Leadshine EM522-CAN, Руководство пользователя

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EM522-CAN Field bus Stepper Drive User Manual V1.0
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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
RPDO4 1603H TPDO4 1A03H
!
Notice
Not es: (1) Recommend to reduce the quantity of using PDO unless it’s necessary, in order to reduce the network
load.
(3)PDO property
PDO need to configure multiple properties, including transport is synchronous or asynchronous, the length of prohibit time,
they are configured by modify corresponding address of the following chart.
RPDO
Address to Set
RPDO Properties
TPDO
Address to Set
TPDO Properties
RPDO1 1400H TPDO1 1800H
RPDO3 1402H TPDO3 1802H
RPDO4 1403H TPDO4 1803H
The suggestion for setting PDO properties:
(1) Synchronous or asynchronous?

Synchronous transport means that the corresponding data of PDO will update when synchronization frame emerge on
data bus. It can bring stable data updating periodically, but can’t receive real-time change data.