11: Internal Limit Active
This bit set by the drive indicates, that an internal limitation is active (e.g. position_range_
limit).
Here is the Command Structure.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
ro
yes
yes
0
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Global Control Word and Status Word
Byte
#
Bit
#
Control Word
Homing
Position
Velocity
Status Word
Torque
Q
Homing
Position
Velocity
15
13
Reserved
12
11
Following
Error
Reserved
Reserved
Reserved
Homing
Attained
Set Point
Ack
Speed
Reserved
Reserved
Target Reached
Reserved
Change of
Set Point
Reserved
Reserved
Reserved
Remote
8
Halt
Reserved
7
Fault Reset
Warming
6
2
Homing
Error
Internal Limit Active
10
9
Q
Reserved
14
1
Torque
Reserved
Abs/Rel
5
Reserved
Change
Set Point
Immediately
4
Homing
Operation
Start
New Set
Point
Reserved
Reserved
Reserved
Switch On Disabled
Reserved
Reserved
Reserved
Quick Stop
Reserved
Reserved
Q
Program
Start
Voltage Enabled
3
Enable Operation
Fault
2
Quick Stop
Operation Enabled
1
Enable Voltage
Switch On
0
Switch On
Ready to Switch On
The above table shows that all the bits of “control word and status word” mapped in every
operation mode.
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0x605A Quick_stop_option_code
The parameter quick_stop_option_code determines what action should be taken if the
Quick Stop Function is executed.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER16
rw
No
no
0
quick_stop_option_code
Action
-32768…-1
Manufacturer Specific
0
Disable drive function
1
Slow down on slow down ramp
2
Slow down on quick stop ramp
3
Slow down on the current limit
4
Slow down on the voltage limit
5
Slow down on slow down ramp and stay in Quick-Stop
6
Slow down on quick stop ramp and stay in Quick-Stop
7
Slow down on the current limit and stay in Quick-Stop
8
Slow down on the voltage limit and stay in Quick-Stop
9…32767
reserved
It is only supported of option code 1 and 2 feature at this moment.
0x6060 Modes_of_operation
The parameter modes_of_operation switches the actually chosen operation-mode.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER8
wo
yes
no
0
Mode of Operation
-2
-1
1
3
4
6
Action
SYNC Q Mode (manufacturer specific)
Normal Q Mode (manufacturer specific)
Profile Position Mode
Profile Velocity Mode
Torque Profile Mode (Servo only)
Homing Mode
-1: Normal Q mode (manufacturer specific mode)
-2: SYNC Q mode (manufacturer specific mode)
Velocity Mode and Interpolated Position Mode are not supported in this CANopen driver.
Also the Torque profile Mode is only supported for Servo( or Step Servo) CANopen driver.
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0x6061 Modes_of_operation_display
The modes_of_operation_display shows the current mode of operation. The meaning of
the returned value corresponds to that of the Modes of Operation option code (index 6060h)
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER8
ro
yes
yes
0
This value of operation mode display indicates the current mode of operation.
0x6064 Position_value_calaculated
This object represents the calculate value of the position at current moment in user
defined units.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER32
ro
yes
yes
0
0x6065 following_error_window
This object shall indicate the configured range of tolerated position values symmetrically
to the position demand value. If the position actual value is out of the following error window,
a following error (Position Limit) occurs. A following error may occur when a drive is blocked,
unreachable profile velocity occurs(Jog mode should be Mode 1), or at wrong closed-loop
coefficients. The value shall be given in user defined position units. If the value of the following
error window is 0, the following control shall be switched off.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED32
rw
no
No
0
This object is the same functional with Manufacture specific object which index is 0x500F.
0x606C Velocity_value_calaculated
This object represents the calculate value of the velocity at current moment in user defined
units.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER32
ro
yes
yes
0
The value reading from driver should be divided 240 to change to rps unit.
e.g.:
the reading value of index 0x606c is 2400, means the calculated velocity is 10rps.
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0x6071 target_torque
This parameter is the input value for the torque controller in Profile Torque Mode. This
object only can be accessed in Servo (or Step Servo) driver.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER16
rw
yes
no
0
This object parameters is related to the other torque values, such as torque_slope (index
0x6078) and torque_constant (index 0x7005). Please see the detail described in Appendix G in
this document.
0x6073 max_current
This object shall configure the max current can be reached value of the driver.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
yes
no
0
The unit of this object is 0.01Amps.
0x6074 torque_demand_value
This parameter is the output value of the torque limit function (if available within the torque
control and power-stage function).
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
yes
no
0
This object is only available on servo/step-servo drivers.
The unit of this object is mNm.
0x6078 current_actual_value
The current actual value refers to the instantaneous current in the drive motor.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER16
rw
yes
no
0
This object is only available on servo/step-servo drivers.
The unit of this object is 0.01Amps.
0x607A target_position
The Target Position is the position that the drive should move to in position profile mode
using parameters such as velocity, acceleration, and deceleration. The target position is given
in terms of Electrical Gear parameters steps per motor shaft revolution. The target position
will be interpreted as absolute or relative depending on the absolute relative flag (bit 6) in the
controlword.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER32
rw
yes
no
0
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0x607C home_offset
The home_offset object is the difference between the zero position for the application and
the machine home position (found during homing). During homing the home position is found
and once the homing is completed the zero position is offset from the home position by adding
the home_offest to the home position. All subsequent absolute moves shall be taken relative to
this new zero position. This is illustrated in the following diagram.
Home
Position
Home_Offset
Zero
Position
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER32
rw
yes
No
0
0x607E polarity
This object contains two individual bits to set the polarity of position and velocity in their
own mode. The bit7 (position polarity bit) indicates the position demand value (related to the
target_postition object whose index is 0x607A) shall be multiplied by 1 of by –1. The polarity
flag shall have no influence to the homing mode. And the bit6 (velocity polarity bit) indicates
the velocity demand value (related to the profile velocity whose index is 0x60FF) shall be
multiplied by 1 or -1.
Bit
Meaning
7
Position polarity
0=> multiply by 1(default)
1=> multiply by -1
6
Velocity polarity
0=> multiply by 1(default)
1=> multiply by -1
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED8
rw
yes
No
0
The position polarity bit shall be used only for profile position (pp) mode. The velocity
polarity bit shall be used only for profile velocity (pv) mode.
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0x607F max_profile_speed
This object configures the maximum speed allowed in either direction in a move profile.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED32
rw
yes
No
0
This object is given the same unit as the objects velocity_value_calculated (index 0x606C)
and profile_velocity (0x60FF).
0x6081 P2P_profile_velocity
This object shall configure the velocity normally attained at the end of the acceleration
ramp during a profiled move and is valid for both directions of motion. This objects set the
velocity value except the velocity parameter in Profile velocity mode (pv).
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED32
rw
yes
No
0
This object is given the same unit as the objects velocity_value_calculated (index 0x606C)
and profile_velocity (0x60FF).
0x6083 profile_acceleration
This object shall configure the acceleration ramp in a profiled move.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED32
rw
yes
No
0
The value transmit to (or reading from) driver should be multiply 6 (divided to 6) to change
to rps/s unit.
e.g.:
Set the acceleration as 100 rps/s. the value transmit to driver should be 600.
0x6084 profile_deceleration
This object shall configure the deceleration ramp in a profiled move.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED32
rw
yes
No
0
The value transmit to (or reading from) driver should be multiply 6 (divided to 6) to change to
rps/s unit.
e.g.:
Set the deceleration as 100 rps/s. the value transmit to driver should be 600.
