Document Outline

• Table 1: Bit Rate Switch Settings
• Table 2: Modes of Operation
• Table 3: CiA 301 Object Descriptions
• Table 4: Tuning Parameter setting
• Table 5: CiA 402 Objects
• Table 6: MOONS’ Manufacture Specific Objects
• Table 7: User Defined Registers in CANopen and Q Programmer
• Table 8: Object Dictionary Structure
• Table 9: Description of SYNC COB-ID entry
• Table 10: Description of PDO COB-ID entry
• Table 11: Description of transmission type
• Table 12: Controlword Data Description
• Table 13: Device Control Command Bit Patterns (Bits 0-3 and 7)
• Table 14: Bits in the statusword
• Table 15: Device State Bits
• Table 16: Parameter Scaling Chart
• Table 17: Object 603Fh CiA 402 Error Codes
• Table 18: Object 700Bh DSP Status Codes
• Table 19: Single Set-Point Profile Position Move
• Table 20: Multiple Set-Point Profile Position Move with Stopping Between Moves
• Table 21: Multiple Set-Point Profile Position Move with Continuous Motion
• Table 22: Multi-Set-Point Profile Position Move with Immediate Change in Motion
• Table 23: Profile Velocity Mode Example
• Table 24: Profile Torque Mode Example
• Table 25: Understanding NMT States
• Table 26: Example - NMT Data Frame
• Table 27: Enable SDO Use
• Table 28: TPDO Transmission Types
• Table 29: PDO Mapping
• Table 30: PDO Mapping Example
• Table 31: PDO Mapping - Stepper
• Table 32: PDO Mapping - Servo
• Table 33: PDO COB-IDs
• Figure 1:
• Figure 2:
• Figure 3:
• Figure 4:
• Figure 5:
• Figure 6:
• Figure 7:
• Figure 8:
• Figure 9:
• Figure 10:
• Figure 11:
• Figure 12:
• Figure 13:
• Figure 14:
• Figure 15:
• Figure 16:
• Figure 17:
• Figure 18:
• Figure 19:
• Introduction
• User Advisory:
  • Reference Documents
  • Commonly Used Acronyms
  • CANopen Network Topology Overview
• Drive Setup
  • Wiring the Power and Motor
  • Wiring the CANopen Connector for CANopen Drives
  • CANopen BitRate & NodeID
  • Drive Configuration
• Supported CiA 402 Modes of Operation
• Object Dictionary
  • Electronic Data Sheet
  • Global Control Word and Status Word
• General Purpose Registers
• Appendix A - The Object Dictionary
  • Communication Profile
  • Manufacturer Specific Objects
  • Device Profile
• Appendix B - Parameter Unit Scaling
• Appendix C - Response Codes
• Appendix D - Profile Position Mode
  • General Mode Description
  • Enable Profile Position Mode
  • Set Running Parameters
  • Starting/Stopping Motion
• Appendix E - Profile Velocity Mode
  • General Mode Description
  • Enable Profile Velocity Mode
  • Set Running Parameters
  • Enable Drive Operation
  • Starting/Stopping Motion
• Appendix F - Homing Methods
  • Set Running Parameters
  • Enable Homing Mode
  • Starting the Homing Procedure
  • Homing Method Diagrams
  • Homing Method 1
  • Homing Method 2
  • Homing Method 3
  • Homing Method 4
  • Homing Method 5
  • Homing Method 6
  • Homing Method 7
  • Homing Method 8
  • Homing Method 9
  • Homing Method 10
  • Homing Method 11
  • Homing Method 12
  • Homing Method 13
  • Homing Method 14
  • Homing Methods 15 and 16
  • Homing Method 17
  • Homing Method 18
  • Homing Methods 19 and 20
  • Homing Methods 21 and 22
  • Homing Methods 23 and 24
  • Homing Methods 25 and 26
  • Homing Methods 27 and 28
  • Homing Methods 29 and 30
  • Homing Methods 31 and 32
  • Homing Method 33
  • Homing Method 34
  • Homing Method 35
• Appendix G - Profile Torque Mode (Servo Only)
  • General Mode Description
  • Enable Profile Torque Mode
  • Set Running Parameters
  • Enable Drive Operation
  • Starting/Stopping Torque
  • Parameter Calculations - Example
  • Current Verification - Example
• Appendix H - Q Program Mode
  • General Mode Description
  • Loading a Q Program
  • Normal Q Program Execution
  • Synchronous Q Program Execution
  • More Information
• Appendix I - Understanding NMT States
  • Building a CANopen NMT Data Frame - Example
• Appendix J - SDO and PDO Access
  • Enable SDO Use
  • Building an SDO Read Data Frame - Example
• PDO Access
  • Enable PDO Use
  • TPDO Transmission Types
  • PDO Mapping
  • PDO Mapping Procedure
  • Default Mapping Example - Consumer PDO 2
  • Default PDO Mapping - Stepper
  • Default PDO Mapping - Servo
  • PDO COB-ID
  • Building an RPDO Data Frame - Example
• Appendix K - Operation Mode Specific Control and Status Word
  • Control Word of Profile Position Mode
  • Status Word of Profile Position Mode
  • Control Word of Profile Velocity Mode
  • Status Word of Profile Velocity Mode
  • Control Word of Homing Mode
  • Status Word of Homing Mode
  • Control Word of Q Mode
  • Status Word of Q Mode
• Appendix L – Example Programs
  • Profile Position Mode
  • Profile Velocity Mode
  • Homing Mode
  • Normal Q Mode
  • Sync Q Mode
  • PDO Mapping