User Manual CANopen/EtherCAT 5
Contents
How to use the document ......................................................................................................... 3
Pictograms .............................................................................................................................. 4
1 General Introduction ........................................................................................................... 7
1.1 Measures for your safety ................................................................................................ 7
1.2 Introduction to CANopen............................................................................................... 7
1.3 Introduction to EtherCAT ............................................................................................... 8
1.4 System requirements...................................................................................................... 8
1.5 Further documentation .................................................................................................. 8
2 Mounting and Connection of CANopen............................................................................ 9
2.1 Setting the address ........................................................................................................ 9
2.2 Meanings of LEDs..........................................................................................................10
2.3 Installation ....................................................................................................................11
2.3 Transmission speeds ......................................................................................................13
2.4 Display of the operating states via 7-segment display....................................................13
2.5 Hardware enable...........................................................................................................14
3 Mounting and Connection of EtherCAT ...........................................................................15
3.1 Installation and cabling .................................................................................................15
3.2 Pin assignment of the RJ-45 socket ...............................................................................16
3.3 Meanings of LEDs..........................................................................................................17
3.4 Display of operating states via 7-segment display..........................................................18
3.5 Hardware enable...........................................................................................................18
4 Commissioning and Configuration of CANopen..............................................................19
4.1 Commissioning .............................................................................................................19
4.2 Commissioning sequence..............................................................................................19
4.2.1 Setting the software address and Baud rate........................................................20
4.3 Commissioning instructions...........................................................................................20
4.4 Testing the higher-order controller................................................................................20
4.5 Data handling ...............................................................................................................21
4.5.1 Saving the settings..............................................................................................21
4.5.2 Restoring factory defaults ...................................................................................21
4.6 Commissioning via DRIVEMANAGER ...................................................................................21
4.7 Control functions ......................................................................................................... 22
4.8 Operation mode selection (Modes of operation) .......................................................... 22
4.8.1 Functionality of operation modes....................................................................... 23
5 Commissioning and Configuration of EtherCAT............................................................. 25
6 Setting the Device Parameters for CANopen .................................................................. 27
6.1 Implemented DS301 functionality .................................................................................27
6.1.1 Communication objects ......................................................................................27
6.1.2 Object directory of DS301...................................................................................27
6.2 Parameter channel (Service Data Objects)......................................................................28
6.2.1 Data types...........................................................................................................29
6.2.2 Representation of data types in the control protocol...........................................29
6.2.3 Access to device parameters .............................................................................. 30
6.3 Examples of SDO handling ........................................................................................... 30
6.3.1 Parameter set download .....................................................................................33
6.4 PDO transmission types................................................................................................ 34
6.5 Event-controlled TxPDO transmission............................................................................ 34
