VI
CHAPTER 15 CANOPEN OVERVIEW ................................................................................................... 15-1
15-1 CANopen Overview……………………............................................................................15-3
15-2 Wiring for CANopen……………………….........................................................................15-6
15-3 CANopen Communication Interface Description.……………............................................15-7
15-4 CANopen Supporting Index ……..................................................................................15-19
15-5 CANopen Fault Codes ………………………..................................................................15-26
15-6 CANopen LED Function……………..............................................................................15-34
CHAPTER 16 PLC FUNCTION APPLICATIONS ................................................................................... 16-1
16-1 PLC Summary……………………....................................................................................16-2
16-2 Notes Before PLC Use……………………........................................................................16-3
16-3 Turn On…………….......................………….....................................................................16-5
16-4 Basic Principles of PLC Ladder Diagrams......................................................................16-15
16-5 Various PLC Device Functions………………..................................................................16-26
16-6 Introduction To The Command Window..........................................................................16-41
16-7 Error Display And Handling.........................................................................................16-131
16-8 CANopen Master Control Applications........................................................................16-132
16-9 Explanation Of Various PLC Mode Controls (speed, torque, homing, and position)...........16-145
16-10 Internal Communications Main Node Control..............................................................16-151
16-11 Count Function Using MI8.........................................................................................16-155
16-12 Modbus Remote IO Control Applications (use MODRW)...........................................16-156
16-13 Calendar Function……………………………………………………………………………..16-163
CHAPTER 17 SAFE TORQUE OFF FUNCTION……………………………………………………….17-1
17-1 The Drive Safety Function Failure Rate……………………………………………………………17-2
17-2 Safe Torque Off Terminal Function Description…………………………………………………...17-2
17-3 Wiring Diagram……………………………………………………………………………………….17-3
17-4 Parameters……………………………………………………………………………………………17-5
17-5 Operating Sequence Description…………………………………………………...………………17-6
17-6 New Error Code for STO Function………………………………………………………..………..17-8
APPENDIX A. REVISION HISTORY……………………………………
…………………………............…..A-1
Issued Edition: 01
Firmware Version: V2.05
(Refer to Parameter 00-06 on the product to get the firmware version.)
Issued Date: 2019/02
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