4 EM-ABS-01 for ACU 03/12
7 System bus interface ........................................................................................................... 44
7.1 Bus termination ..................................................................................................... 44
7.2 Cables .................................................................................................................... 45
7.3 Control terminal X410B ......................................................................................... 45
7.4 Baud rate setting/line lengths .............................................................................. 46
7.5 Setting the node address ....................................................................................... 46
7.6 Functional overview .............................................................................................. 47
7.7 Network management ........................................................................................... 47
7.7.1 SDO channels (parameter data) .............................................................................. 48
7.7.2 PDO channels (process data) .................................................................................. 48
7.8 Master functionality ............................................................................................... 49
7.8.1 Control boot-up sequence, network management ..................................................... 49
7.8.2 SYNC telegram, generation ..................................................................................... 51
7.8.3 Emergency message, reaction ................................................................................. 52
7.8.4 Client SDO (system bus master) .............................................................................. 53
7.9 Slave functionality ................................................................................................. 54
7.9.1 Implement boot-up sequence, network management ................................................ 54
7.9.1.1 Boot-up message ............................................................................................ 54
7.9.1.2 Position control ............................................................................................... 54
7.9.2 Process SYNC telegram .......................................................................................... 55
7.9.3 Selecting the synchronization source ....................................................................... 55
7.9.3.1 Settings for electronic gear in configuration x40 ................................................. 57
7.9.3.2 Scope sources ................................................................................................. 57
7.9.4 Emergency-Message, fault shutdown ....................................................................... 58
7.9.5 Server-SDO1/SDO2 ................................................................................................ 59
7.10 Communication channels, SDO1/SDO2 .............................................................. 61
7.10.1 SDO telegram (SDO1/SDO2) ................................................................................... 61
7.10.2 Communication via field bus actuation (SDO1) ......................................................... 63
7.10.2.1 Profibus-DP .................................................................................................... 63
7.10.2.2 RS232/RS485 with VECTRON bus protocol ........................................................ 63
7.11 Process data channels, PDO ............................................................................... 65
7.11.1 Identifier assignment process data channel .............................................................. 65
7.11.2 Operation modes process data channel .................................................................... 66
7.11.3 Timeout monitoring process data channel ................................................................ 67
7.11.4 Communication relationships of the process data channels ........................................ 68
7.11.5 Virtual links ........................................................................................................... 69
7.11.5.1 Input parameters of the TxPDOs for data to be transmitted ................................ 72
7.11.5.2 Source numbers of the RxPDOs for received data .............................................. 74
7.11.5.3 Examples of virtual links .................................................................................. 75
7.12 Control parameters............................................................................................. 76
7.13 Handling of the parameters of the system bus .................................................. 77
7.14 Ancillaries ........................................................................................................... 79
7.14.1 Definition of the communication relationships ........................................................... 80
7.14.2 Production of the virtual links .................................................................................. 81
7.14.3 Capacity planning of the system bus........................................................................ 82
8 Control inputs and outputs .................................................................................................. 84
8.1 Analog input EM S1INA ......................................................................................... 84
8.1.1 General ................................................................................................................. 84
8.1.2 Characteristic ........................................................................................................ 84
8.1.3 Operation modes ................................................................................................... 85
8.1.3.1 Examples ........................................................................................................ 85
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