KEB COMBIVERT G6 - Default Chapter; Table of Contents

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Table of Contents
1. Preface ............................................................................................................. 5
1.1 Information on special measures .......................................................................................5
1.2 Documentation .....................................................................................................................5
1.3 Validity and liability .............................................................................................................5
1.4 Copyright .............................................................................................................................. 6
1.5 Speciedapplication ........................................................................................................... 6
1.6 Product description ............................................................................................................. 7
1.6.1 Overview of functions ............................................................................................................7
1.6.2 Safety function .......................................................................................................................7
1.6.3 Corresponding documentation ...............................................................................................8
1.7 Part code ..............................................................................................................................8
2. Basics of the CAN BUS ................................................................................ 10
3. Functions ...................................................................................................... 11
3.1 Broadcast objects ..............................................................................................................12
3.2 Communication objects ....................................................................................................12
3.3 Request/Response-Identier(SDO) ................................................................................. 12
3.4 Out/In-Identier(PDO) ....................................................................................................... 13
3.5 Process data mapping ......................................................................................................13
3.6 CANopen bootup sequence .............................................................................................13
3.7 Bootup message ................................................................................................................ 15
3.8 Node guarding ...................................................................................................................16
3.9 Life guarding ......................................................................................................................16
3.10 Emergency object .............................................................................................................. 17
3.10.1 Error register ........................................................................................................................ 17
3.11 Producers heartbeat .......................................................................................................... 18
3.12 Consumers heartbeat ........................................................................................................ 18
4. Coding of the data in the four CAN telegram types .................................. 19
4.1 SDO(rx)telegram ...............................................................................................................19
4.1.1 Initiate domain download request (write request of the master) .......................................... 20
4.1.2 Initiate domain upload request (read request of the master) ............................................... 20
4.2 SDO(tx)telegram ...............................................................................................................20
4.2.1 Initiatedomaindownloadresponse(writeconrmationfromtheFI) ...................................20
4.2.2 Initiatedomainuploadresponse(readconrmationfromtheFI) ........................................21
4.2.3 Abortdomaintransfer(errorresponsefromtheFI) .............................................................21
4.3 RPDO1…3 telegram ........................................................................................................... 22
4.4 TPDO1…3 telegram ...........................................................................................................22
5. Parametersofthecommunicationprole .................................................. 23
5.1 Unit and manufacturer data ..............................................................................................23
5.2 Process data ......................................................................................................................25
5.3 Parameters for the life guarding ......................................................................................31
5.4 Parameter for the heartbeat .............................................................................................. 32
Table of Contents