Kübler IS60 Handbuch Seite 26

Content
(German is the original version)
1. About this manual ................................................................................................................3
1.1 Documentation concept ..........................................................................................................3
1.1.1 Explanations for the used symbols ....................................................................................3
1.2 General informations ..............................................................................................................4
1.2.1 Intended use ......................................................................................................................4
1.2.2 Information for project planning/installation of product ......................................................4
2. Overview ................................................................................................................................5
2.1 Characteristics ........................................................................................................................5
2.2 Applications ............................................................................................................................5
3. Technical data ......................................................................................................................6
3.1 General, interface, electrical and mechanical parameters ....................................................6
4. Mounting ................................................................................................................................7
4.1 Dimensional draw ..................................................................................................................7
4.1.1 Definition of the axes (factory default) ................................................................................7
5. Electrical connection ............................................................................................................7
5.1 Pin assignment of connector assembly ..................................................................................7
5.2 Bus termination resistance......................................................................................................8
6. CANopen interface................................................................................................................8
6.1 Review of functions ................................................................................................................8
6.2 Send PDO (TPDO 1) ..............................................................................................................9
6.2.1 IS60, 1-dimensional - Data portion of CAN telegram of the TPDO1 ................................9
6.2.2 IS60, 2-dimensional - Data portion of CAN telegram of the TPDO1 ................................9
6.3 PDO communication types ....................................................................................................9
6.3.1 Individual request per Remote Transmit Request telegram (RTR) ....................................9
6.3.2 Cyclic operating mode ........................................................................................................9
6.3.3 Event-driven send when the angle has changed................................................................9
6.3.4 Synchronized send after receipt of a SYNC telegram ........................................................9
6.3.5 Object register ....................................................................................................................9
6.4 Object register ......................................................................................................................12
6.4.1 Communication parameters (per CiA DS-301) ................................................................12
Error register (1001 h) ......................................................................................................12
Manufacturer status register (1002 h) ..............................................................................12
Predefined error field (1003 h) ..........................................................................................12
Store parameters (1010 h) and reload (1011 h) ..............................................................13
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