FAQ

CANopen is a standard protocol. CAN debugging tools can be used to send messages to control the motor.

CANopen是标准协议，可以使用CAN调试工具发送报文下去来控制电机

Operation send SDO format is as follows:

CANopen是标准协议，操作SDO发送格式如下：

FAULT：Error occurred    bit3

Target Reached: Bit 10 

目标位置到达: Bit 10 

This bit is set to "1" if the last target was reached and the motor remains within a tolerance window (6067h) for a preset time (6068h).

如果达到了最后一个目标并且电机仍然保持，则该位设置为“ 1”。在公差窗口（6067h）中保持预设时间（6068h）。

Limit exceeded: Bit 11

超出极限：Bit 11

The demand position is above or below the limit values set in 607Dh.

需求位置高于或低于607Dh中设置的极限值。

Homing mode reached : Bit10 & Bit12

找零结束：Bit10 & Bit12

Following Error: Bit13

跟随误差：Bit13

This bit is set in closed loop mode if the following error is greater than the set limits

如果跟随误差大于设置的极限，则该位在闭环模式下设置

Determine if 6040 = 0xF and 6040 = 0x1F are assigned successfully

while ((In.Statusword & 0xEF) != 0x27); 

while ((In.Statusword & 0x400) != 0x400);

本案介绍如何调试AB两通道的编码器，实现上电自动进入闭环工作模式。

进入Operation

一、速度模式运行：

1、进入Profile Velocity选项卡，输入Target velocity(目标速度），加速度，减速度，其他参数默认。

2.Settings中，Apply

3.Mode中，激活当前模式

4.Power on  电机开始动作

在运行过程中，改变速度，直接改Target velocity的数据，enter输入

Plug＆Drive Studio是一款免费软件，可轻松调试Nanotec控制器，包括电机调试。 如果您对Plug＆Drive Studio有疑问，可以通过以下电子邮件地址与我们联系.请在电子邮件主题中包含关键字“ PNDS”。

如果发生错误，请附加一个屏幕截图和位于工作区/.metadata目录中的.log文件。

CL4E支持Mirco USB/485/CANopen控制和配置驱动器

需要用到的硬件工具和软件如下：

一、CL4E控制器

二、USB数据线/CANOPEN转换器/485线缆，

三选一即可，确保能正常连接PNDS软件 三、最新版本的PNDS软件，免安装，解压即可使用

Four-axis control board for simple control flow instructions
1. Setting parameters:
/1aM1j16m50h30L100V16000aM2j16m50h30L100V16000aM3j16m50h30L100V16000aM4j16m50h30L100V16000R
2. Parameter saving after power-off: / 1!
3. Control each axis' rotation separately:
(1) Set axis 1 to rotate forward: / 1aM1P1000R
(2) Set axis 1 to rotate in the reverse direction: / 1aM1D1000R
....

Configuration of TwinCAT3 to operate Nanotec controllers via EtherCAT as a box or NC axis in position or cyclic synchronous position (CSP) mode .

The configurator suggests the appropriate product and product combination for the parameters entered by the user. Possible search criteria are, for example, the necessary torque and speed, available power sources, requirements for motor control and communication interfaces, and requirements for additional accessories for brakes or IP protective covers.

The configurator suggests the appropriate product and product combination for the parameters entered by the user. Possible search criteria are, for example, the necessary torque and speed, available power sources, requirements for motor control and communication interfaces, and requirements for additional accessories for brakes or IP protective covers.

The configurator suggests the appropriate product and product combination for the parameters entered by the user. Possible search criteria are, for example, the necessary torque and speed, available power sources, requirements for motor control and communication interfaces, and requirements for additional accessories for brakes or IP protective covers.