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Please reach out to us via email at copleycontrols.com, and we will help you. The hardware in use is the Copley USB-CAN-01 CAN card which is streaming data over the CAN bus at 1MB per second. The network consists of 7 axes being controlled by 3 Copley servo drives. The drives on the network are the MP4, XP2, and XPC. All of them are following the CANopen Protocol for Motion Control (DS402). The Copley Motion Library C++ Motion Control Stack can also implement this solution over an EtherCAT network.

Hello. did you find the video about how to make one xml and esi file?

github.com/CopleyControlsOfficial/CML_Examples

Excellent question. The multi-axis offset for object indices is 0x800 for objects in the range of 0x2000-0x27FF (Copley Specific Objects) and 0x6000-0x67FF (DS-402 Objects). The multi-axis offset for the object indices of the PDO's is 0x40. For example, let's say that TxPDO1 contains object 0x6041 (Status Word). The object index for TxPDO1 for Axis A would be 0x1A00 and would contain 0x6041. The object index for TxPDO1 for Axis B would be 0x1A40 and would contain 0x6841. Please read our helpful CANopen Programmer's Manual for more information. Link to the manual: copleycontrols.com/wp-content/uploads/2018/02/CANopen-Programmers-Manual-5.pdf

That's what they want you to believe so you keep buying more UAD devices.

@@SaccoBelmonte actually it is famous DSP CPU performance that nearly all DSP apps prefer it

Hi Sohanur! Can you please resend this inquiry to us using our website? We will respond immediately. Then we can share contact information and provide remote assistance if needed. Link: www.copleycontrols.com/en/contact-us/

Object 0x2201 is Bus Voltage and 0x2215 is Actual Current. Both are TxPDO mappable. To map an EtherCAT PDO see our Trio video for the exact SDO sequence (link below) or read the CANopen Programmers Guide. Some objects are not PDO mappable (check the guide). The CANopen Guide is in the link below. It can also be accessed via CME > Help > All Documents > CANopen Programmer's Guide. Link: www.copleycontrols.com/wp-content/uploads/2018/02/CANopen-Programmers-Manual.pdf Link: th-cam.com/video/ZgTL9ymEpIs/w-d-xo.html

Hi Shand! Assuming you are using a Copley servo drive, please reach out to us on our official webpage: www.copleycontrols.com. We will respond immediately to you.

I'm using M700 Unidrive from Nidec

@@CopleyControlsOfficial do you think this could work with Nidec Drives

Hi Jamie! Thank you for your question. Most Copley drives have a servo-loop update rate of 4kHz or 250usec. The SYNCH period sent by the master must be an integer multiple of this number. The ME3/ME4 drives are unique because they have a slightly slower update rate of 400usec. Therefore, if there are multiple Copley drives on a network, the least common multiple of 250usec and 400usec must be chosen, which is 2000 usec or 2ms. 400usec multiplied by 5 is 2000usec (2ms).

Yes, it is! Follow the steps in this video. The XE2 does not need a 2ms update rate, so set 0x60C2 sub-index 1 to 1. Other than that and the fact that the XE2 is a 2 axis controller, the steps for PDO configuration in the video are the same. Note: please use an ESI file that matches the firmware version in the drive. All ESI files can be found at: embeddedintelligence.com/esi/. Trio recently improved their software with Motion Perfect V5, which takes an ESI file as input. The Trio Copley Configuration Guide can be found here: www.copleycontrols.com/en/support/ under general resources > application notes > AN138: Trio Copley Configuration Guide. Thank you for choosing Copley!

@@CopleyControlsOfficial Thanks Anthony. I'll try it.

Do you guys have DC servo drives ethercat?

Nope, we have AC servo drives

Thank you, Ian, for your comment. The reason is that there were hardware limitations for the signals on the CAN bus. Twelve hundred microseconds was the fastest update rate we were able to achieve on this particular setup. As a test, I tried different update rates. The CAN bus kept up with anything 2ms or above. There have been exciting developments in the world of CAN recently, such as CAN FD (fast data). These improvements will give the hardware the ability to keep up with a 1ms update rate or potentially lower.

CVM is a motion control software used inside our servo drives. Typically, on a CAN bus there is a master node. All other nodes on the network are slaves. They will have CANopen ID values ranging from 1-255. All nodes should have different addresses. The master will map (write) PDO data on the slave, changing any default PDO mapping already in the slaves's CANopen Object ID's (defined in the CANopen Protocol DS301/DS402). RxPDO's are commands from master to slave device & TxPDO's are feedback from slave device to master. Each PDO has a COB-ID, type, and number. I would suggest buying the CANopen license for more details related to the meaning of the COB-ID. The CANopen Object for the COB-ID is 0x1800-1807, sub-index 1. Bits 0-10 are the 11-bit identifier for standard (CAN 2.0A) identifiers, or the lower 11 bits for extended (CAN 2.0B) identifiers. Bits 11-28 are the upper 18 bits of extended identifiers. For standard identifiers, these bits should be written as zeros. Bit 29 is the identifier format. This bit is clear for standard (11-bit) identifiers, and set for extended (29-bit) identifiers. Bit 30 is the RTR disable. If this bit is set, remote transmit requests (RTR) are not allowed on this PDO. If clear, the PDO is transmitted in response to a remote request. Bit 31 identifies the PDO as valid if clear. If set, the PDO is disabled and its mapping may be changed.

@@CopleyControlsOfficial So, to set a digital output, for example, that a servo module may have, would the CAN-bus master send it RPDO data (not an SDO command)? If so, according to CIA-401, it would seem the Object Dictionary Index would be 0x6200 (Digital Outputs) Digital Inputs are mapped to 0x6000, Analog Input 0x6400, and Analog Output 0x6410. It gets a bit confusing when to use a PDO vs SDO.. or the low-level CAN addressing. For example, to get the Manufacturer/Product ID of Node Id 0x3A.. the CAN-ID on the bus is 0x63A??!!

@@bennguyen1313 SDO's are for non-cyclic data, so yes we can set an output using an SDO. However, we can also do this with a PDO. If the PDO were SYNC type, then the output would be set after every n'th SYNC pulse (over and over again - cyclically). If the PDO were "event triggered" type, then the PDO would only be sent in the case of some defined event. Typically, if we need to write to an object over and over again at a high frequency, we would map it to a PDO. If we are simply altering configuration settings, then we would use an SDO to send the data once.

Yes! It all depends on the PDO type, which is to say how it is configured to transmit. We tend to think of PDO's as being synchronous. Synchronous type are triggered every N'th SYNC message and cannot be inhibited (blocked). Event-triggered type are triggered in the event of an instance so they will not trigger in the absence of that event. Avoiding the event inhibits the event-triggered PDO from being sent.