Document Outline

• Cover page
• Contents
  • 1 General
    • 1.1 About this manual
    • 1.2 Use as directed of the CANopen interface
    • 1.3 Symbols used
    • 1.4 Abbreviations used
    • 1.5 Basic features implemented by CANopen
    • 1.6 Response to BUSOFF communication faults
    • 1.7 System requirements
    • 1.8 Transmission rate and procedure
  • 2 Installation / Setup
    • 2.1 Assembly, Installation
      • 2.1.1 Setting the station address and transmission rate
    • 2.2 CANopen interface
    • 2.3 CAN-bus cable
    • 2.4 Guide to Setup
    • 2.5 Important configuration parameters for CAN bus operation
  • 3 CANopen communication profile
    • 3.1 General description of CAN
    • 3.2 Construction of the COB Identifier
    • 3.3 Definition of the used data types
      • 3.3.1 Basic data types
        • 3.3.1.1 Unsigned Integer
        • 3.3.1.2 Signed Integer
      • 3.3.2 Mixed data types
      • 3.3.3 Extended data types
        • 3.3.3.1 Octet String
        • 3.3.3.2 Visible String
    • 3.4 Communication Objects
      • 3.4.1 Network Management Objects (NMT)
      • 3.4.2 Synchronization Object (SYNC)
      • 3.4.3 Time-Stamp Object (TIME)
      • 3.4.4 Emergency Object (EMCY)
        • 3.4.4.1 Application of the Emergency Object
        • 3.4.4.2 Composition of the Emergency Object
      • 3.4.5 Service Data Objects (SDO)
        • 3.4.5.1 Composition of the Service Data Object
        • 3.4.5.2 Initiate SDO Download Protocol
        • 3.4.5.3 Download SDO Segment Protocol
        • 3.4.5.4 Initiate SDO Upload Protocol
        • 3.4.5.5 Upload SDO Segment Protocol
        • 3.4.5.6 Abort SDO Protocol
      • 3.4.6 Process Data Object (PDO)
        • 3.4.6.1 Transmission modes
        • 3.4.6.2 Trigger modes
      • 3.4.7 Nodeguard
  • 4 CANopen Drive Profile
    • 4.1 Emergency Messages
    • 4.2 General definitions
      • 4.2.1 General Objects
        • 4.2.1.1 Object 1000h: Device Type (DS301)
        • 4.2.1.2 Object 1001h: Error register (DS301)
        • 4.2.1.3 Object 1002h: Manufacturer Status Register (DS301)
        • 4.2.1.4 Object 1003h: Pre-Defined Error Field (DS301)
        • 4.2.1.5 Object 1004h: Number of supported PDOs (DS301)
        • 4.2.1.6 Object 1005h: COB-ID of the SYNC Message (DS301)
        • 4.2.1.7 Object 1006h: Communication Cycle Period (DS301)
        • 4.2.1.8 Object 1007h: Synchronous window length (DS301)
        • 4.2.1.9 Object 1008h: Manufacturer Device Name (DS301)
        • 4.2.1.10 Object 100Ah: Manufacturer Software Version (DS301)
        • 4.2.1.11 Object 100Bh: Node-ID (DS301)
        • 4.2.1.12 Object 100Ch: Guard Time (DS301)
        • 4.2.1.13 Object 100Dh: Lifetime Factor (DS301)
        • 4.2.1.14 Object 100Eh: COB-ID Nodeguarding (DS301)
        • 4.2.1.15 Object 100Fh: Number of the supported Objects (DS301)
        • 4.2.1.16 Object 1010h: Store Parameters (DS301)
        • 4.2.1.17 Object 1012h: COB-ID for Time-Stamp Message (DS301)
        • 4.2.1.18 Object 1013h: High Resolution Time-Stamp (in preparation) (DS301)
        • 4.2.1.19 Object 1014h: COB-ID for Emergency Message (DS301)
        • 4.2.1.20 Object 1018h: Identity Object (DS301)
    • 4.3 PDO Mapping
      • 4.3.1 Receive-PDOs (RPDO)
        • 4.3.1.1 Description of predefined Receive-PDOs
          • 4.3.1.1.1 PDO controlword (1) (DS402)
          • 4.3.1.1.2 PDO Receive ASCII Channel (21)
