KEB Combivert G6 Programmierhandbuch Seite 6

INHAlTSVERZEICHNIS
6 Grundlegendes zum CAN-BUS ................................... 22
7 Funktionen ................................................................... 23
7.1 Broadcast objekte ......................................................................................................................... 24
7.2 Kommunikationsobjekte ............................................................................................................... 24
7.3 Request/Response-Identifier (SDO) ............................................................................................. 24
7.4 Out/In-Identifier (PDO) ................................................................................................................... 25
7.5 Prozessdatenabbildung ................................................................................................................ 25
7.6 CANopen Bootup-Sequenz .......................................................................................................... 26
7.7 Bootup-Message ............................................................................................................................ 27
7.8 Node-Guarding .............................................................................................................................. 28
7.9 life-Guarding ................................................................................................................................. 28
7.10 Emergency objekt ....................................................................................................................... 29
7.10.1 Error Register ................................................................................................................... 29
7.11 Producers Heartbeat ................................................................................................................... 30
7.12 Consumers Heartbeat ................................................................................................................. 30
8 Kodierung der Daten in den vier CAN-Telegramm-
Typen ............................................................................ 31
8.1 SDo(rx)-Telegramm ....................................................................................................................... 31
8.1.1 Initiate Domain Download Request (Schreibanforderung des Master) .............................. 32
8.1.2 Initiate Domain Upload Request (Leseanforderung des Master) ....................................... 32
8.2 SDo(tx)-Telegramm ....................................................................................................................... 32
8.2.1 Initiate Domain Download Response (Schreibbestätigung vom FU) ................................. 32
8.2.2 Initiate Domain Upload Response (Lesebestätigung vom FU) .......................................... 33
8.2.3 Abort Domain Transfer (Fehlerantwort vom FU) ................................................................ 33
8.3 RPDo1...3-Telegramm .................................................................................................................. 34
8.4 TPDo1...3-Telegramm ................................................................................................................... 34
9 Parameter des Kommunikationsprofils ..................... 35
9.1 Geräte- und Herstellerdaten ......................................................................................................... 35
9.2 Prozessdaten ................................................................................................................................. 37
9.3 Parameter für das life-Guarding ................................................................................................. 42
9.4 Parameter für das Heartbeat ........................................................................................................ 43
10 Feldbusparameter...................................................... 45
11 operatorparameter .................................................... 56
12 Initiatorinterface......................................................... 62
13 lCD-Parameter........................................................... 64
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