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General| Digital Outputs | 4 |
|---|---|
| Analog Inputs | 2 |
| Communication | USB |
| Interface | USB, CAN |
| Protocol | EtherCAT, CANopen |
Describes the purpose of the document and its role in the documentation set.
Identifies the intended readers of the document.
Explains notations and codes used throughout the document.
Lists external resources for further details and information.
Outlines copyright information and usage restrictions for the document.
Details commands for communicating via USB or RS232, including read and write functions.
Explains how to read objects from the Object Dictionary via USB/RS232.
Describes reading segmented data from an object via USB/RS232.
Explains commands for writing objects to the Object Dictionary via USB/RS232.
Describes writing segmented data to an object via USB/RS232.
Explains sending NMT services like changing device state or resetting.
Lists general commands related to CAN communication.
Describes sending Layer Setting Services (LSS) master messages to the CAN bus.
Details the Data Link Layer for USB/RS232 communication.
Explains how flow control works in USB/RS232 communication.
Describes the composition and structure of frames for USB/RS232 communication.
Explains the Cyclic Redundancy Check (CRC) algorithm for data integrity.
Details the process and algorithm for calculating CRC checksums.
Explains the byte stuffing mechanism used in USB/RS232 frames.
Defines the byte order (LSB first) for transmitting words and long words.
Describes the data format for RS232 communication.
Explains how timeouts are handled for frames and data processing.
Illustrates the state machine for the EPOS4 slave in USB/RS232 communication.
Provides a practical example of composing and structuring EPOS4 messages for USB/RS232.
Describes the physical layers for USB and RS232 communication.
Details the electrical standard for USB communication.
Explains the electrical standard and medium for RS232 communication.
Provides general information about CANopen specifications and their relation to EPOS4.
Refers to documentation for CAN/CANopen and specifications.
Lists notations, abbreviations, and terms relevant to CAN communication.
Introduces CANopen communication features relevant to EPOS4.
Describes the physical layer of CANopen based on the CAN serial bus and ISO 11898.
Explains the CAN data link layer services as standardized in ISO 11898.
Details the CANopen Application Layer concepts.
Explains the Object Dictionary, its structure, indexing, and layout.
Classifies CANopen communication objects based on services and protocols.
Lists and describes predefined communication objects like PDOs.
Explains the PDO object, producer/consumer model, and services.
Describes the SDO object for accessing the Object Dictionary and peer-to-peer communication.
Explains the SYNC object for providing synchronization signals to CANopen consumers.
Details the EMCY object for emergency messages and error alerts.
Outlines CANopen network management (NMT) services for node control.
Explains the default scheme for allocating CAN identifiers (COB-IDs).
Describes Layer Setting Services (LSS) for configuring CANopen devices.
Provides an overview of LSS commands and their state dependencies.
Details specific LSS commands used for device configuration.
Explains the LSS command to change the state of all connected LSS slaves globally.
Describes the LSS command to change the state of a single LSS slave.
Details the LSS command to configure the Node ID of an LSS slave.
Explains the LSS command to configure bit timing parameters for the CAN bus.
Describes the LSS command to activate previously configured bit timing parameters.
Details the LSS command to store configuration parameters in non-volatile memory.
Explains the LSS command to inquire the Vendor ID of an LSS slave.
Describes the LSS command to inquire the Product Code of an LSS slave.
Details the LSS command to inquire the Revision Number of an LSS slave.
Explains the LSS command to inquire the Serial Number of an LSS slave.
Describes the LSS command to inquire the Node ID of an LSS slave.
Explains the LSS command to detect and identify remote slaves in the CAN network.
Describes the LSS command to detect non-configured devices in the CAN network.
Provides references to EtherCAT and EPOS4 documentation for further information.
Lists communication specifications for EtherCAT, including physical layer and fieldbus connection.
Explains the EtherCAT State Machine coordinating Master and Slave startup and operation.
Details the integration of EtherCAT Slave Information (ESI) files for accessing the object dictionary.
Refers to external documents for detailed information on EtherCAT error codes and handling.
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