Manual
Table Of Contents
- Important User Information
- P. About This Document
- 1. Product Overview
- 2. CANopen Fieldbus Functionality
- 3. Transparent CAN Mode
- 4. Installation
- 5. Configuration
- 6. CANopen Module Specification
- 7. Supported Objects
- 8. Interface Functions
- A. Technical Specification
- B. Status LED Timing Diagrams
- C. CANopen Emergency Codes
- D. Error Codes (RET)
Preface About This Document
How To Use This Document ................................................................................................................ 1
Related Documents.................................................................................................................................. 1
Document History ................................................................................................................................... 1
Conventions & Terminology.................................................................................................................. 2
Glossary ..................................................................................................................................................... 2
Support ...................................................................................................................................................... 2
Chapter 1 Product Overview
Introduction .............................................................................................................................................. 3
Features...................................................................................................................................................... 4
Chapter 2 CANopen Fieldbus Functionality
Supported Fieldbus Services................................................................................................................... 5
Chapter 3 Transparent CAN Mode
Chapter 4 Installation
Mounting ................................................................................................................................................... 7
Status LEDs .............................................................................................................................................. 8
Maximum Cable Lengths ........................................................................................................................ 8
Line Termination...................................................................................................................................... 9
Chapter 5 Configuration
General..................................................................................................................................................... 10
SIMATIC S7-1200 PLC Configuration .............................................................................................. 10
CANopen Network Configuration ..................................................................................................... 12
Configuration Files................................................................................................................................. 12
Configuration Example ......................................................................................................................... 12
Chapter 6 CANopen Module Specification
NMT State Machine............................................................................................................................... 19
Data Exchange........................................................................................................................................ 21
PDO Functionality........................................................................................................................ 21
Error Control.......................................................................................................................................... 23
Heartbeat Mechanism.................................................................................................................... 23
Node Guarding.............................................................................................................................. 24
Emergency Object (EMCY)........................................................................................................... 24
Diagnostics .................................................................................................................................... 25
Table of Contents
Table of Contents