          • 4.3.1.1.3 PDO Current/Speed Setpoint (22)
          • 4.3.1.1.4 PDO Setpoint 2 (32)
          • 4.3.1.1.5 PDO Trajectory (33)
          • 4.3.1.1.6 PDO Motion Block (34)
          • 4.3.1.1.7 PDO Start Motion Block (35)
          • 4.3.1.1.8 PDO Free Definition (37 to 40)
          • 4.3.1.1.9 PDO master position for CAN slaves (41)
        • 4.3.1.2 Object Decription
          • 4.3.1.2.1 Object 1400-1403h: 1st-4th Receive-PDO communication parameter (DS301)
          • 4.3.1.2.2 Object 1600-1603h: 1st-4th Receive-PDO mapping parameter (DS301)
          • 4.3.1.2.3 Object 2600-2603h: 1st-4th Receive PDO select
          • 4.3.1.2.4 Object 2721h: Configuration of Receive-PDO 33
      • 4.3.2 Transmit-PDOs (TPDO)
        • 4.3.2.1 Description of the predefined Transmit-PDOs
          • 4.3.2.1.1 PDO Status Word (1) (DS402)
          • 4.3.2.1.2 PDO Transmit ASCII Channel (21)
          • 4.3.2.1.3 PDO Actual Position (22)
          • 4.3.2.1.4 PDO Enhanced Status (23)
          • 4.3.2.1.5 PDO Actual Position 2 (32)
          • 4.3.2.1.6 PDO Incremental Actual Position (33)
          • 4.3.2.1.7 PDO Position Treshold (34)
          • 4.3.2.1.8 PDO Free Definition (37 to 40)
          • 4.3.2.1.9 PDO Internal Master Position Setpoint (41)
        • 4.3.2.2 Object Description
          • 4.3.2.2.1 Object 1800-1803h: 1st-4th Transmit-PDO communcation param. (DS301)
          • 4.3.2.2.2 Object 1A00-1A03h: 1st-4th Transmit-PDO mapping parameter (DS301)
          • 4.3.2.2.3 Object 2A00-2A03h: 1st-4th Transmit-PDO select (DS301)
          • 4.3.2.2.4 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO
    • 4.4 Device Control (dc)
      • 4.4.1 Status Machine (DS402)
        • 4.4.1.1 States of the Status Machine
        • 4.4.1.2 Transitions of the status machine
      • 4.4.2 Object description
        • 4.4.2.1 Object 6040h: Controlword (DS402)
        • 4.4.2.2 Object 6041h: Statusword (DS402)
        • 4.4.2.3 Object 6060h: modes_of_operation (DS402)
        • 4.4.2.4 Object 6061h: modes_of_operation_display (DS402)
    • 4.5 Factor Groups (fg) (DS402)
      • 4.5.1 General Information
        • 4.5.1.1 Factors
        • 4.5.1.2 Relationship between physical and internal units
      • 4.5.2 Object Description
        • 4.5.2.1 Object 608Bh: velocity_notation_index (DS402)
        • 4.5.2.2 Object 608Ch: velocity_dimension_index (DS402)
        • 4.5.2.3 Object 6093h: position_factor (DS402)
        • 4.5.2.4 Object 6094h: velocity_encoder_factor (DS402)
        • 4.5.2.5 Object 6097h: acceleration_factor (DS402)
    • 4.6 Manufacturer-specific Current and Speed-Mode
      • 4.6.1 Object 2060h: Digital current or speed setpoint
      • 4.6.2 Objekt 2061h: Current limitation
    • 4.7 Setup data for manufacturer-specific Jogging/Homing mode
      • 4.7.1 Object 2024h: Setup operation for position mode (AX2xxx)
    • 4.8 Positioning data for position mode (AX2xxx)
      • 4.8.1 Object 2020h: Position controller
      • 4.8.2 Object 2022h: Position data for position mode
    • 4.9 Object 2050h: Auxiliary variable for digital inputs
    • 4.10 Latch function
      • 4.10.1 Object 2026h: Latch enable
      • 4.10.2 Object 2082h: 32/24-bit Latch positive
      • 4.10.3 Object 2083h: 32/24-bit Latch negative
      • 4.10.4 Object 2084h: 16-bit Latch positive
      • 4.10.5 Object 2085h: 16-bit Latch negative
