3
—— 目 录 ——
1、概述................................................................................................................................................5
1.1 CAN 主要相关文档 ..................................................................................................................5
1.2 本手册使用的术语和缩语........................................................................................................5
1.3 CANOPEN 概述...........................................................................................................................6
2、接线和连接....................................................................................................................................7
3、CANOPEN 通讯...........................................................................................................................8
3.1 CAN 标识符分配表...................................................................................................................9
3.2 服务数据对象 SDO.................................................................................................................10
3.3 过程数据对象 PDO.................................................................................................................12
3.3.1 PDO
参数
..........................................................................................................................14
3.4 SYNC 报文...............................................................................................................................20
3.5 EMERGENCY 报文 .....................................................................................................................21
3.6 HEARTBEAT 报文 ..................................................................................................................23
3.7 网络管理（NMT） .................................................................................................................24
4、单位换算单元（FACTOR GROUP）......................................................................................26
4.1 单位换算相关参数..................................................................................................................27
4.1.1 position factor ....................................................................................................................27
4.1.2 velocity factor.....................................................................................................................29
4.1.3 acceleration factor.............................................................................................................30
5、位置控制功能..............................................................................................................................31
5.1 位置控制相关参数..................................................................................................................33
6、设备控制......................................................................................................................................35
6.1
控制状态机..............................................................................................................................35
6.2
设备控制相关参数..................................................................................................................36
6.2.1 controlword ........................................................................................................................37
6.2.2 statusword ..........................................................................................................................38
6.2.3 shutdown_option_code.......................................................................................................39
6.2.4 disable_operation_option_code.........................................................................................40
6.2.5 quick_stop_option_code.....................................................................................................40
6.2.6 halt_option_code................................................................................................................41
6.2.7 fault_reaction_option_code ...............................................................................................41
7、控制模式......................................................................................................................................42
7.1 控制模式相关参数..................................................................................................................42
7.1.1 modes_of_operation...........................................................................................................42
7.1.2 modes_of_operation_display .............................................................................................43
7.2 回零模式（HOMING MODE）.............................................................................................44
7.2.1
回零模式的控制字
...........................................................................................................44
7.2.2
回零模式的状态字
...........................................................................................................44
7.2.3
回零模式相关参数
...........................................................................................................45
7.2.4
回零方法
...........................................................................................................................47
