Leadshine Technology EM522-CAN, Руководство пользователя

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EM522-CAN Field bus Stepper Drive User Manual V1.0
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5.2 Explanation of Nouns
5.2.1 Object dictionary
Object Dictionary is an organized group of objects, which maps the stepper drive related parameters and variables. Each
object using a 16-bit index values to addressing. In order to allow access to the data structure of a single element, defines a 8
bits sub-index at the same time
For example:

Object dictionary 2001H signify motor resolution.

Object dictionary 607AH signify target position of position mode.

Sub-index 01 of object dictionary 6099H signify back to the home position at high speed, Sub-index 02 signify back to
the home position at low speed.
!
Notice
Not
es: (1) As above, 2001H,6081H,6099H are 16 bits address index; (2) Some object dictionary’s sub-index is 0 as
pointing to a single data objects.
Detailed definition of object dictionary is described in electronic data sheets(EDS), you can download EM522-CAN's EDS in
Leadshine official website(
http://www.leadshine.com ).
The EDS contains three main kinds object dictionary is shown as follow:

Communication object dictionary, such as 1000H,1400H,1A00H etc. Please refer to
《
DM-CAN series' CANopen
technical instruction manual
》
for detailed specification.

The drive manufacturers custom object dictionary, such as 2000H~2130H, please refer to chapter 4 for relevant
information of parameters.

Part of CIA DSP402 object dictionary
5.2.2 Process data objects ( PDO)
(1) Definition
PDO Can be understood as an interface between stepper drive and external real-time data transmission, divided into
transmitting PDO(TPDO) and receiving PDO (RPDO). Transmitting and receiving just relative to Leadshine CANopen drive
(Such as the PDO which is transmitted from EM522-CAN is named TPDO), EM522-CAN can support 3 groups of TPDO
and 3 groups of RPDO at present.
(2) PDO meaning
Each PDO can support maximum 8 bits data, and the meaning of object dictionary is configurable. For example the meaning
of RPDO1's can be set different object dictionary such as control word(6040H) or target location(6081H). Specific setting
method can refer to chapter 2.6 "Process data objects (PDO)"
《
DM-CAN series' CANopen technical instruction manual
》
.
RPDO
Address to Set
RPDO meaning
TPDO
Address to set TPDO
meaning
RPDO1 1600H TPDO1 1A00H
RPDO3 1602H TPDO3 1A02H