Document Outline

• KHB 13.0002−EN
  • Contents
    • 1 About this documentation
      • 1.1 Document history
      • 1.2 Conventions used
      • 1.3 Notes used
    • 2 Product description
      • 2.1 Product features
    • 3 Technical data
      • 3.1 Communication data
    • 4 Electrical installation
      • 4.1 Wiring according to EMC
      • 4.2 Electrical connections of CANopen
      • 4.3 Connection of CAN bus slave
      • 4.4 Connection of CAN bus master
    • 5 CANopen communication
      • 5.1 About CANopen
        • 5.1.1 Structure of the CAN data telegram
        • 5.1.2 Identifier
        • 5.1.3 Node address (node ID)
        • 5.1.4 User data
      • 5.2 Parameter data transfer (SDO transfer)
        • 5.2.1 Telegram structure
        • 5.2.2 Reading parameters (example)
        • 5.2.3 Writing parameters (example)
      • 5.3 Process data transfer (PDO transfer)
        • 5.3.1 Telegram structure
        • 5.3.2 Available process data objects
        • 5.3.3 Objects for PDO parameterisation
        • 5.3.4 Description of the objects
        • 5.3.5 Example of a process data telegram
        • 5.3.6 Activation of the PDOs
      • 5.4 Sync telegram
        • 5.4.1 Telegram structure
        • 5.4.2 Synchronisation of the process data
        • 5.4.3 Description of the objects
      • 5.5 Network management (NMT)
        • 5.5.1 Communication phases of the CAN network (NMT)
        • 5.5.2 Telegram structure
      • 5.6 Emergency telegram
        • 5.6.1 Telegram structure
        • 5.6.2 Description of the objects
      • 5.7 Heartbeat telegram
        • 5.7.1 Telegram structure
        • 5.7.2 Description of the objects
      • 5.8 Boot-up telegram
        • 5.8.1 Telegram structure
      • 5.9 Node guarding telegram
        • 5.9.1 Overview
        • 5.9.2 Telegram structure
        • 5.9.3 Description of the objects
    • 6 Commissioning
      • 6.1 Activation of CANopen
      • 6.2 Speed control
        • 6.2.1 Parameterising of a process data object (TPDO and RPDO)
        • 6.2.2 Parameterising of the motor and the current controller
        • 6.2.3 Parameterising of the speed control
        • 6.2.4 Running through the state machine
      • 6.3 Position control
        • 6.3.1 Parameterising of the homing run
        • 6.3.2 Running through the state machine
    • 7 Parameter setting
      • 7.1 Loading and saving of parameter sets
        • 7.1.1 Overview
        • 7.1.2 Description of the objects
      • 7.2 Conversion factors (factor group)
        • 7.2.1 Overview
        • 7.2.2 Description of the objects
      • 7.3 Power stage parameters
        • 7.3.1 Overview
        • 7.3.2 Description of the objects
      • 7.4 Current controller and motor adaptation
        • 7.4.1 Overview
        • 7.4.2 Description of the objects
      • 7.5 Speed controller
        • 7.5.1 Overview
        • 7.5.2 Description of the objects
      • 7.6 Position controller (position control function)
        • 7.6.1 Overview
        • 7.6.2 Description of the objects
      • 7.7 Analog inputs
        • 7.7.1 Overview
      • 7.8 Digital inputs and outputs
        • 7.8.1 Overview
        • 7.8.2 Description of the objects
      • 7.9 Limit switches
        • 7.9.1 Overview
        • 7.9.2 Description of the objects
      • 7.10 Device information
        • 7.10.1 Description of the objects
    • 8 Device control
      • 8.1 State diagram
        • 8.1.1 Overview
        • 8.1.2 State diagram of the drive controller
        • 8.1.3 States of the drive controller
        • 8.1.4 State transitions of the drive controller
        • 8.1.5 Control word
        • 8.1.6 Controller state
        • 8.1.7 Status word
    • 9 Operating modes
      • 9.1 Setting of the operating mode
        • 9.1.1 Overview
        • 9.1.2 Description of the objects
      • 9.2 Speed control
        • 9.2.1 Overview
        • 9.2.2 Description of the objects
      • 9.3 Homing
        • 9.3.1 Overview
        • 9.3.2 Description of the objects
        • 9.3.3 Control of the homing run
      • 9.4 Positioning
        • 9.4.1 Overview
        • 9.4.2 Description of the objects
        • 9.4.3 Functional description
      • 9.5 Synchronous position selection
        • 9.5.1 Overview
        • 9.5.2 Description of the objects
        • 9.5.3 Functional description
      • 9.6 Torque control
        • 9.6.1 Overview
        • 9.6.2 Description of the objects
    • 10 Appendix
      • 10.1 Index table
    • 11 Index