Chapter 10 CANopen Function and Operation
Table of Contents
10.1 Introduction to CANopen ................................................................. 10-2
10.1.1 CANopen Function Descriptions ..................................................... 10-2
10.1.2 The Input/Output Mapping Areas ................................................... 10-3
10.2 Installation and Network Topology .................................................. 10-5
10.2.1 The Dimensions of AS-FCOPM ....................................................... 10-5
10.2.2 AS-FCOPM on AS300 PLC ............................................................. 10-5
10.2.3 Configure the AS-FCOPM with HWCONFIG ...................................... 10-6
10.2.4 The CAN Interface and Network Topology ....................................... 10-7
10.3 The CANopen Protocol ................................................................... 10-12
10.3.1 Introduction to the CANopen Protocol ........................................... 10-12
10.3.2 The CANopen Communication Object ........................................... 10-13
10.3.3 The Predefined Connection Set .................................................... 10-18
10.4 Sending SDO, NMT and Reading Emergency Message through the Ladder
Diagram ................................................................................................... 10-20
10.4.1 Data Structure of SDO Request Message ...................................... 10-20
10.4.2 Data Structure of NMT Message .................................................. 10-23
10.4.3 Data Structure of EMERGENCY Request Message ........................... 10-24
10.4.4 Example of Sending SDO through the Ladder Diagram ................... 10-26
10.5 Troubleshooting ............................................................................ 10-28
10.5.1 CANopen Network Node State Display .......................................... 10-28
10.6 Application Example ...................................................................... 10-31
10.7 Object Dictionary ........................................................................... 10-39
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