Nanotec CANopen N5 Handbuch Seite 3

8.1 DS402 Power State machine.............................................................................................................. 58
8.2 Benutzerdefinierte Einheiten................................................................................................................62
9 Spezielle Funktionen................................................................................ 65
9.1 Digitale Ein- und Ausgänge................................................................................................................ 65
9.2 Automatische Bremsensteuerung........................................................................................................67
2
9.3 I t Motor-Überlastungsschutz.............................................................................................................. 70
9.4 Objekte speichern................................................................................................................................71
10 Programmierung mit NanoJ.................................................................. 75
10.1 Einleitung........................................................................................................................................... 75
10.2 Verfügbare Rechenzeit...................................................................................................................... 75
10.3 Sandbox.............................................................................................................................................76
10.4 Laden eines VMM Programms..........................................................................................................76
10.5 Interaktion des Benutzerprogramms mit der Steuerung................................................................... 78
10.6 OD-Einträge zur Steuerung und Konfiguration der VMM..................................................................78
10.7 NanoJEasyV2.................................................................................................................................... 79
10.8 Systemcalls........................................................................................................................................83
11 Objektverzeichnis Beschreibung.......................................................... 85
11.1 Übersicht............................................................................................................................................85
11.2 Aufbau der Objektbeschreibung........................................................................................................ 85
11.3 Objektbeschreibung........................................................................................................................... 85
11.4 Wertebeschreibung............................................................................................................................ 87
11.5 Beschreibung..................................................................................................................................... 88
1000h Device Type....................................................................................................................................88
1001h Error Register................................................................................................................................. 89
1003h Pre-defined Error Field................................................................................................................... 90
1005h COB-ID Sync.................................................................................................................................. 93
1007h Synchronous Window Length.........................................................................................................93
1008h Manufacturer Device Name............................................................................................................94
1009h Manufacturer Hardware Version.....................................................................................................94
100Ah Manufacturer Software Version......................................................................................................95
100Ch Guard Time.................................................................................................................................... 95
100Dh Live Time Factor............................................................................................................................ 96
1010h Store Parameter............................................................................................................................. 96
1011h Restore Default Parameter.............................................................................................................97
1014h COB-ID EMCY................................................................................................................................98
1017h Producer Heartbeat Time............................................................................................................... 98
1018h Identity Object.................................................................................................................................99
1400h Receive PDO 1 Communication Parameter.................................................................................100
1401h Receive PDO 2 Communication Parameter.................................................................................101
1402h Receive PDO 3 Communication Parameter.................................................................................101
1403h Receive PDO 4 Communication Parameter.................................................................................102
1600h Receive PDO 1 Mapping Parameter............................................................................................103
1601h Receive PDO 2 Mapping Parameter............................................................................................105
1602h Receive PDO 3 Mapping Parameter............................................................................................108
1603h Receive PDO 4 Mapping Parameter............................................................................................110
1800h Transmit PDO 1 Communication Parameter................................................................................112
1801h Transmit PDO 2 Communication Parameter................................................................................113
1802h Transmit PDO 3 Communication Parameter................................................................................115
1803h Transmit PDO 4 Communication Parameter................................................................................116
1A00h Transmit PDO 1 Mapping Parameter.......................................................................................... 117
1A01h Transmit PDO 2 Mapping Parameter.......................................................................................... 120
1A02h Transmit PDO 3 Mapping Parameter.......................................................................................... 122
1A03h Transmit PDO 4 Mapping Parameter.......................................................................................... 124
Handbuch N5 (CANopen)
Inhalt