施耐德 Lexium05A英文版CANopen通讯手册.pdf

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施耐德 Lexium05A英文版CANopen通讯手册pdf,施耐德 Lexium05A英文版CANopen通讯手册
Lexium A Table of contents Important information 2 Table of contents Writing conventions and symbols ntroduction can bUS 1-1 1.2 CANopen technology ,,,1-2 1.2.1 CANopen description language 1-2 1.2.2 Communications layers...........1-2 1.2.3 Objects 1-3 1.2.4 CANopen profiles 1.3 Documentation and literature references 1-5 2 Safety Qualification of personnel 2-1 2.2 Intended use 2 2.3 General safety instructions 2-2 3 Basics Communications profile 3.1.1 Object directory 3-1 3.1.2 Communications objects 3-2 3.1.3 Communications relationships 3-5 32 Service data communication 3-7 3.2.1 Overview .3-7 322 SDo data exchange 3-7 32.3 SDO message 3-8 3.2.4 Read and write data 3-9 3.3 Process data communication 3-11 3.3.1 Overview 3-11 3.3.2 PDo data exchange 3-11 3.3.3 PDO message 3-12 3.34 PDO mapping 3-15 Synchronisation 3-18 3.5 Emergency service 3-20 igo寸 3.5.1 Error evaluation and handling 3-20 Network management services 3-22 3.6.1 NMT services for device control 3-22 362 services for connection monitoring 3-24 4 Installation CANopen Lexium05 A 5 Commissioning 5.1 Setting up the unit. 5.2 Address and baud rate 5.3 SyCon CANopen configuration software 5-1 5.3.1 Create new network 5-1 5.3.2 Selection of the CANopen master 5-2 5.3.3 Setting the bus parameters 5-2 5.34 Selection and insertion of nodes 5.3.5 Confiquration of network nodes ,,,,,,5-4 5.3.6 Setting the mapping of the PDo4 6 Operation 6.1 Operating modes 6-1 62 Standardised operating modes 6 6.2.1 Profile position operating mode......... 6-2 622 Profile velocity operating mode .,6-4 62.3 Homing operating mode ,,,,,6-5 6.3 Manufacturer-specific operating modes 6-6 6.3.1 Current control mode 6-6 6.3.2 Speed control operating mode 6-8 6.3.3 Electronic gear operating mode........6-10 6.3.4 g operating mode 6-12 6.4 Functions 6-13 6.4.1 amp functIo 6-13 6.4.2 Quick-Stop funct 6-14 64.3 Motor stop ...6-14 6.4.4 Standstill window 6-14 64.5 Reversal of direction of rotation 6-14 64.6 Monitoring functions ....6-16 64.7 Monitoring inputs and outputs of the unit.... 6-17 64.8 Backing up and restoring object data 6-17 7 Diagnostics and troubleshooting 7.1 Field bus communication error diagnOSIS 7.2 Error diagnosis over field bus 7-2 7.2.1 Message objects 7-2 7.2.2 Messages: on the unit status 7-2 7.3 CANopen error messages..... 7-3 7.3.1 error register 7-3 7.3.2 Error code table 7-3 7.3.3 SDO error message ABORt 7-3 8 Service, maintenance and disposal 8.1 Service address ■■11 ■■■■ 8-1 >>a寸∞ 9 Object directory CANopen Lexium A 9.1 pecification for the objects 9.2 Overview of object group 1000h 9-2 9.3 Arrangement of object group 6000h 9.4 Details of object group 1000h 9-7 9.4.1 1000 h device type∴ 9-7 9.4.2 1001h Error register 9-7 94.3 1003h Predefined error field 9-8 94.4 1005h CoB-Id SYNc message 945 1008h Manufacturer device name,.,..,,.9-9 94.6 1009h Manufacturer hardware version...,,.9-10 94.7 100Ah Manufacturer software version,,.,,,.9-10 94.8 100Ch Guard time 9-10 9.4.9 100Dh Life time factor 9-11 94.10 1010h Save Parameters 9-12 9.4.11 1011h Restore Default Parameters 9-13 9. 4.12 1014h COB-ID emergency message 9-14 9. 4.13 1015h Inhibit time emergency message 9-14 9.4.14 1016h Consumer heartbeat Time 9-15 9.4.15 1017h Producer heartbeat Time,........,.9-15 94.16 018h Identity object 9-16 9. 4.17 1020h data for configuration......... 9-17 94.18 1029h Error Behaviour 9-19 9. 4.19 1200h 1 st server SDO parameter....... 9-19 9.4.20 1201h 2nd server SDo parameter 9-20 9.4.21 1400h 1st receive PDO parameter 9-21 9. 4.22 1401h 2nd receive PDo_parameter 9-23 94.23 1402h 3rd receive PDo parameter 9-24 94.24 1403h 4th receive PDo parameter 9-25 9. 4.25 1600h 1st receive PDO mapping 9-26 94.26 1601h 2nd receive pdo mapping 9-27 9. 4.27 1602h 3rd receive PDO mapping 9-28 9. 4.28 1603h 4th receive PDO mapping 9-29 9.4.29 1800h 1st transmit PDO parameter 9-29 94.30 1801h 2nd transmit PDO parameter...... 