Download Operating Instructions - TWK

0. Table of contents
Page
0.
Table of contents ............................................................................................................ 2 - 4
1.
General ............................................................................................................................ 5
2.
CANopen Communication Concept ............................................................................. 5 - 6
3.
CANopen Scope of the TWK Encoder .......................................................................... 6
4.
Network Management .................................................................................................... 7 - 8
4.1
Minimum-Capability-Device Boot up........................................................................ 7
4.2
Description of the NMT Commands ........................................................................ 8
5.
Node Guarding................................................................................................................ 8 - 9
6.
Bus Synchronisation ...................................................................................................... 10
7.
Emergency Message-supported Error Codes ............................................................. 10
8.
Installation Instructions ................................................................................................. 11 - 12
9.
10.
8.1
Node - ID, Baudrate, Terminal Resistor ................................................................... 11
8.2
LED Description ...................................................................................................... 12
The Object Directory ...................................................................................................... 12 - 15
9.1
Subdivision of the Object Directory ......................................................................... 12
9.2
Services for Writing and Reading the Object Directory ........................................... 12
9.3
COB-ID structure .................................................................................................... 13
9.4
Message Objects and Function Codes ................................................................... 13
9.5
The Command Byte describes the Type of SDO Message ..................................... 14
9.6
Examples of Service Data Objects ......................................................................... 15
Communication Profile .................................................................................................. 16 - 34
10.1 Object 1000H: Device Type ..................................................................................... 16 - 17
10.2 Object 1001H: Error Register .................................................................................. 17
10.3 Object 1002H: Manufacturer Status Register .......................................................... 18
10.4 Object 1003H: Predefined Error Field ...................................................................... 19
10.5 Object 1004H: Number of PDOs supported ............................................................ 20
10.6 Object 1005H: COB-ID SYNC-Message ................................................................ 21
10.7 Object 1006H: Communication Cycle Period .......................................................... 22
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