Table of Contents
1
Product Overview ................................................................................................... 1
2
Specifications .......................................................................................................... 2
3
LED Insicators .......................................................................................................... 3
3.1
L.V LED ............................................................................................................ 3
3.2
IO RUN/ERR LED ............................................................................................. 3
3.3
CAN-RUN LED ................................................................................................. 3
3.4
CAN-ERR LED .................................................................................................. 3
4
Configuration .......................................................................................................... 4
4.1
Node Setting .................................................................................................. 4
4.2
Baud Rate Setting (DIP Switch) ...................................................................... 4
4.3
CAN Bus Connect ........................................................................................... 4
4.4
CANopen Features ......................................................................................... 4
5
Communication Error Control ................................................................................ 5
5.1
Introduction ................................................................................................... 5
5.2
Node Guarding Protocol ................................................................................ 5
5.3
Heartbeat Protocol ......................................................................................... 6
5.4
Error Behavior ................................................................................................ 7
6
Object Dictionary .................................................................................................... 8
6.1
Communication Profile Area .......................................................................... 8
6.1.1
1000h:
Device Type ....................................................................... 9
6.1.2
1001h:
Error Register .................................................................. 10
6.1.3
1002h:
Manufacturer Status Register ......................................... 10
6.1.4
1003h:
Predefined Error Field ..................................................... 11
6.1.5
1005h: SYNC COB-ID Message ..................................................... 13
6.1.6
1008h: Manufacturer Device Name............................................. 13
6.1.7
1009h: Manufacturer Hardware Version ..................................... 13
6.1.8
100Ah: Manufacturer Software Version ...................................... 13
6.1.9
100Ch: Guard Time & 100Dh: Life Time Factor ........................... 13
6.1.10
1010h: Store Parameters ............................................................. 13
6.1.11
1011h: Restore Default Parameters ............................................. 13
6.1.12
1014h: COB-ID EMCY ................................................................... 19
6.1.13
1015h: Inhibit Time EMCY............................................................ 19
6.1.14
1016h: Consumer Heartbeat Time .............................................. 19
6.1.15
1017h: Producer Heartbeat Time ................................................ 19
6.1.16
1029h: Error Behavior Object ...................................................... 19
6.2
PDO Communication Parameter .................................................................. 20
6.2.1
RxPDO Communication Parameter .............................................. 20
