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CANopen device documentation

PCW-25
Project File pcw.xdd
File Version 5
Created 2025/4/10 18:04:22
Created By
Modified 2025/6/16 11:11:29
Modified By

This file was automatically generated by CANopenEditor v4.2.3-0-gc1071ab+c1071ab3197f9bbf718123ec5bbabf449b2f7bab

Device Information
Vendor Name hexfellow
Vendor ID 0x00686578
Product Name PCW-25
Product ID 0x19776370
Granularity 8
RPDO count 0
TPDO count 0
LSS Slave False
LSS Master False
NG Slave False
NG Master False

Supported Baud rates

  • [ ] 10 kBit/s
  • [ ] 20 kBit/s
  • [ ] 50 kBit/s
  • [ ] 125 kBit/s
  • [ ] 250 kBit/s
  • [ ] 500 kBit/s
  • [ ] 800 kBit/s
  • [x] 1000 kBit/s
  • [ ] auto

PDO Mapping

Communication Specific Parameters

Manufacturer Specific Parameters

0x3000 - Write Sink

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED8 rw r no 0

Unused entry

0x3001 - Timeout

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED32 rw no no 500

表示超时保护的时长。默认值为500，单位为毫秒（ms）。

Indicates the duration of the timeout protection. The default value is 500, measured in milliseconds (ms).

0x3100 - Motor1 Motor Error Code

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED8 ro t no 0

Every bit means some error:

fn u8_to_errors(error_code: u8) -> Vec<i32> {
    let mut ret = vec![];
    if error_code & 0b1 != 0 {
        ret.push(MotorError::MeCommunicationError as i32);
    }
    if error_code & 0b10 != 0 {
        ret.push(MotorError::MeOverVoltage as i32);
    }
    if error_code & 0b100 != 0 {
        ret.push(MotorError::MeUnderVoltage as i32);
    }
    if error_code & 0b1000 != 0 {
        ret.push(MotorError::MeOverCurrent as i32);
    }
    if error_code & 0b10000 != 0 {
        ret.push(MotorError::MeDriverOverTemperature as i32);
    }
    if error_code & 0b100000 != 0 {
        ret.push(MotorError::MeMotorOverTemperature as i32);
    }
    if error_code & 0b1000000 != 0 {
        ret.push(MotorError::MeGeneralError as i32);
    }
    ret
}

0x3101 - Motor1 Motion Info Output Axis Position

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro t no 0x02
0x01 Output Axis Encoder Resolution UNSIGNED32 ro t no 0
0x02 Output Axis Position INTEGER32 ro t no 0

Motor Output Shaft Position Parameters

  1. Sub-index 0x01

    • Description: Encoder resolution
    • Unit: Pulse/Revolution (P/Rev)
    • Function: Defines total encoder pulses per revolution

  2. Sub-index 0x02

    • Description: Current position value
    • Unit: Encoder pulses (Pulse)
    • Calculation:
      Current revolution = Sub-index 0x02 value / Sub-index 0x01 value

电机输出轴位置参数说明

  1. 子索引 0x01

    • 描述：编码器分辨率
    • 单位：脉冲数/转（Pulse/Revolution）
    • 功能：定义每转对应的编码器脉冲总数

  2. 子索引 0x02

    • 描述：当前位置值
    • 单位：编码器脉冲数（Pulse）
    • 计算说明：
      当前位置圈数 = 子索引 0x02 值 / 子索引 0x01 值

0x3103 - Motor1 Motion Info Output Axis Speed

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x03
0x01 Output Axis Speed INTEGER16 ro t no 0
0x02 Output Axis Speed Min REAL32 ro t no 0
0x03 Output Axis Speed Max REAL32 ro t no 0

Provides information about the output shaft speed:

  • Sub-index 0x01: Actual data with a value range of -32767 to 32767 (Note: Not i16::MIN (-32768)).
  • Sub-index 0x02: Floating-point speed value in rad/s when Sub-index 0x01 is -32767.
  • Sub-index 0x03: Floating-point speed value in rad/s when Sub-index 0x01 is 32767.

