15-1
Chapter 15 CANopen Communication
Module AH10COPM
Table of Contents
15.1 Introduction ...................................................................................15-2
15.1.1 Characteristics ..............................................................................15-2
15.1.2 Functions ......................................................................................15-2
15.1.3 Functional Specifications ..............................................................15-3
15.2 Profile and Outline ........................................................................15-4
15.2.1 Profile and Dimensions .................................................................15-4
15.2.2 Parts .............................................................................................15-4
15.2.3 CANopen Communication Connector ...........................................15-5
15.2.4 Address Switches .........................................................................15-5
15.2.5 Function Switch ............................................................................15-6
15.3 Installation.....................................................................................15-6
15.3.1 Installing a Module ........................................................................15-6
15.3.2 Connecting a CANopen Connector ...............................................15-7
15.4 Configuration ................................................................................15-8
15.4.1 Selecting a Mode ..........................................................................15-8
15.4.2 Using CANopen Builder to Configure a Network ..........................15-9
15.4.3 Assigning Mapping Areas ...........................................................15-20
15.4.4 Setting a Master Station ..............................................................15-21
15.4.5 Flowchart Representing the Action of a CANopen Master Station
....................................................................................................15-22
15.5 Sending SDOs and NMT, and Reading Emergencies by Functions
Blocks 15-23
15.5.1 Principle ......................................................................................15-23
15.5.2 Sending an SDO Command .......................................................15-24
15.5.3 Sending an NMT Command .......................................................15-27
15.5.4 Reading Emergency Messages ..................................................15-29
15.5.5 Obtaining the States of the Slave Stations on a CANopen Network
....................................................................................................15-32
15.6 Error Diagnostics and Troubleshooting .......................................15-35
15.6.1 LED Indicators and Troubleshooting ...........................................15-35
15.6.2 Error Codes ................................................................................15-36
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