Contents
CONTENTS
ABOUT THE MANUAL ..................................................................................... 6
ABBREVIATIONS AND DEFINITIONS .......................................................................... 6
NUMERICAL REPRESENTATION ............................................................................... 6
DOCUMENTS ...................................................................................................... 6
1 MAIN CHARACTERISTICS .......................................................................... 7
2 INTERFACE DESCRIPTION......................................................................... 8
2.1 CANOPEN ACCESSORY ................................................................................... 8
2.2 CONNECTOR ................................................................................................ 8
2.3 POWER SUPLLY............................................................................................. 9
2.4 INDICATION LED ............................................................................................ 9
3 CANOPEN NETWORK INSTALLATION .............................................. ........ 10
3.1 BAUD RATE .................................................................................................. 10
3.2 ADDRESS IN THE CANOPEN NETWORK ............................................................... 10
3.3 TERMINATION RESISTOR ................................................................................. 10
3.4 CABLE ........................................................................................................ 10
3.5 CONNECTION IN THE NETWORK ........................................................................ 11
4 S STATUS...................................................................................................... 12
S5 COMMUNICATIONS .......................................................................................... 12
S5.1 Status Word ............................................................................................ 12
S5.2 Command Word ....................................................................................... 12
S5.3 Value for Outputs ..................................................................................... 13
S5.3.2 Value for AO ................... .............................................................. 13
S5.7 CANopen/DeviceNet ................................................................................. 14
5 C CONFIGURATIONS .................................................................................. 16
C8 COMMUNICATION ............................................................................................ 16
C8.4 CANopen/DeviceNet ................................................................................. 16
C8.4.5 CAN Error.................................................................................... 18
6 OPERATION IN THE CANOPEN NETWORK .............................................. 19
6.1 ACCESS TO THE DATA ....................................................... .............................. 19
6.2 CYCLIC DATA ................................................................................................ 19
6.3 ACYCLIC DATA .............................................................................................. 19
6.4 COMMUNICATION OBJECTS - COB ..................................................................... 19
6.5 COB-ID ....................................................................................................... 20
6.6 EDS FILE ..................................... ................................................................ 20
7 OBJECT DICTIONARY........................................................ ......................... 21
7.1 DICTIONARY STRUCTRE .................................................................................. 21
7.2 DATA TYPE ................................................................................................... 21
7.3 COMMUNICATION PROFILE - COMMUNICATION OBJECTS ........................................ 21
7.4 MANUFACTURER SPECIFIC OBJECTS.................................................................. 22
8 COMMUNICATION OBJECTS DESCRIPTION ........................................... 23
8.1 IDENTIFICATION OBJECT ................................................................................. 23
8.1.1 Object 1000h - Device Type ....................................................................... 23
8.1.2 Object 1001h - Error Register..................................................................... 23
