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SERIES DRCS

DRIVE

FOR STEPPER MOTORS

CANOPEN USER MANUAL

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Summary of Contents for DRCS Series

Page 1: ...SERIES DRCS DRIVE FOR STEPPER MOTORS CANOPEN USER MANUAL...

Page 2: ...object descriptions 11 3 4 1 603Fh Error code 11 3 4 2 6040h Controlword 11 3 4 3 6041h Statusword 12 3 4 4 6060h Mode of operation 12 3 4 5 6061h Mode of operation display 12 3 4 6 6064h Position ac...

Page 3: ...necessary for the correct working of the driver for the description of all the connectors you refer to the manual DRCS_manual pdf This manual describes the implementation of the Cia 301 and Cia 402 pr...

Page 4: ...U16 RW 0 ms 100D 0 Life time factor U16 RW 0 1010 Store parameter field 0 Highest sub index supported U32 RO 1 Save all parameters U32 RW 1011 Restore default parameters 0 Highest sub index supported...

Page 5: ...apping entry 5 U32 RW 6 Mapping entry 6 U32 RW 7 Mapping entry 7 U32 RW 8 Mapping entry 8 U32 RW 1601 Rx PDO mapping parameter 2 1602 Rx PDO mapping parameter 3 1603 Rx PDO mapping parameter 4 1604 Rx...

Page 6: ...bject U8 RW 1 1 Mapping entry 1 U32 RW 0x60410010 2 Mapping entry 2 U32 RW 3 Mapping entry 3 U32 RW 4 Mapping entry 4 U32 RW 5 Mapping entry 5 U32 RW 6 Mapping entry 6 U32 RW 7 Mapping entry 7 U32 RW...

Page 7: ...ufacturer software version This object contains the firmware version of the device 3 2 11 100Ch Guard time This object together with the next 100Dh represent the configuration of the life guarding pro...

Page 8: ...ID 28 0 X 29 bit extended address 11 0 X 11 bit standard address Bit Value Description 31 MSB 0 1 EMCY present valid EMCY absent invalid 30 0 Reserved 29 0 1 11 bit CAN ID 29 bit CAN ID 28 0 X 29 bit...

Page 9: ...23 1800h 1807h Tx PDO communication parameter These objects contain the configuration of the PDO communication that the device can transmit The PDO transmission parameters are described in the CIA301...

Page 10: ...mand value S32 RO 0 mm s 606Ch 0 Velocity actual value S32 RO Yes 0 mm s 606Dh 0 Velocity window U16 RW 0 mm s 606Eh 0 Velocity window time U16 RW 0 ms 606Fh 0 Velocity threshold U16 RW 0 mm s 6070h 0...

Page 11: ...tatus are summarised in the following table Bit 8 the halt function interrupts the command in execution but as soon as it is reset the command resumes if possible depending on the operating mode ms ma...

Page 12: ...mmand active xxxx xxxx x00x 0111 Quick stop active xxxx xxxx x0xx 1111 Error during command xxxx xxxx x0xx 1000 Drive in error status Value Operating mode 0 No mode requested 1 Profile position 3 Velo...

Page 13: ...ed in the set unit of measurement and refer to the homing position 3 4 15 607Eh Polarity This object allows the motor rotation direction to be reversed in order to change the movement direction based...

Page 14: ...erved 9 Reserved 10 15 Reserved 16 31 Manufacturer specifications ID Sub Description Type Access PDO mapping 2001h Feed converter 0 Sub index supported U32 RO 1 Numerator U32 RW 2 Denominator U32 RW 2...

Page 15: ...ntains the total stroke performed by the drive considering each movement in absolute value excluding the rotation direction The stroke is expressed in motor revolutions Unit of measurement 4 The units...

Page 16: ...el this bit is used to indicate the target type to be reached if absolute with the bit to zero or relative with the bit set At the end of the movement the statusword bits become Bit 10 target reached...

Page 17: ...celerated Bit 12 Speed this bit indicates if motor is stopped 1 zero speed 0 in movement The dictionary objects related to this operating profile are 60FFh Target velocity to set a velocity target and...

Page 18: ...cation of an error In this reset mode the external proximity to find the zero position is not required but the reset setting consists of adjusting the current position without moving the motor to zero...

Page 19: ...on mode Setting the motion profile 603 8 23 81 60 00 32 00 00 00 set velocity to 50mm s 603 8 23 83 60 00 64 00 00 00 set acceleration to 100mm s2 603 8 23 84 60 00 64 00 00 00 set deceleration to 100...

Page 20: ...Via Eritrea 20 I 25126 Brescia Italy Tel 39 030 37921 www camozzi com Technical assistance Product inquiries and requests for support Tel 39 030 3792790 service camozzi com Product Certification Info...

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