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Inhaltsverzeichnis
1
Allgemeine Hinweise...................................................................................................................... 4
1.1
Definitionen .............................................................................................................................. 4
1.2
Bestimmungsgemäße Verwendung ......................................................................................... 4
1.3
Produktfamilie AP24 ................................................................................................................. 5
2
Funktionsbeschreibung ................................................................................................................ 5
2.1
Allgemein ................................................................................................................................. 5
2.2
Display...................................................................................................................................... 5
2.3
Tastatur .................................................................................................................................... 5
3
Inbetriebnahme ............................................................................................................................... 6
3.1
Einschalten der Versorgungsspannung ................................................................................... 6
3.2
Konfiguration ............................................................................................................................ 6
3.2.1
Parameterliste .................................................................................................................... 6
3.2.2
Konfiguration per Tastatur ................................................................................................. 6
3.2.3
Konfiguration per CAN-Schnittstelle .................................................................................. 7
3.3
Senden und Anzeigen der Sollwerte ........................................................................................ 7
3.4
Beenden der Anzeigewertübertragung .................................................................................... 7
4
Allgemeine Angaben CAN-Bus ..................................................................................................... 7
4.1
CAN-Bus-Eigenschaften .......................................................................................................... 7
4.2
CANopen .................................................................................................................................. 8
4.3
Das Encoder-Geräte-Profil (CiA Draft Standard 406) .............................................................. 9
5
Datenübertragung nach dem CANopen-Kommunikationsmodell ............................................ 9
5.1
CANopen Meldungsaufbau ...................................................................................................... 9
5.1.1
Funktions-Code ................................................................................................................ 10
5.1.2
Knotennummer (Node-ID) ................................................................................................ 10
5.2
Übertragung der Prozessdaten .............................................................................................. 10
5.2.1
Vom Busmaster zur AP24T (Sollwert + Steuerwort) ....................................................... 10
5.2.2
Von der AP24T zum Busmaster (aktueller Sollwert + Zustandswort) ............................. 11
5.3
Übertragung der SDO-Daten (Parametrierung) ..................................................................... 12
5.4
Emergency-Dienst .................................................................................................................. 14
5.4.1
Emergency-Message im Falle von Busstörungen ........................................................... 14
5.5
Netzwerkmanagement-Dienste (NMT) .................................................................................. 15
5.5.1
NMT-Status ...................................................................................................................... 15
5.5.2
Die verschiedenen NMT-Zustände .................................................................................. 15
5.5.3
Zustandswechsel ............................................................................................................. 16
5.5.4
Heartbeat ......................................................................................................................... 16
6
Objektverzeichnis ......................................................................................................................... 17
6.1
Objektübersicht ...................................................................................................................... 17
6.2
Detaillierte Objektbeschreibung ............................................................................................. 19
6.2.1
Objekt 1000h (Device Type) ............................................................................................ 19
6.2.2
Objekt 1001h (Error Register) .......................................................................................... 19
6.2.3
Objekt 1002h (Manufacturer Status Register) ................................................................. 19
6.2.4
Objekt 1003h (Pre-defined Error Field) ............................................................................ 20
6.2.5
Objekt 1005h (COB-ID SYNC message) ......................................................................... 20
6.2.6
Objekt 1008h (Manufacturer Device Name) .................................................................... 20
6.2.7
Objekt 1009h (Manufacturer Hardware Version) ............................................................. 21
6.2.8
Objekt 100Ah (Manufacturer Software Version) .............................................................. 21
6.2.9
Objekt 1010h (Store Parameters) .................................................................................... 21
6.2.10
Objekt 1011h (Load Default Parameters) ........................................................................ 22
6.2.11
Objekt 1014h (COB-ID Emergency Object) ..................................................................... 22
6.2.12
Objekt 1017h (Producer Heartbeat Time) ........................................................................ 23
6.2.13
Objekt 1018h (Identity Object) ......................................................................................... 23
6.2.14
Objekt 1200h (Server SDO Parameter) ........................................................................... 23
6.2.15
Objekt 1400h (Receive PDO1 Parameter, asynchrone Betriebsart) ............................... 24
6.2.16
Objekt 1401h (Receive PDO2 Parameter, synchrone Betriebsart) ................................. 24
6.2.17
Objekt 1600h (Receive PDO1 Mapping Parameter) ....................................................... 25
6.2.18
Objekt 1601h (Receive PDO2 Mapping Parameter) ....................................................... 25
6.2.19
Objekt 1800h (Transmit PDO1 Parameter, asynchrone Betriebsart) .............................. 25
6.2.20
Objekt 1801h (Transmit PDO2 Parameter, synchrone Betriebsart) ................................ 26
AP24T-CANopen
Datum: 06.12.2013
Seite
2 von 33
Art.Nr. 87120
Änd. Stand 303/13
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