上海安浦鸣志-两相 直流输入+总线控制-MSST5 10-C CANopen 手册_1.1.pdf

CANopen

UserManual

Rev.1.1

AMPMOONS’Automation

CANopenUserManual

Introduction

ThismanualdescribesMOONS’CANopenimplementationofCiADS301andCiADSP402

specifications.ItisexpectedthattheuserfullyunderstandsbothCiAstandards.Thatunder-

standing,alongwiththisspecification,willenabletheusertodevelopadistributedmotion

controlsystem.

Theintentofthismanualistohighlightmanufacturerspecificrequirementsastheypertain

toMOONS’drives.

InformationandstandardsmaybeobtainedfromtheCiAwebsiteathttp://www.can-cia.

com/.InformationandsoftwarerelatingdirectlytotheMOONS’CANopendrives,includingan

open-sourceexampleprogram,maybeobtainedfromourwebsiteat.

Rev.1.12

12/1/2010

CANopenUserManual

Contents

Introduction2

ReferenceDocuments7

CommonlyUsedAcronyms7

CANopenNetworkTopologyOverview8

DriveSetup8

WiringthePowerandMotor8

WiringtheCANopenConnectorforMSST5-CDrives9

CANopenBitrate9

DriveConfiguration10

SupportedDSP402ModesofOperation11

ObjectDictionary12

ElectronicDataSheet12

CompatibilityIssues12

GlobalControlWordandStatusWord15

GeneralPurposeRegisters16

AppendixA-ParameterUnitScaling17

AppendixB-ResponseCodes18

AppendixC-ProfilePositionMode19

GeneralModeDescription19

EnableProfilePositionMode19

SetRunningParameters19

Starting/StoppingMotion19

AppendixD-ProfileVelocityMode24

GeneralModeDescription24

EnableProfileVelocityMode24

SetRunningParameters24

EnableDriveOpera