Elmomc CANopen DS 301 Implementation Guide Manual do Utilizador descarregar pdf (Página 5)

Object 0x20A0: Auxiliary position actual value .................................................................... 13-14

Object 0x20A1: Main position error ...................................................................................... 13-15

Object 0x2200: Digital input ................................................................................................. 13-15

Object 0x2201: Digital input low byte ................................................................................... 13-16

Object 0x2205: Analog Input Object................................................................................... 13-17

Then the reading obtained is:.............................................................................................. 13-18

Object 0x2F00: User Integer .................................................................................................. 13-18

Object 0x2F01: User Float Array........................................................................................... 13-19

Object 0x2F02: ET Array...................................................................................................... 13-20

Object 0x2F11: PVT head pointer.......................................................................................... 13-20

Object 0x2F12: PVT tail pointer............................................................................................ 13-21

Object 0x2F15: Profile position remaining points.................................................................. 13-21

Object 0x2F21: Emergency events ......................................................................................... 13-24

Object 0x2F22: Bus off time out............................................................................................. 13-29

Object 0x2F23: Digital input TPDO event parameters.......................................................... 13-29

Object 0x2F30: Last time stamp correction ............................................................................ 13-31

Object 0x2F31: Last SYNC time............................................................................................ 13-31

Object 0x2F40: Configuration object...................................................................................... 13-32

Object 0x2F41: DS402 Configuration object.......................................................................... 13-33

Object 0x2F60 – Zero torque threshold .............................................................................. 13-34

Object 0x2F70 – CAN Encoder Range................................................................................ 13-35

Chapter 14: Error Control Protocol ..................................................................................... 14-1

Chapter 15: Downloading Firmware .................................................................................. 15-1

Chapter 16: Initial CAN Communication Setup............................................................... 16-1

16.1 Setup Using RS-232................................................................................... 16-1

16.2 Bootup Protocol ....................................................................................... 16-2

Appendix A: Little and Big Endians ....................................................................................A-1

CANopen DS 301 Implementation Guide Contents

MAN-CAN301IG (Ver. 2.1)

iii

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Elmomc CANopen DS 301 Implementation Guide Manual do Utilizador Página 5