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Contents
Section 1: Introduction to the MDrivePlus CANopen DSP-402 Implementation ..................................3
Introduction ..................................................................................................................................3
CAN Message Format ...................................................................................................................3
MDrivePlus Architecture ...............................................................................................................3
Device Control ..............................................................................................................................4
Modes of Operation ......................................................................................................................4
Homing Mode .........................................................................................................................4
Profile Position Mode ...............................................................................................................4
Profile Velocity Mode ...............................................................................................................4
Trajectory Generator ................................................................................................................5
Objects and the Object Dictionary ................................................................................................5
Object Formatting .........................................................................................................................6
Object Description ...................................................................................................................6
Entry Description .....................................................................................................................6
Sub-Indexes ..............................................................................................................................7
Section 2: Accessing The MDrivePlus CANopen ....................................................................................9
Introduction ..................................................................................................................................9
Process Data Object (PDO) ..........................................................................................................9
PDO Attributes ........................................................................................................................9
Service Data Object (SDO) ...........................................................................................................9
SDO Attributes ........................................................................................................................9
PDO Mapping ............................................................................................................................10
PDO Mapping Procedure (Consumer PDO) ..............................................................................10
PDO Objects ..............................................................................................................................11
Consumer PDO1 (RPDO1) 1400h (Object Description) .....................................................11
Consumer PDO1 (RPDO1) 1400h (Entry Description) .......................................................11
1600h (Object Description – Mapping Parameters) ...............................................................11
1600h (Entry Description – Mapping Parameters) .................................................................11
Consumer PDO2 (RPDO2) 1401h (Object Description) .....................................................12
Consumer PDO2 (RPDO2) 1401h (Entry Description) .......................................................12
1601h (Object Description – Mapping Parameters) ...............................................................12
1601h (Entry Description – Mapping Parameters) .................................................................12
Consumer PDO3 (RPDO3) 1402h (Object Description) .....................................................13
Consumer PDO3 (RPDO3) 1402h (Entry Description) .......................................................13
1602h (Object Description – Mapping Parameters) ...............................................................13
1602h (Entry Description – Mapping Parameters) .................................................................13
Producer PDO1 (TPDO1) 1800h (Object Description) .......................................................13
Producer PDO1 (TPDO1) 1800h (Entry Description) .........................................................14
1A00h (Object Description – Mapping Parameters) ...............................................................14
1A00h (Entry Description – Mapping Parameters) .................................................................14
Producer PDO2 (TPDO2) 1801h (Object Description) .......................................................14
Producer PDO2 (TPDO2) 1801h (Entry Description) .........................................................14
1A01h (Object Description – Mapping Parameters) ...............................................................15
1A01h (Entry Description – Mapping Parameters) .................................................................15
Producer PDO3 (TPDO3) 1802h (Object Description) .......................................................15
Producer PDO3 (TPDO3) 1802h (Entry Description) .........................................................15
1A02h (Object Description – Mapping Parameters) ...............................................................15
1A02h (Entry Description – Mapping Parameters) .................................................................16
Section 3: Manufacturer Specific Objects ............................................................................................17
Introduction ................................................................................................................................17
Accessibility Codes ..............................................................................................................17
Object 2000h: I/O Discretes (Config) .........................................................................................17
Object Description .................................................................................................................17
Entry Description ...................................................................................................................17
Object 2002h: I/O Discretes (Config) .........................................................................................18
Object Description .................................................................................................................18
Entry Description ...................................................................................................................18
Object 2004h: Input Filter Mask (Config) ..................................................................................18
Object Description .................................................................................................................19
Entry Description ...................................................................................................................19