Table of Contents
1 Product Overview ...................................................................................................1
2 Specifications..........................................................................................................2
3 LED Insicators..........................................................................................................3
3.1 L.V LED............................................................................................................3
3.2 IO RUN/ERR LED.............................................................................................3
3.3 CAN-RUN LED.................................................................................................3
3.4 CAN-ERR LED ..................................................................................................3
4 Configuration ..........................................................................................................4
4.1 Node Setting ..................................................................................................4
4.2 Baud Rate Setting (DIP Switch) ......................................................................4
4.3 CAN Bus Connect ...........................................................................................4
4.4 CANopen Features .........................................................................................4
5 Communication Error Control ................................................................................5
5.1 Introduction ...................................................................................................5
5.2 Node Guarding Protocol ................................................................................5
5.3 Heartbeat Protocol.........................................................................................6
5.4 Error Behavior ................................................................................................7
6 Object Dictionary....................................................................................................8
6.1 Communication Profile Area..........................................................................8
6.1.1 1000h: Device Type.......................................................................9
6.1.2 1001h: Error Register ..................................................................10
6.1.3 1002h: Manufacturer Status Register.........................................10
6.1.4 1003h: Predefined Error Field.....................................................11
6.1.5 1005h: SYNC COB-ID Message .....................................................13
6.1.6 1008h: Manufacturer Device Name.............................................13
6.1.7 1009h: Manufacturer Hardware Version .....................................13
6.1.8 100Ah: Manufacturer Software Version ......................................13
6.1.9 100Ch: Guard Time & 100Dh: Life Time Factor ...........................13
6.1.10 1010h: Store Parameters .............................................................13
6.1.11 1011h: Restore Default Parameters.............................................13
6.1.12 1014h: COB-ID EMCY ...................................................................19
6.1.13 1015h: Inhibit Time EMCY............................................................19
6.1.14 1016h: Consumer Heartbeat Time ..............................................19
6.1.15 1017h: Producer Heartbeat Time ................................................19
6.1.16 1029h: Error Behavior Object ......................................................19
6.2 PDO Communication Parameter..................................................................20
6.2.1 RxPDO Communication Parameter..............................................20
