Download User manual CANopen

Table of contents
1.
General Informaton _________________________________________________ 4
Definitions _________________________________________________________________ 4
Intended use________________________________________________________________ 5
The AP04 product family______________________________________________________ 5
2.
Brief description ___________________________________________________ 5
In general __________________________________________________________________ 5
Display ____________________________________________________________________ 6
Keyboard __________________________________________________________________ 6
Battery buffering ____________________________________________________________ 7
3.
Start-up ___________________________________________________________ 7
Switching on the supply voltage _______________________________________________ 7
Configuration _______________________________________________________________ 8
Parameter list ______________________________________________________________________ 8
Configuration via keyboard ____________________________________________________________ 8
Configuration via CAN interface ________________________________________________________ 8
Sending the position value ____________________________________________________ 9
Synchronous transmission ____________________________________________________________ 9
Asynchronous (cyclic) transmission _____________________________________________________ 9
Stopping Transmission of the Position Value ____________________________________ 9
4.
General information on the CAN bus __________________________________ 10
CAN bus features___________________________________________________________ 10
CANopen _________________________________________________________________ 10
The encoder device profile (CiA Draft Standard 406) ______________________________ 11
5.
Data transfer according to the CANopen communication model ___________ 12
CANopen message structure _________________________________________________ 12
Function code _____________________________________________________________________ 13
Node number (node ID) ______________________________________________________________ 13
Transmission of process data ________________________________________________ 13
From the AP04 to the bus master ( position value + status byte) ______________________________ 13
From bus master to AP04 (target value) _________________________________________________ 14
Transfer of the SDO data (parameterization) ____________________________________ 15
Emergency Service _________________________________________________________ 16
Network Management Services (NMT)__________________________________________ 18
Description of the NMT commands _____________________________________________________ 18
Command byte ____________________________________________________________________ 18
NMT status _______________________________________________________________________ 18
The individual NMT states ____________________________________________________________ 19
State change ______________________________________________________________________ 19
Heartbeat _________________________________________________________________________ 20
6.
Directory of objects ________________________________________________ 21
Overview of objects _________________________________________________________ 21
AP04
Date: 13.02.2015
Page 2 of 47
Art. no. 84783
Rev. status 61/15