Danaher Motion 07/06 Introduction
M-S2-021-11 Initial Release 1
1. INTRODUCTION
This manual describes the basic services and communication objects of the CANopen communication
profile DS 301, which are used in the S200. It is provided as a subset to the S200 Position Node with
CANOpen/DeviceNet manual, which is located either on the Product Support Package CD-ROM shipped
with your product or on the Danaher Motion website (http://www.danahermotion.com). The S200 Position
Node with CANOpen/DeviceNet manual contains information for hardware and software. Refer to the S200
Position Node with CANOpen/DeviceNet manual for details.
Additional documentation:
Title Publisher
CAN Specification Version 2.0 CiA e.V.
ISO 11898 Controller Area Network (CAN) for high-speed communication ISO
1. 1 SYSTEM REQUIREMENTS
— S200 servoamplifier with option card
— Master station with a CANOpen interface (eg., PC with CANopen card)
1. 2 BASIC FEATURES
When working with the position controller that is integrated in S200 digital servo amplifiers, the following
functions are available:
Setup And General Functions:
— homing, set reference point
— provision of a digital setpoint for speed and torque control
— support of the following modes of the CANopen Profile DS402:
» profile position mode
» homing mode
» profile torque mode
» interpolated position mode
» profile velocity mode
Positioning Functions:
— execution of a motion task from the motion block memory of the servo amplifier
— execution of a direct motion task
— absolute trajectory, ip-Mode
Data Transfer Functions:
— transmit a motion task to the motion block memory of the servo amplifier
— A motion task consists of the following elements:
» position setpoint (absolute task) or path setpoint (relative task)
» speed setpoint
» acceleration time, braking time
» type of motion task (absolute/relative)
» number of a following task (with or without pause)
— read a motion task from the motion block memory of the servo amplifier
— read actual values
— read the error register
— read the status register
— read/write control parameters
