CANopen add-on module
SFIDK.PS.023.A2.02
2
Contents
1.
Introduction
................................................................................................................... 3
2.
Technical data
............................................................................................................... 4
3.
Installation
..................................................................................................................... 5
3.1
Add-on module ............................................................................................................... 5
3.2
General electrical information ......................................................................................... 6
3.3
USM II connections ........................................................................................................ 6
3.4
Standard CAN connection .............................................................................................. 6
3.5
CAN bus termination ...................................................................................................... 7
3.6
CAN topology ................................................................................................................. 7
3.7
Cable length versus baudrate ........................................................................................ 7
3.8
Cable specification DC characteristics ........................................................................... 8
3.9
Cable specification cross-section CAN Bus-line cross-sections ..................................... 8
4.
Commissioning
............................................................................................................. 9
4.1
CANopen display menu .................................................................................................. 9
4.2
Menu item explanation ................................................................................................. 10
5.
Object dictionary overview
........................................................................................ 11
6.
PDOs (Process Data Objects)
................................................................................... 12
6.1
What is a PDO .............................................................................................................. 12
6.1.1
TX PDOs ......................................................................................................... 12
6.1.2
RX PDOs ......................................................................................................... 12
7.
SDOs (Service Data Objects)
..................................................................................... 13
APPENDIX A
SI-units used in USM II products .................................................................................. 22
APPENDIX B
Raw communication example ....................................................................................... 23