Communication extension card
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Contents
Chapter 1 Product confirmation............................................................................................2
Chapter 2 PROFIBUS communication card..........................................................................3
2.1 Overview........................................................................................................................3
2.2 Features ........................................................................................................................3
2.3 Electrical connection......................................................................................................3
2.4 Bus network connection ................................................................................................4
2.5 System configuration.....................................................................................................6
2.6 PROFIBUS-DP communication.....................................................................................7
Chapter 3 CANopen communication card..........................................................................17
3.1 Overview......................................................................................................................17
3.2 Features ......................................................................................................................17
3.3 Electrical wiring............................................................................................................18
3.4 Communication............................................................................................................18
3.4.1 Packet format......................................................................................................18
3.4.2 CANopen state transition....................................................................................19
3.4.3 Management service command (NMT) ..............................................................21
3.4.4 Node protection (NMT Node Guarding)..............................................................21
3.4.5 Heartbeat packet (Heartbeat Producer) .............................................................22
3.4.6 Start packet (NMT Boot-up)................................................................................23
3.4.7 Synchronous packet object (SYNC) ...................................................................23
3.4.8 Emergency packet object (EMCY) .....................................................................24
3.4.9 Service data object (SDO)..................................................................................26
3.5 Process data object (PDO)..........................................................................................29
3.5.1 Triggering mode of PDO Tx................................................................................29
3.5.2 PDO1..................................................................................................................30
3.5.3 PDO2 Rx.............................................................................................................33
3.5.4 PDO2 Tx.............................................................................................................35
3.5.5 PDO3 Rx and PDO4 Rx .....................................................................................36
3.5.6 PDO3 Tx and PDO4 Tx ......................................................................................37
3.6 Monitoring process data through SDO commands .....................................................38
3.7 Baud rate and communication address setting...........................................................41
3.7.1 Baud rate setting.................................................................................................41
3.7.2 Communication address setting .........................................................................41
3.7.3 Function codes related to transmitted and received PZD...................................41
Chapter 4 PROFINET communication card........................................................................44
4.1 Overview......................................................................................................................44
4.2 Features ......................................................................................................................44
4.3 Electrical wiring............................................................................................................46
4.4 Communication............................................................................................................46
4.4.1 Packet format......................................................................................................46
4.4.2 PROFINET I/O communication...........................................................................47
EtherCAT communication card............................................................................................54
4.5 Overview......................................................................................................................54
4.6 Features ......................................................................................................................54
4.7 Electrical wiring............................................................................................................56
4.8 Communication............................................................................................................56
4.8.1 CoE reference model..........................................................................................56
4.8.2 EtherCAT slave station information ....................................................................57
4.8.3 EtherCAT state machine.....................................................................................57
4.8.4 PDO mapping .....................................................................................................58
4.8.5 DC-based network synchronization....................................................................59
A.1 CiA402 device protocol...............................................................................................59
4.8.6 CoE state machine .............................................................................................60
4.8.7 Device running mode..........................................................................................63
4.9 Function code modification..........................................................................................64
Appendix B CANopen object dictionary.............................................................................66
Appendix C EtherCAT object dictionary.............................................................................72
Appendix D Related function codes....................................................................................78