      • 4.10.6 Object 2087h: Latch Positions Digital Input 1
    • 4.11 Manufacturer specific values
      • 4.11.1 Object 2070h: Actual values
      • 4.11.2 Objekt 6077h: Torque actual value
      • 4.11.3 Objekt 60C2h: Interpolation time period
    • 4.12 Freely available, mappable PLC variables, Objects 2030h / 2090h
      • 4.12.1 Object 2030h: DP-Ram-Variables 9-16 (write only)
      • 4.12.2 Object 2090h: DP-Ram-Variables 1-8 (read only)
    • 4.13 Dummy Variables, Objects 2031h / 2071h
      • 4.13.1 Object 2031h: Dummy variables for mapping (WO)
      • 4.13.2 Object 2071h: Dummy variables for mapping (RO)
    • 4.14 Profile Velocity Mode (pv) (DS402)
      • 4.14.1 General Information
      • 4.14.2 Objects that are defines in this section
      • 4.14.3 Objects that are defines in other sections
      • 4.14.4 Object Description
        • 4.14.4.1 Object 606Ch: velocity_actual_value* (DS402)
        • 4.14.4.2 Object 60FFh: target_velocity (DS402)
    • 4.15 Position Control Function (pc) (DS402)
      • 4.15.1 General Information
      • 4.15.2 Objects that are defined in this section
      • 4.15.3 Objects that are defined in other sections
      • 4.15.4 Object Decription
        • 4.15.4.1 Object 6063h: position_actual_value* (DS402)
        • 4.15.4.2 Object 6064h: position_actual_value (DS402)
    • 4.16 Homing Mode (hm) (DS402)
      • 4.16.1 General Information
      • 4.16.2 Objects that are defined in this section
      • 4.16.3 Objects that are defined in other sections
      • 4.16.4 Object Description
        • 4.16.4.1 Object 607Ch: home_offset (DS402)
        • 4.16.4.2 Object 6098h: homing_method (DS402)
          • 4.16.4.2.1 Description of the homing methods
        • 4.16.4.3 Object 6099h: homing_speeds (DS402)
        • 4.16.4.4 Object 609Ah: homing_acceleration (DS402)
      • 4.16.5 Homing Mode SequenceS
    • 4.17 Profile Position Mode (pp)
      • 4.17.1 General Information
      • 4.17.2 Objects that are defined in this section
      • 4.17.3 Objects that are defined in other sections
      • 4.17.4 Object Description
        • 4.17.4.1 Object 607Ah: target_position (DS402)
        • 4.17.4.2 Object 607Bh: position_range_limit (DS402)
        • 4.17.4.3 Object 6081h: profile_velocity (DS402)
        • 4.17.4.4 Object 6083h: profile_acceleration (DS402)
        • 4.17.4.5 Object 6084h: profile_adeceleration (DS402)
        • 4.17.4.6 Object 6086h: motion_profile_type (DS402)
      • 4.17.5 Functional Description
  • 5 The Object Channel
    • 5.1 Object Description
      • 5.1.1 Object > 3500h Manufacturer Specific Object Channel
  • 6 Appendix
    • 6.1 Setup examples
      • 6.1.1 Basic testing of the connection control<->AX2xxx
      • 6.1.2 Example of operating the Status Machine
      • 6.1.3 Example of PDO usage
      • 6.1.4 Example of Homing
      • 6.1.5 Example of Motion Block Processing
      • 6.1.6 Example of Profile Positioning Mode usage
      • 6.1.7 ASCII Communication
      • 6.1.8 Test for SYNC-telegrams
      • 6.1.9 SYNC-Object
      • 6.1.10 Emergency-Object
    • 6.2 Special Applications
      • 6.2.1 External Trajectory
        • 6.2.1.1 Position controller in the servo amplifier
        • 6.2.1.2 Position controller in the control system
    • 6.3 Description of the Object Dictionary
    • 6.4 New configuration of AX2000/2500
    • 6.5 Index
• Index
  • !
