Download User manual CANopen

Inhaltsverzeichnis
1.
General Information_________________________________________________4
Definitions _________________________________________________________________ 4
Intended use _______________________________________________________________ 5
The AP04S 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 AP04S to the bus master (position value + status byte) _____________________________ 13
From bus master to AP04S (target value)________________________________________________ 14
Transfer of the SDO data (parameterization) ____________________________________ 14
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
AP04S-CANopen
Date: 26.04.2013
Page 2 of 50
Art.no. 85302
Rev. status 155/13