1 Table of Contents
1 Table of Contents 3
2 General 9
2.1 About this Manual 10
2.2 Target Group 10
2.3 Symbols used 11
2.4 Abbreviations used 12
3 Safety 13
3.1 Safety Instructions 14
3.2 Use As Directed 14
3.3 Prohibited Use 14
4 Installation and Setup 15
4.1 Safety Instructions 16
4.2 CAN-Bus Interface (X12/X13) 17
4.2.1 CAN-Bus activation with AKD-CC models 18
4.2.2 Baudrate for CAN-Bus 19
4.2.3 Node Address for CAN-Bus 20
4.2.4 CAN-Bus Termination 20
4.2.5 CAN-Bus Cable 20
4.2.6 CAN-Bus Wiring 21
4.3 Guide to Setup 22
5 CANopen Basics 23
5.1 Basic Features implemented by CANopen 24
5.1.1 Setup and general functions: 24
5.1.2 Positioning functions: 24
5.1.3 Data transfer functions: 24
5.2 Transmission Rate and Procedure 24
5.3 Response to BUSOFF Communication Faults 25
5.4 Important Configuration Parameters 25
6 CANopen Communication Profile 26
6.1 General Description of CAN 27
6.2 Construction of the Communication Object Identifier 28
6.3 Definition of the Used Data Types 29
6.3.1 Basic data types 29
6.3.1.1 Unsigned Integer 29
6.3.1.2 Signed Integer 30
6.3.2 Mixed data types 30
6.3.3 Extended data types 31
6.3.3.1 Octet String 31
6.3.3.2 Visible String 31
6.4 Communication Objects 31
6.4.1 Network Management Objects (NMT) 32
6.4.2 Synchronization Object (SYNC) 32
6.4.3 Time-Stamp Object (TIME) 32
AKD CANopen | Table of Contents
Kollmorgen™ | November 2012 3
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