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epulse50_dc_servodrive:canopen_pdo

CanOPEN PDO

The mode of operation is mapped at index 0x6060 subindex 0 with size of 1 byte.
For example: Profile position is 1, Profile velocity is 3, Torque profile is 4.

The Control Word is mapped at index 0x6040 subindex 0 with size of 2byte.
The Status Word is mapped at index 0x6041 subindex 0 with size of 2byte.

STATUS WORD Register

BIT Number Description Mode of operation
11STATUSWORD_INTERNAL_LIMIT_ACTIVE
12STATUSWORD_IP_MODE_ACTIVEInterpolated positioning
12STATUSWORD_SPEEDProfile velocity
13STATUSWORD_MAX_SLIPPAGE_ERRProfile velocity
12STATUSWORD_HOMING_ATTAINEDHoming
13STATUSWORD_HOMING_ERRORHoming
12STATUSWORD_SETPOINT_ACKProfile positioning
13STATUSWORD_FOLLOWING_ERRORProfile positioning

CONTROL WORD Register

BIT Number Description Mode of operation
0CTRLWORD_BIT_SWITCH_ON
1CTRLWORD_BIT_EN_VOLATGE
2CTRLWORD_BIT_QUICK_STOP
3CTRLWORD_BIT_EN_OPERATION
4CTRLWORD_HOME_STARTHoming
4CTRLWORD_ENABLE_IP_MODEInterpolated positiong
4CTRLWORD_NEW_SETPOINTProfile positioning
5CTRLWORD_CHANGE_SET_NOWProfile positioning
6CTRLWORD_ABS_REL_POSITIONProfile positioning
7CTRLWORD_BIT_FAULT_RESET
8CTRLWORD_BIT_HALT

Enabling the drive


From the specification when disabled you need to pass to SWITCH ON.
DISABLED to READY TO SWITCH ON then to SWITCHED ON then finally OPERATION ENABLED.

You do that through the controlword where you set bit 1 and bit 2 with bit 0 and bit 3 reset (0x06 READY TO SWITCH ON) then you set bit 0, bit 1 and bit 2 (0x07 READY TO SWITCH ON) then finally bit 0,bit 1,bit 2,bit 3 all set (0x0F OPERATION ENABLED).

EDS (CanOPEN) file

epulse50_dc_servodrive/canopen_pdo.txt · Last modified: 2023/09/28 09:10 by mgavesi

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