VIPA System 200V IM Series, Manual

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Manual VIPA System 200V
Chapter 5 CANopen
HB97E - IM - Rev. 06/29 5-1
Chapter 5 CANopen
This chapter contains the description of the VIPA CANopen master/slave.
The introduction to the system is followed by the description of the
modules.
Another section of this chapter concerns the project engineering for
"experts" and an explanation of the telegram structure and the function
codes of CANopen.
The description of the Emergency Object and NMT as well as the technical
data conclude the chapter.
Below follows a description of:
•
CAN-Bus basics
•
The VIPA CANopen master/slaves
•
The baudrate and module-ID settings
•
Deployment of the CANopen slave on the CAN-Bus with a message
description
•
Description of the CAN specific objects
•
Technical data
Topic Page
Chapter 5 CANopen.......................................................................... 5-1
System overview .................................................................................. 5-2
Basics .................................................................................................. 5-4
IM 208CAN - CANopen master - Structure........................................... 5-6
IM 208CAN - CANopen master - Project engineering........................... 5-8
IM 208CAN - CANopen master - Firmware update............................. 5-15
IM 208CAN - CANopen master - Mode .............................................. 5-16
IM 208CAN - CANopen master - Process image................................ 5-17
IM 208CAN - CANopen master - Messages ....................................... 5-19
IM 208CAN - CANopen master - Object directory .............................. 5-24
IM 253CAN - CANopen slave - Structure ........................................... 5-38
IM 253CAN, DO 24xDC 24V - Structure............................................ 5-43
IM 253CAN - CANopen slave - Fast introduction................................ 5-47
IM 253CAN - CANopen slave - Baudrate and module-ID ................... 5-51
IM 253CAN - CANopen slave - Message structure............................. 5-52
IM 253CAN - CANopen slave - PDO .................................................. 5-54
IM 253CAN - CANopen slave - SDO .................................................. 5-58
IM 253CAN - CANopen slave - Object directory................................. 5-60
IM 253CAN - CANopen slave - Emergency Object........................... 5-101
IM 253CAN - CANopen slave - NMT - network management........... 5-102
Technical data.................................................................................. 5-104
Overview
Content