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施耐德23系列驱动器, CANOPEN使用手册
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通过CANopen协议控制伺服驱动器的最新版手册,包括数据字典说明, 如何通过发送信息,控制伺服电机的转动
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LXM23A CANopen
Fieldbus protocol for servo drive
Fieldbus manual
V2.00, 10.2011
www.schneider-electric.com
0198441113938, V2.00, 10.2011
Important information
This manual is part of the product.
Carefully read this manual and observe all instructions.
Keep this manual for future reference.
Hand this manual and all other pertinent product documentation over
to all users of the product.
Carefully read and observe all safety instructions and the chapter
"Before you begin - safety information".
Some products are not available in all countries.
For information on the availability of products, please consult the cata-
log.
Subject to technical modifications without notice.
All details provided are technical data which do not constitute warran-
ted qualities.
Most of the product designations are registered trademarks of their
respective owners, even if this is not explicitly indicated.
Important information LXM23A CANopen
2 Fieldbus protocol for servo drive
0198441113938, V2.00, 10.2011
Table of contents
Important information 2
About this manual 7
Further reading 7
Table of contents 3
1 Introduction 9
1.1 CAN bus 9
1.2 CANopen technology 10
1.2.1 CANopen description language 10
1.2.2 Communication layers 10
1.2.3 Objects 11
1.2.4 CANopen profiles 12
2 Before you begin - safety information 13
2.1 Qualification of personnel 13
2.2 Intended use 13
2.3 Hazard categories 14
2.4 Basic information 15
2.5 Standards and terminology 16
3 Basics 17
3.1 Communication profile 17
3.1.1 Object dictionary 17
3.1.2 Communication objects 18
3.1.3 Communication relationships 21
3.2 Service data communication 23
3.2.1 Overview 23
3.2.2 SDO data exchange 23
3.2.3 SDO message 24
3.2.4 Reading and writing data 25
3.2.5 Reading data longer than 4 bytes 27
3.3 Process data communication 29
3.3.1 Overview 29
3.3.2 PDO data exchange 29
3.3.3 PDO message 30
3.3.3.1 Event masks 32
3.3.4 PDO mapping 33
3.4 Synchronization 38
LXM23A CANopen Table of contents
Fieldbus protocol for servo drive 3
0198441113938, V2.00, 10.2011
3.5 Emergency service 40
3.5.1 Error evaluation and handling 40
3.6 Network management services 42
3.6.1 NMT services for device control 42
3.6.2 NMT services for connection monitoring 44
3.6.2.1 Node guarding / Life guarding 44
3.6.2.2 Heartbeat 46
4 Installation 47
5 Commissioning 49
5.1 Commissioning the device 49
5.2 Address and baud rate 49
6 Operation 51
6.1 Indication of the operating state 52
6.2 Changing the operating state 55
6.3 Starting and changing an operating mode 55
6.4 Operating mode Profile Position 57
6.4.1 Example: Profile Position 59
6.4.1.1 Example Node address 1 60
6.5 Operating mode Interpolated Position 61
6.6 Operating mode Homing 64
6.6.1 Example: Homing 64
6.6.1.1 Example Node address 1 66
6.7 Operating mode Profile Velocity 67
6.7.1 Example: Profile Velocity 68
6.7.1.1 Example Node address 1 69
6.8 Operating mode Profile Torque 70
6.8.1 Example: Profile Torque 71
6.8.1.1 Example Node address 1 72
7 Diagnostics and troubleshooting 73
7.1 Error diagnostics via integrated HMI 73
7.2 Error register 75
7.3 Communication Alarm List 76
7.3.1 ErrorCode order by Alarm 77
7.3.2 SDO Abort Codes 79
8 Object dictionary 81
9 Glossary 111
9.1 Units and conversion tables 111
9.1.1 Length 111
9.1.2 Mass 111
9.1.3 Force 111
9.1.4 Power 111
Table of contents LXM23A CANopen
4 Fieldbus protocol for servo drive
0198441113938, V2.00, 10.2011
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