CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
2
Contents
1
Introduction.............................................................................................4
1.1
Overview.........................................................................................4
1.2
Hardware Features ........................................................................6
1.3
CAN-8123/CAN-8223/CAN-8423 Features ....................................7
1.4
Utility Features ...............................................................................8
2
Hardware Specification ..........................................................................9
2.1
CAN-8123/CAN-8223 Hardware Structure ....................................9
2.2
CAN-8423 Hardware Structure.................................................... 11
2.3
Wire Connection ..........................................................................12
2.4
Power LED....................................................................................15
2.5
CANopen Status LED...................................................................16
2.5.1
The RUN LED ...................................................................16
2.5.2
The ERR LED ...................................................................17
2.6
The Node ID & the Baud rate Rotary Switch..............................19
2.7
Module Support ...........................................................................20
3
CANopen Application ...........................................................................21
3.1
CANopen Introduction.................................................................21
3.2
SDO Introduction .........................................................................28
3.3
PDO Introduction .........................................................................30
3.4
EMCY Introduction.......................................................................42
3.5
NMT Introduction .........................................................................43
3.5.1
Module Control Protocols...............................................44
3.5.2
Error Control Protocols ..................................................45
4
Configuration & Getting Start ..............................................................47
4.1
CAN-8123/CAN-8223 Configuration Flowchart..........................47
4.2
CAN-8423 Configuration Flowchart............................................49
4.3
CANopen Slave Utility Overview ................................................51
4.4
Configuration with the CANopen Slave Utility ..........................52
4.5
CAN-8123/8223 Configuration (Off-line mode) ..........................53
4.6
CAN-8423 Configuration (On-line mode) ...................................58
5
CANopen Communication Set.............................................................62
5.1
SDO Communication Set ............................................................63
5.1.1
Upload SDO Protocol......................................................63
5.1.2
SDO Block Upload Protocol ...........................................72
5.1.3
Download SDO Protocol .................................................83
5.1.4
SDO Block Download......................................................88
5.1.5
Abort SDO Transfer Protocol .........................................96