VIPA CPU 21 Series - Chapter 8 Deployment CPU 21 xCAN

Manual VIPA CPU 21x Chapter 8 Deployment CPU 21xCAN
HB103E - Rev. 05/45 8-1
Chapter 8 Deployment CPU 21xCAN
Content of this chapter is the Deployment of the CPU 21xCAN under
CANopen. Here you’ll find all information required for the usage of the
integrated CAN master.
Below follows a description of:
• CAN-Bus principles
• Project engineering CAN master and CPU
• Course diagram after POWER ON
• Process image for RPDOs and TPDOs
• Telegram structure and overview over the supported objects
• Device model with description of PDOs and SDOs
• Objects directory
Topic Page
Chapter 8
Deployment CPU 21xCAN...............................................8-1
Principles CAN-Bus..............................................................................8-2
Project engineering of the CPU 21xCAN..............................................8-4
Modes ................................................................................................8-13
Process image of the CPU 21xCAN...................................................8-14
CANopen - Messages ........................................................................8-16
Object directory..................................................................................8-21
Overview
Contents