West-control-solutions KS 800 CANopen Interface Manual Uživatelský manuál stáhnout pdf (Strana 3)

KS 800 CAN-Interface

Contents

1 Introduction ...................................................... 5

2 Service data objects ................................................ 7

3 Process data objects ............................................... 9

3.1 Information Record (send PDO from KS800): ......................... 10

3.2 Control Record (KS800 receive PDO): .............................. 11

3.3 PDO transfer behaviour ......................................... 12

3.3.1 Asynchronous send PDO ................................... 12

3.3.2 Synchronous send PDO .................................... 13

3.3.3 Asynchronous receive PDO ................................. 13

3.3.4 Synchronous receive PDO .................................. 14

4 OP mode / pre-OP mode ............................................ 15

5 SYNC .......................................................... 16

6 Nodeguarding / Lifeguarding ........................................ 17

7 LMT services .................................................... 18

7.1 Switch Mode Services .......................................... 18

7.1.1 Switch Mode Global ........................................ 18

7.1.2 Switch Mode Selective ...................................... 18

7.2 Configuration Services .......................................... 19

7.2.1 Configure Module ID ....................................... 19

7.2.2 Configure Bit Timing ....................................... 19

7.3 Inquire LMT Address ........................................... 20

7.3.1 Inquire Manufacturer Name .................................. 20

7.3.2 Inquire Product Name ...................................... 20

7.3.3 Inquire Serial Number ...................................... 21

7.3.4 Serial Number Format ...................................... 21

7.4 Identification Services .......................................... 21

7.4.1 LMT Identify Remote Slaves ................................. 21

7.4.2 LMT Identify Slave ........................................ 22

7.5 Manufacturer-specific LMT services ................................ 22

7.6 Inquire Node-ID ............................................... 22

7.6.1 Configure Module-ID ....................................... 23

7.6.2 Configure Bit Timing ....................................... 23

7.6.3 Inquire Bit Timing ......................................... 24

8 Object directory .................................................. 25

8.1 Survey of object directory - manufacturer-specific section ................. 25

9 Configuration and parameter setting via the CAN bus ..................... 36

9.1 Configuring KS 800 via CAN bus interface ........................... 36

9.1.1 Saving the non-volatile set-point ............................... 36

9.2 Data plausibility check during transmission ........................... 37

9.3 Table of allocation of firmware version, operating version, series number and

engineering tool ............................................... 37

9.4 Order of data for configuration and parameter setting .................... 38

9499 040 49511 3

1 2 3 4 5 6 7 8 ... 45 46

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