RoboteQ CANBus Series User Manual

CANBus Networking Manual 45
Implementation
Supported SDOs
Table 4-2 shows the SDOs described in DS402 standard and supported by Roboteq Motor
Controllers.
TABLE 4-2. Supported SDO
Object Description
Roboteq
Command
Profile
Position Velocity
Profile
Velocity
Torque
Profile
6040
00
Control Word CW
   
6041
00
Status Word SW
   
6042
00
Target velocity (vl) S

6043
00
vl velocity demand RMP

6044
00
vl velocity actual value F

6046
XX
vl velocity min max amount SPL

6048
XX
vl velocity acceleration SAC

6049
XX
vl velocity deceleration SDC

6060
00
Modes of Operation ROM
6061
00
Modes of Operation Display AOM
6064
00
Position actual value F

606C
00
Velocity actual value F

6071
00
Target torque TC
 
6077
00
Torque actual value A

607A
00
Target position POS

6081
00
Profile velocity PSP

6083
00
Profile acceleration PAC
 
6084
00
Profile deceleration PDC
 
6087
00
Torque slope TSL

60FF
00
Target velocity (pv) S

6502
00
Supported Drive Modes SDM
67FE
00
Version Number VNM
PDS FSA
The standard requires the implementation of a specific finite state machine called FSA.
The FSA is designed not only to react to CANOpen commands (Controlword and Sta-
tusword), but also to local commands (in this case the use of CW command and SW
query). For backward compatibility reasons, the FSA is not active by default. It can be acti-
vated by using a special configuration command (^FSA 1, see Figure 4-1).

RoboteQ CANBus Series Specifications

General

Brand	RoboteQ
Model	CANBus Series
Category	Controller
Language	English