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Maxon EPOS4 User Manual
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USB & RS232 Communication
Data Link Layer
EPOS4
Communication Guide
2-16
CCMC | 2019-11 | rel8759
2.2.8
Slave State Machine
Figure 2-7
USB/RS232 communication – Slave State Machine
15
17
Table of Contents
Table of Contents
2
About this Document
3
Figure 1-1 Documentation Structure
3
Table 1-1 Notations Used in this Document
4
Table 1-2 Brand Names and Trademark Owners
4
Table 1-3 Sources for Additional Information
5
Usb & Rs232 Communication
7
EPOS4 USB & RS232 Command Reference
7
Data Link Layer
12
Figure 2-2 USB/RS232 Communication - Commands
12
Figure 2-3 USB/RS232 Communication - Sending a Data Frame to EPOS4
12
Figure 2-4 USB/RS232 Communication - Receiving a Response Data Frame from EPOS4
12
Figure 2-5 USB/RS232 Communication - Frame Structure
13
Figure 2-6 USB/RS232 Communication - CRC Algorithm
14
Table 2-4 USB/RS232 Communication - Timeout Handling
15
Figure 2-7 USB/RS232 Communication - Slave State Machine
16
Figure 2-8 USB/RS232 Communication - Command Instruction (Example)
17
Physical Layer
20
Can Communication
21
General Information
21
Table 3-5 CAN Communication - Notations
21
Table 3-6 CAN Communication - Abbreviations
22
Table 3-7 CAN Communication - Terms
22
Canopen Basics
23
Figure 3-9 CAN Communication - Protocol Layer Interactions
23
Figure 3-10 CAN Communication - ISO 11898 Basic Network Setup
23
Figure 3-11 CAN Communication - CAN Data Frame
24
Figure 3-12 CAN Communication - Standard Frame Format
24
Canopen Application Layer
25
Table 3-8 CAN Communication - Object Dictionary Layout
25
Table 3-9 CAN Communication - Object Dictionary Entry
25
Figure 3-13 CAN Communication - Process Data Object (PDO)
26
Table 3-10 CAN Communication - Communication Objects
26
Figure 3-14 CAN Communication - PDO Protocol
27
Figure 3-15 CAN Communication - PDO Communication Modes
28
Figure 3-16 CAN Communication - Service Data Object (SDO)
29
Figure 3-17 CAN Communication - Object Dictionary Access
29
Figure 3-18 CAN Communication - Synchronization Object (SYNC)
30
Figure 3-19 CAN Communication - Synchronous PDO
30
Figure 3-20 CAN Communication - Emergency Service (EMCY)
31
Figure 3-21 CAN Communication - Network Management (NMT)
31
Figure 3-22 CAN Communication - NMT Slave States
32
Table 3-11 CAN Communication - NMT Slave (Commands, Transitions, and States)
32
Figure 3-23 CAN Communication - NMT Object
33
Table 3-12 CAN Communication - NMT Protocols
33
Identifier Allocation Scheme
34
Figure 3-24 CAN Communication - Default Identifier Allocation Scheme
34
Table 3-13 CAN Communication - Objects of the Default Connection Set
34
Layer Setting Services (LSS)
35
Table 3-14 LSS Commands - Overview
35
Figure 3-25 LSS - Switch State Global
36
Figure 3-26 LSS - Switch State Selective
36
Figure 3-27 LSS - Configure Node ID
37
Figure 3-28 LSS - Configure Bit Timing Parameters
37
Figure 3-29 LSS - Activate Bit Timing Parameters
38
Figure 3-30 LSS - Switch Delay
38
Figure 3-31 LSS - Store Configuration
38
Figure 3-32 LSS - Inquire Identity Vendor ID
38
Figure 3-33 LSS - Inquire Identity Product Code
39
Figure 3-34 LSS - Inquire Identity Revision Number
39
Figure 3-35 LSS - Inquire Identity Serial Number
39
Figure 3-36 LSS - Inquire Identity Node ID
39
Figure 3-37 LSS - Identify Remote Slave
40
Figure 3-38 LSS - Identify Non-Configured Remote Slave
40
Ethercat Communication
41
Communication Specifications
42
Ethercat State Machine (ESM)
42
Figure 4-39 Ethercat Communication - ESM Scheme
42
Table 4-15 Ethercat Communication - Communication Specifications
42
Table 4-16 Ethercat Communication - ESM Conditions
43
Table 4-17 Ethercat Communication - ESM Transitions
43
Integration of ESI Files
44
Error Code Definition
44
Table 4-18 Ethercat Communication - ESM Control Register
44
Gateway Communication (Usb or Rs232 to Can)
45
Figure 5-40 Gateway Communication - Structure
45
Table 5-19 Gateway Communication - Data Exchange
45
Communication Error Code Definition
47
Table 6-20 Communication Errors
47
List of Figures
49
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Maxon EPOS4 Specifications
General
Digital Outputs
4
Analog Inputs
2
Communication
USB
Interface
USB, CAN
Protocol
EtherCAT, CANopen
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