Baumer CiA DS-301, Manual

Page: 2 / 55

BUDE_Manual-CANopen_EN.doc 2/55 Baumer Hübner GmbH
23.10.2012/bja Berlin, Germany
Contents
Page
1 Introduction ..................................................................................................................................... 4
1.1 Scope of delivery .............................................................................................................................. 4
1.2 Product assignment .......................................................................................................................... 4
2 Safety and operating instructions ................................................................................................ 5
3 CAN bus and CANopen communication ...................................................................................... 7
3.1 CAN bus ........................................................................................................................................... 7
3.1.1 CAN bus characteristics ................................................................................................................... 7
3.2 CANopen .......................................................................................................................................... 8
3.3 CANopen communication ................................................................................................................. 9
3.3.1 Communication profile ...................................................................................................................... 9
3.3.2 CANopen message structure ........................................................................................................... 9
3.3.3 Service data communication .......................................................................................................... 10
3.3.4 Process data communication ......................................................................................................... 12
3.3.5 Emergency service ......................................................................................................................... 14
3.3.6 Network management services ...................................................................................................... 15
3.3.7 Layer Setting Services ................................................................................................................... 19
3.4 Encoder/converter profile ............................................................................................................... 23
3.4.1 Overview of encoder/converter objects .......................................................................................... 23
3.4.2 Detailed object list (DS-301) ........................................................................................................... 27
4 Diagnosis and useful information .............................................................................................. 44
4.1 Error diagnosis field bus communication ....................................................................................... 44
4.2 Error diagnosis via field bus ........................................................................................................... 44
4.3 Useful information relating to the sensor ........................................................................................ 45
5 Applications .................................................................................................................................. 46
5.1 Setting and reading objects ............................................................................................................ 46
5.2 Configuration .................................................................................................................................. 47
5.3 Operation ........................................................................................................................................ 49
5.4 Use the encoder via CAN interface ................................................................................................ 51
6 Terminal assignment and commissioning ................................................................................. 53
6.1 Electrical connection ...................................................................................................................... 53
6.1.1 Setting the user address ................................................................................................................ 53
6.1.2 Setting the baud rate ...................................................................................................................... 53
6.1.3 Terminating resistor ........................................................................................................................ 53
6.1.4 Bus cover connection ..................................................................................................................... 54
6.1.5 Terminal assignment ...................................................................................................................... 55
6.2 Display elements (status display) ................................................................................................... 55