JVL MIS23 Series, Руководство пользователя

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JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 227
10.3 Using CANopenExplorer
Now the motor shaft will rotate slowly, until the motor has counted 20000 Encoder puls-
es. If you want to stop the motor, then click on sub register 0x02 and write 0 in the win-
dow, and the motor will switch to passive mode. If using other software, the test could
be described as, (using object 2012h):
10.3.3 How to use CANopenExplorer
After startup, the name and details of the HW-interface, such as PCAN_USB should ap-
pear upper left.
When you turn on a motor/CAN node after having started CANopenExplorer, the Data
Window (large centre right), will contain a message with the number 0x7xx, where xx is
the node ID. For example: 0x704 will indicate node 4. Set the Node ID field top centre
to that value (4).
Ensure that the correct EDS_file is loaded. The program loads a hard-coded default file
- either smc75_V3_03_S.eds (or newer) or MAC00-FC.eds. It is also possible to load an-
other EDS file by writing the file name in the “EDS file” field, top centre, and pressing the
load button. Note that the EDS view (large centre left panel) will add the new file at the
bottom but will not clear any existing file(s) that are loaded.
Normal operation will be to select an object in the EDS view pane, and press either R for
read or W for write. Pressing R should read the value (successful if no error pops up).
Pressing W for write will pop up a small window in which the present value is displayed
in both decimal and hex. It is then possible to write a new value either in decimal or hex
using a 0x prefix, such as 0x185 to enable the first TPDO on node 5 (by clearing the high
bit). If the “Add to list” checkbox is checked, the object will be added to the user SDO
list as a write SDO. Pressing A performs a read and adds it to the user SDO list pane (low-
er right) as a read SDO.
The SDOs in the user SDO pane can be rearranged by dragging them with the mouse.
Double-clicking on a user SDO list will execute the operation, either reading or writing.
The bus state can be changed using the NMT buttons, lower left, e.g. to Operational to
enable PDOs.
Sub-
register Name Width Unit Operation Value
02h Mode_Reg 16 bit
Set up the motor
in position mode
02h
05h V_SOLL 16 bit RPM Sets up the desired velocity 100h
03h P_SOLL 32 bit Steps
The motor rotates the
desired numbers of
encoder pulses
20000
02h Mode_Reg 16 bit
Sets the motor
to passive mode
00h
Returning the motor with higher velocity
02h Mode_Reg 16 bit
Set up the motor
in position mode
02h
05h V_SOLL 16 bit RPM Sets up the desired velocity 200h
03h P_SOLL 32 bit Steps
The motor rotates the
desired numbers of Steps
-20000
02h Mode_Reg 16 bit
Sets the motor
in passive mode
00h