Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 3)

1 General

1.1 About this manual ....................................................................... 7

1.2 Use as directed of the CANopen interface ..................................................... 7

1.3 Symbols used........................................................................... 8

1.4 Abbreviations used....................................................................... 8

1.5 Basic features implemented by CANopen ..................................................... 9

1.6 Response to BUSOFF communication faults................................................... 9

1.7 System requirements ..................................................................... 9

1.8 Transmission rate and procedure............................................................ 9

2 Installation / Setup

2.1 Assembly, Installation ................................................................... 10

2.1.1 Setting the station address and transmission rate ......................................... 10

2.2 CANopen interface...................................................................... 11

2.3 CAN-bus cable......................................................................... 11

2.4 Guide to Setup ......................................................................... 12

2.5 Important configuration parameters for CAN bus operation ....................................... 13

3 CANopen communication profile

3.1 General description of CAN ............................................................... 15

3.2 Construction of the COB Identifier .......................................................... 16

3.3 Definition of the used data types ........................................................... 16

3.3.1 Basic data types................................................................... 17

3.3.1.1 Unsigned Integer............................................................... 17

3.3.1.2 Signed Integer................................................................. 17

3.3.2 Mixed data types .................................................................. 17

3.3.3 Extended data types ............................................................... 18

3.3.3.1 Octet String ................................................................... 18

3.3.3.2 Visible String .................................................................. 18

3.4 Communication Objects .................................................................. 18

3.4.1 Network Management Objects (NMT) .................................................. 19

3.4.2 Synchronization Object (SYNC)....................................................... 19

3.4.3 Time-Stamp Object (TIME) .......................................................... 19

3.4.4 Emergency Object (EMCY) .......................................................... 19

3.4.4.1 Application of the Emergency Object ............................................... 20

3.4.4.2 Composition of the Emergency Object .............................................. 20

3.4.5 Service Data Objects (SDO) ......................................................... 21

3.4.5.1 Composition of the Service Data Object ............................................. 21

3.4.5.2 Initiate SDO Download Protocol ................................................... 22

3.4.5.3 Download SDO Segment Protocol ................................................. 22

3.4.5.4 Initiate SDO Upload Protocol ..................................................... 22

3.4.5.5 Upload SDO Segment Protocol.................................................... 22

3.4.5.6 Abort SDO Protocol............................................................. 23

3.4.6 Process Data Object (PDO).......................................................... 23

3.4.6.1 Transmission modes ............................................................ 24

3.4.6.2 Trigger modes ................................................................. 25

3.4.7 Nodeguard ....................................................................... 25

CANopen for AX2000/2500 3

BECKHOFF 07/2007 Contents

Page

1 2 3 4 5 6 7 8 ... 136 137

Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 3

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