REXROTH IndraDrive Fc FCS01, Руководство по эксплуатации

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Rexroth IndraDrive FCS01.1 Control Communication - Field Busses and Protocols
15-27
DOK-INDRV*--FCS01*****-IB01_EN-P
CANopen Bus Description
Bus structure
Elements Description / data
Bus elements Topology linear (serial bus system)
Nodes max. 128 nodes,
depending on the driver modules used;
standard drivers can drive approx. 100 nodes;
Segments max. 32 nodes per segment
Repeater Used for 33 nodes or more
Interface Via serial interface RS 485
Bus terminator With resistors at both ends
Fig. 15-35: Bus structure
Note: The reaction time will increase with increasing number of
nodes.
CANopen Parameterization
Pertinent Parameters
The following parameters are pertinent to communication via CANopen:
Group Parameter Parameter name
P509 Source control word
P510 Source setpoint value
P513 Telegram downtime
P514 CAN bus Baud rate
P515 CAN bus address
P543 Actual bus value 1
P544 Actual bus value 2
P545 Actual bus value 3
P546 Bus setpoint value 1
P547 Bus setpoint value 2
P548 Bus setpoint value 3
Bus parameter
P551 Drive profile
P745 Modules version Information
parameter
P746 Module status
Fig. 15-36: CANopen - pertinent parameters
Note: For detailed description of the pertinent parameters, please
refer to Chapter 11, Parameterization.