gefran RK-5 C, User Manual, Page: 1 / 35

1 85201A_RK5C_User Manual_02-2017_ENG
RK-5 C
(CANopen OUTPUT)
User Manual
Code 85201A Edition 02-2017
1 Introduction page
2
2 Get started procedure page
2
2.1 Node parameters setting 2
2.2 Operating parameters setting 4
2.3 Requesting process data 4
3 LSS Services page
5
3.1 LSS switch state services 5
3.2 LSS configuration services 6
3.3 LSS inquiry services 8
3.4 LSS identification services 10
4 SDO Services page
12
4.1 Object Dictionary 14
4.2 SDO Objects 16
5 PDO Services page
30
5.1 PDO Message Format 30
5.2 PDO Data Types 30
5.3 PDO Mapping 30
5.4 PDO Transmission Types 30
6 NMT Services page
32
6.1 NMT device states 32
6.2 NMT node control 32
6.3 NMT states and communication objects 33
6.4 Restricted CAN-IDs 33
7 Boot-up Services page
34
8 SYNC Services page
34
9 EMCY Services page
34
10 Error Control Services page
35
SUMMARY