VIPA System 200V IM Series, Руководство пользователя

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Chapter 5 CANopen
Manual VIPA System 200V
5-48 HB97E - IM - Rev. 06/29
The CAN messages with digital input data are represented as follows:
Identifier 0x180+Node a up to 8Byte user data
Identifier
11Bit
DI 0
8Bit
DI 1
8Bit
DI 2
8Bit
... DI 7
8Bit
The CAN messages with digital output data are represented as follows:
Identifier 0x200+Node a up to 8Byte user data
Identifier
11Bit
DO 0
8Bit
DO 1
8Bit
DO 3
8Bit
... DO 7
Bit
The CAN messages with analog input data are represented as follows::
Identifier 0x280+Node a up to 4Words user data
Identifier
11Bit
AI 0
1Word
AI 1
1Word
AI 2
1Word
AI 3
1Word
The CAN messages with analog output data are represented as follows:
Identifier 0x300+Node a up to 4Words user data
Identifier
11Bit
AI 0
1Word
AI 1
1Word
AI 2
1Word
AI 3
1Word
For the System 200V works per default in event-controlled mode (no cyclic
DataExchange), a node failure is not always immediately detected.
Remedy is the control of the nodes per cyclic state request (Node
Guarding).
You request cyclically a state telegram via Remote-Transmit-Request
(RTR): the telegram only consists of a 11Bit identifier:
Identifier 0x700+Node address
Identifier
11Bit
The System 200V node answers with a telegram that contains one state
byte:
Identifier 0x700+Node a State byte
Identifier
11Bit
Status
8Bit
Bit 0 ... 6: Node state
0x7F: Pre-Operational
0x05: Operational
0x04: Stopped res. Prepared
Bit 7: Toggle-Bit, toggles after every send
To enable the bus coupler to recognize a network master failure (watchdog
function), you still have to set the Guard-Time (Object 0x100C) and the
Life-Time-Factor (Object 0x100D) to values
≠
0.
(reaction time at failure: Guard-Time x Life Time Factor).
Digital in-/outputs
Analog in-/outputs
Node Guarding