Technical Manual N5 (CANopen)
Contents
6.8 Cyclic Synchronous Velocity............................................................................................................... 79
6.9 Cyclic Synchronous Torque................................................................................................................ 80
6.10 Clock-direction mode.........................................................................................................................81
6.11 Auto setup......................................................................................................................................... 83
7 Special functions......................................................................................85
7.1 Digital inputs and outputs....................................................................................................................85
7.2 Automatic brake control.......................................................................................................................93
7.3 I
2
t Motor overload protection...............................................................................................................96
7.4 Saving objects..................................................................................................................................... 97
8 CANopen..................................................................................................103
8.1 General.............................................................................................................................................. 103
8.2 CANopen services.............................................................................................................................103
9 Programming with NanoJ......................................................................122
9.1 NanoJ program..................................................................................................................................122
9.2 Mapping in the NanoJ program........................................................................................................ 125
9.3 System calls in a NanoJ program.....................................................................................................127
10 Description of the object dictionary...................................................129
10.1 Overview..........................................................................................................................................129
10.2 Structure of the object description.................................................................................................. 129
10.3 Object description............................................................................................................................129
10.4 Value description.............................................................................................................................130
10.5 Description.......................................................................................................................................131
1000h Device Type..................................................................................................................................132
1001h Error Register............................................................................................................................... 133
1003h Pre-defined Error Field.................................................................................................................134
1005h COB-ID Sync................................................................................................................................137
1007h Synchronous Window Length.......................................................................................................138
1008h Manufacturer Device Name..........................................................................................................138
1009h Manufacturer Hardware Version...................................................................................................139
100Ah Manufacturer Software Version....................................................................................................139
100Ch Guard Time..................................................................................................................................140
100Dh Live Time Factor..........................................................................................................................140
1010h Store Parameters..........................................................................................................................141
1011h Restore Default Parameters.........................................................................................................143
1014h COB-ID EMCY..............................................................................................................................145
1017h Producer Heartbeat Time............................................................................................................. 145
1018h Identity Object...............................................................................................................................146
1020h Verify Configuration...................................................................................................................... 147
1029h Error Behavior.............................................................................................................................. 149
1400h Receive PDO 1 Communication Parameter.................................................................................150
1401h Receive PDO 2 Communication Parameter.................................................................................151
1402h Receive PDO 3 Communication Parameter.................................................................................152
1403h Receive PDO 4 Communication Parameter.................................................................................153
1404h Receive PDO 5 Communication Parameter.................................................................................154
1405h Receive PDO 6 Communication Parameter.................................................................................155
1406h Receive PDO 7 Communication Parameter.................................................................................157
1407h Receive PDO 8 Communication Parameter.................................................................................158
1600h Receive PDO 1 Mapping Parameter............................................................................................159
1601h Receive PDO 2 Mapping Parameter............................................................................................162
1602h Receive PDO 3 Mapping Parameter............................................................................................164
1603h Receive PDO 4 Mapping Parameter............................................................................................166
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