施耐德23系列驱动器, CANOPEN使用手册

LXM23A CANopen

Fieldbus protocol for servo drive

Fieldbus manual

V2.00, 10.2011

www.schneider-electric.com

0198441113938, V2.00, 10.2011

Important information

This manual is part of the product.

Carefully read this manual and observe all instructions.

For information on the availability of products, please consult the cata-

log.

Subject to technical modifications without notice.

All details provided are technical data which do not constitute warran-

ted qualities.

Most of the product designations are registered trademarks of their

respective owners, even if this is not explicitly indicated.

Important information LXM23A CANopen

2 Fieldbus protocol for servo drive

0198441113938, V2.00, 10.2011

Table of contents

1.2 CANopen technology 10

1.2.1 CANopen description language 10

1.2.2 Communication layers 10

1.2.3 Objects 11

1.2.4 CANopen profiles 12

2 Before you begin - safety information 13

2.1 Qualification of personnel 13

2.2 Intended use 13

2.3 Hazard categories 14

2.4 Basic information 15

3.2 Service data communication 23

3.2.1 Overview 23

3.2.2 SDO data exchange 23

3.2.3 SDO message 24

3.2.4 Reading and writing data 25

3.2.5 Reading data longer than 4 bytes 27

3.3 Process data communication 29

3.3.1 Overview 29

3.3.2 PDO data exchange 29

3.3.3 PDO message 30

Fieldbus protocol for servo drive 3

3.6 Network management services 42

4 Installation 47

5 Commissioning 49

5.1 Commissioning the device 49

5.2 Address and baud rate 49

6.5 Operating mode Interpolated Position 61

6.6 Operating mode Homing 64

6.7 Operating mode Profile Velocity 67

6.8 Operating mode Profile Torque 70

8 Object dictionary 81

9 Glossary 111

9.1 Units and conversion tables 111

4 Fieldbus protocol for servo drive

0198441113938, V2.00, 10.2011

9.1.5 Rotation 112

9.1.6 Torque 112

Fieldbus protocol for servo drive 5