Elmomc CANopen DS 301 Implementation Guide Uživatelský manuál stáhnout pdf (Strana 3)

Contents

Chapter 1: Introd

uction .......................................................................................................... 1-1

1.1 Relevant Documentation ............................................................................. 1-1

1.1.1 Elmo Documentation........................................................................................ 1-1

1.1.2 CAN Documentation........................................................................................ 1-2

1.2 Terms and Abbreviations............................................................................. 1-2

1.3 SimplIQ Communication ............................................................................... 1-3

Chapter 2: CANopen Basics................................................................................................... 2-1

2.1 Physical Layer ........................................................................................... 2-1

2.2 Standard vs. Extended Addressing................................................................ 2-1

2.3 Client - Server Relations .............................................................................. 2-1

2.4 Inhibit Times ............................................................................................. 2-2

2.5 RTR – Remote Transmission Request............................................................. 2-2

2.6 Object Dictionary ....................................................................................... 2-2

2.7 Communication Objects .............................................................................. 2-3

2.8 Object Dictionary - Data Types ..................................................................... 2-4

2.9 Representation of Numbers.......................................................................... 2-7

Chapter 3: The Object Dictionary......................................................................................... 3-1

Chapter 4: Service Data Objects (SDOs).............................................................................. 4-1

4.1 Initiate SDO Download Protocol................................................................... 4-2

4.2 Download SDO Protocol ............................................................................. 4-3

4.3 Initiate SDO Upload Protocol ....................................................................... 4-4

4.4 Upload SDO Segment Protocol ..................................................................... 4-5

4.5 Abort SDO Transfer Protocol........................................................................ 4-6

4.6 Uploading Data Using an SDO ..................................................................... 4-7

4.7 Downloading Data Using an SDO................................................................. 4-8

4.8 Error Correction ......................................................................................... 4-8

Chapter 5: Process Data Objects (PDOs) ............................................................................. 5-1

5.1 Receive PDOs ............................................................................................ 5-1

5.2 Transmit PDOs .......................................................................................... 5-3

5.3 PDO Mapping ........................................................................................... 5-3

5.3.1 The Mapping Trigger – Transmission Type................................................... 5-4

5.3.2 The Synchronous Trigger................................................................................. 5-4

5.3.3 The Asynchronous Trigger .............................................................................. 5-5

5.3.4 RPDO Error Handling ...................................................................................... 5-5

5.3.5 Mapping Parameter Objects............................................................................. 5-6

5.3.6 Default Values................................................................................................... 5-7

Chapter 6: Emergency (EMCY).............................................................................................. 6-1

6.1 Emergency Configuration............................................................................ 6-1

6.2 Emergency Codes Related to Failure ............................................................. 6-1

6.3 Emergency Codes for Motor Faults ............................................................... 6-1

6.4 Emergency Codes Related to PVT/PT Motion................................................. 6-1

Chapter 7: Network Management (NMT)............................................................................ 7-1

Chapter 8: SYNC and Time Stamp ....................................................................................... 8-1

CANopen DS 301 Implementation Guide

MAN-CAN301IG (Ver. 2.1)

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