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0x6085 quick_stop_deceleration
This object shall configure deceleration used to stop the motor when the quick stop
function is activated and the quick stop code object (605Ah) is set to 2.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED32
rw
yes
No
0
The value transmit to (or reading from) driver should be multiply 6 (divided to 6) to change
to rps/s unit.
e.g.:
Set the quick_stop_deceleration as 1000 rps/s. the value transmit to driver should be
6000.
0x6087 torque_slop
This parameter describes the rate of change of torque in units of per thousand of rated
torque per second. The units should be Nm/s.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED32
rw
yes
No
0
0x6098 homing_method
This object determines the method that will be used during homing.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER8
rw
yes
No
0
Please see the detail described in Appendix F in this document.
0x6099 homing_speed
This object determines the speeds that will be used during homing.
There is two parts to define those speeds.
Sub-index 1 to set the speed to search home switch.
Sub-index 2 to set the speed to search zero position.
Object Type
Sub Number
Data Type
Access Type
PDO
Mapping
COS
Default value
Array
3
UNSIGNED32
rw
yes
no
0
Subindex
Name
Default value
00
max sub-index
2
01
speed_during_search_for_switch
0
02
speed_during_search_for_zero
0
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0x609A homing_acceleration
This object establishes the acceleration to be used for all accelerations and decelerations
with the standard homing modes.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED32
rw
yes
No
0
The value units should be the same as profile_acceleration/deceleration objects.
0x60FE digital_outputs
This object configures or monitors the digital outputs for drivers.
Object Type
Sub Number
Record
2
Subindex
Name
Data Type
Access
Type
PDO
Mapping
COS
Default
value
00
max sub-index
UNSIGNED8
ro
no
no
2
01
physical_outputs
UNSIGNED32
rw
yes
no
0
Bit0-bit3: maximum 4 outputs for drivers.
Bit0: output 1
Bit1: output 2
Bit2: output 3
Bit3: output 4
Bit4-31: reserved.
0x60FF profile_velocity
This object configures the velocity parameters in Profile Velocity Mode.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER32
rw
yes
no
0
This object is given the same unit as the objects velocity_value_calculated (index
0x606C).
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0x6502 supported_drive_modes
This object shall provide information on the supported drive modes.
Bit number
Description
0
Profile Position Mode
1
Velocity Mode
2
Profile Velocity Mode
3
Profile Torque Mode
4
reserved
5
Homing Mode
6
Interpolated Position Mode
7
reserved
8
reserved
9
reserved
10…15
reserved
16…31
Manufacturer sepcific
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED32
ro
no
no
0
The supported mode in Moons’ CANopen driver:
Bit0: Profile Position Mode
Bit2: Profile Velocity Mode
Bit3: Profile Torque Mode (Servo/ Step-Servo only)
Bit5; Homing Mode
0x7001 home_switch
This object shall configure the number of Inputs as the Home switch in Homing.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED8
rw
yes
no
3
0x7002 idle_current
This object configures/monitors the motor holding current of the device in idle mode.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
yes
no
3
The units of this object is current in Amps multiply 100.
e.g.:
if the reading value of this object from the drive is 210, it means the idle current at this
moment is 2.1Amps.
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0x7003 drive_inputs
This object contains the information of driver’s digital inputs.
Object Type
Var
Data Type
UNSIGNED16
Access Type
rw
PDO Mapping
yes
COS
yes
Bit0: input 1 Bit1: input 2 Bit2: input 3
Bit3: input 4
Bit4: input 5 Bit5: input 6 Bit6: input 7
Bit7: input 8
Default value
0
Bit8-15: reserved
0x7005 torque_Constant
This object shall configure the motor’s torque constant in manufacturer specific units. The
units should be mNm/Amps.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
yes
0
This object only supported in servo/step-servo drives.
0x7006 DSP_clearAlarm
This object provides the feature to clear alarm of the drives.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED8
wo
no
no
0
Set this value to 01h can clear alarm of the drive
0x7007 QSegment.
This object shall configure the number of Q Segment will be executed in Q mode.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED8
rw
yes
no
0
0x7009 velocity_actual_value
This object shall provide the actual velocity value derived from position sensor (which is
encoder here)
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
ro
yes
yes
0
This object is given the same unit as the objects velocity_value_calculated (index 0x606C) and
profile_velocity (0x60FF).
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0x700A position_actual_value
This object represents the actual value of the position measured by the position sensor.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
INTEGER32
ro
yes
yes
0
0x700B DSP_statuscode
This object represents the current status code of the driver.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
ro
yes
yes
0
Please see the detail described in Table 18 in Appendix C of this document.
0x700C zero_Position
This object provides the feature to zero all position parameters, such as position_actual_
value (which index is 0x700A).
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED8
wo
no
no
0
Set this value to 01h can zero all position parameters.
0x700D Acceleration_Current
This object shall configure the current of driver during in acceleration state.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
rw
no
no
0
This object only available on STM-CANopen drivers.
It is given the same units as the objects max_current and idle_current whose value should
be divided by 100.
0x700E Analog_Input1
This object contains the information of Analog input value as manufacturer specific units.
Object Type
Data Type
Access Type
PDO Mapping
COS
Default value
Var
UNSIGNED16
ro
yes
no
0
The value reading from the driver of index 0x700E should be divided by 10 to unit Volts.
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Appendix B - Parameter Unit Scaling
The table below shows conversions from physical units to internal drive units. Use this
table to scale param­eters before they are sent to the drive. Units must be rounded to the nearest whole number and represented in hexadecimal. Negative numbers should be expressed
using two’s complement notation.
Parameter Type
Multiplier
Current
0.01
Units
A
Velocity
0.0042
rps
Acceleration
0.1667
rps/s
Distance
1
step
Table 16: Parameter Scaling Chart
Querying the Point to Point Profile Acceleration from the drive:
An SDO read from OD 6083h returns a value of 226h, or 550 decimal. Using the acceleration multiplier this yields an acceleration of 91.685 rps/s.
550 * 0.1667 RPS = 91.685 rps/s
Set the Point to Point Acceleration to 10 rps:
When setting a known rps, divide the rps by the acceleration multiplier to obtain the hexadecimal number.
10 rps / 0.1667 = 59.988
Using the formula above, and rounding to the nearest whole number, results in a value of
60 decimal, or 3Ch to send as an SDO Write to OD 6083h.
Set the Target Position to -2000 steps:
Because the relationship between physical steps and internal steps is one-to-one, the
value -2000 can be sent to OD 607Ah. Sending a negative number must be done in two’s
complement notation. To find the two’s complement, subtract the value 2000 from 232, since the
Target Position is a 32 bit number.
232 - 2000 = 4,294,965,296 = FFFFF830h
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Appendix C - Response Codes
Hex Value
SV/SVAC
SSM/TSM/TXM/SS
MSST/MSSTAC
0001
Position Limit
0002
CCW Limit
0004
CW Limit
0008
Over Temp
0010
Internal Voltage
Internal Voltage
Under Voltage
Under Voltage
0020
0040
Under Voltage
Under Voltage
Over Current
Bad Hall Sensor
0200
Open Motor Winding
Not Used
Bad Encoder
0400
Comm Error
0800
Bad Flash
1000
Internal Voltage
Over Voltage
0080
0100
Internal Voltage
STM/SWM
Wizard Failed
2000
No Move
Current Foldback
Not Used
4000
Not Used
Blank Q Segment
8000
No Move
Not Used
Note: Items in bold italic represent Drive Faults, which automatically disable the motor. Use the OF command
in a Q Program to branch on a Drive Fault.
