Siko AG06 - Page 3

AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 3 of 114
7.2 Errors .................................................................................................................... 24
7.2.1 Error codes ......................................................................................................... 24
7.3 Input errors ........................................................................................................... 25
8 Parameter description .............................................................................................. 25
9 Communication via CAN bus ..................................................................................... 33
9.1 General remarks ...................................................................................................... 33
9.1.1 Interface ........................................................................................................... 33
9.2 System Status Word ................................................................................................ 34
9.2.1 Meaning of the bits ............................................................................................. 34
9.3 CANopen protocol ................................................................................................... 36
9.3.1 Telegram setup ................................................................................................... 36
9.3.2 Network management (NMT) ................................................................................. 37
9.3.2.1 State Diagramm ............................................................................................... 37
9.3.2.2 NMT Status 'INITIALISATION' ............................................................................. 37
9.3.2.3 NMT Status 'PRE-OPERATIONAL' .......................................................................... 37
9.3.2.4 NMT Status 'OPERATIONAL' ................................................................................ 38
9.3.2.5 NMT Status 'STOPPED' ....................................................................................... 38
9.3.2.6 Switching between communication states ........................................................... 38
9.3.3 SYNC-Objekt ....................................................................................................... 38
9.3.4 Process Data Objects (PDOs) ................................................................................. 39
9.3.5 Transmit-PDOs .................................................................................................... 39
9.3.5.1 1
st
Transmit PDO (TPDO1) .................................................................................. 39
9.3.5.2 3
rd
Transmit PDO (TPDO3).................................................................................. 39
9.3.5.3 4
th
Transmit PDO (TPDO4) ................................................................................. 40
9.3.5.4 Transfer types of the Transmit PDOs ................................................................... 40
9.3.6 Receive-PDOs...................................................................................................... 41
9.3.6.1 1
st
Receive PDO (RPDO1) ................................................................................... 41
9.3.6.2 3
rd
Receive PDO (RPDO3) ................................................................................... 41
9.3.6.3 4
th
Receive PDO (RPDO4) ................................................................................... 42
9.3.6.4 Transfer types of the Receive PDOs ..................................................................... 42
9.3.7 Service Data Objects (SDOs) .................................................................................. 43
9.3.7.1 Error code ...................................................................................................... 44
9.3.8 Example: Parameterization ................................................................................... 44
9.3.8.1 Example: Read parameter .................................................................................. 44
9.3.8.2 Example: Write parameter ................................................................................. 45
9.3.9 Emergency Object (EMCY) ..................................................................................... 46
9.3.9.1 Error Code ...................................................................................................... 46
9.3.10 Heartbeat protocol .............................................................................................. 48
9.3.11 Node Guarding .................................................................................................... 49
9.4 State Machine ........................................................................................................ 50
9.5 Status word ........................................................................................................... 52
9.6 Control word .......................................................................................................... 54
9.7 Flowchart of the Profile Position Mode (positioning mode) ........................................... 56