Document Outline

• CANopen® communication module
  • Contents
    • 1 About this documentation
      • 1.1 Document history
      • 1.2 Conventions used
      • 1.3 Terminology used
      • 1.4 Notes used
    • 2 Safety instructions
      • 2.1 General safety and application notes
      • 2.2 Device and application-specific safety instructions
      • 2.3 Residual hazards
    • 3 Product description
      • 3.1 Application as directed
      • 3.2 Identification
      • 3.3 Features
      • 3.4 Terminals and interfaces
    • 4 Technical data
      • 4.1 General data and operating conditions
      • 4.2 Supported protocols
      • 4.3 Communication time
      • 4.4 Protective insulation
      • 4.5 Dimensions
    • 5 Installation
      • 5.1 Mechanical installation
        • 5.1.1 Mounting
        • 5.1.2 Dismounting
      • 5.2 Electrical installation
        • 5.2.1 System bus (CANopen) connection
        • 5.2.2 Specification of the bus cable
        • 5.2.3 Bus cable length
          • 5.2.3.1 Total cable length
          • 5.2.3.2 Segment cable length
          • 5.2.3.3 Checking the use of repeaters
        • 5.2.4 Voltage supply
    • 6 Commissioning
      • 6.1 Before initial switch-on
      • 6.2 Possible settings via DIP switches
        • 6.2.1 Setting the node address
        • 6.2.2 Setting the baud rate
      • 6.3 Settings in the »Engineer«
      • 6.4 Initial switch-on
    • 7 Data transfer
      • 7.1 Structure of the CAN data telegram
        • 7.1.1 Identifier
        • 7.1.2 User data
      • 7.2 Communication phases / network management
        • 7.2.1 State transitions
        • 7.2.2 Network management telegram (NMT)
        • 7.2.3 Parameterising the controller as a CAN master
    • 8 Process data transfer
      • 8.1 Identifiers of the process data objects
      • 8.2 Transmission type
      • 8.3 Masking of the TPDOs for event control
      • 8.4 Synchronisation of PDOs via sync telegram
        • 8.4.1 Parameter setting
        • 8.4.2 Effect of C01130 on the sync phase position
      • 8.5 PDO mapping
    • 9 Parameter data transfer
      • 9.1 Identifiers of the parameter data objects
      • 9.2 User data
        • 9.2.1 Command
        • 9.2.2 Addressing through index and subindex
        • 9.2.3 Data 1 ... data 4
        • 9.2.4 Error messages
      • 9.3 Examples for a parameter data telegram
        • 9.3.1 Reading parameters
        • 9.3.2 Writing parameters
        • 9.3.3 Reading block parameters
    • 10 Monitoring
      • 10.1 Node guarding protocol
        • 10.1.1 Telegram structure
        • 10.1.2 Parameter setting
        • 10.1.3 Commissioning example
      • 10.2 Heartbeat protocol
        • 10.2.1 Telegram structure
        • 10.2.2 Parameter setting
        • 10.2.3 Commissioning example
      • 10.3 Emergency telegram
      • 10.4 Settings in the »Engineer«
    • 11 Diagnostics
      • 11.1 LED status displays
      • 11.2 Diagnostics with the »Engineer«
    • 12 Error messages
      • 12.1 Short overview of the CANopen error messages
      • 12.2 Possible causes and remedies
        • MXI1: CAN module is missing or is incompatible [0x008c0017]
        • MXI2: CAN module is missing or is incompatible [0x008c0018]
        • CAN module (MXI1): bus-off [0x009d0000]
        • CAN module (MXI1): invalid node address 0 [0x009d0001]
        • CAN module (MXI1): basic configuration invalid [0x009d0002]
        • CAN module (MXI1): heartbeat error index 1 ... 32 [0x009e0000 ... 0x009e001f]
        • CAN module (MXI1): life guarding error [0x009e0020]
        • CAN module (MXI1): NMT slave configuration faulty [0x009e0021]
        • CAN module (MXI1): emergency configuration faulty [0x009f0000]
        • CAN module (MXI1): node guarding error 1 ... 32 [0x00a00000 ... 0x00a0001f]
        • CAN module (MXI1): NMT master configuration faulty [0x00a00020]
        • CAN module (MXI1) RPDO1: telegram not received or faulty [0x00a10000]
        • CAN module (MXI1) RPDO2: telegram not received or faulty [0x00a10001]
        • CAN module (MXI1) RPDO3: telegram not received or faulty [0x00a10002]
        • CAN module (MXI1) RPDO4: telegram not received or faulty [0x00a10003]
        • CAN module (MXI1) RPDO5: telegram not received or faulty [0x00a10004]
        • CAN module (MXI1) RPDO6: telegram not received or faulty [0x00a10005]