Table 17: Object 603Fh CiA 402 Error Codes
Hex Value
Status Code Bit Definition
0001
Motor Enabled - motor disabled is this bit = 0
0002
Sampling - for Quick Tuner
0004
Drive Fault - check alarm code
0008
In Position - motor is in position
0010
Moving - motor is moving
0020
Jogging - currently in jog mode
0040
Stopping - in the process of stopping from a stop command
0080
Waiting - for an input
0100
Saving - parameter data is being saved
0200
Alarm present - check alarm code
0400
Homing - executing an SH command
0800
Wait Time - executing a WT command
1000
Wizard running - timing wizard is running
2000
Checking encoder - timing wizard is running
4000
Q Program is running
8000
Initializing
Table 18: Object 700Bh DSP Status Codes
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Appendix D - Profile Position Mode
General Mode Description
Profile Position Mode is a point-to-point operating mode using set-points which consist of velocity,
acceleration, deceleration, and target position. Once all these parameters have been set, the drive buffers the commands and begins executing the set-point. When using a set of set-points method, a new
set-point can be sent to the drive while a previously sent set-point is still executing.
Enable Profile Position Mode
To enable the Profile Position Mode, the value 0001h must be written to the mode of operation
OD entry, located at dictionary address 6060h. The mode of operation can be verified using OD 6061h mode of operation display - which is updated when the current operation mode is accepted.
Set Running Parameters
Set the distance, velocity, acceleration, and deceleration using OD entries 607Ah, 6081h, 6083h,
and 6084h respectively.
Starting/Stopping Motion
After power up or node reset, the drive is in disabled state. The value 0006h must be written to the
control word OD entry, located at dictionary address 6040h. This will put the drive into “ready to switch
on” state and is ready to enable drive operation. If the value 0006h is not written to the control word first,
the drive operation can not be enabled.
To indicate a new set-point and start motion, toggle bit 4 by sending 001Fh to controlword OD
entry 6040h.
To enable drive operation, the value 001Fh must be written to the controlword OD entry, located at
dictionary address 6040h. This will also signal that there is a new set-point ready. The drive acknowledges the receipt of a valid set-point using bit 12 of the statusword at OD 6041h. Because the set-point
is edge-triggered, once the drive receives and processes the set-point, the new set-point of the controlword must be cleared by writing 000Fh to the controlword register.
While the drive is acting on a set-point, a new set-point may be entered and triggered using the
new set-point. The second set-point will be received as soon as it is processed, or at the end of the
previous set-point, which ever is later.
Controlword Bits
New Set-point (bit 4) - set this bit high to clock in a new set-point. Once the drive has accepted the
set-point, it will respond by setting statusword bit 12 high. Controlword bit 4 should then be taken low.
Change of Set-point (bit 9) - if this bit is low, the previous set-point will be completed and the motor will come to rest before a new set-point is processed. If bit 9 is high, the motor will continue at the
speed commanded by the previous set-point until it has reached the position commanded by the previous set-point, then transition to the speed of the new set-point.
Change Set-point Immediately (bit 5) - if this bit is high, the new set-point will take effect immediately. The motor speed will transition to the speed and position commanded by the new set-point.
Abs/rel (bit 6) - if this bit is high, the set-point distance is relative. For example, if the previous
motor position was 10,000 steps and a new set-point is issued with a distance of 20,000, the final
position will be 30,000. If bit 6 is low, the distance is absolute. If the previous motor position was 10,000
and a new set-point is issued with a distance of 20,000, the new position will be 20,000. (The distance
travelled from the previous position to the new position will be 10,000 steps.) For best results, do not
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change this bit while the motor is moving.
Note: Two set-points can be set up, but if status bit 12 is high, then the buffer is full and another
set-point will be ignored.
For more information: See CiA 402 - 2, Profile Position Mode
PROFILE POSITION MODE, Single Set Point
Actual
Speed
0
t
New Set Point
Ready Bit(4)
0
Set Point
Ack Bit(12)
t
0
t
Target Reached
Bit(10)
0
t
A
B
C
D
E
Figure 12: Single Set-Point
Graph
Point
New Set-Point
Set-Point
Target Reached
Ready Bit
Acknowledge Bit
Bit
What’s Going On
Start
0
0
0
Drive waiting for set-point
A
0 -> 1
0
0
User tells drive a set-point is ready
B
1
0 -> 1
0
Drive acknowledges set-point, starts
executing set-point
C
1 -> 0
1
0
User pulls new set-point ready bit low
D
0
1 -> 0
0
Drive pulls set-point ack bit low, indicating ready to receive another set-point
E
0
0
1
The set-point is finished, and the Target
Reached bit is set
Table 19: Single Set-Point Profile Position Move
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PROFILE POSITION MODE, Set of Set Points
Actual
Speed
0
t
New Set Point
Ready Bit(4)
0
Set Point
Ack Bit(12)
t
0
t
Target Reached
Bit(10)
0
t
A
B
C
D
E
F
G
H
I
Figure 13: Multiple Set-Points, Stopping Between Moves
In this example, controlword bits 9 (Change of Set-point) and 5 (Change Set Immediately) are 0. The motor
comes to rest between moves.
Graph
Point
New Set-Point
Set-Point
Target Reached
Ready Bit
Acknowledge Bit
Bit
What’s Going On
Start
0
0
0
Drive waiting for set-point
A
0 -> 1
0
0
User tells drive a set-point is ready
B
1
0 -> 1
0
Drive acknowledges set-point, starts
executing set-point
C
1 -> 0
1
0
User pulls new set-point ready bit low
D
0
1 -> 0
0
Drive pulls set-point ack bit low, indicating ready to receive another set-point
E
0 -> 1
0
0
User tells drive another set-point is ready
F
1
0 -> 1
0
Drive acknowledges set-point, buffers it
as another set-point is still in progress
G
1 -> 0
1
0
User pulls new set-point ready bit low
H
0
1 -> 0
0
Drive pulls set-point ack bit low, starts
executing new set-point as soon as old
one is finished
I
0
0
1
The set-point is finished, no set-points in
buffer, so Target Reached bit is set
Table 20: Multiple Set-Point Profile Position Move with Stopping Between Moves
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PROFILE POSITION MODE, Set of Set Points
Actual
Speed
0
t
New Set Point
Ready Bit(4)
0
Set Point
Ack Bit(12)
t
0
t
Target Reached
Bit(10)
0
t
A
B
C
D
E
F
G
H
Figure 14: Multiple Set-Points, Continuous Motion
I
In this example, controlword bit 9 (Change of Set-point) is 1 and controlword bit 5 (Change Set Immediately) is
0. The motor continues at the speed of the first set-point until is reaches the distance of the first set-point, then
changes to the new set-point speed. The motion is continuous.
