diff --git a/components/canopen/web/ds402_panel.html b/components/canopen/web/ds402_panel.html new file mode 100644 index 000000000..47a98cb9b --- /dev/null +++ b/components/canopen/web/ds402_panel.html @@ -0,0 +1,1545 @@ + + + + + + espp DS402 Drive Panel (WebUSB / Web Serial) + + + + + +
+
+

espp DS402 Drive Panel (WebUSB / Web Serial)

+ Disconnected +
+ +
+ This browser supports neither WebUSB nor Web Serial. Use a Chromium-based + browser (Chrome / Edge / Opera) on a secure origin (https, localhost or file://). +
+ + +
+

Device

+
+ + + + +
+

Not connected. WebUSB default filter: VID 0x1209 / PID 0x0d32 (espp default); the vendor (0xFF) interface is discovered from the descriptors at runtime.

+
+ + +
+

CAN bus

+
+
+ Baud rate + +
+
+ Mode + +
+
+ Node ID (1–127) + +
+
+ + + +
+
+ Bus: unknown + Baud: - + Mode: - + RX: 0 + TX: 0 + Err: 0 +
+
+ NMT: + + + + + +
+
+ + +
+

Node identity

+
+ + Objects 0x1000 / 0x1008 / 0x1018 via SDO. +
+
+ Device type (0x1000)- + Device name (0x1008)- + Vendor ID (0x1018:1)- + Product code (0x1018:2)- + Revision (0x1018:3)- + Serial number (0x1018:4)- +
+
+ + +
+

DS402 drive control

+
+ State (0x6041): + unknown + statusword - +
+ + +
+
+ +
+
+ Controlword (0x6040): + + + + + + +
+
+
+ Raw controlword (hex) + +
+ +
+
+ Mode of operation (0x6060) + +
+ + display (0x6061): - +
+ +
+
+
+ Target velocity (0x60FF, i32) + +
+ +
+ Target position (0x607A, i32) + +
+ +
+ Target torque (0x6071, i16) + +
+ +
+
+ Pos actual (0x6064): - + Vel actual (0x606C): - + Torque actual (0x6077): - +
+
+ + +
+

Object dictionary access (vendor-specific)

+
+
+ Index (hex) + +
+
+ Subindex + +
+
+ Type + +
+
+ Value (for write) + +
+ + +
+

 

+
+ + +
+

Log + + + +

+
+
+ + +
+ + + + diff --git a/doc/en/buses/canopen.rst b/doc/en/buses/canopen.rst index c54977f11..d33a685ba 100644 --- a/doc/en/buses/canopen.rst +++ b/doc/en/buses/canopen.rst @@ -46,6 +46,18 @@ an :doc:`../dispatcher/index` (module id 5), so the hosted send frames (as a bus master) and inspect the bus (streaming every received frame, optionally in passive listen-only mode) directly from a Chromium browser. +For CiA 402 (DS402) drives there is also a purpose-built +`DS402 drive panel `_ web +app that talks to the *same* bridge. It layers a CANopen SDO client and the DS402 +profile entirely in the browser (the firmware stays a dumb raw-CAN pipe): read +the node identity, walk the power-drive-system state machine (statusword / +controlword with the enable sequence, quick-stop and fault-reset), select the +mode of operation, set target and read actual velocity/position/torque, and +read/write any object dictionary index:subindex (including vendor-specific +objects) with a chosen data type. Because it drives the node over SDO rather than +cyclic PDOs it is a commissioning / bring-up tool; the bus must be in Normal +(not listen-only) mode so the bridge ACKs the node. + .. ---------------------------- API Reference ---------------------------------- API Reference