User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-4 C27750-001
7.3 Acronyms and Abbreviations
CAN Controller Area Network; Internally standardized serial bus system,
CiA CAN in Automation
COB Communication Object; A unit of transportation in a CAN network
COB-ID Communication Object Identifier; Used to uniquely identify each COB in a CAN Network.
DTM Direct Torque Mode
PDO Process Data Object
RPDO Receive Process Data Object
SDO Service Data Object
TPDO Transmit Process Data Object
7.4 Naming /Format Conventions
• Each section includes an “issues” sub-section. This sections highlights assumptions made on items not
defined in DS402, interpretations of DS402 issues, manufacturer specific parameters, minor items of
information, etc…
• When referring to parameters these are indicated by name, and their parameter number. If the parameter
number is such that it has a non-zero sub index this is also included.
e.g. ds402 position range min (0x607B/1)
The Type of the various parameters is indicated by abbreviations, e.g. U32 corresponds to an unsigned 32
bit quantity, S08 corresponds to a signed 8 bit quantity, etc….
7.5 Revision History
Number Description Version Date
1 First Draft of Document 0.1 28-11-03
2 Second Draft of Document, update CAN wiring, remove 301
section, Add DPM, Add Sequence move Diagrams, Update
with DVT issues.
0.2 4-3-04
3 Third Draft of Document, Remove wiring section, update with
parameter sets, remove homactlow
0.3 17-3-04
4 Fourth Draft of Document, Add Factor error table, rename
parameters, remove comments, fix minor errors.
0.4 22-3-04
5 Add DPM without trigger, removed index pulse set up, Add
motor name, home error window, landscape tables, Factors
examples and formulae, and interpolation diagram.
0.5 13-4-04
6 Minor Updates (changing modopr, Not saving modopr, etc..) 0.6 21-4-04