D301087 0308 - BL20 CANopenii
Technical Data BL20-GWBR-CANOPEN .............................................. 3-13
Connections for data cables to BL20-GW-CANOPEN ............................... 3-15
Fieldbus connection via SUB-D socket................................................. 3-15
Fieldbus connection through direct wiring............................................ 3-16
Connections of the data cables to BL20-GWBR-CANopen....................... 3-18
Fieldbus connection via Open Style connector..................................... 3-18
Service Interface Connection ................................................................ 3-20
Setting the bit transfer rate through DIP-switches...................................... 3-22
Node-ID Setting .......................................................................................... 3-24
Acceptance of the BL20 Station Configuration .......................................... 3-26
Status Indicators/ Diagnostic Messages Gateway ..................................... 3-27
Diagnostic Messages via LEDs ............................................................. 3-27
4 BL20 - Communication in CANopen
Setting up communication............................................................................ 4-6
Minimum Boot-up ................................................................................... 4-6
Identifier for the Standard Objects........................................................ 4-10
Set up Node Guarding Protocol............................................................ 4-13
Boot-up Message.................................................................................. 4-15
Parameterization through Service Data Objects (SDO) .............................. 4-16
Read (Read from Object Dictionary)...................................................... 4-17
Write (Write to Object Dictionary).......................................................... 4-18
Commanded Parameter Storing/Restoring........................................... 4-21
Transmission of Process Data Objects (PDO) ............................................ 4-22
Communication Parameter COB-ID...................................................... 4-22
Transmission Type ................................................................................ 4-23
Inhibit Time............................................................................................ 4-24
Event Timer ........................................................................................... 4-24
Available PDOs...................................................................................... 4-25
Mapping Objects in PDOs..................................................................... 4-25
Default-PDOs and PDO-Mappings ....................................................... 4-26
BL20-Specific Default-PDOs................................................................. 4-28
Mappable Objects................................................................................. 4-32
Procedure for Altering PDO-Mappings ................................................. 4-34
Object Dictionary ........................................................................................ 4-35
Overview of all Objects.......................................................................... 4-35
Commands for "Parameter Save" and "Restore Defaults" ................... 4-40
Objects for the Communication Profile ................................................. 4-42
Objects for the Transfer of Service Data............................................... 4-72
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