Getting Started with CANopen for PositionServo and SMVector Drives PDF a6f8eb89
Getting Started with CANopen for PositionServo and SMVector Drives
lenzeOApplicationNoteGettingStartedwithCANopenforACTechDrivesContainedhereinisthebasicinformationforsettingupACTechSMVInverterandPositionServodrivesforCANopencommunicationFordetailedinformationontheCANoptionmodulerefertotheproductsCANopenCommunicationReferenceGuidePositionServoP94CAN01SMVInverterCMVCANO1TopicsdiscussedinthisapplicationnoteincludeprotocolPDOsSDOserrorcontrolnetworkmanagementterminationcablelengthnodeaddressingEDSfilesplusmasteranddriveconfigurationForFurtherReferenceCANinAutomationhttpwwwcanciaorgACTechLibraryhttpwwwactechcomCommonTermsCANControlAreaNetworkCANopenCommunicationprotocoltoopenandcommunicatewiththeControlAreaNetworkEDSElectronicDataSheetanASCIIfilecontainingadevicescommunicationfunctionalityandobjectsplusitsdevicespecificobjectsandtheirdefaultvaluesEMCYEmergencyObjectIndex4digithexadecimalcodeusedtoidentifyanobject16bitsSubIndexdecimalcodetofurtheridentifyobjectsparameters8bitsNMTNetworkManagementODObjectDictionaryObjectCommunicationmessage4typesAdministrativeNMTServiceDataObjectSDOProcessDataObjectPDOPreDefinedorSpecialFunctionObjectSYNCTIMESTAMPEOPDOProcessDataObjectRPDOReceivePDOSDOServiceDataObjectSYNCSynchronizationSpecialFunctionObjectTIMESTAMPProvidesacommontimereferenceimplementedasaCMSobjectTPDOTransmitPDOalsoknownasTxPDOTransferringDataSDOforlargelowprioritydatatransferbetweendevicesieconfiguringdevicesonCANopennetworkPDOforfastdatatransferof8bytesorlesswithoutprotocoloverheadiethedatacontenthasbeenpreviouslydefinedTransmissionModesSychronoussynchronizationbyreceiptofaSYNCmessageCyclictransmissiontriggeredperiodicallyaftereverynSYNCmessageAcylictransmissiontriggeredbyremotetransmissionrequestfromanotherdeviceorbytheoccurrenceofanobjectspecificeventspecifiedinthedeviceprofileAsychronoustransmissionistriggeredbyaremotetransmissionrequestfromanotherdevicebyaCANFrameProtocolACTechCANopenequippeddriveshaveCANopenslavefunctionalityInadditionboththeSMVectorfrequencyinverterandthePositionServodrivesupportmastermessagingMessagingisperformedusingcyclicampnoncyclicdatatransferNoteIACTechLenzehasitsowndialectofCANopencalledSYSTEMBUSthatisusedformastermessagingbetweendrivesSYSTEMBUSmessagescanonlybedirectedtofromsupportingACTechLenzedrivesAllACTechLenzeCANopenproductsarecompatiblewithCANopennotSYSTEMBUSprotocolasslavedevices1AN0022A1May2007Copyright2007byACTechnologywwwactechcom150
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