EM522-CAN Field bus Stepper Drive User Manual V1.0
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You can click the
to check the the active error or the error log of the drive in this window.
5. CANopen Communication Overview
This chapter only briefly introduce frequently used concept and matters need attention when using EM522-CAN. In order to
make the users can understand conventional method of DM-CAN series products in shortest time. If you need to know the
DM - CAN series more detailed CANopen technical content, please refer to
《
DM-CAN series CANopen Technical
instruction manual
》
.
5.1 EM522-CAN Communication Standard
Follow CAN 2.0A standard
Conform to CANopen standard protocol DS 301 V4.02
Conform to CANopen standard protocol DSP 402 V2.01
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(
).
