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CANopen User Manual
The Node-ID is configured using a 16-position switch to set the lower 4 bits of the Node-ID 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 our standard Quick Tuner™. Please reference the drive’s hardware manual for Node-ID switch configuration and setup. Valid ranges for the Node-ID are 01 h in accordance with the CiA 301 specification.
through 7F h
. Node-ID 00 h
is reserved
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
5
6
3
4
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 ST stepper drives and STM
Integrated Motors is accomplished using the ST Configurator™ software, which can be found on the Applied Motion Products 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 an Applied Motion Products 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 start up 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.
11
920-0025 Rev J
3/4/2015
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Table of contents
- 2 Introduction
- 8 Reference Documents
- 8 Commonly Used Acronyms
- 9 CANopen Network Topology Overview
- 9 Drive Setup
- 9 Wiring the Power and Motor
- 10 Wiring the CANopen Connector for CANopen Drives
- 10 CANopen BitRate & NodeID
- 11 Drive Configuration
- 12 Supported CiA 402 Modes of Operation
- 13 Object Dictionary
- 14 Electronic Data Sheet
- 18 Global Control Word and Status Word
- 19 General Purpose Registers
- 20 Appendix A - The Object Dictionary
- 21 Communication Profile
- 38 Manufacturer Specific Objects
- 45 Device Profile
- 59 Appendix B - Parameter Unit Scaling
- 60 Appendix C - Response Codes
- 61 Appendix D - Profile Position Mode
- 61 General Mode Description
- 61 Enable Profile Position Mode
- 61 Set Running Parameters
- 61 Starting/Stopping Motion
- 66 Appendix E - Profile Velocity Mode
- 66 General Mode Description
- 66 Enable Profile Velocity Mode
- 66 Set Running Parameters
- 66 Enable Drive Operation
- 66 Starting/Stopping Motion
- 68 Appendix F - Homing Methods
- 68 Set Running Parameters
- 68 Enable Homing Mode
- 68 Starting the Homing Procedure
- 68 Homing Method Diagrams
- 69 Homing Method
- 70 Homing Method
- 75 Homing Methods 15 and
- 76 Homing Method
- 77 Homing Methods 19 and
- 78 Homing Methods 21 and
- 79 Homing Methods 23 and
- 80 Homing Methods 25 and
- 81 Homing Methods 27 and
- 82 Homing Methods 29 and
- 83 Homing Methods 31 and
- 83 Homing Method
- 85 Appendix G - Profile Torque Mode (Servo Only)
- 85 General Mode Description
- 85 Enable Profile Torque Mode
- 85 Set Running Parameters
- 85 Enable Drive Operation
- 86 Starting/Stopping Torque
- 86 Parameter Calculations - Example
- 86 Current Verification - Example
- 88 Appendix H - Q Program Mode
- 88 General Mode Description
- 88 Loading a Q Program
- 88 Normal Q Program Execution
- 89 Synchronous Q Program Execution
- 89 More Information
- 90 Appendix I - Understanding NMT States
- 90 Building a CANopen NMT Data Frame - Example
- 91 Appendix J - SDO and PDO Access
- 91 Enable SDO Use
- 91 Building an SDO Read Data Frame - Example
- 91 PDO Access
- 91 Enable PDO Use
- 92 TPDO Transmission Types
- 92 PDO Mapping
- 93 PDO Mapping Procedure
- 93 Default Mapping Example - Consumer PDO
- 94 Default PDO Mapping - Stepper
- 94 Default PDO Mapping - Servo
- 95 PDO COB-ID
- 95 Building an RPDO Data Frame - Example
- 96 Appendix K - Operation Mode Specific Control and Status Word
- 96 Control Word of Profile Position Mode
- 96 Status Word of Profile Position Mode
- 97 Control Word of Profile Velocity Mode
- 97 Status Word of Profile Velocity Mode
- 97 Control Word of Homing Mode
- 97 Status Word of Homing Mode
- 98 Control Word of Q Mode
- 98 Status Word of Q Mode
- 99 Appendix L – Example Programs
- 99 Profile Position Mode
- 100 Profile Velocity Mode
- 100 Homing Mode
- 101 Normal Q Mode
- 101 Sync Q Mode
- 101 PDO Mapping