        • CAN module (MXI1) RPDO7: telegram not received or faulty [0x00a10006]
        • CAN module (MXI1) RPDO8: telegram not received or faulty [0x00a10007]
        • CAN module (MXI1) PDO manager: configuration faulty [0x00a10008]
        • CAN module (MXI1) SDO server: configuration faulty [0x00a20000]
        • CAN module (MXI1) SDO client: configuration faulty [0x00a30000]
        • CAN module (MXI2): bus-off [0x00ac0000]
        • CAN module (MXI2): invalid node address 0 [0x00ac0001]
        • CAN module (MXI2): basic configuration invalid [0x00ac0002]
        • CAN module (MXI2): heartbeat error index 1 ... 32 [0x00ad0000 ... 0x00ad001f]
        • CAN module (MXI2): life guarding error [0x00ad0020]
        • CAN module (MXI2): NMT slave configuration faulty [0x00ad0021]
        • CAN module (MXI2): emergency configuration faulty [0x00ae0000]
        • CAN module (MXI2): node guarding error 1 ... 32 [0x00af0000 ... 0x00af001f]
        • CAN module (MXI2): NMT master configuration faulty [0x00af0020]
        • CAN module (MXI2) RPDO1: telegram not received or faulty [0x00b00000]
        • CAN module (MXI2) RPDO2: telegram not received or faulty [0x00b00001]
        • CAN module (MXI2) RPDO3: telegram not received or faulty [0x00b00002]
        • CAN module (MXI2) RPDO4: telegram not received or faulty [0x00b00003]
        • CAN module (MXI2) RPDO5: telegram not received or faulty [0x00b00004]
        • CAN module (MXI2) RPDO6: telegram not received or faulty [0x00b00005]
        • CAN module (MXI2) RPDO7: telegram not received or faulty [0x00b00006]
        • CAN module (MXI2) RPDO8: telegram not received or faulty [0x00b00007]
        • CAN module (MXI2) PDO manager: configuration faulty [0x00b00008]
        • CAN module (MXI2) SDO server: configuration faulty [0x00b10000]
        • CAN module (MXI2) SDO client: configuration faulty [0x00b20000]
    • 13 Parameter reference
      • 13.1 Communication-relevant parameters of the standard device
        • C00369 | CAN sync transmission cycle time
        • C00615 | Resp. to imp. device config.
        • C00636 | Resp. to new module in MXI1
        • C00637 | Resp. to new module in MXI2
        • C01120 | Sync source
        • C01121 | Sync cycle time
        • C01122 | Sync phase position
        • C01123 | Sync tolerance
        • C01124 | Sync-PLL increment
        • C01130 | CAN SYNC application cycle
      • 13.2 Parameters of the communication module for slot MXI1
        • C13311 | CAN TPDO1 mask byte x
        • C13312 | CAN TPDO2 mask byte x
        • C13313 | CAN TPDO3 mask byte x
        • C13314 | CAN TPDO4 mask byte x
        • C13320 | CAN TPDOx identifier
        • C13321 | CAN RPDOx identifier
        • C13322 | CAN TPDOx Tx mode
        • C13323 | CAN RPDOx Rx mode
        • C13324 | CAN TPDOx delay time
        • C13343 | CAN TPDO counter
        • C13344 | CAN RPDO counter
        • C13345 | CAN error
        • C13346 | CAN heartbeat activity
        • C13347 | CAN heartbeat status
        • C13348 | CAN status DIP switch
        • C13349 | CAN setting of DIP switch
        • C13350 | CAN node address
        • C13351 | CAN baud rate
        • C13352 | CAN slave/master
        • C13356 | CAN TPDOx cycle time
        • C13357 | CAN RPDOx monitoring time
        • C13359 | CAN status
        • C13360 | CAN telegram and error counter
        • C13361 | CAN bus load
        • C13367 | CAN sync Rx identifier
        • C13368 | CAN sync Tx identifier
        • C13372 | CAN SDO server Rx identifier
        • C13373 | CAN SDO server Tx identifier
        • C13374 | CAN SDO client node address
        • C13375 | CAN SDO client Rx identifier
        • C13376 | CAN SDO client Tx identifier
        • C13377 | CAN SDO server node address
        • C13378 | CAN delay boot-up - Operational
        • C13381 | CAN Heartbeat Producer Time
        • C13382 | CAN Guard Time
        • C13383 | CAN Life Time Factor
        • C13385 | CAN Heartbeat Consumer Time
        • C13386 | CAN Node Guarding
        • C13387 | CAN Node Guarding Activity
        • C13388 | CAN node guarding status
        • C13390 | CAN Error Register (DS301V402)
        • C13391 | CAN Emergency Object
        • C13392 | CAN emergency delay time
        • C13393 | CAN result - bus scan
