Technical Manual N5 (CANopen)
Contents
Contents
1 Introduction.................................................................................................8
1.1 Version information................................................................................................................................8
1.2 Copyright, marking and contact............................................................................................................ 9
1.3 Intended use..........................................................................................................................................9
1.4 Warranty and disclaimer......................................................................................................................10
1.5 Specialist staff..................................................................................................................................... 10
1.6 EU directives for product safety..........................................................................................................10
1.7 Other applicable regulations................................................................................................................10
1.8 Used icons...........................................................................................................................................10
1.9 Emphasis in the text............................................................................................................................11
1.10 Numerical values...............................................................................................................................11
1.11 Bits.....................................................................................................................................................11
1.12 Counting direction (arrows)............................................................................................................... 11
2 Safety and warning notices.....................................................................13
3 Technical details and pin assignment................................................... 14
3.1 Environmental conditions.....................................................................................................................14
3.2 Dimensioned drawings........................................................................................................................ 15
3.3 Electrical properties and technical data.............................................................................................. 15
3.4 Overtemperature protection.................................................................................................................16
3.5 LED signaling...................................................................................................................................... 18
3.6 Pin assignment....................................................................................................................................19
4 Commissioning.........................................................................................29
4.1 Configuration via Ethernet...................................................................................................................29
4.2 Configuration via CANopen.................................................................................................................34
4.3 Setting the motor data.........................................................................................................................36
4.4 Connecting the motor..........................................................................................................................36
4.5 Auto setup........................................................................................................................................... 37
4.6 Test run............................................................................................................................................... 39
5 General concepts..................................................................................... 41
5.1 Control modes..................................................................................................................................... 41
5.2 CiA 402 Power State Machine............................................................................................................45
5.3 User-defined units............................................................................................................................... 50
5.4 Limitation of the range of motion........................................................................................................ 53
5.5 Cycle times..........................................................................................................................................53
6 Operating modes......................................................................................55
6.1 Profile Position.....................................................................................................................................55
6.2 Velocity................................................................................................................................................ 62
6.3 Profile Velocity.....................................................................................................................................64
6.4 Profile Torque......................................................................................................................................67
6.5 Homing.................................................................................................................................................69
6.6 Interpolated Position Mode..................................................................................................................76
6.7 Cyclic Synchronous Position............................................................................................................... 77
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