Contents - TR-Electronic CANopen+Multi-Sensor LP-46-K Benutzerhandbuch

Contents

Contents .............................................................................................................................................. 95
Revision index .................................................................................................................................... 99
1 General information ........................................................................................................................ 100
1.1 Applicability ............................................................................................................................. 100
1.2 References .............................................................................................................................. 101
1.3 Abbreviations and definitions .................................................................................................. 102
2 Additional safety instructions ........................................................................................................ 104
2.1 Definition of symbols and instructions .................................................................................... 104
2.2 Additional instructions for proper use ..................................................................................... 104
2.3 Organizational measures ........................................................................................................ 105
3 CANopen information ..................................................................................................................... 106
3.1 CANopen - Communication profile ........................................................................................ 107
3.2 Process- and Service-Data-Objects ....................................................................................... 108
3.3 Object Dictionary .................................................................................................................... 109
3.4 CANopen default identifier ...................................................................................................... 109
3.5 Transmission of SDO messages ............................................................................................ 110
3.5.1 SDO message format ............................................................................................. 110
3.5.2 Read SDO ............................................................................................................... 112
3.5.3 Write SDO ............................................................................................................... 113
3.6 Network management, NMT ................................................................................................... 114
3.6.1 Network management services .............................................................................. 115
3.6.1.1 NMT device control services ..................................................................................................... 115
3.6.1.2 NMT Node / Life guarding services ........................................................................................... 116
3.7 PDO mapping ......................................................................................................................... 116
3.8 Layer management services (LMT) and protocols ................................................................. 117
3.8.1 LMT Modes and Services ....................................................................................... 118
3.8.2 Transmission of LMT services ................................................................................ 119
3.8.2.1 LMT message format ................................................................................................................ 119
3.8.3 Switch mode protocols ............................................................................................ 120
3.8.3.1 Switch mode global protocol ..................................................................................................... 120
3.8.3.2 Switch mode selective protocol ................................................................................................. 120
3.8.4 Configuration protocols ........................................................................................... 121
3.8.4.1 Configure NMT-address protocol .............................................................................................. 121
3.8.4.2 Configure bit timing parameters protocol .................................................................................. 122
3.8.4.3 Activate bit timing parameters protocol ..................................................................................... 123
3.8.4.4 Store configuration protocol ...................................................................................................... 123
3.8.5 Inquire LMT address protocols ............................................................................... 124
3.8.5.1 Inquire Manufacturer-Name protocol ........................................................................................ 124
3.8.5.2 Inquire Product-Name protocol ................................................................................................. 124
3.8.5.3 Inquire Serial-Number protocol ................................................................................................. 125
3.8.6 Identification protocols ............................................................................................ 126
3.8.6.1 LMT identify remote slave protocol ........................................................................................... 126
3.8.6.2 LMT identify slave protocol ....................................................................................................... 126
Printed in the Federal Republic of Germany
01/20/2017 TR - ELA - BA - DGB - 0016 - 04
 TR-Electronic GmbH 2010, All Rights Reserved
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