Kostal inveor, Operating Manual

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Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN 3
Contents
1. General information..................................................................................... 5
1.1 Information about documentation ................................................................................. 5
1.1.1 Other applicable documents ......................................................................................... 5
1.1.2 Storing the documentation ........................................................................................... 5
1.2 Notes in this manual ..................................................................................................... 6
1.2.1 Warnings ..................................................................................................................... 6
1.2.2 Warning symbols used ................................................................................................. 7
1.2.3 Signal words ................................................................................................................ 7
1.2.4 Information notes ......................................................................................................... 8
1.3 Symbols used in this manual ........................................................................................ 9
1.4 Qualified staff ............................................................................................................... 9
1.5 Proper use ................................................................................................................... 9
1.6 Responsibility ............................................................................................................. 10
1.7 Contacts for information ............................................................................................. 10
1.8 Safety instructions ...................................................................................................... 10
2. Device and system description ................................................................ 11
2.1 CANopen ................................................................................................................... 11
2.1.1 Master/slave operation ............................................................................................... 12
2.2 Scope of delivery ....................................................................................................... 12
2.3 Item description for INVEOR ....................................................................................... 13
2.3.1 Type code for CANopen (valid until end of February 2016) ........................................... 13
2.3.2 Type code for CANopen (current) ............................................................................... 14
2.3.3 Features code ............................................................................................................ 14
2.4 Hardware components ............................................................................................... 15
2.4.1 Pin assignment for interfaces ...................................................................................... 20
2.4.2 Cable ......................................................................................................................... 20
2.5 Software components ................................................................................................ 20
3. Installation .................................................................................................. 21
3.1 Configuring drive controller for CANopen .................................................................... 22
3.2 INVEOR bus address ................................................................................................. 22
3.2.1 Setting the address on the communication card.......................................................... 24
3.3 Setting the fieldbus address via rotary switches Switch 1/Switch 2 ............................. 25
3.4 Installing the INVEOR EDS file ..................................................................................... 27
4. CANopen in the INVEOR ........................................................................... 28
4.1 EDS file object directory ............................................................................................. 28
4.1.1 Communication objects (0x1000 – 0x1200) ................................................................ 28
4.1.2 PDO configuration objects (0x1400 – 0x1A01) ............................................................ 29
4.1.3 INVEOR process values Out (0x3000 – 0x3031, 0x3502, 0x3503) ............................... 30
4.1.4 INVEOR process values In (0x3032 – 0x3040, 0x3500, 0x3501) .................................. 32
4.1.5 Structure of INVEOR control word .............................................................................. 33
4.1.6 Structure of INVEOR status word ................................................................................ 35
4.1.7 INVEOR parameters (0x2000-0x2200) ........................................................................ 36
4.2 Timeout monitoring with node guarding ...................................................................... 39