Rust code is provided below for converting between i16 and float data types.

提供关于输出轴转速的信息：

  • 子索引 0x01：实际数据，取值范围为 -32767 ~ 32767（注意：不是 i16::MIN (-32768)）。
  • 子索引 0x02：当子索引 0x01 为 -32767 时，以 rad/s 为单位的浮点格式转速值。
  • 子索引 0x03：当子索引 0x01 为 32767 时，以 rad/s 为单位的浮点格式转速值。

下方附有 Rust 代码，用于实现 i16 与 float 的相互转换。

fn float_to_i16(x: f32, x_min: f32, x_max: f32) -> i16 {
    let x = x.clamp(x_min, x_max);
    let scale = 65534.0f32; // 32767 * 2
    let span = x_max - x_min;
    (((x - x_min) as f32 * scale / span) - 32767.0f32) as i16
}

fn i16_to_float(x: i16, x_min: f32, x_max: f32) -> f32 {
    let x = if x == -32768 { -32767 } else { x };
    let scale = 65534.0f32; // 32767 * 2
    let span = x_max - x_min;
    x_min + (x as f32 + 32767.0f32) * span / scale
}

0x3105 - Motor1 Motion Info Output Axis Torque

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x03
0x01 Output Axis Torque INTEGER16 ro t no 0
0x02 Output Axis Torque Min REAL32 ro t no 0
0x03 Output Axis Torque Max REAL32 ro t no 0

Provide information about the output shaft torque.

  • Sub-index 0x01: Actual data with a value range of -32767 to 32767 (Note: Not i16::MIN (-32768)).
  • Sub-index 0x02: Floating-point torque value in N·m when Sub-index 0x01 is -32767.
  • Sub-index 0x03: Floating-point torque value in N·m when Sub-index 0x01 is 32767.

Special Cases:

  • If Sub-index 0x02 or 0x03 is IEEE 754 NaN (note: NaN values are not unique; in C++, use std::isnan, and Python has its own check functions), it means Sub-index 0x01 cannot provide torque information in metric units and instead represents a percentage mapping.
    • When Sub-index 0x01 = -32767, it indicates the maximum negative torque.
    • When Sub-index 0x01 = 32767, it indicates the maximum positive torque.

Below is the Rust code for converting between i16 and float.

提供关于输出轴力矩的信息。

  • 子索引 0x01：实际数据，取值范围为 -32767 ~ 32767（注意：不是 i16::MIN (-32768)）。
  • 子索引 0x02：当子索引 0x01 为 -32767 时，以 N·m 为单位的浮点格式力矩值。
  • 子索引 0x03：当子索引 0x01 为 32767 时，以 N·m 为单位的浮点格式力矩值。

特殊情况说明：

  • 如果子索引 0x02 或 0x03 的值为 IEEE 754 NaN（注意：NaN 值不唯一；C++ 可用 std::isnan，Python 也有相应判断函数），则表示子索引 0x01 无法提供公制单位的力矩信息，仅支持百分比映射。
    • 当子索引 0x01 = -32767 时，表示负向最大力矩。
    • 当子索引 0x01 = 32767 时，表示正向最大力矩。

下方附有 Rust 代码，用于实现 i16 与 float 的相互转换。 

fn float_to_i16(x: f32, x_min: f32, x_max: f32) -> i16 {
    let x = x.clamp(x_min, x_max);
    let scale = 65534.0f32; // 32767 * 2
    let span = x_max - x_min;
    (((x - x_min) as f32 * scale / span) - 32767.0f32) as i16
}

fn i16_to_float(x: i16, x_min: f32, x_max: f32) -> f32 {
    let x = if x == -32768 { -32767 } else { x };
    let scale = 65534.0f32; // 32767 * 2
    let span = x_max - x_min;
    x_min + (x as f32 + 32767.0f32) * span / scale
}

0x3106 - Motor1 Motor Temp

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x02
0x01 Temp UNSIGNED8 ro t no 0
0x02 Zero Point INTEGER16 ro t no 0

Provide motor temperature information:

  • Sub-index 0x02: Zero-point reference value in °C (Celsius).
  • Sub-index 0x01: Temperature offset value relative to the zero point.

