Tagged with: CANopen

• Canopen standard data format CANopen标准数据格式

  CANopen is a standard protocol. CAN debugging tools can be used to send messages to control the motor.

  CANopen是标准协议，可以使用CAN调试工具发送报文下去来控制电机

  Operation send SDO format is as follows:

  CANopen是标准协议，操作SDO发送格式如下：

   

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• Use Statusword（6041） to determine status

  

  FAULT：Error occurred    bit3

  Target Reached: Bit 10 

  目标位置到达: Bit 10 

  This bit is set to "1" if the last target was reached and the motor remains within a tolerance window (6067h) for a preset time (6068h).

  如果达到了最后一个目标并且电机仍然保持，则该位设置为“ 1”。在公差窗口（6067h）中保持预设时间（6068h）。

  Limit exceeded: Bit 11

  超出极限：Bit 11

  The demand position is above or below the limit values set in 607Dh.

  需求位置高于或低于607Dh中设置的极限值。

  Homing mode reached : Bit10 & Bit12

  找零结束：Bit10 & Bit12

  Following Error: Bit13

  跟随误差：Bit13

  This bit is set in closed loop mode if the following error is greater than the set limits

  如果跟随误差大于设置的极限，则该位在闭环模式下设置

  

  Determine if 6040 = 0xF and 6040 = 0x1F are assigned successfully

  while ((In.Statusword & 0xEF) != 0x27); 

  while ((In.Statusword & 0x400) != 0x400);

  
   

   

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• Application_Note_TwinCAT3 V1.0.1
  

  Configuration of TwinCAT3 to operate Nanotec controllers via EtherCAT as a box or NC axis in position or cyclic synchronous position (CSP) mode .

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