Index, Can | Schneider Electric DS301 specification

IL•1F CANopen DS301

10 Index

10 Index

0198441113586, V2.01, 11.2008

A

Abbreviations 95

ABORT 76, 78

Acyclic data transmission 45

Address 54

Checking 75

Asynchronous errors 76

B

Baud rate 54

Checking 75

Before you begin

Safety information 13

Bit field data 22

Bit field identifier 22

Bit fields

Data 22

Identifier 22

Boot Up

Message 47

Bus arbitration 22

C

CAN

message 22

CAN 3.0A 22 CANopen

Communication profile, NMT 46 error messages 77

Message 22

Standards 11

ccd

See command code Checking

Address 75 Baud rate 75

Client-Server 25 Client-server

SDO data exchange 26 COB ID 22

for node guarding 48

of communication objects 23 SDO 27

SYNC object 45 COB Id

bus arbitration 22

Identification of communication objects 22 tasks 22

Coding

Command code 28, 29 Command code

Fieldbus interface

97

Image 97

Schneider Electric DS301 manual Index, Can

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 About this manual IntroductionCAN-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 Object dictionary Communication profileIndex 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 Overview Service data communicationSDO 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 Initialization NMT service Transition MeaningPersistent data memory Command Specifier NMT service Transition NMT services for connection monitoringNode/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 Address and baud rate Starting fieldbus modeCommissioning the fieldbus network Error Error class Cause of error Troubleshooting Troubleshooting Creating a new network SyCon CANopen configuration softwareSelecting 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 Reading a parameter Synchronous errorsIndex Sub Data Description Changing operating states with PDO4 Operating Name Power Description State StageBit no Value Meaning Triggering a Quick Stop Switching the power stage on and offExample 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 Message objects Error diagnostics via fieldbusMessages 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 Objects of the product Error registerDevice 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