        • C13394 | CAN predefined error field (DS301V402)
        • C13591 | Resp. to CAN-RPDOx error
        • C13595 | Resp. to CAN bus OFF
        • C13612 | Resp. to CAN node guarding error
        • C13613 | Resp. to CAN heartbeat error
        • C13614 | Resp. to CAN life guarding error
        • C13625 | CAN behaviour in case of fault
      • 13.3 Parameters of the communication module for slot MXI2
        • C14311 | CAN TPDO1 mask byte x
        • C14312 | CAN TPDO2 mask byte x
        • C14313 | CAN TPDO3 mask byte x
        • C14314 | CAN TPDO4 mask byte x
        • C14320 | CAN TPDOx identifier
        • C14321 | CAN RPDOx identifier
        • C14322 | CAN TPDOx Tx mode
        • C14323 | CAN RPDOx Rx mode
        • C14324 | CAN TPDOx delay time
        • C14343 | CAN TPDO counter
        • C14344 | CAN RPDO counter
        • C14345 | CAN error
        • C14346 | CAN heartbeat activity
        • C14347 | CAN heartbeat status
        • C14348 | CAN status DIP switch
        • C14349 | CAN setting of DIP switch
        • C14350 | CAN node address
        • C14351 | CAN baud rate
        • C14352 | CAN slave/master
        • C14356 | CAN TPDOx cycle time
        • C14357 | CAN RPDOx monitoring time
        • C14359 | CAN status
        • C14360 | CAN telegram and error counter
        • C14361 | CAN bus load
        • C14367 | CAN SYNC Rx identifier
        • C14368 | CAN SYNC Tx identifier
        • C14372 | CAN SDO server Rx identifier
        • C14373 | CAN SDO server Tx identifier
        • C14374 | CAN SDO client node address
        • C14375 | CAN SDO client Rx identifier
        • C14376 | CAN SDO client Tx identifier
        • C14377 | CAN SDO server node address
        • C14378 | CAN delay boot-up - Operational
        • C14381 | CAN Heartbeat Producer Time
        • C14382 | CAN Guard Time
        • C14383 | CAN Life Time Factor
        • C14385 | CAN Heartbeat Consumer Time
        • C14386 | CAN Node Guarding
        • C14387 | CAN Node Guarding Activity
        • C14388 | CAN node guarding status
        • C14390 | CAN Error Register (DS301V402)
        • C14391 | CAN Emergency Object
        • C14392 | CAN emergency delay time
        • C14393 | CAN result - bus scan
        • C14394 | CAN predefined error field (DS301V402)
        • C14591 | Resp. to CAN-RPDOx error
        • C14595 | Resp. to CAN bus OFF
        • C14612 | Resp. to CAN node guarding error
        • C14613 | Resp. to CAN heartbeat error
        • C14614 | Resp. to CAN life guarding error
        • C14625 | CAN behaviour in case of fault
      • 13.4 Table of attributes
    • 14 Implemented CANopen objects
      • I-1000 - Device type
      • I-1001 - Error register
      • I-1003 - Pre-defined error field
      • I-1005 - COB-ID SYNC message
      • I-1006 - Communication cycle period
      • I-100C - Guard time
      • I-100D
      • I-1010 - Store parameters
      • I-1011 - Restore default parameters
      • I-1014 - COB-ID EMCY
      • I-1015 - Inhibit time EMCY
      • I-1016 - Consumer heartbeat time
      • I-1017 - Producer heartbeat time
      • I-1018 - Identity object
      • I-1029 - Error behaviour
      • I-1200 - SDO1 server parameter
      • I-1201 - SDO2 server parameter
      • I-1202 - SDO3 server parameter
      • I-1203 - SDO4 server parameter
      • I-1204 - SDO5 server parameter
      • I-1205 - SDO6 server parameter
      • I-1206 - SDO7 server parameter
      • I-1207 - SDO8 server parameter
      • I-1208 - SDO9 server parameter
      • I-1209 - SDO10 server parameter
      • I-1400 - RPDO1 communication parameter
      • I-1401 - RPDO2 communication parameter
      • I-1402 - RPDO3 communication parameter
      • I-1403 - RPDO4 communication parameter
      • I-1600 - RPDO1 mapping parameter
      • I-1601 - RPDO2 mapping parameter
      • I-1602 - RPDO3 mapping parameter
      • I-1603 - RPDO4 mapping parameter
      • I-1800 - TPDO1 communication parameter
      • I-1801 - TPDO2 communication parameter
      • I-1802 - TPDO3 communication parameter
      • I-1803 - TPDO4 communication parameter
      • I-1A00 - TPDO1 mapping parameter
      • I-1A01 - TPDO2 mapping parameter
      • I-1A02 - TPDO3 mapping parameter
      • I-1A03 - TPDO4 mapping parameter
    • 15 DIP switch positions for setting the CAN node address
    • 16 Index