Inhaltsverzeichnis - SIEB & MEYER SD4 Serie Originalbetriebsanleitung

1 Über dieses Handbuch.........................................................
1.1 Übersicht der CAN-Kommunikation...........................................................................
1.2 Abkürzungen.................................................................................................................6
2 CAN-Schnittstelle..................................................................8
3 Antriebssteuerung................................................................
3.1 Gerätezustandsmaschine............................................................................................
3.2 Gerätesteuerbefehle...................................................................................................10
3.3 Gerätezustände...........................................................................................................11
3.4 Einheiten.....................................................................................................................
3.5 Status-LED..................................................................................................................
3.6 EDS-Datei....................................................................................................................
4 Parametrierung....................................................................14
4.1 Antriebssteuerung......................................................................................................14
4.2 CANopen-Parameter..................................................................................................
4.2.1 Allgemein......................................................................................................................15
4.2.2 Node Guarding.............................................................................................................
4.2.3 Heartbeat......................................................................................................................17
4.2.4 SDO..............................................................................................................................18
4.2.5 PDO..............................................................................................................................19
4.2.5.1 Konfiguration PDO 0....................................................................................................................
4.2.5.2 Konfiguration PDO 1 bis 3...........................................................................................................
4.3 PDO-Mapping..............................................................................................................21
4.3.1 PDO-Mapping in drivemaster4.....................................................................................
4.3.2 PDO-Mapping über Bussystem....................................................................................
4.4 CANopen-Diagnose....................................................................................................23
5 CAN-Telegramme................................................................
5.1 SDO-Telegramm..........................................................................................................25
5.1.1 Objekt lesen..................................................................................................................25
5.1.2 Objekt schreiben...........................................................................................................26
5.1.3 Fehlercodes beim
5.2 PDO (Prozessdatenobjekte)......................................................................................
5.3 Emergency-Telegramm (EMCY)................................................................................
5.4 Netzwerkmanagement (NMT)....................................................................................
5.5 Node Guarding / Heartbeat........................................................................................
5.5.1 Node Guarding-Telegramm..........................................................................................
5.5.2 Heartbeat Producer-Telegramm...................................................................................
5.5.3 Heartbeat Consumer-Telegramm.................................................................................
5.6 SYNC-Telegramm.......................................................................................................
5.6.1 SYNC-Consumer..........................................................................................................37
5.6.2 SYNC-Producer............................................................................................................38
6 Objektverzeichnis
Objekt 1000h - Device Type......................................................................................
Objekt 1001h - Error Register...................................................................................
Objekt 1003h - Pre-defined Error Field....................................................................
Objekt 1005h - COB-ID SYNC...................................................................................
Objekt 1006h - Communication Cycle Period.........................................................
Objekt 1007h - Synchronous Window Length........................................................
Objekt 1008h - Manufacturer Device
Objekt 1009h - Manufacturer Hardware
Objekt 100Ah - Manufacturer Software Version.....................................................
Objekt 100Ch - Guard
Objekt 100Dh - Life Time
Objekt 1015h - Inhibit Time
Antriebsverstärker SD4x - CAN-Bus-Anbindung
Objektzugriff....................................................................................27
(DS301).................................................39
Name.............................................................42
Version.....................................................42
Time.......................................................................................43
Factor...............................................................................43
EMCY............................................................................43

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