9-31 9. 4. 31 1802h 3rd transmit PDO parameter......9-33 94.32 1803h 4th transmit PDo parameter 9-34 94.33 1 AoOh 1st transmit PDo mapping 9-36 9.4. 34 1A01h 2nd transmit PDO mapping 9-36 9.4.35 1A02h 3rd transmit PDO mapping 9-37 94.36 AO3h 4th transmit PDO mapping 9-38 0 Glossary 10.1 Terms and abbreviations10-1 11 Index CANope Lexium05 A ∞o>>go寸∞o CANopen Lexium A Writing conventions and symbols Work steps If work steps must be carried out in sequence, they are shown as fol- lows Special prerequisites for the following work steps Step <1 Important response to this work step Step 2 If a response to a work step is specified, this will inform you that the step has been carried out correctly Unless otherwise stated, the individual instruction steps must be carried in the given sequel Lists Lists can be sorted alphanumerically or by priority Lists are structured as follows Point 1 Point 2 Subpoint to 2 Point 3 Making work easier Information on making work easier can be found at this symbol This offers supplementary information on making work eas/er See the chapter on safety for an explanation of the safety instructions igo寸 CANope Lexium05 A ∞o>>go寸∞o -8 CANopen Lexium A Introduction 1 ntroduction 1.1 CAN bus The can bus(CaN: Controller Area Network was originally develo ped for fast, economical data transmission in automotive engineering. In the meantime the can bus is also used in industrial automation techno logy and has been further developed for communication at fieldbus level Features of the CaN bus The can bus is a standardised open bus, through which devices, sen- sors and actuators from different manufacturers communicate with each other the features of the can bus are Multimaster capacity Every device in the fieldbus can send and receive data inde dently without being assigned to an ordering" master function Message-oriented communication Devices can be linked into an existing network without requiring reconfiguration of the entire system the address of a new device does not need to be specified on the network Prioritisation of messages Messages with higher priority are sent first for time-critical applicati- ons Residual error probability Various backup processes in the network reduce the probability of an undetected, faulty data transfer to less than 10. In practice, 100%-secure transmission can be assumed Transmission technology In the Can bus multiple devices are connected via a bus cable. Every network device can send and receive messages data between network devices are transmitted serially Network devices EXamples of can bus devices are automation devices, e.g. PLCS PCs input/output modules drive controllers ● analysIs devIces Sensors and actuators igo寸 CANopen Introduction Lexium05 A 1.2 CANopen technology 1.2.1 CANopen description language CANopen is a device and manufacturer-independent description langu age for communication on the can bus CANopen offers a unified base for exchanging commands and data between CAN bus devices 1.2.2 Communications layers CANopen uses the Can bus technology for data communications CANopen is based on the Iso-oSI layer model on the data communi cations basic network service. 3 layers secure data communications in the can bus ● CAN Physical Layer CAN Data Link Layer CANopen Application Layer device communication application Layer data Link layer sical layer fielb bus communication CAN-BuS Figure 1.1 CANopen layer model CAN Physical Layer The physical layer defines the electrical properties of the Can bus such as plug connectors, cable length and cable properties such as bit-coding and bit-timing CAN Data Link Layer The data link layer connects the network devices. It sets the priorities of individual data packets and monitors and corrects errors CANopen Application Layer The application layer uses communications objects(CoB )to exchange data between the various devices. Communication objects are elemen- tary components for creating a CANopen application ∞o>>go寸∞o 1-2 CANopen

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