JVL MIS23 Series, User Manual

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JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 231
10.4 Objects in the DS301 standard
10.4.3 Object dictionary
Writing to these objects in CANopenExplorer is done by pressing W on the keyboard
when the register in folder Manufacturer is selected. Reading is done by pressing R.
Object 2012h – Motor parameters
With this object, all the registers of the MIS motor can be accessed. All the registers are
accessed as 32 bit. When reading and writing to 16-bit registers, the values are automat-
ically converted in the module.
Object 2014h – Motor parameters (16 bit)
Works as 2012h, but the parameters are accessed as 16-bit. If writing to a 32bit param-
eter, the 16-bit value will be treated as signed.
10.4.4 Enable and Disable PDOs
In the CANopen profile, it is only possible to have four transmit and four receive PDOs
enabled at the same time. In the MIS23x (SMC75), all PDOs are disabled when the mod-
ule is booted up. The user must choose which PDOs the application will use and enable
these.
To enable or disable a PDO, it is necessary to write to the MSB (bit 31) in the PDO COB-
ID entry in the PDO communication parameter Record. The COB-ID register is sub-in-
dex 1h, and the value range of this register is UNSIGNED32.
The PDOs are enabled when bit 31 is 0, and is disabled when bit 31 is 1.
Name
Index
(hex) Sub
Index Type Read
only Default Description
Motor pa-
rameters 2012 0 Unsigned8 x 254 Subindex count
n Unsigned32
Access to the 32 bit motor regis-
ter, n
Motor pa-
rameters 2014 0 Unsigned8 x 254 Subindex count
n Unsigned16
Access to the motor register n,
but as 16bit