Moog DS2100 Manuel d'utilisateur Page 238
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DS2100 User's Manual SECTION 6:CANOPEN INTERFACE
PAGE 6-12 C27750-001
6.7.4 SDO Parameters
Parameter
Name
CANopen
Index
CANopen
sub
-
index
PDO mapping
Data Type
Access
Default Value
Minimum
Value
Maximum
Value
Units
Storage Type
Data Group
Field Number
SDO Communication Object Identifier
sdo_client_cob-id 0x1200 1 no U32 r 0x62A
1
- 0x1fffffff - N C 12033
sdo_server_cob-id 0x1200 2 no U32 r 0x5AA
1
- 0x1fffffff - N C 12034
SDO Timeout
sdo_timeout_ms 0x200A 0 No U16 rw 1000 - - ms C C 12008
Table 6.4 SDO Parameter Access Detail
Notes:
1. The client COB ID is set to 0x600 + node ID on power up or reset. The node ID is read from the hex switches on the front panel of the controller.
2. The server COB ID is set to 0x580 + node ID on power up or reset. The node ID is read from the hex switches on the front panel of the controller.
- Digital Controller 1
- Installation & 1
- User’s Manual 1
- SECTION 1: DS2100 OVERVIEW 3
- 1.1 Introduction 5
- 1.2 DS2100 Models 6
- DS2100 User's Manual 10
- 1.4 Design Standards 10
- DS2100 User's Manual 11
- Page Intentionally Blank 16
- Required for 19
- CE-Compliance 19
- 2.2 Safety Regulations 20
- 2.4 UL Requirements 42
- 3.1 System Components 48
- 3.2 Equipment Mounting 53
- 3.3 Power Dissipation 62
- 3.8 24V Backup Connection 78
- 3.11 Motors - Installation 91
- Serial Communications 113
- Connector (RS232) 113
- 3.14 Wiring Summary 117
- DS2100 Cable End 125
- 15-Pin Sub-D Connector 125
- Plug (male) on cable 125
- SECTION 4: GETTING STARTED 127
- 4.1 Introduction 129
- 4.2 Initial Preparation 129
- 4.3 Power Supply 129
- 4.4 Installing Windrive 130
- 4.5 Controller Access 131
- 4.6 Motor Selection 132
- 4.8 Acceleration Limits 136
- 4.9 Parameter Utilities 137
- 4.10 Status & Faults 138
- 4.11 High Power Application 139
- 4.12 Autophasing 140
- 4.13 Torque Mode Enable 141
- 4.14 Velocity Mode Enable 142
- 4.15 Oscilloscope 143
- Click enable button ( ) 145
- 4.16 Power-Down Sequence 148
- ...... 5-29 150
- 5.1 Introduction 152
- 5.2 DS2100 Conventions 153
- 5.3 Power Interface Section 154
- 5.4 Motor Configuration 161
- 5.4.5 Bus Parameters 162
- 5.5 Resolver Input 166
- 5.5.2 Resolver Parameters 168
- 5.6 Encoder Input 170
- 5.6.2 Encoder Parameters 174
- 5.7 Commutation Module 176
- _adjustment 177
- 5.7.3 Commutation Parameters 178
- 5.8 Position Feedback 179
- 5.9 Velocity Feedback 180
- 5.10.1.1.4 Homing Switch 184
- 5.10.1.1.5 Quickstop 184
- 5.10.1.1.9 CAN Re-Enable 185
- 5.10.1.1.10 Re-Boot 185
- 5.11 Control Loops 190
- DS2100 User's Manual 191
- 5.12.1 Drive Monitoring 210
- 5.12.3 Drive Fault Reaction 214
- NON-FATAL 216
- 5.12.5 Fault Clearing 218
- 5.12.6 Event Log 218
- 5.13 Self Protection 222
- 5.14 Parameter Storage 223
- C27750-001 PAGE 6-1 227
- 6.1 Introduction 229
- 6.2 Reference Documentation 229
- CAN Cable Wiring 230
- 6.3 CAN node identifier 232
- 6.5 Data Types 234
- 6.6.1 CAN state 235
- 6.7.2 SDO timeout 237
- 6.7.3 SDO abort codes 237
- 6.7.4 SDO Parameters 238
- 6.8.2 Transmission Type 239
- 6.8.3 PDO Inhibit Time 239
- 6.8.4 PDO Event Time 239
- 6.8.5 PDO mapping 240
- 6.8.6 PDO Parameters 241
- DS2100 User's Manual 243
- 6.9 Synchronisation 243
- 6.10.1 Error reporting 245
- 6.10.2 Heartbeat Protocol 245
- 6.10.4 Drive Identification 245
- 6.10.5 Identity Object 246
- G361_CAN_Vx.x dd.mmm.yyyy 247
- 6.11 CAN Indicators 248
- 6.11.2 Error Indicator 249
- 6.12 Data Type Parameters 250
- 6.13.3 SYNC Transmit 252
- 6.13.4 Auto-Start 252
- 6.13.5 Calculate SYNC Period 252
- 6.13.7 Recovery From Bus-Off 252
- PAGE INTENTIONALLY BLANK 254
- DS2100 User’s Manual 255
- TABLE OF CONTENTS 256
- 7.1 Introduction 257
- 7.2 References 257
- 7.5 Revision History 258
- 7.6 Overview 259
- 7.7 Emergency Messages 260
- 7.8 Predefined Objects 260
- 7.9 Motor/Drive Parameters 263
- 7.10 Device Control 266
- 7.11 Factors Group 271
- Motor Revolution 276
- 7.14 Profile Velocity Mode 289
- 7.16 Profile Position Mode 297
- 7.18 Homing Mode 311
- DS2100 User’s Manual 323
- DS2100 User’s Manual 324
- PAGE INTENTIONALLY BLANK 324
- APPENDIX A DATA LOGGER 325
- A.1 Data Logger 327
- A.1.4 Data Access 329
- A.1.7 Trigger parameters 332
- APPENDIX B GUI 335
- B.1 Contents 336
- B.2 Introduction 338
- B.3.4 Main Window 340
- B.3.5 Main Menu 340
- B.3.6 Toolbar 340
- B.3.7 Status Bar 340
- B.3.9 Panel View 342
- B.3.10 Panel View Toolbar 342
- B.3.13 Macro Player 344
- B.3.14 Macro Player Toolbar 344
- B.3.15 Driver 346
- B.3.16.89.1 Display Area 440
- B.3.16.89.2 Timebase Panel 440
- B.3.16.89.3 Channel Panels 441
- B.3.16.89.4 Cursor Panel 441
- B.3.16.89.5 Trigger Panel 441
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