IL1F CANopen DS301 Index | Schneider Electric instruction

IL•1F CANopen DS301

10 Index

0198441113586, V2.01, 11.2008

Profiles

standardized 18

Vendor-specific 18

R

Real-time data exchange 31 Recipient

of an NMT message 48 Residual error probability 9 Response

to SDO error 30

S

SDO 21, 26 COB ID 27 Command code 27 Data 27

Data frame 27 Error message 76 error message 78 Error response 30 Index, Subindex 27 message 27 Message types 26 Response 29 Transmission error 78

Service Data Object See SDO

Service data objects 21 See SDO

Services

For connection monitoring 46 For device control 46

NMT 21, 46

Specification

CAN 3.0A 22

State machine NMT 46

Subindex SDO 27

SYNC object 21, 44 COB ID 45 with PDO 32

Synchronization 44 Time values 44

Synchronization object See SYNC object

Synchronous

Data transmission 44 Errors 76

T

Tasks

of the COB Id 22

Fieldbus interface

101

Image 101

Schneider Electric manual IL1F CANopen DS301 Index

Contents

IL1F CANopen DS301 Important information Table of Contents Table of Contents IL1F CANopen DS301 Object directory Table of Contents IL1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols IL1F CANopen DS301 CAN-Bus IntroductionAbout this manual Fieldbus devices networked via can bus Operating modes and functions in fieldbus mode Can users and manufacturers organization Documentation and literature references Introduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 CANopen technology BasicsCANopen description language Communication layers Index hex Object groups Supported By the drive Objects IL1F CANopen DS301 Basics CANopen reference model CANopen profiles Index Subindex Object Meaning Communication profileObject dictionary Index range Object groups Supported Hex By the drive Communication objects Communication objects COB ID with function code and node address TPDO4 Master slave relationships Communication relationships Client-server relationship SDO data exchange Service data communicationOverview 11 SDO message, example SDO message Message type Data length used Bytes Reading and writing data Message type Data length used Byte Bytes 14 Reading a parameter value 15 Response with error message error response Process data communication 16 PDO data exchange PDO data exchange UINT32 18 Requesting a message with RTR = Dynamic and static PDO mapping Structure of RPDO4 Receive PDO RPDO4 master slave State machine drivectrl JOG Operating modes modeCtrl Transmit PDO TPDO4 product to master @ Warning 20 Structure of TPDO4 Structure of TPDO4 Bit Name Description Handshake with Mode Toggle Bit Master Slave Xend 22 Mode Toggle Handshake, short movement Basics IL1F CANopen DS301 23 Error message with the Emcy object Emergency service 25 Sync message Synchronization 27 Cyclic and acyclic transmission NMT services for device control Network management services Persistent data memory NMT service Transition MeaningInitialization Node/Life guarding NMT services for connection monitoringCommand Specifier NMT service Transition 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning the device Commissioning Commissioning the fieldbus network Starting fieldbus modeAddress and baud rate Error Error class Cause of error Troubleshooting Troubleshooting Selecting the CANopen master SyCon CANopen configuration softwareCreating a new network Setting the bus parameters Selecting and inserting nodes Overview Operation Operation IL1F CANopen DS301 Writing parameters Using SDO commandsTransmit data Receive data Index Sub Data Description Synchronous errorsReading a parameter Bit no Value Meaning Operating Name Power Description State StageChanging operating states with PDO4 Example Switching the power stage on and offTriggering a Quick Stop Come to a standstill System is to resume opera Resetting faults Examples for the operating modes with PDO4 Operating mode Profile Position absolute positioning Operating mode Profile Velocity Operating mode Profile Position relative positioning Master --- Slave Position setting Operating mode Homing Asynchronous errors Error signaling via PDO4 Positioning running xerr=0 Operation IL1F CANopen DS301 Fieldbus communication error diagnostics Diagnostics and troubleshooting Messages on the device status Error diagnostics via fieldbusMessage objects Error register CANopen error messagesError code table Bit Message Meaning Error code Meaning SDO error message Abort Object directory Specifications for the objectsObject code Meaning Coding Data type Value range Data length Objects, overview Index Subindex Designation Obj. code Data type Access Device type Error registerObjects of the product 1008h Bit coding, subindex 00hManufacturer device name 100Ch Index 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit 30 RTR bit Bit assignment subindex 01hBit coding, subindex 02h Bit Acces Value Meaning 1603h Receive PDO4 mapping Value description BitMeaning 1803h Transmit PDO4 communication parameter Subindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Units and conversion tables Glossary Rotation TemperatureTorque Moment of inertia Terms and Abbreviations Default value Factory setting Power amplifier See power stage Can Index Index IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface