General
7100.006424_Bus description_PSD4xx_CA_J_ENG 3 2022-08-15
Table of contents
1General ......................................................................................................................... 4
2Start-up ......................................................................................................................... 5
2.1 Set the device address ......................................................................................6
2.2 Set the baud rate ...............................................................................................7
2.3 CAN terminating resistor ..................................................................................8
2.4 Switch the device on .........................................................................................9
3Description of CANopen ............................................................................................ 10
3.1 Status LEDs......................................................................................................10
3.2 Table of entries implemented from object dictionary ...................................11
3.3 Table of device-dependent Min., Max. and Default values ...........................21
3.4 Define PDOs.....................................................................................................24
3.5 Detailed description of status bits ..................................................................24
3.6 Detailed description of control bits.................................................................28
4Functions .................................................................................................................... 30
4.1 Starting a positioning run ...............................................................................30
4.2 Types of positioning........................................................................................31
4.2.1 Positioning run
with
loop ..........................................................................31
4.2.2 Positioning run
without
loop.....................................................................32
4.2.3 Manual run.................................................................................................32
4.3 Velocity, acceleration and deceleration..........................................................32
4.4 Maximum start-up and operating current......................................................33
4.5 Behaviour of the drive in case of blocking.....................................................33
4.6 Behaviour of the drive if it is turned manually (readjustment function).......34
4.7 Calculate the absolute physical position........................................................34
4.8 Use of the “Upper mapping end” parameter ................................................38
4.8.1 Delivery state .............................................................................................38
4.8.2 Shifting the positioning range upwards starting from the delivery state
39
4.8.3 Shifting the positioning range downwards starting from the delivery
state 41
4.8.4 Shifting the positioning range depending on the actual position...........42
4.8.5Step-by-step instructions for determining the positioning range...........44
4.9 Set the spindle pitch........................................................................................46
4.10 Abort the run when the master fails ...........................................................46
4.11 Reference runs .............................................................................................47
4.12 Run drive in reverse.....................................................................................48
5Technical data ............................................................................................................ 49
6Notes........................................................................................................................... 50
