JVL MIS17 Series User Manual page 278

11.3
Now the motor shaft will rotate slowly, until the motor has counted 20000 Encoder puls-
es. If you want to stop the motor, then click on sub register 0x02 and write 0 in the win-
dow, and the motor will switch to passive mode. If using other software, the test could
be described as, (using object 2012h):
Sub-
register
02h
05h
03h
02h
02h
05h
03h
02h
11.3.3 How to use CANopenExplorer
After startup, the name and details of the HW-interface, such as PCAN_USB should ap-
pear upper left.
When you turn on a motor/CAN node after having started CANopenExplorer, the Data
Window (large centre right), will contain a message with the number 0x7xx, where xx is
the node ID. For example: 0x704 will indicate node 4. Set the Node ID field top centre
to that value (4).
Ensure that the correct EDS_file is loaded. The program loads a hard-coded default file
- either SMC85_V1_00_S.eds (or newer). It is also possible to load another EDS file by
writing the file name in the "EDS file" field, top centre, and pressing the load button.
Note that the EDS view (large centre left panel) will add the new file at the bottom but
will not clear any existing file(s) that are loaded.
Normal operation will be to select an object in the EDS view pane, and press either R for
read or W for write. Pressing R should read the value (successful if no error pops up).
Pressing W for write will pop up a small window in which the present value is displayed
in both decimal and hex. It is then possible to write a new value either in decimal or hex
using a 0x prefix, such as 0x185 to enable the first TPDO on node 5 (by clearing the high
bit). If the "Add to list" checkbox is checked, the object will be added to the user SDO
list as a write SDO. Pressing A performs a read and adds it to the user SDO list pane (low-
er right) as a read SDO.
The SDOs in the user SDO pane can be rearranged by dragging them with the mouse.
Double-clicking on a user SDO list will execute the operation, either reading or writing.
The bus state can be changed using the NMT buttons, lower left, e.g. to Operational to
enable PDOs.
278 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Using CANopenExplorer
Name Width
Mode_Reg 16 bit
V_SOLL 16 bit
P_SOLL 32 bit
Mode_Reg 16 bit
Returning the motor with higher velocity
Mode_Reg 16 bit
V_SOLL 16 bit
P_SOLL 32 bit
Mode_Reg 16 bit
Unit Operation
Set up the motor
in position mode
RPM Sets up the desired velocity
The motor rotates the
Steps desired numbers of
encoder pulses
Sets the motor
to passive mode
Set up the motor
in position mode
RPM Sets up the desired velocity
The motor rotates the
Steps
desired numbers of Steps
Sets the motor
in passive mode
Value
02h
100h
20000
00h
02h
200h
-20000
00h