CiA-402_v02-Device-Profile-Drives-and-Motion-Contr

CiADraftStandardProposal402CANopenDeviceProfileDrivesandMotionControlThisdraftstandardproposalisnotrecommendedforimplementationVersion2.0Date:17.March2005CANinAutomatione.V.CONTENTSDrivesandMotionControlCiADSP402V2.02HISTORYDateChangesJuly2002Documentcompletelyrevised;Summaryofchanges:insertrecorddefinition0080h:Interpolationtimeperiodrecordinsertrecorddefinition0081h:Interpolationdataconfigurationrecordinsertrecorddefinition0082h:vlvelocityaccelerationdecelerationrecordobject6406h:changedatatypefromDATEtoTIME_OF_DAYobject60C1h:changeobjectcodefromRECORDtoARRAYobject60F9h:changeobjectcodefromRECORDtoARRAYobject60FEh:changeobjectcodefromRECORDtoARRAYobject6089h:changecategoryfromoptionaltoconditionalobject608Ah:changecategoryfromoptionaltoconditionalobject608Bh:changecategoryfromoptionaltoconditionalobject608Ch:changecategoryfromoptionaltoconditionalobject608Dh:changecategoryfromoptionaltoconditionalobject608Eh:changecategoryfromoptionaltoconditionalobject6084h:changecategoryfrommandatorytooptionalobject606Ah:changecategoryfrommandatorytooptionalGeneralinformationonlicensingandpatentsCANinAUTOMATION(CiA)callsattentiontothepossibilitythatsomeoftheelementsofthisCiAspecificationmaybesubjectofpatentrights.CiAshallnotberesponsibleforidentifyinganyorallsuchpatentrights.©CiA2005-01-01Allrightsreserved.Unlessotherwisespecified,nopartofthispublicationmaybereproducedorutilizedinanyformorbyanymeans,electronicormechanical,includingphotocopyingandmicrofilm,withoutpermissioninwritingfromCiAattheaddressbelow.CANinAutomatione.V.AmWeichselgarten26DE-91058Erlangen,GermanyTel.:[phone]Fax:[phone]Url:@can-cia.orgCONTENTSDrivesandMotionControlCiADSP402V2.03CONTENTS1SCOPE..................................................................................................................92REFERENCES.....................................................................................................103DEFINITIONSANDABBREVIATION....................................................................114OVERVIEW.........................................................................................................124.1Accesstothedrive.......................................................................................124.2Architectureofthedrive................................................................................135OPERATINGPRINCIPLE.....................................................................................175.1Introduction.................................................................................................175.2Standardizationviaprofiling..........................................................................175.3Theobjectdictionary....................................................................................175.3.1Indexandsub-indexusage.....................................................................186EMERGENCYMESSAGES..................................................................................196.1Principle......................................................................................................196.2Errorcodes.................................................................................................197PREDEFINITIONS...............................................................................................247.1Predefinedobjects.......................................................................................247.1.1Object1000h:Devicetype......................................................................247.1.2Object1001h:Errorregister....................................................................247.1.3Object67FFh:Singledevicetype............................................................247.2PDOmapping..............................................................................................247.2.1ReceivePDOs.......................................................................................257.2.2TransmitPDOs......................................................................................288OBJECTDICTIONARY........................................................................................329COMMONENTRIES.............................................................................................339.1Generalinformation.....................................................................................339.1.1Motordata.............................................................................................339.1.2Drivedata.............................................................................................339.2Objectdictionaryentries...............................................................................349.2.1Objectsdefinedinthischapter................................................................349.3Objectdescription........................................................................................349.3.1Object6007h:Abortconnectionoptioncode................