M258 通过 CANopen 和 Elmo 通讯
SDO 模式
速度模式
1.运行模式 16#6060
Value Description
2.状态字 16#6041
3.控制字 16#6040
-128…-2 Reserved
-1 No mode
0 Reserved
1 Profile position mode
2 Velocity (not supported)
3 Profiled velocity mode
4 Torque profiled mode
5 Reserved
6 Homing mode
7 Interpolated position mode
8…127 Reserved
流程控制
16#0006
↓
16#0007
↓
16#000F
↓
使能
↓
速度给的 16#60FF
位置模式
1.运行模式 16#6060
Value Description
2.状态字 16#6041
3.控制字 16#6040
-128…-2 Reserved
-1 No mode
0 Reserved
1 Profile position mode
2 Velocity (not supported)
3 Profiled velocity mode
4 Torque profiled mode
5 Reserved
6 Homing mode
7 Interpolated position mode
8…127 Reserved
流程控制
16#0006
↓
16#0007
↓
16#000F
↓
使能
↓
写入目标位置 16#607A (如 100000)
↓
16#001F
↓
等待状态字 16#6041 Bit12 置 1
↓
16#000F
↓
运行
扭矩模式
1.运行模式 16#6060
Value Description
-128…-2 Reserved
-1 No mode
0 Reserved
1 Profile position mode
2 Velocity (not supported)
3 Profiled velocity mode
4 Torque profiled mode
5 Reserved
6 Homing mode
7 Interpolated position mode
8…127 Reserved
流程控制
16#0006
↓
16#0007
2.状态字 16#6041
3.控制字 16#6040
↓
16#000F
↓
使能
↓
写入目标扭矩 16#6071 (如 50 就是 5% )
↓
运行
PDO 映射修改方法:
1
[RPDO3]---------UI[1]/UI[3]数组元素
EDS 修改:
[1602sub0]
ParameterName=Number of Mapped Application Objects in PDO
ObjectType=7
AccessType=rw
DataType=0x0005
PDOMapping=0
LowLimit=0
HighLimit=8
DefaultValue=2(添加)
[1602sub1]
ParameterName=PDO Mapping for the 1st Application Object to Be Mapped
ObjectType=7
AccessType=rw
DataType=0x0007
PDOMapping=0
DefaultValue=0x2F000120(添加)
[1602sub2]
ParameterName=PDO Mapping for the 2nd Application Object to Be Mapped
ObjectType=7
AccessType=rw
DataType=0x0007
PDOMapping=0
DefaultValue=0x2F000320
驱动器修改:
UI[1]对象索引: 2F00sub1
UI[3]对象索引: 2F00sub3
SDO 指令顺序:
[1] Index: 16#1602
Sub Index 16#00
Data Length: 16#08
Value: 16#02
[2] Index: 16#1602
Sub Index 16#01
Data Length: 16#20
Value: 0x2F000120
[3] Index: 16#1602
Sub Index 16#02
Data Length: 16#20
Value: 0x2F000320
SDO 指令格式:
Byte
0
1
2
3
4
5
`
6
7
Value
0x23
0x02
0x16
0x01
0x20
0x01
0x00
0x2F
Description
Download
Low Index
High Index
Sub index
Data Length
Object Sub Index
Low Data
High Data
2
[TPDO3]-------------UI[2]/UI[4]
EDS 修改:
[1A02sub0]
ParameterName=Number Of Mapped Application Object In PDO.
ObjectType=7
AccessType=rw
DataType=0x0005
PDOMapping=0
LowLimit=0
HighLimit=8
DefaultValue=2
[1A02sub1]
ParameterName=PDO Mapping For The 1st Application Object To Be Mapped
ObjectType=7
AccessType=rw
DataType=0x0007
PDOMapping=0
DefaultValue=0x2F000220
[1A02sub2]
ParameterName=PDO Mapping For The 2nd Application Object To Be
Mapped
ObjectType=7
AccessType=rw
DataType=0x0007
PDOMapping=0
DefaultValue=0x2F000420
驱动器修改:
UI[2]对象索引:
UI[4]对象索引:
2F00sub2
2F00sub4
SDO 指令顺序:
[1] Index: 16#1A02
Sub Index 16#00
Data Length: 16#01
Value: 16#00
[2] Index: 16#1A02
Sub Index 16#01
Data Length: 16#04
Value: 16#2F000220
[3] Index: 16#1A02
Sub Index 16#02
Data Length: 16#04
Value: 16#2F000420
[4] Index: 16#1802
Sub Index 16#02
Data Length: 16#01
Value: 16#01
[5] Index: 16#1A02
Sub Index 16#00
Data Length: 16#01
Value: 16#02
如需添加更多 PDO 映射,请参照 DS301 手册第 31 和 35 页。
控制字:
对象索引:16#6040
数据类型:UNSIGNED16
详细资料查阅 MAN-CAN402IG.pdf 文档第 26 页。
状态字:
对象索引:16#6041
数据类型:UNSIGNED16
详细资料查阅 MAN-CAN402IG.pdf 文档第 28 页。
实际电流:
对象索引:16#6077
数据类型:INTEGER16
详细资料查阅 MAN-CAN402IG.pdf 文档第 107 页。