C
Festo P.BE-CMMP-CO-SW-EN 0708NH 5
Contents
1. General information ................................................................................................ 9
1.1 Documentation ...................................................................................................... 9
1.2 CANopen ............................................................................................................. 10
2. Safety instructions for electrical drives and controllers ...................................... 11
2.1 General Information ............................................................................................ 11
2.2 Hazards due to Incorrect Use............................................................................... 12
2.3 Safety instructions .............................................................................................. 13
2.3.1 General safety information .................................................................. 13
2.3.2 Safety Instructions for Installation and Maintenance ........................... 15
2.3.3 Protection against Contact with Electrical Parts ................................... 17
2.3.4 Protection against Electrical Shocks through Low-Voltage
Protection (PELV) ................................................................................. 19
2.3.5 Protection against Hazardous Movements .......................................... 19
2.3.6 Protection against Contact with Hot Parts ............................................ 20
2.3.7 Protection when Handling and Installing ............................................. 20
3. Cabling and Plug Assignment ............................................................................... 22
3.1 Pin Allocations ..................................................................................................... 22
3.2 Cabling Note ........................................................................................................ 23
4. Activation of CANopen ........................................................................................... 24
4.1 Overview ............................................................................................................. 24
5. Access Procedure .................................................................................................. 25
5.1 Introduction ......................................................................................................... 25
5.2 SDO Access ......................................................................................................... 26
5.2.1 SDO Sequences for Reading and Writing ............................................. 26
5.2.2 SDO Error Messages ............................................................................ 28
5.2.3 Simulation of SDO Access via RS232 ................................................... 29
5.3 PDO Message ...................................................................................................... 30
5.3.1 Description of the Objects ................................................................... 31
5.3.2 Objects for PDO Parameter Setting ...................................................... 34
5.3.3 Activation of PDOs ............................................................................... 40
5.4 SYNC message ..................................................................................................... 40
5.5 EMERGENCY Message ......................................................................................... 41
5.5.1 Overview .............................................................................................. 41
5.5.2 Structure of the EMERGENCY Message ................................................ 42
5.5.3 Description of the Objects ................................................................... 45
5.6 Network Management (NMT Service) .................................................................. 47
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