Tagged with: CANopen

  • Canopen standard data format CANopen标准数据格式

    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:

     

  • Use Statusword(6041) to determine status

    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);


     

     

  • Application_Note_TwinCAT3 V1.0.1
    Application_Note_TwinCAT3 V1.0.1

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