Graph
Point
New Set-Point
Set-Point
Target Reached
Ready Bit
Acknowledge Bit
Bit
What’s Going On
Start
0
0
0
Drive waiting for set-point
A
0 -> 1
0
0
User tells drive a set-point is ready
B
1
0 -> 1
0
Drive acknowledges set-point, starts
executing set-point
C
1 -> 0
1
0
User pulls new set-point ready bit low
D
0
1 -> 0
0
Drive pulls set point ack bit low, indicating ready to receive another set-point
E
0 -> 1
0
0
User tells drive another set-point is ready
F
1
0 -> 1
0
Drive acknowledges set-point, buffers it,
as another set-point is still in progress
G
1 -> 0
1
0
User pulls new set-point ready bit low
H
0
1 -> 0
0
Drive pulls set-point ack bit low, starts
executing new set-point as soon as the
old one is finished
I
0
0
1
The set-point is finished, no set-points in
buffer, so Target Reached bit is set
Table 21: Multiple Set-Point Profile Position Move with Continuous Motion
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PROFILE POSITION MODE, Set of Set Points
Actual
Speed
0
t
New Set Point
Ready Bit(4)
0
Set Point
Ack Bit(12)
t
0
t
Target Reached
Bit(10)
0
t
A
B
C
D
E
F
G
H
I
Figure 15: Multiple Set-Points, Immediate Change in Motion
In this example, controlword bit 9 (Change of Set-point) is 1 and controlword bit 5 (Change Set Immediately) is 1.
The motor immediately changes to the new set-point speed without completing the first set-point. The motion is
continuous.
Graph
Point
New Set Point
Set-Point
Target Reached
Ready Bit
Acknowledge Bit
Bit
What’s Going On
Start
0
0
0
Drive waiting for set-point
A
0 -> 1
0
0
User tells drive a set-point is ready
B
1
0 -> 1
0
Drive acknowledges set-point, starts
executing set-point
C
1 -> 0
1
0
User pulls new set-point ready bit low
D
0
1 -> 0
0
Drive pulls set point ack bit low, indicating ready to receive another set-point
E
0 -> 1
0
0
User tells drive another set-point is ready
F
1
0 -> 1
0
Drive acknowledges set-point, immediately executes it, beginning transition to
new set-point speed and position
G
1 -> 0
1
0
User pulls new set-point ready bit low
H
0
1 -> 0
0
Drive pulls set-point ack bit low
I
0
0
1
The set-point is finished, no set-points in
buffer, so Target Reached bit is set
Table 22: Multi-Set-Point Profile Position Move with Immediate Change in Motion
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Appendix E - Profile Velocity Mode
General Mode Description
Profile Velocity Mode is a relatively simple operating mode. Once the velocity, acceleration, and deceleration are set, the drive will either command the motor to accelerate to the
running velocity according to the acceleration parameter, or to halt movement according to the
deceleration parameter.
The figure below shows an example of Profile Velocity Mode. The top graph shows the
actual speed of the motor, the middle graph the target speed value, and the bottom graph the
halt bit in the controlword.
The table below explains how the halt bit and target velocity may be used together to affect motor speed. Between points B and C, the motor does not come to a complete stop, but
decelerates according to the profile deceleration value starting at point B. When the halt bit
transitions at point C, it accelerates immediately back to the target speed. At Point E, reducing
the target speed to zero has the same effect as enabling the halt bit, since the drive is commanding the motor to move at zero speed.
It should be noted that both enabling the halt bit and setting the target velocity to zero
keep torque applied to the motor. In order to allow the shaft to move freely, the NMT state must
be put in the Drive Disabled state.
Enable Profile Velocity Mode
To enable the profile velocity mode, the value 0003h must be written to the mode of
operation OD entry, located at dictionary address 6060h.
The mode of operation can be verified using OD 6061h - mode of operation display - which
is updated when the current operation mode is accepted.
Set Running Parameters
Set the velocity, acceleration, and deceleration using OD entries 60FFh, 6083h, and 6084h
respectively.
Enable Drive Operation
After power up or node reset, the drive is in disabled state. The value 0006h must be
written to the control word OD entry, located at dictionary address 6040h. This will put the drive
into “ready to switch on” state and is ready to enable drive operation. If the value 0006h is not
written to the control word first, the drive operation can not be enabled.
To enable drive operation, the value 010Fh must be written to the controlword OD entry,
located at dictionary address 6040h. This puts the drive into Operation Enabled state, with the
motion halted.
Starting/Stopping Motion
To start and stop motion, toggle the controlword halt bit (bit 8). When the halt bit is set to
0, motion will start or continue; when the halt bit is set to 1, motion will stop. The bit can be
toggled by writing 010Fh and 000Fh to controlword OD entry 6040h.
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Figure 16: Profile Velocity Mode
Graph Point
Target Speed
Halt Bit
Drive command to Motor
Start
0
1
Motor stopped
A
V1
1 -> 0
Motor accelerates to speed V1
B
V1
0 -> 1
Motor decelerates to stopped
C
V1
1 -> 0
Motor accelerates to V1
D
V1 -> V2
0
Motor accelerates from V1 to V2
E
V2 -> 0
0
Motor decelerates from V2 to 0
F
0
0 -> 1
Motor remains stopped
G
0 -> V1
1
Motor remains stopped
Table 23: Profile Velocity Mode Example
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Appendix F - Homing Methods
Set Running Parameters
Set the homing and index velocities, acceleration/deceleration, offset and home sensor (if
required) using OD entries 6099h, 609Ah, 607Ch, and 7001h respectively.
Note: It is important that the limit switch settings have been defined in ST Configurator or
Quick Tuner prior to using the CANopen Homing Mode.
Enable Homing Mode
To enable Homing Mode, the value 0006h must be written to the mode of operation OD entry,
located at dictionary address 6060h. The mode of operation can be verified using OD 6061h - mode
of operation display - which is updated when the current operation mode is accepted.
After power up or node reset, the drive is in disabled state. The value 0006h must be written
to the control word OD entry, located at dictionary address 6040h. This will put the drive into “ready
to switch on” state and is ready to enable drive operation. If the value 0006h is not written to the
control word first, the drive operation can not be enabled.
To put the drive into Operation Enabled Mode, write 000Fh to the controlword OD entry,
located at dictionary address 6040h.
Starting the Homing Procedure
Set the Homing Method required using OD entry 6098h. To start the homing procedure, bit 4
of the controlword OD entry located at dictionary address 6040h, must transition from 0 to 1. The
status of the homing procedure can be monitored using the statusword OD entry 6041h.
Homing Method Diagrams
Homing Method 1
Homes to the first index CCW after the CW limit switch is reached.
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Homing Method 2
Homes to the first index CW after the CCW limit switch is reached.
Homing Method 3
Homes to the first index CW after the positive home switch changes state; the initial direction of motion is dependent on the state of the home switch.
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Homing Method 4
Homes to the first index CCW after the positive home switch changes state; the initial
direction of motion is dependent on the state of the home switch.
Homing Method 5
Homes to the first index CCW after the negative home switch changes state; the initial
direction of motion is dependent on the state of the home switch.
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Homing Method 6
Homes to the first index CW after the negative home switch changes state; the initial direction of motion is dependent on the state of the home switch.
Homing Method 7
Starts moving CCW (or CW if the home switch is active), and homes to the first index CW
of the home switch transition.
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Homing Method 8
Starts moving CCW (or CW if the home switch is active), and homes to the first index
CCW of the home switch transition.
Homing Method 9
Starts moving CCW and homes to the first index CW of the home switch transition.
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Homing Method 10
Starts moving CCW and homes to the first index CCW of the home switch transition.
Homing Method 11
Starts moving CW (or CCW if the home switch is active), and homes to the first index
CCW of the home switch transition.
