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mbd_servo_drive:canopen_pdo

CanOPEN PDO

The mode of operation is mapped at index 0x6060 subindex 0 with size of 1 byte.
For example: Profile position is 1, Profile velocity is 3, Torque profile is 4.

The Control Word is mapped at index 0x6040 subindex 0 with size of 2byte.
The Status Word is mapped at index 0x6041 subindex 0 with size of 2byte

STATUS WORD Register

BIT Number Description Mode of operation
11 STATUSWORD_INTERNAL_LIMIT_ACTIVE
12 STATUSWORD_IP_MODE_ACTIVE Interpolated positioning
12 STATUSWORD_SPEED Profile velocity
13 STATUSWORD_MAX_SLIPPAGE_ERR Profile velocity
12 STATUSWORD_HOMING_ATTAINED Homing
13 STATUSWORD_HOMING_ERROR Homing
12 STATUSWORD_SETPOINT_ACK Profile positioning
13 STATUSWORD_FOLLOWING_ERROR Profile positioning

CONTROL WORD Register

BIT Number Description Mode of operation
0 CTRLWORD_BIT_SWITCH_ON
1 CTRLWORD_BIT_EN_VOLTAGE
2 CTRLWORD_BIT_QUICK_STOP
3 CTRLWORD_BIT_EN_OPERATION
4 CTRLWORD_HOME_START Homing
4 CTRLWORD_ENABLE_IP_MODE Interpolated positiong
4 CTRLWORD_NEW_SETPOINT Profile positioning
5 CTRLWORD_CHANGE_SET_NOW Profile positioning
6 CTRLWORD_ABS_REL_POSITION Profile positioning
7 CTRLWORD_BIT_FAULT_RESET
8 CTRLWORD_BIT_HALT

Enabling the drive


From the specification when disabled you need to pass from SWITCH ON.
DISABLED to READY TO SWITCH ON then to SWITCHED ON then finally OPERATION ENABLED

You do that through the controlword where you set bit1 and bit 2 with bit 0 and bit 3 reset (0x06 READY TO SWITCH ON) then you set bit 0,bit1 and bit 2(0x07 READY TO SWITCH ON) them finally bit0,bit1,bit2,bit3 all set (0x0F OPERATION ENABLED).

EDS (CanOPEN) and XML (ETHERCAT) files

mbd_servo_drive/canopen_pdo.txt · Last modified: 2023/01/25 20:26 by mgavesi