Communication objects | Schneider Electric DS301 instruction

IL•1F CANopen DS301

3 Basics

3.2.2Communication objects

Overview The communication objects are standardized with the DS301 CANopen communication profile. The objects can be classified into 4 groups ac- cording to their tasks.

PDO

T_PDO1 R_PDO1

T_PDO2 R_PDO2

T_PDO3 R_PDO3

T_PDO4 R_PDO4

SDO

T_SDO

R_SDO

Communication objects

Special objects

SYNC

EMCY

Network management

NMT Services

NMT Node guarding NMT Heartbeat

Figure 3.4 Communication objects; the following applies to the perspective of the network device: T_..: "Transmit", R_..: "Receive"

•PDOs (process data objects) for real-time transmission of process data

•SDOs (service data object) for read and write access to the object dictionary

•Objects for controlling CAN messages:

–SYNC object (synchronization object) for synchronization of net- work devices

–EMCY object (emergency object), for signaling errors of a device or its peripherals.

•Network management services:

–NMT services for initialization and network control (NMT: net- work management)

–NMT Node Guarding for monitoring the network devices

–NMT Heartbeat for monitoring the network devices

0198441113586, V2.01, 11.2008

Fieldbus interface

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Schneider Electric DS301 manual Communication objects

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 Introduction About this manualCAN-Bus 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 Communication profile Object dictionaryIndex Subindex Object Meaning 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 Service data communication OverviewSDO data exchange 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 NMT service Transition Meaning InitializationPersistent data memory NMT services for connection monitoring Command Specifier NMT service TransitionNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning the device Commissioning Starting fieldbus mode Address and baud rateCommissioning the fieldbus network Error Error class Cause of error Troubleshooting Troubleshooting SyCon CANopen configuration software Creating a new networkSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Overview Operation Operation IL1F CANopen DS301 Writing parameters Using SDO commandsTransmit data Receive data Synchronous errors Reading a parameterIndex Sub Data Description Operating Name Power Description State Stage Changing operating states with PDO4Bit no Value Meaning Switching the power stage on and off Triggering a Quick StopExample 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 Error diagnostics via fieldbus Message objectsMessages on the device status 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 Error register Objects of the productDevice type 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