ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 3)

Contents
Chapter 1: Introduction .......................................................................................................... 1-1
1.1 Relevant Documentation ............................................................................. 1-1
1.1.1 Elmo Documentation........................................................................................ 1-1
1.1.2 CAN Documentation ........................................................................................ 1-2
1.2 Terms and Abbreviations............................................................................. 1-2
1.3 SimplIQ Communication ............................................................................... 1-3
Chapter 2: CANopen Basics................................................................................................... 2-1
2.1 Physical Layer ........................................................................................... 2-1
2.2 Standard vs. Extended Addressing................................................................ 2-1
2.3 Client - Server Relations .............................................................................. 2-1
2.4 Inhibit Times ............................................................................................. 2-2
2.5 RTR – Remote Transmission Request............................................................. 2-2
2.6 Object Dictionary ....................................................................................... 2-2
2.7 Communication Objects .............................................................................. 2-3
2.8 Object Dictionary - Data Types ..................................................................... 2-4
2.9 Representation of Numbers.......................................................................... 2-7
Chapter 3: The Object Dictionary......................................................................................... 3-1
Chapter 4: Service Data Objects (SDOs).............................................................................. 4-1
4.1 Initiate SDO Download Protocol ................................................................... 4-2
4.2 Download SDO Protocol ............................................................................. 4-3
4.3 Initiate SDO Upload Protocol ....................................................................... 4-4
4.4 Upload SDO Segment Protocol ..................................................................... 4-5
4.5 Abort SDO Transfer Protocol........................................................................ 4-6
4.6 Uploading Data Using an SDO ..................................................................... 4-7
4.7 Downloading Data Using an SDO................................................................. 4-8
4.8 Error Correction ......................................................................................... 4-8
Chapter 5: Process Data Objects (PDOs) ............................................................................. 5-1
5.1 Receive PDOs ............................................................................................ 5-1
5.2 Transmit PDOs .......................................................................................... 5-3
5.3 PDO Mapping ........................................................................................... 5-3
5.3.1 The Mapping Trigger – Transmission Type................................................... 5-4
5.3.2 The Synchronous Trigger................................................................................. 5-4
5.3.3 The Asynchronous Trigger .............................................................................. 5-5
5.3.4 RPDO Error Handling ...................................................................................... 5-5
5.3.5 Mapping Parameter Objects............................................................................. 5-6
5.3.6 Default Values ................................................................................................... 5-7
Chapter 6: Emergency (EMCY).............................................................................................. 6-1
6.1 Emergency Configuration............................................................................ 6-1
6.2 Emergency Codes Related to Failure ............................................................. 6-1
6.3 Emergency Codes for Motor Faults ............................................................... 6-1
6.4 Emergency Codes Related to PVT/PT Motion................................................. 6-1
Chapter 7: Network Management (NMT)............................................................................ 7-1
Chapter 8: SYNC and Time Stamp ....................................................................................... 8-1
CANopen DS 301 Implementation Guide
MAN-CAN301IG (Ver. 2.1)
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