    • 1000h
    • 1001h
    • 1002h
    • 1003h
    • 1004h
    • 1005h
    • 1006h
    • 1007h
    • 1008h
    • 100Ah
    • 100Bh
    • 100Ch
    • 100Dh
    • 100Eh
    • 100Fh
    • 1010h
    • 1012h
    • 1013h
    • 1014h
    • 1018h
    • 1400-1403h
    • 1600-1603h
    • 1800-1803h
    • 1A00-1A03h
    • 2014-2017h
    • 2020h
    • 2022h
    • 2024h
    • 2026h
    • 2030h
    • 2031h
    • 2050h
    • 2060h
    • 2061h
    • 2070h
    • 2071h
    • 2082h
    • 2083h
    • 2084h
    • 2085h
    • 2087h
    • 2090h
    • 2600-2603h
    • 2721h
    • 2A00-2A03h
    • 3500h...
    • 6040h
    • 6041h
    • 6060h
    • 6061h
    • 6063h
    • 6064h
    • 606Ch
    • 6077h
    • 607Ah
    • 607Bh
    • 607Ch
    • 6081h
    • 6083h
    • 6084h
    • 6086h
    • 608Bh
    • 608Ch
    • 6093h
    • 6094h
    • 6097h
    • 6098h
    • 6099h
    • 609Ah
    • 60C2h
    • 60FFh
  • A
    • Abbreviations
    • Acknowledge lag/contouring error
    • Acknowledge response monitoring
    • Actual values
    • Additional documentation
  • B
    • Basic data types
    • Basic features
    • Bus cable
  • C
    • Cable length
    • COB-ID
    • Communication faults
    • Communication Objects
    • Communication profile
    • Configuration parameter
    • Control word
  • D
    • Data Frame
    • Data transfer functions
    • Data types
    • Device control
    • Digital setpoint
    • Drive profile
  • E
    • Emergency Message
    • Emergency Object
    • Extended data types
  • F
    • Factor Groups
  • H
    • Homing Mode
  • I
    • Inhibit time
    • Installation
  • L
    • Latch function
  • M
    • Mapping
    • Mixed data types
  • N
    • Network Management Object
    • New configuration
    • Nodeguard
  • O
    • Object Channel
    • Object Dictionary
    • Operating mode
  • P
    • Permitted use
    • Position Control Function
    • Positioning functions
    • Process Data Object
    • Profile Position Mode
    • Profile Velocity Mode
  • R
    • Receive-PDOs
    • Remote Frame
    • Response monitoring
  • S
    • SDO abort codes
    • Service Data Object
    • Setup
    • Setup examples
    • Setup functions
    • Station address
    • Status machine
    • Status word
    • Synchronization Object
    • System requirements
  • T
    • Termination resistance
    • Time Stamp Object
    • Transmission modes
    • Transmission procedure
    • Transmission rate
    • Transmission rate setting
    • Transmit-PDOs
    • Trigger modes
  • U
    • Use as directed