Maxon EPOS4, Руководство по связи

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Table of Contents
EPOS4 Communication Guide
A-2
CCMC | 2019-11 | rel8759
1 ABOUT THIS DOCUMENT 3
2 USB & RS232 COMMUNICATION 7
2.1 EPOS4 USB & RS232 Command Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Data Link Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3 Physical Layer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3 CAN COMMUNICATION 21
3.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 CANopen Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3 CANopen Application Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4 Identifier Allocation Scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.5 Layer Setting Services (LSS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4 ETHERCAT COMMUNICATION 41
4.1 Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.2 EtherCAT State Machine (ESM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.3 Integration of ESI Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.4 Error Code Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5 GATEWAY COMMUNICATION (USB OR RS232 TO CAN) 45
6 COMMUNICATION ERROR CODE DEFINITION 47
TABLE OF CONTENTS
READ THIS FIRST
These instructions are intended for qualified technical personnel. Prior commencing with any activities …
• you must carefully read and understand this manual and
• you must follow the instructions given therein.
EPOS4 positioning controllers are considered as partly completed machinery according to EU Directive 2006/42/EC, Article 2,
Clause (g) and are intended to be incorporated into or assembled with other machinery or other partly completed
machinery or equipment .
Therefore, you must not put the device into service ,…
• unless you have made completely sure that the other machinery fully complies with the EU directive’s requirements!
• unless the other machinery fulfills all relevant health and safety aspects!
• unless all respective interfaces have been established and fulfill the herein stated requirements!