Lenze EPM-T110 - Networking via CANopen

Contents
10
Network via CANopen
10.1
l
10.1-1
EDSPM-TXXX-3.0-04/2004
10 Networking via CANopen
10.1 Contents
10.2 Via CANopen 10.2-1.............................................................
10.2.1 Structure of the CAN data telegram 10.2-1....................................
10.2.2 Identifier 10.2-2.......................................................
10.2.3 Saving changes 10.2-2..................................................
10.3 Network management (NMT) 10.3-1.................................................
10.4 Transmitting process da ta 10.4-1...................................................
10.4.1 Process data telegram 10.4-1.............................................
10.4.2 Identifier of the process data objects (PDO) 10.4-2...............................
10.4.3 Assigning individual parameters 10.4-3......................................
10.4.4 Process data transmission mode 10.4-3......................................
10.4.5 Process image of the modular system 10.4-5..................................
10.4.6 Process image of the compact system 10.4-8..................................
10.4.7 Compatibility with Lenze drive and automation components 10.4-9...................
10.4.8 Data transmission between I/O system IP20 and controller 10.4-11...................
10.4.9 Indices for setting the process data transmission 10.4-12..........................
10.5 Transmitting parameter data 10.5-1..................................................
10.5.1 Telegram structure 10.5-1................................................
10.5.2 Writing a parameter (example) 10.5-4........................................
10.5.3 Reading a parameter (example) 10.5-5.......................................
10.6 Setting of baud rate and node address (node ID) 10.6-1...................................
10.7 Node Guarding 10.7-1...........................................................
10.8 Heartbeat 10.8-1...............................................................
10.9 Reset node 10.9-1..............................................................
10.10 Monitoring 10.10-1...............................................................
10.10.1 Time monitoring for PDO1-Rx ... PDO10-Rx 10.10-1..............................
10.10.2 Digital output monitoring 10.10-2............................................
10.10.3 Digital output monitoring 10.10-2............................................
10.10.4 Monitoring of the analog outputs 10.10-3......................................
10.11 Diagnostics 10.11-1..............................................................
10.11.1 Emergency telegram 10.11-2...............................................
10.11.2 Operating state of system bus (CAN) 10.11-3...................................
10.11.3 Reading out the module identifiers 10.11-3.....................................
10.11.4 Status of the digital inputs 10.11-4...........................................
10.11.5 Status of the digital outputs 10.11-4..........................................
10.11.6 Status of the analog inputs 10.11-5..........................................
10.11.7 Status of the analog outputs 10.11-5.........................................
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