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Homing Method 12
Starts moving CW (or CCW if the home switch is active), and homes to the first index CW
of the home switch transition.
Homing Method 13
Starts moving CW and homes to the first index CCW of the home switch transition.
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Homing Method 14
Starts moving CW and homes to the first index CW of the home switch transition shown
above.
Homing Methods 15 and 16
Homing Methods 15 and 16 are reserved for future expansion.
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Homing Method 17
Homes to the CW limit switch.
Homing Method 18
Homes to the CCW limit switch.
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Homing Methods 19 and 20
Home to the home switch transition.
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Homing Methods 21 and 22
Home to the home switch transition.
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Homing Methods 23 and 24
Home to the home switch transition shown below, and “bounce off” the CCW limit, if required.
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Homing Methods 25 and 26
Home to the home switch transition shown below, and “bounce off” the CCW limit, if required.
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Homing Methods 27 and 28
Home to the home switch transition shown below, and “bounce off” the CW limit, if required.
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Homing Methods 29 and 30
Home to the home switch transition shown below, and “bounce off” the CW limit, if required.
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Homing Methods 31 and 32
Homing Methods 31 and 32 are reserved for future expansion.
Homing Method 33
Homes to the next index pulse CW from the current position. If the CW limit is hit, the drive
resets to the CCW limit, and continues searching for a limit in the CW direction.
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Homing Method 34
Homes to the next index pulse CCW from the current position. If the CCW limit is hit, the
drive resets to the CW limit, and continues searching for a limit in the CCW direction.
Homing Method 35
Takes the current position to be the home position; the Home Offset value is ignored, and
the motor does not move at all.
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Appendix G - Profile Torque Mode (Servo Only)
General Mode Description
Profile Torque mode is a servo-control torque operating mode. It requires knowledge of the
Torque Constant of the motor in Nm/A. This information can be found in the motor print.
Enable Profile Torque Mode
To enable Profile Torque Mode, the value 0004h must be written to the mode of operation
OD entry, located at dictionary address 6060h.
The mode of operation can be verified using OD 6061h - mode of operation display - which
is updated when the current operation mode is accepted.
Set Running Parameters
To operate in Profile Torque mode, the following parameters must be set:
Parameter
Name
Object Dictionary
Entry
Length (in
bytes)
Units
Description
Torque Constant
7005h
2
m • Nm
a
Motor paramter, found on the
motor print
Target Torque
6071h
2
m • Nm
Torque to be applied to the
motor
Torque Slope
6087h
4
m • Nm
sec
Rate at which to ramp torque to
new target
Figure 17: Set Running Parameters
Enable Drive Operation
After power up or node reset, the drive is in disabled state. The value 0006h must be
written to the control word OD entry, located at dictionary address 6040h. This will put the drive
into “ready to switch on” state and is ready to enable drive operation. If the value 0006h is not
written to the control word first, the drive operation can not be enabled.
To enable drive operation, the value 000Fh must be written to the controlword OD entry,
located at dictionary address 6040h. This puts the drive into the Operation Enabled state with
no torque applied.
It should be noted that both enabling the halt bit and setting the target torque to zero will
ramp down the torque applied to the motor according to the torque slope. At the end of the
slope no torque will be applied to the motor, allowing the shaft to move freely.
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Starting/Stopping Torque
To start and stop motion, toggle the controlword halt bit (bit 8). When the halt bit is set to
0, motion will start or continue; when the halt bit is set to 1, motion will stop. The bit can be
toggled by writing 010Fh and 000Fh to controlword OD entry 6040h.
Parameter Calculations - Example
An application requires a torque of 50 oz-in. and a torque slope of 25 oz-in/sec. The motor
print lists the Torque Constant of the motor as 0.07Nm/A. The Nm/A constant given must first
be converted into mNm/A, as required by the Torque Constant OD entry. The formula used for
this is:
Nm
mA
m • Nm
0.07 A • 1000 A = 70 A
As the drive works primarily in Nm, the desired 50 oz-in of torque must also be converted
into Nm, using the conversion factor 141.6 oz-in/Nm.
50 oz-in
= 0.3531 Nm
141.6 oz-in
Nm
Now, the resultant torque of 0.3531Nm must be converted into mNm, as required by the
Target Torque OD entry.
0.3531 Nm • 1000 m•Nm = 353.1 m•Nm
Nm
The result is a value of 353 mNm, rounded to the nearest whole number, for the Target
Torque OD Entry.
Finally, the desired slope must be converted from the given units of oz-in/sec into the required units of mNm/sec.
(25 oz-in
) ( 1 Nm ) (10001 m•Nm
) = 176.55 m•Nm
sec * 141.6 oz-in *
Nm
sec
Rounding to the nearest whole number results in a Torque Slope of 177 mNm/sec.
Current Verification - Example
It is important to check that the current required of the drive is within the limits of the servo
amplifier. The drive being used, for example, has a continuous rating of 7 amps, and a peak
current of 14 amps, which may be held continuously for 2 seconds. This means that a current
of 7 amps can be held indefinitely, and currents between 7 and 14 amps may be used in short
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bursts.
Using the target torque and torque constant from the example above the current draw can
be checked, as shown:
0.3531 Nm
= 5.0443 A
0.07 Nm
A
The resultant current, 5.0443A, is below the 7A continuous current rating of the drive, and
well below the peak current rating of 14A. It is possible for the drive to maintain a current of 7A
indefinitely, and peak up to 14A for up to two seconds continuously. Values between 7A and
14A may be held proportionally long.
For more information: see CiA 402 - 2, Profile Torque Mode
Figure 18: Profile Torque Mode
Graph Point
Target Torque
Halt Bit
Drive command to Motor
Start
T1
0
Ramp torque to T1
A
T1
0
Maintain torque at T1
B
T1
0 -> 1
Ramp torque to zero
C
T1 -> T2
1 -> 0
Ramp torque to T2
D
T2 -> 0
0
Ramp torque to zero
E
0
0
Maintain torque at zero
Table 24: Profile Torque Mode Example
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Appendix H - Q Program Mode
General Mode Description
In order to expand the functionality of MOONS’ CANopen drives, the Q programming
language may be used to execute complex motion profiles that may not be possible within
the scope of CiA 402. The Q program must be written and pre-loaded into the CANopen drive
using Q Programmer (v1.3.5 or later).
Q Programs may also access and manipulate the CANopen General Purpose registers
for use in stored programs. The section above on General Purpose Registers has a chart to
convert from the OD entry to the Q address.
Loading a Q Program
As with ST Configurator and Quick Tuner, the drive must be powered up with the RS-232
port connected, and Q Programmer running for the CANopen drive to delay the normal boot-up
procedure. The CAN boot-up can be resumed by closing the Q Programmer application, or by
power-cycling the drive with the RS-232 port disconnected. Once Q Programmer is in control
of the drive, it may be used in the same way as any other MOONS’ Q drive. See the Q Command Reference for more information on Q programming.
Normal Q Program Execution
To execute a stored Q program on a single drive, a value of -1 (FFh) must be written to the
mode of operation OD entry, located at dictionary address 6060h. The mode of operation can
be verified using OD entry 6061h - mode of operation display - which is updated when the current operation mode is accepted.
Next, the desired Q segment number, 1-12, must be written to the Q Segment Number
register, located at address 7007h.
After power up or node reset, the drive is in disabled state. The value 0006h must be
written to the control word OD entry, located at dictionary address 6040h. This will put the drive
into “ready to switch on” state and is ready to enable drive operation. If the value 0006h is not
written to the control word first, the drive operation can not be enabled.
