Motor Power Company DUET_FL 48/10, User Manual

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Page 99
6 Communication interfaces
Control through the CAN bus
Function overview
The DUET_FL servo positioning controller uses the CANopen protocol in accordance with DS301 /
DS402.
The following operating modes specified in CANopen are supported:
 Torque-controlled mode profile torque mode
 Speed-controlled mode profile velocity mode
 Homing homing mode
 Positioning mode profile position mode
 Synchronous position assignment interpolated position mode
The following access types are supported for the exchange of data:
SDO S ervice D ata O bject Used for the normal parameterization of the controller.
(About 150 SDOs are supported)
PDO P rocess D ata
O bject
Rapid exchange of process data (e.g. actual speed)
possible. (2 PDOs are supported)
SYNC Sync hronization
Message
Synchronization of several CAN nodes.
EMCY Em ergen cy
Message
Transmission of error messages.
NMT N etwork
M anagemen t
Network service: All CAN nodes can be influenced
simultaneously, for example.
HEARTBEAT Error Control
Protocol The communication members are monitored through
regular messages.
More information concerning the communication and control of the DUET_FL servo
positioning controller via the CANopen interface and information concerning the
connection of the CAN bus can be found in the
CANopen manual for the DUET_FL
servo positioning controller.
User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company