BONFIGLIOLI Vectron Active Cube

6 Connector pin assignment/bus termination/line ........................................................ 26
7 Baud rate setting/line lengths ..................................................................................... 27
8 Setting the node number ............................................................................................. 27
9 Assigning the CANopen interface ................................................................................. 28
10 Operational behavior on bus failure ............................................................................ 29
11 CANopen Overview ...................................................................................................... 30
11.1 Communication Objects ..................................................................................... 30
11.2 Application Objects ............................................................................................ 30
11.3 SDO Function ...................................................................................................... 31
11.3.1 Read Access .......................................................................................................... 32
11.3.2 Write Access ......................................................................................................... 32
11.3.3 Error code table ..................................................................................................... 33
11.3.4 Segmented Transfer .............................................................................................. 34
11.3.4.1 Reading „Segmented Transfer“ ......................................................................... 34
11.3.4.2 Writing Segmented Transfer ............................................................................. 35
11.4 PDO Function ...................................................................................................... 37
11.5 Emergency Function ........................................................................................... 37
11.6 SYNC ................................................................................................................... 38
11.7 NMT Functions .................................................................................................... 39
11.7.1 NMT state machine ................................................................................................ 39
11.7.2 Boot-Up message .................................................................................................. 40
11.7.3 NMT commands ..................................................................................................... 40
11.8 Guarding ............................................................................................................. 41
11.9 Heartbeat ............................................................................................................ 42
11.10 OS Synchronization ............................................................................................ 42
11.11 Fault Reset .......................................................................................................... 44
12 Objects ......................................................................................................................... 45
12.1 Objects tabular overview ................................................................................... 45
12.1.1 Communication objects .......................................................................................... 45
12.1.2 Manufacturer objects ............................................................................................. 48
12.1.3 Device profile objects ............................................................................................. 50
12.2 Communication Objects (0x1nnn) ..................................................................... 55
12.2.1 0x1000/0 Device Type............................................................................................ 55
12.2.2 0x1001/0 Error Register ......................................................................................... 56
12.2.3 0x1005/0 COB-ID SYNC Message ............................................................................ 57
12.2.4 0x1006/0 Communication Cycle Period .................................................................... 57
12.2.5 0x1007/0 Synchronous window length ..................................................................... 59
12.2.6 0x1008/0 Manufacturer Device Name ...................................................................... 59
12.2.7 0x1009/0 Manufacturer Hardware Version ............................................................... 59
12.2.8 0x100A/0 Manufacturer Software Version ................................................................ 60
12.2.9 0x100C/0 Guard Time ............................................................................................ 60
12.2.10 0x100D/0 Lifetime Factor .................................................................................... 60
12.2.11 0x1010/n Store Parameters ................................................................................. 61
12.2.12 0x1011/n Restore default Parameters ................................................................... 62
12.2.13 0x1014/0 COB-ID Emergency Message ................................................................. 63
12.2.14 0x1016/n Consumer Heartbeat Time .................................................................... 64
4 CM-CAN ACU 04/13