To enable drive operation, a value of 000Fh must be written to the controlword OD entry, located at dictionary address 6040h. This puts the drive into Operation Enabled state and
ready to run the Q program.
To run the selected Q program, a value of 001Fh must be written to the controlword. The
Q program will then run to completion. The Q program may be re-executed by a 0->1 transition
of the Q Program start bit (bit 4) in the controlword.
To halt execution of a Q program, the halt bit (bit 8) of the controlword must be set to 1.
The Q program will halt immediately and start from the beginning the next time a 0->1 transition is seen on the Q Program start bit after the halt bit has been cleared.
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Synchronous Q Program Execution
To execute a stored Q program on a single drive, a value of -2 (FEh) must be written to the
mode of operation OD entry, located at dictionary address 6060h. The mode of operation can
be verified using OD entry 6061h - mode of operation display - which is updated when the current operation mode is accepted.
Next, the desired Q segment number, 1-12, must be written to the Q Segment Number
register, located at address 7007h. To enable operation 001Fh must be written to the
controlword OD entry 6040h.
After power up or node reset, the drive is in disabled state. The value 0006h must be
written to the control word OD entry, located at dictionary address 6040h. This will put the drive
into “ready to switch on” state and is ready to enable drive operation. If the value 0006h is not
written to the control word first, the drive operation can not be enabled.
To enable drive operation, a value of 000Fh must be written to the controlword OD entry,
located at dictionary address 6040h. This puts the drive into Operation Enabled state and
ready to run the Q program.
To run the drive based on the SYNC pulse, the pulse must be set in the COB-ID SYNC
register located at OD entry 1005h. A standard value for the SYNC pulse is 80h, but any
unused COB-ID may be used. Refer to CiA301 for a list of reserved COB-IDs.
Once the SYNC pulse has been set, and the desired Q segment has been set, the drive
will execute the Q segment every time it receives a SYNC pulse. In this way, multiple drives
may be instructed to start a Q program with a single, network-wide instruction.
To halt execution of a Q program, set the halt bit (bit 8) of the controlword to 1. The Q
program will halt immediately, and start from the beginning the next time a SYNC pulse is sent
after the halt bit has been cleared.
More Information
For more information: see CiA 301, COB-IDs
For more information on Q programming: see the Host Command Reference.
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Appendix I - Understanding NMT States
Under normal operating conditions, a Network Management (NMT) state machine will
power up into an Initialization state, send out a boot-up packet, move into a Pre-Operational
state, and start sending out heartbeats with the Pre-Operational state status code.
NMT Mode
NMT Control
Command
NMT Status Code
(Heartbeat)
Initialization/Node Reset
129
0
Pre-Operational
128
127
Operational
1
5
Stopped
2
4
Table 25: Understanding NMT States
Building a CANopen NMT Data Frame - Example
This example will show how to send a broadcast message to all CANopen nodes to put
them into an operational NMT state. The COB-ID for NMT commands is always 0. This ensures that an NMT command has the highest priority on the bus and will never be preempted,
except by another node sending out an NMT command.
The first data byte of an NMT command contains the NMT Control Command, which is 1
(Operational) in this case.
The second data byte contains either the Node-ID of a target Node, or, in the event that
the NMT master is requesting that all nodes change their NMT Mode, a zero. To send a broadcast message, a zero is used.The completed data frame is below.
COB ID
0
Data Length
Data Byte 0
2
Data Byte 1
1
0
Table 26: Example - NMT Data Frame
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Appendix J - SDO and PDO Access
Enable SDO Use
To enable Service Data Object (SDO) use, the NMT state must be either Pre-Operational
or Operational. Send an NMT message to put the node into either state. When completed,
the heartbeat should return either 127 (Pre-Operational) or 5 (Operational). The drive is now
ready to read and/or write all OD entries.
Building an SDO Read Data Frame - Example
This example will show how to read the heartbeat time of node 2Eh. An SDO read request
must be sent to the drive. The default COB-ID for SDO requests is 600h (see CiA 301), plus
the Node-ID of 2Eh. This results in a specific COB-ID for this message of 62Eh. The first data
byte is reserved for the control byte, which is always 40h for an SDO Read. The next 2 bytes
are reserved for the OD entry address in Little Endian format. To obtain OD entry 1017, we
stuff data byte 1 with 17h and data byte 2 with 10h. Data byte 3 is reserved for the sub-index
of the OD entry, which in this case is zero. The last 4 bytes are unused for SDO reads. The
whole message appears as:
COB-ID
Data Length
Data Byte 0
1
2
3
4
5
6
7
62Eh
8
40h
17h
10h
00h
00h
00h
00h
00h
DATA BYTES
Table 27: Enable SDO Use
The drive will respond with a message with COB-ID 580h + Node ID, or 5AEh.
For more information: see CiA 301, SDO protocol
PDO Access
Enable PDO Use
To enable Process Data Object (PDO) use, the NMT state must be set to Operational and
an NMT message sent to enable the Operational state. When completed, the heartbeat should
return a 5. The drive is now ready to receive RPDOs, and will transmit TPDOs depending on
the Transmission Type.
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TPDO Transmission Types
There are several triggering options for Transmit PDOs, which are controlled by OD entries 1800h to 1803h, and their associated sub-entries.
Possible TPDO Triggers
SYNC pulse - Node will send TPDO after receiving one or multiple SYNC pulses
Event/Timer - Node will issue TPDO based on an internal event or timer
Remote Request - Node will send TPDO after a remote request
0
PDO transmitted on the next SYNC pulse after the statusword has changed
1
PDO transmitted on every SYNC pulse
2-240
PDO transmitted on every n SYNC pulses
254-255
PDO transmitted every time statusword changes, or the Event Timer has expired
PDO Mapping
Table 28: TPDO Transmission Types
The Moons’ CANopen allows you to map objects to PDOs to reduce the transfer
application data more efficiently. By using the PDO mapping, the user can map multiple
mappable Objects to a PDO, and the max length for a PDO is 8 bytes. The hereafter describe
the process of a TPDO mapped to several objects.
TPDO Index
Sub-Index
Mapped To Index
# Bytes
1A01h
00h
1A01h
01h
6041h
2
1A01h
02h
700Ah
4
Table 29: PDO Mapping
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PDO Mapping Procedure
PDO Mapping Example 1: Mapping StatusWord and Position_Actual_Value to TPDO2
Step
Action
Index
Sub
Bytes
Value
1
Return back “PreOperation“ State
2
Turn off TPDO2
1801h
01h
80000280h
3
Set the number of Mapped objects to 0
1A01h
00h
00h
4
Map StatusWord to TPDO2 mapped object1
1A01h
01h
2
60410010h
5
Map Position_actual_value to TPDO2 mapped object2
1A01h
02h
4
700A0020h
6
Set the number of Mapped objects to 2
1A01h
00h
02h
7
Turn On TPDO2
1801h
01h
00000280h
8
9
Table 30: PDO Mapping Example
Default Mapping Example - Consumer PDO 2
Index
1601h
SubIndex
0
1
2
= 2 (# of SubIndex Entries
= 2 Byte ControlWord (6040h)
= 4 Byte Target Position (607A)
BYTES 0 - 1
RPDO 2
1
1
ch
an
ge abs
/
s
ne et rel
w im
se m
t-p ed
oi .
