Faulhaber MC 5010, Руководство по связи, Страница: 3 / 43

Content
15-04-2016 3 7000.05052
1 About this document .......................................................................................................... 5
1.1 Validity of this document ......................................................................................... 5
1.2 Associated documents .............................................................................................. 5
1.3 Using this document ................................................................................................. 5
1.4 List of abbreviations ................................................................................................. 6
1.5 Symbols and markers ................................................................................................ 7
2 Overview ............................................................................................................................. 8
2.1 Basic structure of the Motion Controller ................................................................ 8
2.2 Pre-requirement for communication ...................................................................... 9
2.2.1 Operation over the RS232 interface ........................................................ 9
2.2.1.1 Operation of an individual Motion Controller ........................ 9
2.2.1.2 RS232 network operation ....................................................... 10
2.2.2 Operation via the USB interface ............................................................ 10
2.3 FAULHABER Motion Manager ............................................................................... 11
2.4 Saving and restoring parameters .......................................................................... 11
2.4.1 Saving parameters ................................................................................... 12
2.4.2 Restoring settings .................................................................................... 12
3 Protocol description .......................................................................................................... 13
3.1 Introduction ............................................................................................................ 13
3.2 Communication services ......................................................................................... 15
3.3 SDO (Service Data Object) ...................................................................................... 16
3.3.1 Expedited transfer ................................................................................... 16
3.3.1.1 Read the object dictionary ...................................................... 16
3.3.1.2 Writing to the object dictionary ............................................. 17
3.3.2 Segmented transfer................................................................................. 18
3.3.2.1 SDO Block Upload .................................................................... 18
3.3.2.2 SDO Block Download ............................................................... 21
3.3.3 SDO error handling ................................................................................. 23
3.4 Emergency object (error message) ........................................................................ 25
3.5 Device control ......................................................................................................... 27
3.5.1 Boot-up message ..................................................................................... 27
3.5.2 Reset Node ............................................................................................... 27
3.5.3 Device Control ......................................................................................... 28
3.6 Entries in the object dictionary .............................................................................. 28
3.7 Error handling ......................................................................................................... 29
3.7.1 Equipment faults ..................................................................................... 29