CiA402电机控制代码

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CiA402 Demo Code Download

CiA402是基于CANOPEN的电机控制驱动代码和通信层的接口:

1. 状态机转换
2. CiA402 objects
3. 支持csp、csv，csp(cyclic synchronous position)、csv(cyclic synchronous velocity)操作模式。
   CiA402 specific files:
   cia402appl.c: CiA402 driver implemention
   cia402appl.h: Driver profile specific objects, definitions and axes structres

All motion controller related values are encapsulated in structure TCiA402Axis(file cia402appl.h).
The configuration parameters and error codes are directly mapping functions(file: ecatappl.c).
Currently the sample support maximum of two axes. The axes are initialized in the EtherCAT state change from PREOP to SAFEOP.
objects: refer EL9300 and ETG.6010
State machine:

Operation modes:
csv : 周期性同步速度模式

csv:运行原理图：

CiA402 Demo百度网盘下载链接

1. 链接：https://pan.baidu.com/s/1DEC-0bIPfgkJ864upg3KoQ
   提取码：evhs
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