Lust ServoOne - Table of Contents

User Manual CANopen/EtherCAT
5
Contents
How to use the document ......................................................................................................... 3
Pictograms .............................................................................................................................. 4
1
General Introduction ........................................................................................................... 7
1.1
Measures for your safety ................................................................................................ 7
1.2
Introduction to CANopen............................................................................................... 7
1.3
Introduction to EtherCAT ............................................................................................... 8
1.4
System requirements ...................................................................................................... 8
1.5 Further
documentation .................................................................................................. 8
2 Mounting and Connection of CANopen ............................................................................
9
2.1 Setting the address ........................................................................................................
9
2.2 Meanings of LEDs ..........................................................................................................
10
2.3 Installation ....................................................................................................................
11
2.3 Transmission speeds ......................................................................................................
13
2.4 Display of the operating states via 7-segment display ....................................................
13
2.5 Hardware enable ...........................................................................................................
14
3 Mounting and Connection of EtherCAT ...........................................................................
15
3.1 Installation and cabling .................................................................................................
15
3.2 Pin assignment of the RJ-45 socket ...............................................................................
16
3.3 Meanings of LEDs ..........................................................................................................
17
3.4 Display of operating states via 7-segment display ..........................................................
18
3.5 Hardware enable ...........................................................................................................
18
4
Commissioning and Configuration of CANopen ..............................................................19
4.1
Commissioning .............................................................................................................19
4.2
Commissioning sequence ..............................................................................................19
4.2.1
Setting the software address and Baud rate ........................................................20
4.3
Commissioning instructions...........................................................................................20
4.4
Testing the higher-order controller ................................................................................20
4.5
Data handling ...............................................................................................................21
4.5.1
Saving the settings ..............................................................................................21
4.5.2
Restoring factory defaults ...................................................................................21
4.6
Commissioning via DRIVEMANAGER ...................................................................................21
4.7
Control functions ......................................................................................................... 22
4.8
Operation mode selection (Modes of operation) .......................................................... 22
4.8.1
Functionality of operation modes ....................................................................... 23
5 Commissioning and Configuration of EtherCAT .............................................................
25
6
Setting the Device Parameters for CANopen .................................................................. 27
6.1 Implemented DS301 functionality .................................................................................
27
6.1.1
Communication objects ......................................................................................27
6.1.2 Object directory of DS301 ...................................................................................
27
6.2
Parameter channel (Service Data Objects) ......................................................................28
6.2.1
Data types...........................................................................................................29
6.2.2
Representation of data types in the control protocol ...........................................29
6.2.3 Access to device parameters ..............................................................................
30
6.3
Examples of SDO handling ........................................................................................... 30
6.3.1
Parameter set download .....................................................................................33
6.4
PDO transmission types ................................................................................................ 34
6.5 Event-controlled
TxPDO transmission............................................................................ 34