Applied Motion ST10-C-CE - Manual (Page 5)

5 920-0025 Rev K
3/5/2015
CANopen User Manual
Building a CANopen NMT Data Frame - Example ...............................................................90
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 ..................................................................................................................91
TPDO Transmission Types ..................................................................................................92
PDO Mapping.......................................................................................................................92
PDO Mapping Procedure ....................................................................................................93
Default Mapping Example - Consumer PDO 2 ....................................................................93
Default PDO Mapping - Stepper ..........................................................................................94
Default PDO Mapping - Servo..............................................................................................94
PDO COB-ID ........................................................................................................................95
Building an RPDO Data Frame - Example ...........................................................................95
Appendix K - Operation Mode Specific Control and Status Word .............................................96
Control Word of Profile Position Mode .................................................................................96
Status Word of Profile Position Mode ..................................................................................96
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 ..............................................................................................97
Control Word of Q Mode ......................................................................................................98
Status Word of Q Mode ........................................................................................................98
Appendix L – Example Programs ..............................................................................................99
Profile Position Mode ...........................................................................................................99
Profile Velocity Mode..........................................................................................................100
Homing Mode .....................................................................................................................100
Normal Q Mode ..................................................................................................................101
Sync Q Mode .....................................................................................................................101
PDO Mapping.....................................................................................................................101