Nanotec PD2-C Technisches Handbuch Seite 5

Inhalt
8.2.5 Process Data Object (PDO)......................................................................................................... 115
8.2.6 Boot-Up Protocol.......................................................................................................................... 120
8.2.7 Heartbeat und Nodeguarding....................................................................................................... 120
8.3 LSS-Protokoll.......................................................................................................................................... 122
8.3.1 Allgemeines...................................................................................................................................122
8.3.2 LSS-Nachricht............................................................................................................................... 122
8.3.3 LSS-Dienste.................................................................................................................................. 123
8.3.4 Beispiel..........................................................................................................................................134
9 Programmierung mit NanoJ......................................................................135
9.1 NanoJ-Programm.................................................................................................................................... 135
9.2 Mapping im NanoJ-Programm................................................................................................................139
9.3 NanoJ-Funktionen im NanoJ-Programm................................................................................................ 140
9.4 Einschränkungen und mögliche Probleme............................................................................................. 142
10 Objektverzeichnis Beschreibung............................................................144
10.1 Übersicht............................................................................................................................................... 144
10.2 Aufbau der Objektbeschreibung........................................................................................................... 144
10.3 Objektbeschreibung.............................................................................................................................. 144
10.4 Wertebeschreibung............................................................................................................................... 145
10.5 Beschreibung........................................................................................................................................ 146
1000h Device Type....................................................................................................................................... 147
1001h Error Register.....................................................................................................................................148
1003h Pre-defined Error Field...................................................................................................................... 149
1005h COB-ID Sync..................................................................................................................................... 153
1006h Communication Cycle Period............................................................................................................ 154
1007h Synchronous Window Length............................................................................................................ 154
1008h Manufacturer Device Name............................................................................................................... 155
1009h Manufacturer Hardware Version........................................................................................................ 155
100Ah Manufacturer Software Version......................................................................................................... 156
100Ch Guard Time....................................................................................................................................... 156
100Dh Live Time Factor............................................................................................................................... 157
1010h Store Parameters............................................................................................................................... 157
1011h Restore Default Parameters.............................................................................................................. 161
1014h COB-ID EMCY................................................................................................................................... 164
1016h Consumer Heartbeat Time................................................................................................................ 165
1017h Producer Heartbeat Time.................................................................................................................. 166
1018h Identity Object.................................................................................................................................... 166
1019h Synchronous Counter Overflow Value...............................................................................................168
1020h Verify Configuration........................................................................................................................... 168
1029h Error Behavior....................................................................................................................................170
1400h Receive PDO 1 Communication Parameter...................................................................................... 171
1401h Receive PDO 2 Communication Parameter...................................................................................... 172
1402h Receive PDO 3 Communication Parameter...................................................................................... 173
1403h Receive PDO 4 Communication Parameter...................................................................................... 174
1404h Receive PDO 5 Communication Parameter...................................................................................... 175
1405h Receive PDO 6 Communication Parameter...................................................................................... 176
1406h Receive PDO 7 Communication Parameter...................................................................................... 177
1407h Receive PDO 8 Communication Parameter...................................................................................... 179
1600h Receive PDO 1 Mapping Parameter................................................................................................. 180
1601h Receive PDO 2 Mapping Parameter................................................................................................. 182
1602h Receive PDO 3 Mapping Parameter................................................................................................. 185
1603h Receive PDO 4 Mapping Parameter................................................................................................. 187
1604h Receive PDO 5 Mapping Parameter................................................................................................. 189
1605h Receive PDO 6 Mapping Parameter................................................................................................. 191
1606h Receive PDO 7 Mapping Parameter................................................................................................. 193
1607h Receive PDO 8 Mapping Parameter................................................................................................. 196