Lust ServoOne - Page 6

User Manual CANopen/EtherCAT
6
6.6 PDO mapping ................................................................................................................35
6.6.1
Mapping - general ..............................................................................................35
6.6.2
Mapping notes ....................................................................................................35
6.7
Heartbeat function ....................................................................................................... 36
7 Setting the Device Parameters for EtherCAT ...................................................................
37
7.1 Supported EtherCAT functionality .................................................................................
37
7.2 Configuration for the operation in a controller .............................................................
40
8 Implemented DS402 Functionality ....................................................................................
41
8.1 Device control and state machine ..................................................................................
41
8.1.1 General information ............................................................................................
41
8.1.2
State machine .....................................................................................................41
8.1.3 Device states .......................................................................................................
42
8.2 Option codes ................................................................................................................
44
8.3 Device control objects ..................................................................................................
45
8.4 Units and scalings, factor group ....................................................................................
45
8.5
I/O map, object 60FDH..................................................................................................47
8.5.1
Object 60FDh – Digital inputs .............................................................................47
8.5.2
Object 2079h – MPRO_INPUT_STATE ................................................................ 48
8.5.3
Object 208Fh – MRPO_OUTPUT_STATE ............................................................. 48
9
Operation modes DS402 .................................................................................................... 49
9.1 DS402 compatible operation modes ............................................................................
49
9.1.1 Parameter setting of ServoOne for activation via DS402: ...................................
49
9.1.2 Control word DS402 ..........................................................................................
50
9.1.3 Status word DS402 .............................................................................................
51
9.2
Profile Velocity Mode ....................................................................................................53
9.2.1 Mode-dependent bits in the control word .........................................................
54
9.2.2 Mode-dependent bits in the status word ...........................................................
54
9.3 Homing mode ...............................................................................................................
55
9.3.1 Mode-specific bits in the control word ...............................................................
56
9.3.2
Mode-specific bits in the status word ................................................................ 56
9.4 Profile position mode ....................................................................................................
57
9.4.1 Mode-specific bits in the control word ...............................................................
58
9.4.2 Mode-specific bits in the status word ................................................................
58
9.4.3 Functional description ........................................................................................
58
10
Emergency Objects .............................................................................................................61
10.1
Error acknowledgement, general ..................................................................................61
10.2
Error acknowledgment via bus system...........................................................................61
11 EDS File, Object Directory Parameter List ........................................................................
63
11.1 EDS file, object directory ..............................................................................................
63
12 Bibliography .......................................................................................................................
65
13 Appendix Glossary .............................................................................................................
67
Index .......................................................................................................................................... 69