Owner's manual

Contents i
 3
KHB 13.0003-EN 2.0
1Preface 7..................................................................
1.1 Introduction 7.........................................................
1.2 About this Communication Manual 8.....................................
2 Safety instructions 9.........................................................
2.1 Persons responsible for safety 9..........................................
2.2 General safety instructions 10.............................................
2.3 Definition of notes used 11...............................................
3 Technical data 12............................................................
3.1 Communication data 12.................................................
4 Electrical installation 13.......................................................
4.1 CAN bus wiring 13......................................................
4.2 Connection of CAN bus slave 14...........................................
4.3 Connection of CAN bus master 14.........................................
5 CANopen communication 15...................................................
5.1 About CANopen 15......................................................
5.1.1 Structure of the CAN data telegram 15..............................
5.1.2 Identifier 16....................................................
5.1.3 Node address (node ID) 16........................................
5.1.4 User data 17....................................................
5.2 Parameter data transfer (SDO transfer) 18..................................
5.2.1 Telegram structure 18............................................
5.2.2 Reading parameters (example) 22..................................
5.2.3 Writing parameters (example) 23..................................
5.3 Process data transfer (PDO transfer) 24.....................................
5.3.1 Telegram structure 25............................................
5.3.2 Available process data objects 25..................................
5.3.3 Objects for PDO parameterisation 25...............................
5.3.4 Description of the objects 40......................................
5.3.5 Example of a process data telegram 42.............................
5.3.6 Activation of the PDOs 43.........................................
5.4 Sync telegram 44........................................................
5.4.1 Telegram structure 44............................................
5.4.2 Synchronisation of the process data 44.............................
5.4.3 Description of the objects 45......................................
5.5 Network management (NMT) 46..........................................
5.5.1 Communication phases of the CAN network (NMT) 46................
5.5.2 Telegram structure 47............................................