Example:
If Sub-index 0x02 = -20 and Sub-index 0x01 = 50, the actual temperature is 30°C (-20 + 50 = 30).

提供电机温度信息：

  • 子索引 0x02：零点基准值，单位为 ℃（摄氏度）。
  • 子索引 0x01：基于零点的温度偏移值。

示例：
当 子索引 0x02 = -20 且 子索引 0x01 = 50 时，实际温度值为 30℃（-20 + 50 = 30）。

0x3107 - Motor1 Driver Temp

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x02
0x01 Temp UNSIGNED8 ro t no 0
0x02 Zero Point INTEGER16 ro t no 0

Provide driver temperature information:

  • Sub-index 0x02: Zero-point reference value in °C (Celsius).
  • Sub-index 0x01: Temperature offset value relative to the zero point.

Example:
If Sub-index 0x02 = -20 and Sub-index 0x01 = 50, the actual temperature is 30°C (-20 + 50 = 30).

提供驱动器温度信息：

  • 子索引 0x02：零点基准值，单位为 ℃（摄氏度）。
  • 子索引 0x01：基于零点的温度偏移值。

示例：
当 子索引 0x02 = -20 且 子索引 0x01 = 50 时，实际温度值为 30℃（-20 + 50 = 30）。

0x3110 - Motor2 Motor Error Code

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED8 ro t no 0

0x3111 - Motor2 Motion Info Output Axis Position

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro t no 0x02
0x01 Output Axis Encoder Resolution UNSIGNED32 ro t no 0
0x02 Output Axis Position INTEGER32 ro t no 0

0x3113 - Motor2 Motion Info Output Axis Speed

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x03
0x01 Output Axis Speed UNSIGNED16 ro t no 0
0x02 Output Axis Speed Min REAL32 ro t no 0
0x03 Output Axis Speed Max REAL32 ro t no 0

0x3115 - Motor2 Motion Info Output Axis Torque

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x03
0x01 Output Axis Torque UNSIGNED16 ro t no 0
0x02 Output Axis Torque Min REAL32 ro t no 0
0x03 Output Axis Torque Max REAL32 ro t no 0

0x3116 - Motor2 Motor Temp

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x02
0x01 Temp UNSIGNED8 ro t no 0
0x02 Zero Point INTEGER16 ro t no 0

0x3117 - Motor2 Driver Temp

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x02
0x01 Temp UNSIGNED8 ro t no 0
0x02 Zero Point INTEGER16 ro t no 0

0x3200 - Motor1 Motor Control Mode

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED8 rw tr no 0

The target control mode of the motor:

  • 00 Lock (will apply mechanical brake, if any)
  • 01 Position
  • 02 Speed
  • 03 Torque
  • 04 MIT

电机的目标控制模式：

  • 00 锁定模式（若配备机械制动器，将触发制动）
  • 01 位置模式
  • 02 速度模式
  • 03 力矩模式
  • 04 MIT位置模式

0x3201 - Motor1 Position Control Target Position

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
INTEGER32 rw tr no 0

Motor Target Position Parameter (Position Mode Only)

  1. Sub-index 0x00
    • Description: Motor target position setting
    • Unit: Encoder pulses (Pulse)
    • Valid condition: Effective only in position control mode
    • Data type: 32-bit integer (INT32)
    • Note: This parameter sets the target position for the motor

电机目标位置参数（位置模式专用）

  1. 子索引 0x00
    • 描述：电机目标位置设定值
    • 单位：编码器脉冲数（Pulse）
    • 有效条件：仅在位置控制模式下生效
    • 数据类型：32位整型（INT32）
    • 备注：该参数用于设定电机需要到达的目标位置

