Siemens SIMATIC PN/CAN LINK

SIMATIC PN/CAN LINK
Operating Instructions, 03/2022, A5E39895388-AC
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Table of contents
1 Introduction ........................................................................................................................................... 6
1.1 Preface ................................................................................................................................ 6
1.2 Documentation guide .......................................................................................................... 8
2 Safety instructions ................................................................................................................................. 9
2.1 Safety instructions ............................................................................................................... 9
2.2 Security information .......................................................................................................... 11
3 New properties/functions .................................................................................................................... 12
3.1 Version overview ............................................................................................................... 12
3.2 Changes compared to the previous version ........................................................................ 13
3.3 Installation and handling of the new HSP ........................................................................... 19
4 System overview ................................................................................................................................. 26
4.1 Field of application ............................................................................................................ 26
4.2 System configuration ......................................................................................................... 30
4.3 System requirements ......................................................................................................... 31
4.4 Design ............................................................................................................................... 32
5 Functions ............................................................................................................................................. 33
5.1 CANopen ........................................................................................................................... 33
5.1.1 Basic functions................................................................................................................... 33
5.1.1.1 Overview ........................................................................................................................... 33
5.1.1.2 Object dictionary ............................................................................................................... 34
5.1.1.3 Process data objects (PDO) ................................................................................................. 35
5.1.1.4 Service Data Objects (SDO) ................................................................................................ 36
5.1.1.5 EMCY messages ................................................................................................................. 36
5.1.1.6 Heartbeat / Node Guarding ................................................................................................ 37
5.1.1.7 SYNC messages ................................................................................................................. 38
5.1.1.8 Data exchange between controller and PN/CAN LINK .......................................................... 39
5.1.1.9 Conversion of data formats between PROFINET and CANopen ............................................ 42
5.1.2 CANopen Manager ............................................................................................................. 43
5.1.2.1 State model ....................................................................................................................... 43
5.1.2.2 Control and status information ........................................................................................... 46
5.1.2.3 Acyclic data exchange between controller and PN/CAN LINK ............................................... 49
5.1.2.4 Monitoring functions ......................................................................................................... 52
5.1.3 CANopen Slave .................................................................................................................. 54
5.1.3.1 Object dictionary ............................................................................................................... 55
5.1.3.2 State model ....................................................................................................................... 56
5.1.3.3 Control and status information ........................................................................................... 59
5.1.3.4 Monitoring functions ......................................................................................................... 62
5.1.4 Re
sponse to errors ............................................................................................................. 63