nt
0
BYTES 2 - 5
ControlWord
003Fh
1
BYTE 6 - 7
Target Position (Position) Data
00
1
1
F = Operation
Enabled
Transition Bit
MUST be reset to zero
between set-points
00
00
00
Unused
ControlWord = 03Fh
Move to Absolute SetPoint
ControlWord = 05Fh
Move to Relative SetPoint
ControlWord = 00Fh
Reset New Set-Point Bit
to Prepare for Next Move
Figure 19: PDO Mapping Showing the Default Mapping for RPDO2
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Default PDO Mapping - Stepper
PDO
Name
First Mapped
Parameter
OD Entry
# Bytes
Second Mapped
Parameter
OD Entry
# Bytes
# Bytes
Total
TPDO1
Statusword
6041h
2
TPDO2
Statusword
6041h
2
Target Position
6064h
4
2
6
TPDO3
Statusword
6041h
2
Target Velocity
606Ch
2
4
TPDO4
Input Status
7003h
1
1
RPDO1
Controlword
6040h
2
2
RPDO2
Controlword
6040h
2
Target Distance
607Ah
4
6
RPDO3
Controlword
6040h
2
Target Velocity
60FFh
2
4
RPDO4
Output State
60FEh
1
1
Table 31: PDO Mapping - Stepper
Default PDO Mapping - Servo
PDO
Name
First Mapped
Parameter
OD Entry
# Bytes
Second Mapped
Parameter
OD Entry
# Bytes
# Bytes
Total
TPDO1
Statusword
6041h
2
2
TPDO2
Statusword
6041h
2
Actual Position
700Ah
4
6
TPDO3
Statusword
6041h
2
Actual Velocity
7009h
2
4
TPDO4
Input Status
7003h
1
RPDO1
Controlword
6040h
2
RPDO2
Controlword
6040h
2
Target Distance
607Ah
4
6
RPDO3
Controlword
6040h
2
Target Velocity
60FFh
2
4
RPDO4
Output State
60FEh
1
1
2
1
Table 32: PDO Mapping - Servo
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PDO COB-ID
Because PDOs are directly mapped to OD entries, no overhead is required when working
with them. RPDOs may be sent directly with the COB-ID being the default RPDO COB-ID plus
the Node-ID. For example, the default RPDO1 COB-ID is 200h. Therefore, the COB-ID for
RPDO1 to Node 2Eh would be 200h + 02Eh = 22Eh. The default COB-IDs for each PDO may
be found in CiA 301 on page 78.
Building an RPDO Data Frame - Example
This example will show how to set the controlword of node 2Eh to 7E4Fh using RPDO1.
The paragraph above shows how the COB-ID of 22Eh was determined. The mapping table
above that shows that the first two message bytes will contain the controlword. According to
Endianness, the first data byte will be 4Fh and the second will be 7Eh. The entire message will
then read:
COB ID
22Eh
Data Length
2
Data Byte 0
4Fh
Table 33: PDO COB-IDs
For more information on PDO mapping: see CiA 402-3
For more information on the PDO protocol: see CiA 301
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Appendix K - Operation Mode Specific Control and Status Word
Control Word of Profile Position Mode
Bit #
Name
Value
4
New Set
Point
0
5
Change
Set Point
Immediately
0
Positioning shall be completed (target reached) before the next one gets
started
1
Next positioning shall be started immediately
0
Target position shall be an absolute value
1
Target position shall be a relative value
0
Positioning shall be executed or continued
1
Axis shall be stopped
0
The previous set-point will be completed and the motor will come to rest
before a new set point is processed
1
The motor will continue at the speed commanded by the previous set
point until it has reached the position commanded by the previous set
point, then transition to the speed of the new set point
6
Abs/Rel
8
Halt
9
1
Change of
Set Point
Description
Toggle this bit from 0->1 to clock in a new set point
Status Word of Profile Position Mode
Bit #
10
Name
Target
Reached
12
Set Point Ack
13
Following
Error
Value
Description
0
Halt (Bit 8 in controlword) = 0: Target position not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
1
Halt (Bit 8 in controlword) = 0: Target position reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
0
Previous set point already processed, waiting for new set point
1
Previous set point still in process, set point overwriting shall be accepted
0
No following error
1
Following error
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Control Word of Profile Velocity Mode
Bit #
Name
8
Halt
Value
Description
0
The motion shall be executed or continued
1
Axis shall be stopped
Status Word of Profile Velocity Mode
Bit #
Name
10
Target
Reached
12
Speed
Value
Description
0
Halt (Bit 8 in controlword) = 0: Target velocity not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
1
Halt (Bit 8 in controlword) = 0: Target velocity reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
0
Speed is not equal to 0
1
Speed is equal 0
Control Word of Homing Mode
Bit #
Name
Value
4
Homing
Operation
Start
0
Do not start homing procedure
Description
1
Start or continue homing procedure
8
Halt
0
Enable bit 4
1
Stop axis
Status Word of Homing Mode
Bit #
10
12
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Name
Target
Reached
Homing
Attained
Homing Error
Value
Description
0
Halt (Bit 8 in controlword) = 0: Home position not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
1
Halt (Bit 8 in controlword) = 0: Home position reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
0
Homing Mode not yet complete
1
Homing Mode carried out successfully
0
No homing error
1
Homeng error
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Control Word of Q Mode
Bit #
Name
Value
4
Q Program
Start
0
8
Halt
1
Description
Toggle this bit from 0->1 to run Q program
0
Enable bit 4
1
Stop axis
Status Word of Q Mode
Bit #
Name
10
Target
Reached
Value
Description
0
Halt (Bit 8 in controlword) = 0: Q program running
Halt (Bit 8 in controlword) = 1: Axis decelerates
1
Halt (Bit 8 in controlword) = 0: Q program finishes or not started
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
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Appendix L – Example Programs
Profile Position Mode
**** Enable Motor Power - CiA 402 State Machine ****
ID
DLCData
$0603
$8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on
$0603
$8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on
$0603
$8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Operation Enabled
**** Set to Profile Position Mode ****
$0603
$8 $2F $60 $60 $00 $01 $00 $00 $00 ‘Set to Profile Position Mode
**** Set Motion Parameters ****
$0603
$8 $23 $81 $60 $00 $F0 $00 $00 $00 ‘Set Profile Velocity to 1 rps
$0603
$8 $23 $83 $60 $00 $58 $02 $00 $00 ‘Set Acceleration to 100 rps/s
$0603
$8 $23 $84 $60 $00 $58 $02 $00 $00 ‘Set Deceleration to 100 rps/s
Single Move Absolute
$0603
$8 $0603
$8 $0603
