16-01195 Rev 04 2
Contents
1 About This Manual .................................................................................................... 4
Overview and Scope ..................................................................................... 4
Product Warnings ........................................................................................ 4
References .................................................................................................. 5
Object Description Conventions ..................................................................... 6
2 CAN & CANopen ...................................................................................................... 10
Copley Controls Drives in CANopen Networks ................................................. 10
Defining and Accessing CANopen Devices ...................................................... 16
Object Dictionary Structure ......................................................................... 19
3 How to map (or Re-map) a PDO ............................................................................. 30
Process Overview ....................................................................................... 30
To Map a Receive PDO ................................................................................ 30
Objects that Define SDOs and PDOs ............................................................. 32
4 Network Management ............................................................................................ 44
Network Management Overview: CANopen .................................................... 44
Network Management Objects: CANopen ...................................................... 48
Network Management Overview: EtherCAT/CANopen ...................................... 50
Sending Serial Commands over CANopen and EtherCAT .................................. 55
5 Device Control, Configuration, & Status ................................................................. 56
Device Control and Status Overview ............................................................. 56
Device Control and Status Objects ............................................................... 61
Error Management Objects .......................................................................... 70
Basic Drive Configuration Objects ................................................................. 74
Basic Motor Configuration Objects ................................................................ 89
Real-time Drive and Motor Status Objects ................................................... 110
Digital I/O Configuration Objects ................................................................ 113
6 Control Loop Configuration .................................................................................. 126
Overview: Nested Position, Velocity, & Current Loops .................................... 126
Position Loop Configuration Objects ............................................................ 142
Xenus Regen Resistor Objects ................................................................... 149
Velocity Loop Configuration Objects ............................................................ 151
Current Loop Configuration Objects ............................................................ 160
Gain Scheduling Configuration ................................................................... 163
Chained Biquad Filters .............................................................................. 165
7 Stepper Mode Support .......................................................................................... 166
Operation ............................................................................................... 166
Stepper Mode Objects .............................................................................. 168
8 Homing Mode Operation ....................................................................................... 170
Overview ................................................................................................ 170
