KEB COMBIVERT Generation 6 Programmierhandbuch Seite 6

Inhalt
6 CANopen Schnittstelle ......................................................................... 33
6.1 Grundlegendes zum CAN-BUS ................................................................................................. 33
6.2 CAN Funktionen ......................................................................................................................... 33
6.3 Sync Identifier ............................................................................................................................ 33
6.4 Broadcast Objekte ..................................................................................................................... 34
6.5 Kommunikationsobjekte ........................................................................................................... 34
6.6 Request/Response-Identifier (SDO) ......................................................................................... 34
6.7 Out/In-Identifier (PDO) ............................................................................................................... 35
6.8 CANopen Prozessdatenabbildung ........................................................................................... 36
6.9 CANopen Bootup-Sequenz ....................................................................................................... 39
6.10 Node-Guarding ........................................................................................................................... 42
6.11 Life-Guarding .............................................................................................................................. 42
6.12 Emergency Objekt ..................................................................................................................... 43
6.13 Heartbeat ..................................................................................................................................... 45
6.14 CAN-Telegramm-Typen .............................................................................................................. 46
6.14.1 SDO-Telegramme ........................................................................................................................ 46
6.14.2 SDO(rx)-Telegramm ..................................................................................................................... 47
6.14.3 SDO(tx)-Telegramm ..................................................................................................................... 48
6.14.4 RPDO1...4-Telegramm ................................................................................................................ 50
6.14.5 TPDO1...4-Telegramm ................................................................................................................ 51
6.15 CAN-Bit-Timing .......................................................................................................................... 52
6.16 CAN Diagnose ............................................................................................................................ 52
7 EtherCAT Schnittstelle ......................................................................... 53
7.1 Sync Manager ............................................................................................................................. 53
7.2 EtherCAT Diagnose und Timing (Steuerungstyp K) .............................................................. 53
7.3 EtherCAT Diagnose (Steuerungstyp A) ................................................................................... 57
7.4 Ethernet over EtherCAT (EoE) .................................................................................................. 58
7.4.1 Inbetriebnahme von Ethernet over EtherCAT .............................................................................. 58
7.4.2 Funktionen von Ethernet over EtherCAT ..................................................................................... 58
8 VARAN Schnittstelle ............................................................................. 59
8.1 Elektronisches Typenschild ..................................................................................................... 59
8.2 Dual Port Memory ...................................................................................................................... 59
8.3 Verfügbare Befehle .................................................................................................................... 59
8.4 DPM-Mapping ............................................................................................................................. 59
8.5 Parametrierdaten (asynchrone Objekte) ................................................................................. 60
8.6 Prozessdaten (isochrone Objekte) ........................................................................................... 61
8.7 VARAN Diagnose ....................................................................................................................... 61
9 PROFINET Schnittstelle ....................................................................... 62
9.1 PROFINET Zertifikat ................................................................................................................... 62
9.2 PROFINET Gerätebeschreibung (GSDML) .............................................................................. 62
9.3 PROFINET Funktionen .............................................................................................................. 62
9.3.1 Zyklischer Datenaustausch (Prozessdatenkommunikation) ........................................................ 62
9.3.2 Azyklische Kommunikation nach PROFIdrive Base Mode Parameter Access ........................... 62
9.3.3 Zusätzlicher Diagnosekanal über Standard Ethernet Kommunikation ........................................ 62
9.4 PROFINET Diagnose .................................................................................................................. 62
9.4.1 PROFINET MAC-Adressen ......................................................................................................... 62
10 POWERLINK Schnittstelle .................................................................... 64
10.1 Grundlegendes zum POWERLINK-BUS .................................................................................. 64
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