Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN 3
Contents
1. General information..................................................................................... 5
1.1 Information about documentation .................................................................................5
1.1.1 Other applicable documents.........................................................................................5
1.1.2 Storing the documentation ...........................................................................................5
1.2 Notes in this manual.....................................................................................................6
1.2.1Warnings .....................................................................................................................6
1.2.2 Warning symbols used.................................................................................................7
1.2.3 Signal words................................................................................................................7
1.2.4 Information notes .........................................................................................................8
1.3 Symbols used in this manual ........................................................................................9
1.4 Qualified staff ...............................................................................................................9
1.5 Proper use...................................................................................................................9
1.6 Responsibility.............................................................................................................10
1.7 Contacts for information .............................................................................................10
1.8 Safety instructions......................................................................................................10
2. Device and system description ................................................................ 11
2.1 CANopen...................................................................................................................11
2.1.1 Master/slave operation ...............................................................................................12
2.2 Scope of delivery .......................................................................................................12
2.3 Item description for INVEOR.......................................................................................13
2.3.1 Type code for CANopen (valid until end of February 2016)........................................... 13
2.3.2 Type code for CANopen (current) ...............................................................................14
2.3.3 Features code............................................................................................................14
2.4 Hardware components...............................................................................................15
2.4.1 Pin assignment for interfaces......................................................................................20
2.4.2 Cable.........................................................................................................................20
2.5 Software components................................................................................................20
3. Installation.................................................................................................. 21
3.1 Configuring drive controller for CANopen ....................................................................22
3.2 INVEOR bus address .................................................................................................22
3.2.1 Setting the address on the communication card..........................................................24
3.3 Setting the fieldbus address via rotary switches Switch 1/Switch 2 ............................. 25
3.4 Installing the INVEOR EDS file.....................................................................................27
4. CANopen in the INVEOR ........................................................................... 28
4.1 EDS file object directory .............................................................................................28
4.1.1 Communication objects (0x1000 – 0x1200) ................................................................28
4.1.2 PDO configuration objects (0x1400 – 0x1A01) ............................................................29
4.1.3 INVEOR process values Out (0x3000 – 0x3031, 0x3502, 0x3503) ...............................30
4.1.4 INVEOR process values In (0x3032 – 0x3040, 0x3500, 0x3501)..................................32
4.1.5 Structure of INVEOR control word ..............................................................................33
4.1.6 Structure of INVEOR status word................................................................................35
4.1.7 INVEOR parameters (0x2000-0x2200) ........................................................................36
4.2 Timeout monitoring with node guarding ...................................................................... 39
