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Overview

This package contains the implementation of the CiA 402 DSP protocol. It just communicates via objects (canopen_master, no direct CAN communication is needed.

It runs the 402 state machine and per-mode state machines, if needed. It does not handle the read of actual positions, velocities, etc..

It recommended to map the control word (object 6040, 0x60400010), the status word (object 6041, 0x60410010) and the operation mode display (object 6061, 0x60610008) to PDOs.

Drive operation modes

All standardized drive modes are implemented, these modes can be substituted in sub classes and others can be added.

The following table lists all supported drive modes and their data objects. The objects used should be mapped to PDOs.

The modes can be switched at run-time, the 402 state might be switched in order to switch the mode, if necessary.

Not all devices support all operation modes. The driver limits the set of available modes based on object 6502.

Homing

Homing is supported, but is not a available as drive mode. Instead it is performed at initialization if homing is supported and the homing method is not zero.

The implemented homing mode just triggers the execution of the selected homing method. Please refer to your device manual to get a list of supported methods. Currently the driver aborts the procedure if the homing was not performed successfully within 60 seconds.

Tested Devices

The driver was tested for the below listed devices. For each of them, the supported modes are checked.

PP: Profiled Position, VL: Velocity, PV: Profiled Velocity, PT: Profiled Torque, HM: Homing, IP: Interpolated Position, CSP: Cyclic Synchronous Position, CSV: Cyclic Synchronous Velocity, CST: Cyclic Synchronous Torque

: works, (X) : does not work, - : unsupported, ? : unknown/not tested

SCHUNK

ELMO

maxon