$8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 200000 steps
$2B $40 $60 $00 $1F $00 $00 $00 ‘Set New Set Point Bit to 1
$2B $40 $60 $00 $0F $00 $00 $00 ‘Clear New Set Point Bit
Single Move Relative
$0603
$8 $0603
$8 $0603
$8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 200000 steps
$2B $40 $60 $00 $5F $00 $00 $00 ‘Set New Set Point Bit to 1
$2B $40 $60 $00 $4F $00 $00 $00 ‘Clear New Set Point Bit
Multiple Move, Stopping between Moves
$0603
$8 $23 $81 $60 $00 $B0 $04 $00 $00 ‘Set Profile Velocity to 5 rps
$0603
$8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 200000 steps
$0603
$8 $2B $40 $60 $00 $5F $00 $00 $00 ‘Set New Set Point Bit to 1
$0603
$8 $2B $40 $60 $00 $4F $00 $00 $00 ‘Clear New Set Point Bit
$0603
$8 $23 $81 $60 $00 $60 $09 $00 $00 ‘Set Profile Velocity to 10 rps
$0603
$8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 600000 steps
$0603
$8 $2B $40 $60 $00 $5F $00 $00 $00 ‘Set New Set Point Bit to 1
$0603
$8 $2B $40 $60 $00 $4F $00 $00 $00 ‘Clear New Set Point Bit
Multiple Move, Continuous Motion
$0603
$8 $23 $81 $60 $00 $B0 $04 $00 $00 ‘Set Profile Velocity to 5 rps
$0603
$8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 200000 steps
$0603
$8 $2B $40 $60 $00 $5F $02 $00 $00 ‘Set New Set Point Bit to 1
$0603
$8 $2B $40 $60 $00 $4F $02 $00 $00 ‘Clear New Set Point Bit
$0603
$8 $23 $81 $60 $00 $60 $09 $00 $00 ‘Set Profile Velocity to 10 rps
$0603
$8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 600000 steps
$0603
$8 $2B $40 $60 $00 $5F $02 $00 $00 ‘Set New Set Point Bit to 1
$0603
$8 $2B $40 $60 $00 $4F $02 $00 $00 ‘Clear New Set Point Bit
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Multiple Move, Immediate Change in Motion
$0603
$8 $23 $81 $60 $00 $B0 $04 $00 $00 ‘Set Profile Velocity to 5 rps
$0603
$8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 200000 steps
$0603
$8 $2B $40 $60 $00 $7F $02 $00 $00 ‘Set New Set Point Bit to 1
$0603
$8 $2B $40 $60 $00 $6F $02 $00 $00 ‘Clear New Set Point Bit
$0603
$8 $23 $81 $60 $00 $60 $09 $00 $00 ‘Set Profile Velocity to 10 rps
$0603
$8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 600000 steps
$0603
$8 $2B $40 $60 $00 $7F $02 $00 $00 ‘Set New Set Point Bit to 1
$0603
$8 $2B $40 $60 $00 $6F $02 $00 $00 ‘Clear New Set Point Bit
Profile Velocity Mode
**** Enable Motor Power - CiA 402 State Machine ****
ID
DLCData
$0603
$8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on
$0603
$8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on
$0603
$8 $2B $40 $60 $00 $0F $01 $00 $00 ‘Operation Enabled; Motion Halted
**** Set to Profile Velocity Mode ****
$0603
$8 $2F $60 $60 $00 $03 $00 $00 $00 ‘Set to Profile Velocity Mode
**** Set Motion Parameters ****
$0603
$8 $23 $FF $60 $00 $F0 $00 $00 $00 ‘Set Target Velocity to 1 rps
$0603
$8 $23 $83 $60 $00 $58 $02 $00 $00 ‘Set Acceleration to 100 rps/s
$0603
$8 $23 $84 $60 $00 $58 $02 $00 $00 ‘Set Deceleration to 100 rps/s
**** Start/Stop Motion ****
$0603
$8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Motion Starts
$0603
$8 $23 $FF $60 $00 $60 $09 $00 $00 ‘Change Target Velocity to 10 rps
$0603
$8 $2B $40 $60 $00 $0F $01 $00 $00 ‘Motion Halts
Homing Mode
**** Enable Motor Power - CiA 402 State Machine ****
ID
DLCData
$0603
$8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on
$0603
$8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on
$0603
$8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Operation Enabled
**** Set to Homing Mode ****
$0603
$8 $2F $60 $60 $00 $06 $00 $00 $00 ‘Set to Homing Mode
$0603
$8 $2F $98 $60 $00 $13 $00 $00 $00 ‘Set Homing Method to 19
**** Set Motion Parameters ****
$0603
$8 $23 $9A $60 $00 $58 $02 $00 $00 ‘Set Homing Acceleration to 100rps/s
$0603
$8 $23 $99 $60 $01 $F0 $00 $00 $00 ‘Set Homing Velocity (Search for Switch) to 1rps
$0603
$8 $23 $99 $60 $02 $78 $00 $00 $00 ‘Set Index Velocity (Search for Index or Zero) to 0.5rps
$0603
$8 $23 $7C $60 $00 $40 $9C $00 $00 ‘Set Homing Offset to 40000 Steps
$0603
$8 $2F $01 $70 $00 $03 $00 $00 $00 ‘Set Homing Switch to Input 3
**** Start/Stop Homing ****
$0603
$8 $2B $40 $60 $00 $1F $00 $00 $00 ‘Homing Starts
$0603
$8 $2B $40 $60 $00 $1F $01 $00 $00 ‘Homing Stops
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Normal Q Mode
**** Enable Motor Power - CiA 402 State Machine ****
ID
DLCData
$0603
$8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on
$0603
$8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on
$0603
$8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Operation Enabled
**** Set to Normal Q Mode ****
$0603
$8 $2F $60 $60 $00 $FF $00 $00 $00 ‘Set to Normal Q Mode
$0603
$8 $2F $07 $70 $00 $01 $00 $00 $00 ‘Set Q Segment Number to 1
**** Start/Stop Q Program ****
$0603
$8 $2B $40 $60 $00 $1F $00 $00 $00 ‘Q Program Starts
$0603
$8 $2B $40 $60 $00 $1F $01 $00 $00 ‘Q Program Halts
Sync Q Mode
**** Enable Motor Power - CiA 402 State Machine ****
ID
DLCData
$0603
$8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on
$0603
$8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on
$0603
$8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Operation Enabled
**** Set to Sync Q Mode ****
$0603
$8 $2F $60 $60 $00 $FE $00 $00 $00 ‘Set to Sync Q Mode
$0603
$8 $2F $07 $70 $00 $01 $00 $00 $00 ‘Set Q Segment Number to 1
$0603
$8 $23 $05 $10 $00 $80 $00 $00 $00 ‘Set Sync Pulse to 0x80
**** Start/Stop Q Program ****
$80
$0 ‘Q Program Starts
$0603
$8 $2B $40 $60 $00 $0F $01 $00 $00 ‘Q Program Halts
PDO Mapping
****Mapping TPDO2 ****
$0000
$2 $80 $03 ‘Return back to “PreOperation” Mode
$0603
$8 $23 $01 $18 $01 $80 $02 $00 $80 ‘Turn off the TPDO2
$0603
$8 $2F $01 $1A $00 $00 $00 $00 $00 ‘Set Number of Mapped objects to zero
$0603
$8 $23 $01 $1A $01 $10 $00 $41 $61 ‘Map object1(0x6041) to TPDO2 subindex1.
$0603
$8 $23 $01 $1A $02 $20 $00 $0A $70 ‘Map object2(0x700A) to TPDO2 subindex2.
$0603
$8 $2F $01 $1A $00 $02 $00 $00 $00 ‘Set Number of total Mapped objects to Two
$0603
$8 $23 $01 $18 $01 $80 $02 $00 $00 ‘Turn on the TPDO2
Shanghai AMP & MOONS’ Automation Co. Ltd.
No.168 Mingjia Road, Industrial Park North Minhang District,
Shanghai 201107, P.R. China
Tel: 86-21-52634688
Fax: 86-21-62968682
E-mail: [email protected] Web: www.moonsindustries.com
Rev. 1.2
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102
Service Center
+86-400-820-9661
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