CDHD
EtherCAT and CANopen Reference Manual 5
Contents
1 Introduction _______________________________________________ 15
1.1 About This Manual .................................................................................. 15
1.2 Manual Format – Object Dictionary ........................................................... 15
2 Fieldbus Wiring and Setup ____________________________________ 17
2.1 Fieldbus Wiring (Examples) ..................................................................... 17
CDHD – CAN Configuration – softMC 7 Controller – Example ........................ 17
CDHD – CAN Configuration – Horner Controller – Example .......................... 18
CDHD – CAN Configuration – Beckhoff Controller – Example ........................ 19
CDHD – EtherCAT Configuration – softMC 7 Controller – Example ................. 20
CDHD – EtherCAT Configuration – Beckhoff Controller – Example ................. 21
2.2 Node Address ........................................................................................ 22
Node Address in CANopen Network ........................................................... 22
Node Address in EtherCAT Network .......................................................... 22
2.3 Termination Resistor Switch..................................................................... 22
Termination Resistor Switch in CANopen Network ....................................... 22
Termination Resistor Switch in EtherCAT Network ...................................... 23
2.4 Command Interface Mode........................................................................ 23
Communication in CANopen Network ........................................................ 23
Communication in EtherCAT Network ........................................................ 24
2.5 CAN Bus Bit Rate .................................................................................... 25
2.6 Interpolation Time (Cyclic Synchronous) ................................................... 25
3 Configuring softMC Controller for Use with CDHD EtherCAT (EC) Drive ___ 26
4 Configuring Horner Controller for Use with CDHD CAN (AF) Drive ______ 27
4.1 CDHD Hardware and Software Settings ..................................................... 27
4.2 Communication Between Controller and PC ................................................ 28
4.3 Communication Between Controller and Drive ............................................ 29
4.4 PDO Object Mapping ............................................................................... 31
5 Configuring Beckhoff Controller for Use with CDHD EtherCAT (EC) Drive _ 35
5.1 CDHD Hardware and Software Settings ..................................................... 35
5.2 Communication between Controller and PC ................................................ 36
5.3 Communication between Controller and Drive ............................................ 39
5.4 Generating Motion .................................................................................. 41
Setup for Motion .................................................................................... 41
Generating Motion in Cyclic Synchronous Position Mode .............................. 49
Generating Absolute and Relative Motion ................................................... 52
Generating a Step Motion ........................................................................ 53
6 Configuring Keba Controller for Use with CDHD EtherCAT (EC) Drive ____ 54
7 CANopen Operation __________________________________________ 55
7.1 Device Communication ............................................................................ 55
7.2 Communication Objects .......................................................................... 56
Service Data Communication ................................................................... 56
Process Data Communication ................................................................... 56
7.3 Device Control and State Machine ............................................................ 57
7.4 Indicating the Operating State ................................................................. 58
7.5 Changing the Operating State .................................................................. 60
7.6 Starting and Changing an Operating Mode ................................................. 61
7.7 Profile Position Mode ............................................................................... 62
7.8 Homing Mode......................................................................................... 65
7.9 Profile Velocity Mode ............................................................................... 68
7.10 Profile Torque Mode ................................................................................ 71
