Applied Motion ST10-C-CE - Manual (Page 3)

3 920-0025 Rev K
3/5/2015
CANopen User Manual
Contents
Introduction ..................................................................................................................................2
User Advisory: .............................................................................................................................2
Reference Documents ...........................................................................................................8
Commonly Used Acronyms ....................................................................................................8
CANopen Network Topology Overview .................................................................................9
Drive Setup ..................................................................................................................................9
Wiring the Power and Motor...................................................................................................9
Wiring the CANopen Connector for CANopen Drives ..........................................................10
CANopen BitRate & NodeID ................................................................................................10
Drive Configuration ..............................................................................................................11
Supported CiA 402 Modes of Operation ....................................................................................12
Object Dictionary .......................................................................................................................13
Electronic Data Sheet ..........................................................................................................14
Global Control Word and Status Word .................................................................................18
General Purpose Registers .......................................................................................................19
Appendix A - The Object Dictionary ...........................................................................................20
Communication Profile .........................................................................................................21
Manufacturer Specific Objects .............................................................................................38
Device Profile .......................................................................................................................45
Appendix B - Parameter Unit Scaling ........................................................................................59
Appendix C - Response Codes .................................................................................................60
Appendix D - Profile Position Mode ...........................................................................................61
General Mode Description ...................................................................................................61
Enable Profile Position Mode ...............................................................................................61
Set Running Parameters ......................................................................................................61
Starting/Stopping Motion ......................................................................................................61
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 ......................................................................................................66
Appendix F - Homing Methods ..................................................................................................68
Set Running Parameters ......................................................................................................68
Enable Homing Mode...........................................................................................................68
Starting the Homing Procedure ............................................................................................68
Homing Method Diagrams ...................................................................................................68
Homing Method 1
.......................................................................................................................................68
Homing Method 2 .................................................................................................................69