Stober CANopen SD6 Handbuch Seite 3

STÖBER
8 Inbetriebnahme ....................................................................................................................................................... 24
8.1 DS6: Antriebsregler konfigurieren......................................................................................................................... 25
8.1.1 Projekt aufsetzen.................................................................................................................................. 25
8.1.2 Allgemeine CANopen-Einstellungen parametrieren............................................................................. 28
8.1.3 PDO-Übertragung konfigurieren........................................................................................................... 29
8.1.4 Konfiguration übertragen und speichern ............................................................................................. 31
8.2 CANopen-Netzwerk in Betrieb nehmen ................................................................................................................ 33
9 Monitoring und Diagnose......................................................................................................................................... 34
9.1 Verbindungsüberwachung .................................................................................................................................... 34
9.2 LED-Anzeige........................................................................................................................................................... 35
9.2.1 Zustand CANopen ................................................................................................................................. 35
9.3 Ereignisse............................................................................................................................................................... 36
9.3.1 Ereignis 52: Kommunikation................................................................................................................. 37
9.4 Parameter.............................................................................................................................................................. 38
9.4.1 A83 | Busadresse | G6 | V0.................................................................................................................. 38
9.4.2 A245 | CAN-Diagnose | G6 | V0 ........................................................................................................... 38
9.4.3 A246 | CANopen NMT-State | G6 | V1................................................................................................. 38
10 Mehr zu CANopen? .................................................................................................................................................. 39
10.1 CAN und CANopen................................................................................................................................................. 39
10.1.1 CANopen – Kommunikation ................................................................................................................. 39
10.1.2 Objektverzeichnis ................................................................................................................................. 40
10.1.3 Netzwerkstruktur.................................................................................................................................. 40
10.2 CAN-Nachricht ....................................................................................................................................................... 41
10.2.1 Predefined Connection Set ................................................................................................................... 41
10.2.2 Dynamic Distribution ............................................................................................................................ 43
10.3 Kommunikationsobjekte ....................................................................................................................................... 44
10.3.1 SYNC: Synchronization Objects............................................................................................................. 45
10.3.2 PDO: Process Data Objects ................................................................................................................... 45
10.3.3 SDO: Service Data Objects .................................................................................................................... 48
10.3.4 NMT: Network Management Objects................................................................................................... 53
10.3.5 ERROR CONTROL: Error Control Objects .............................................................................................. 55
10.3.6 EMCY: Emergency Objects.................................................................................................................... 57
10.4 Zykluszeiten ........................................................................................................................................................... 57
10.5 Aktionen ansteuern und ausführen....................................................................................................................... 58
10.6 Feldbusskalierung.................................................................................................................................................. 60
11 Anhang..................................................................................................................................................................... 61
11.1 Unterstützte Kommunikationsobjekte .................................................................................................................. 61
11.1.1 CiA 301 CANopen: 1000 hex – 1FFFF hex ............................................................................................. 61
11.1.2 Herstellerspezifische Parameter: 2000 hex – 53FF hex ........................................................................ 66
Inhaltsverzeichnis
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