Inovance H3U Series - Canopen Indicators

636
9
9 Communication9.7.2 CANopen Indicators
Software Function
Module
Slave Station Master Station
Baud rate and
communication
distance
1 Mbps/25 m
800 Kbps/50 m
500 Kbps/100 m
250 Kbps/250 m
125 Kbps/500 m
50 Kbps/1000 m
20 Kbps/2500 m
100 Kbps
10 Kbps
1 Mbps/25 m
800 Kbps/50 m
500 Kbps/100 m
250 Kbps/250 m
125 Kbps/500 m
50 Kbps/1000 m
20 Kbps/2500 m
100 Kbps
10 Kbps
Soft element for data
exchange
SD300 to SD363 D0 to D7999 (congurable)
9.7.2 CANopen Indicators
LED Indicator CAN RUN (Green) CAN ERR (Red)
Off None No error
On Operational Bus disconnected
Blinking slowly
(0.8-second cycle)
Pre-operational Pre-operational
Blinking once quickly
(1.2-second cycle)
Stopped
At least one error counter hitting or
exceeding the threshold (too many error
frames)
Blinking twice quickly
(1.6-second cycle)
None
Incorrect control (node protection or
heartbeat timeout)
9.7.3 Denitions of CANopen Acronyms
NMT: Network Management
Network management includes management of application layer, network state, and node ID allocation. It is
implemented in master-slave communication mode. That is, on a CAN, only one NMT master station exists
with one or more slave stations. The service is used to control the slave station state.
SDO: Server Data Object
An SDO can access the data in the slave station object dictionary (OD) through index and subindex. SDOs
are used for slave station conguration. Each frame of an SDO request must be answered.
PDO: Process Data Object
PDOs are used to transmit real-time data. The data length ranges from one to eight bytes. Data can be
transmitted in synchronous and asynchronous modes. PDO frames are primary data exchange frames after
slave stations are started.
Sync: Synchronous
Synchronization is implemented in master-slave communication mode. The master sync node regularly
sends sync objects, and the sync slave node synchronously executes tasks upon receipt of the objects.