Lika CANopen SFA-10000-CB, Руководство пользователя

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General contents
User's guide
............................................................................................................................................................................................1
General contents
.............................................................................................................................................................................3
Subject index
.....................................................................................................................................................................................6
Typographic and iconographic conventions ...................................................................................................................7
Preliminary information
.............................................................................................................................................................8
Glossary of CANopen terms
......................................................................................................................................................9
1 - Safety summary
....................................................................................................................................................................19
1.1 Safety........................................................................................................................................................................................19
1.2 Electrical safety....................................................................................................................................................................19
1.3 Mechanical safety...............................................................................................................................................................20
2 - Identification
..........................................................................................................................................................................21
3 - Mounting instructions ....................................................................................................................................................22
3.1 Overall dimensions..............................................................................................................................................................22
3.2 Mounting instructions......................................................................................................................................................23
3.3 Useful information.............................................................................................................................................................24
3.4 Maintenance..........................................................................................................................................................................25
4 - Electrical connections
.......................................................................................................................................................26
4.1 Connection cap....................................................................................................................................................................26
4.2 Connection cap with PG gland (cable output).......................................................................................................28
4.3 Connection cap with M12 connectors.......................................................................................................................29
4.4 Ground connection............................................................................................................................................................30
4.5 Connection of the shield..................................................................................................................................................30
4.6 Setting the baud rate: DIP A..........................................................................................................................................31
4.7 Setting the node address: DIP B...................................................................................................................................32
4.8 Setting the RT bus termination.....................................................................................................................................33
4.7 Diagnostic LEDs....................................................................................................................................................................34
5 - Quick reference .....................................................................................................................................................................35
6 - CANopen® interface
...........................................................................................................................................................37
6.1 EDS file.....................................................................................................................................................................................37
6.2 State machine.......................................................................................................................................................................37
6.2.1 Initialization state.......................................................................................................................................................38
6.2.2 Pre-operational state................................................................................................................................................38
6.2.3 Operational state.........................................................................................................................................................38
6.2.4 Stopped state................................................................................................................................................................38
6.3 Communication objects...................................................................................................................................................39
6.3.1 Pre-defined connection set....................................................................................................................................40
6.4 NMT objects...........................................................................................................................................................................40
6.5 Boot-up objects...................................................................................................................................................................41
6.6 PDO objects............................................................................................................................................................................41
PDO1 Cyclic mode: cyclic transmission of position value..................................................................................41
PDO2 and PDO3 SYNC mode: synchronous transmission of position value..............................................41
PDO4 Cyclic mode: cyclic transmission of velocity value...................................................................................42
6.7 SDO objects............................................................................................................................................................................42
6.7.1 Command.......................................................................................................................................................................43
6.8 Object dictionary.................................................................................................................................................................43
6.8.1 Communication Profile Area objects (DS 301)...............................................................................................45