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 CHARACTERISTICS OF THE CAN INTERFACE......................................................... 8
2.2 CONNECTOR ................................................................................................ 8
2.3 ADDRESS .................................................................................................... 8
2.4 BAUD RATE .................................................................................................. 9
2.5 TERMINATING RESISTOR ................................................................................. 10
2.6 INDICATION LED ............................................................................................ 10
3 CANOPEN NETWORK INSTALLATION ...................................................... 11
3.1 BAUD RATE .................................................................................................. 11
3.2 ADDRESS IN THE CANOPEN NETWORK ............................................................... 11
3.3 TERMINATION RESISTOR ................................................................................. 11
3.4 CABLE ........................................................................................................ 11
3.5 CONNECTION TO THE NETWORK ....................................................................... 12
4 S STATUS...................................................................................................... 13
S4 COMMUNICATION ............................................................................................ 13
5 C CONFIGURATION................... .................................................................. 15
C2 COMMUNICATION ............................................................................................ 15
6 OPERATION IN THE CANOPEN NETWORK .............................................. 16
6.1 ACCESS TO THE DATA ..................................................................................... 16
6.2 CYCLIC DATA ................................................................................................ 16
6.3 ACYCLIC DATA .................................................................................. ............ 16
6.4 COMMUNICATION OBJECTS - COB ..................................................................... 16
6.5 COB-ID ....................................................................................................... 17
6.6 EDS FILE ..................................................................................................... 17
7 OBJECT DICTIONARY................................................................................. 18
7.1 DICTIONARY STRUCTRE .................................................................................. 18
7.2 DATA TYPE ........................................................................................... ........ 18
7.3 COMMUNICATION PROFILE - COMMUNICATION OBJECTS ........................................ 18
7.4 MANUFACTURER SPECIFIC OBJECTS.................................................................. 19
8 COMMUNICATION OBJECTS DESCRIPTION ........................................... 20
8.1 IDENTIFICATION OBJECT ................................................................................. 20
8.1.1 Object 1000h - Device Type ................... .................................................... 20
8.1.2 Object 1001h - Error Register..................................................................... 20
8.1.3 Object 1018h - Identity Object .................................................................... 21
8.2 SERVICE DATA OBJECTS - SDOS ........................................................................ 21
8.2.1 Object 1200h - SDO Server........................................................................ 21
8.2.2 SDOs Operation......................................................................... ............ 22
8.3 PROCESS DATA OBJECTS - PDOS ...................................................................... 23