0x3203 - Motor1 Speed Control Target Speed

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED16 rw tr no 0

Motor Output Shaft Target Speed Parameter (Speed Mode Only)

  1. Sub-index 0x00
    • Description: Target speed setting for motor output shaft
    • Data type: 16-bit integer (INT16) mapped to floating-point
    • Mapping rule: Consistent with the definition in Object Dictionary 0x3103
    • Value range: Defined by Object Dictionary 0x3103 (refer to 0x3103 specifications)
    • Valid condition: Effective only in speed control mode
    • Notes:
      • Requires fixed conversion formula to transform INT16 raw value to actual speed value
      • Refer to Object Dictionary 0x3103 technical specifications for conversion details

电机输出轴目标转速参数（速度模式专用）

  1. 子索引 0x00
    • 描述：电机输出轴目标转速设定值
    • 数据类型：16位整型（INT16）映射至浮点数
    • 映射规则：与对象字典 0x3103 定义的映射规则一致
    • 数值范围：由对象字典 0x3103 定义（请参考 0x3103 详细说明）
    • 有效条件：仅在速度控制模式下生效
    • 注意事项：
      • 需通过固定转换公式将 INT16 原始值转为实际转速值
      • 具体转换方法参见对象字典 0x3103 技术规范

0x3205 - Motor1 Torque Control Target Torque

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED16 rw tr no 0

Motor Output Shaft Target Torque Parameter (Torque Mode Only)

  1. Sub-index 0x00
    • Description: Target torque setting for motor output shaft
    • Data type: 16-bit integer (INT16) mapped to floating-point
    • Mapping rule: Consistent with the definition in Object Dictionary 0x3105
    • Value range: Defined by Object Dictionary 0x3105 (refer to 0x3105 specifications)
    • Valid condition: Effective only in torque control mode
    • Notes:
      • Requires fixed conversion formula to transform INT16 raw value to actual torque value
      • Refer to Object Dictionary 0x3105 technical specifications for conversion details

电机输出轴目标力矩参数（力矩模式专用）

  1. 子索引 0x00
    • 描述：电机输出轴目标力矩设定值
    • 数据类型：16位整型（INT16）映射至浮点数
    • 映射规则：与对象字典 0x3105 定义的映射规则一致
    • 数值范围：由对象字典 0x3105 定义（请参考 0x3105 详细说明）
    • 有效条件：仅在力矩控制模式下生效
    • 注意事项：
      • 需通过固定转换公式将 INT16 原始值转为实际力矩值
      • 具体转换方法参见对象字典 0x3105 技术规范

0x3210 - Motor2 Motor Control Mode

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED8 rw tr no 0

0x3211 - Motor2 Position Control Target Position

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
INTEGER32 rw tr no 0

0x3213 - Motor2 Speed Control Target Speed

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED16 rw tr no 0

0x3215 - Motor2 Torque Control Target Torque

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED16 rw tr no 0

0x3A00 - COB-ID used for motor control

Object Type Count Label Storage Group
VAR PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED32 ro no no 0x181

指定用于电机控制的CAN ID。默认为0x181。暂时为只读。

Specifies the CAN ID used for motor control. The default is 0x181. Currently read-only.

0x3A01 - PCW Number Count

Object Type Count Label Storage Group
VAR PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED8 rw no no 1

指定同一个控制ID将会控制多少个舵轮模组。默认值为1。有效范围为0到4。

Specifies how many steering wheel modules a single control ID will manage. The default value is 1. Valid range is 0 to 4.

0x3A02 - Current Device Index

Object Type Count Label Storage Group
VAR PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED32 rw no no 0

当前设备是第几个设备。默认为0，值必须小于索引3A01的值。

Indicates the device number of the current device. The default is 0, and the value must be less than the value at index 3A01.