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Contents
Section 1: Introduction to the MDrivePlus CANopen DSP-402 Implementation...................................3
Introduction...................................................................................................................................3
CAN Message Format....................................................................................................................3
MDrivePlus Architecture................................................................................................................3
Device Control...............................................................................................................................4
Modes of Operation.......................................................................................................................4
Homing Mode..........................................................................................................................4
Profile Position Mode................................................................................................................4
Profile Velocity Mode................................................................................................................4
Trajectory Generator.................................................................................................................5
Objects and the Object Dictionary.................................................................................................5
Object Formatting..........................................................................................................................6
Object Description....................................................................................................................6
Entry Description......................................................................................................................6
Sub-Indexes...............................................................................................................................7
Section 2: Accessing The MDrivePlus CANopen.....................................................................................9
Introduction...................................................................................................................................9
Process Data Object (PDO)...........................................................................................................9
PDO Attributes.........................................................................................................................9
Service Data Object (SDO)............................................................................................................9
SDO Attributes.........................................................................................................................9
PDO Mapping.............................................................................................................................10
PDO Mapping Procedure (Consumer PDO)...............................................................................10
PDO Objects...............................................................................................................................11
Consumer PDO1 (RPDO1) 1400h (Object Description) . ....................................................11
Consumer PDO1 (RPDO1) 1400h (Entry Description) . ......................................................11
1600h (Object Description – Mapping Parameters)................................................................11
1600h (Entry Description – Mapping Parameters)..................................................................11
Consumer PDO2 (RPDO2) 1401h (Object Description) . ....................................................12
Consumer PDO2 (RPDO2) 1401h (Entry Description) . ......................................................12
1601h (Object Description – Mapping Parameters)................................................................12
1601h (Entry Description – Mapping Parameters)..................................................................12
Consumer PDO3 (RPDO3) 1402h (Object Description) . ....................................................13
Consumer PDO3 (RPDO3) 1402h (Entry Description) . ......................................................13
1602h (Object Description – Mapping Parameters)................................................................13
1602h (Entry Description – Mapping Parameters)..................................................................13
Producer PDO1 (TPDO1) 1800h (Object Description) ........................................................13
Producer PDO1 (TPDO1) 1800h (Entry Description) . ........................................................14
1A00h (Object Description – Mapping Parameters)................................................................14
1A00h (Entry Description – Mapping Parameters)..................................................................14
Producer PDO2 (TPDO2) 1801h (Object Description) ........................................................14
Producer PDO2 (TPDO2) 1801h (Entry Description) . ........................................................14
1A01h (Object Description – Mapping Parameters)................................................................15
1A01h (Entry Description – Mapping Parameters)..................................................................15
Producer PDO3 (TPDO3) 1802h (Object Description) ........................................................15
Producer PDO3 (TPDO3) 1802h (Entry Description) . ........................................................15
1A02h (Object Description – Mapping Parameters)................................................................15
1A02h (Entry Description – Mapping Parameters)..................................................................16
Section 3: Manufacturer Specific Objects.............................................................................................17
Introduction.................................................................................................................................17
Accessibility Codes...............................................................................................................17
Object 2000h: I/O Discretes (Config)..........................................................................................17
Object Description..................................................................................................................17
Entry Description....................................................................................................................17
Object 2002h: I/O Discretes (Config)..........................................................................................18
Object Description..................................................................................................................18
Entry Description....................................................................................................................18
Object 2004h: Input Filter Mask (Config)...................................................................................18
Object Description..................................................................................................................19
Entry Description....................................................................................................................19