4th edition, 9-11-2018
7000.05050, 4th edition, 9-11-2018
7000.05050
Content
3
1
About this document ....................................................................................................... 5
1.1
Validity of this document ...................................................................................... 5
1.2
Associated documents ............................................................................................ 5
1.3
Using this document .............................................................................................. 5
1.4
List of abbreviations ............................................................................................... 6
1.5
Symbols and markers ............................................................................................. 7
2
Overview ........................................................................................................................... 8
2.1
Basic arrangement of a CANopen device ............................................................. 8
2.2
Pre-conditions for communication ........................................................................ 9
2.3
FAULHABER Motion Manager ............................................................................... 9
2.4
Saving and restoring parameters ........................................................................ 10
2.4.1
Saving parameters ................................................................................ 10
2.4.2
Restoring settings ................................................................................. 11
2.4.3
Changing the parameter set ................................................................ 11
3
CANopen protocol description ...................................................................................... 14
3.1
Introduction .......................................................................................................... 14
3.2
Communication services ....................................................................................... 15
3.3
Identifier distribution ........................................................................................... 16
3.4
PDO (Process Data Object) ................................................................................... 17
3.4.1
PDO configuration ................................................................................ 18
3.4.2
PDO mapping in the standard configuration (status as delivered) ... 18
3.4.3
Dealing with mapping errors ............................................................... 20
3.4.4
Dummy Mappings................................................................................. 20
3.5
SDO (Service Data Object) .................................................................................... 21
3.5.1
Expedited transfer ................................................................................ 21
3.5.2
SDO error description ........................................................................... 23
3.6
Emergency object (error message) ...................................................................... 24
3.7
SYNC object .......................................................................................................... 26
3.7.1
Triggering synchronous PDOs .............................................................. 26
3.8
NMT (Network Management) ............................................................................. 27
3.8.1
Boot up .................................................................................................. 29
3.8.2
Monitoring functions............................................................................ 29
3.8.2.1
Node guarding....................................................................... 30
3.8.2.2
Heartbeat ............................................................................... 31
3.8.3
Setting the monitoring functions ........................................................ 32
3.9
Entries in the object dictionary ........................................................................... 32
3.10 Error handling ...................................................................................................... 33
3.10.1
CAN error............................................................................................... 33
3.10.2
Equipment faults................................................................................... 34