PD86-1180 CANopen FW Manual (.pdf) - Trinamic

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TMCM-1180 / PD86-1180 CANopen Firmware Manual (V1.01 / 2011-AUG-01) 12 The figure below shows the situation of the state machine in this device profile: CANopen device profile CiA DSP 402 Modes of operation: [used in this manual / according to CiA DSP 402] Homing mode Profile position mode Velocity mode Device control state machine CANopen Communication Profile CiA DS301 CAN Figure 4.2: Communication architecture Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-1180 / PD86-1180 CANopen Firmware Manual (V1.01 / 2011-AUG-01) 13 4.3 Device model A device is structured like the following: Communication This function unit provides the communication objects and the appropriate functionality to transport data items via the underlying network structure. Object dictionary The object dictionary is a collection of all the data items which have an influence on the behavior of the application objects, the communication objects and the state machine used on this device Application The application comprises the functionality of the device with respect to the interaction with the process environment Communication Object dictionary Application State machine Application object Communication object Communication object Communication object Communication object Entry 1 Entry 2 Entry n Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG Application object Application object Application object Bus system Process Figure 4.3: Device model
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