P0681 – MOTOR SPEED IN 13 BITS ........................................................................................... 17
P0684 – DEVICENET CONTROL WORD...................................................................................... 18
P0685 – DEVICENET SPEED REFERENCE ................................................................................. 18
P0695 – DIGITAL OUTPUT SETTING .......................................................................................... 19
P0696 – VALU E 1 FOR ANAL OG OUTPUTS ................................................................................ 20
P0697 – VALU E 2 FOR ANAL OG OUTPUTS ................................................................................ 20
P0698 – VALU E 3 FOR ANAL OG OUTPUTS ................................................................................ 20
P0700 – CAN PROTOCOL ......................................................................................................... 21
P0701 – CAN ADDRESS ............................................................................................................ 21
P0702 – CAN BAUD RATE......................................................................................................... 21
P0703 – BU S OFF RESET .......................................................................................................... 22
P0705 – CAN CONTROLLER STATUS ........................................................................................ 22
P0706 – RECEIVED CAN TELEGRAM COUNTER ........................................................................ 23
P0707 – TRANSMITTED CAN TELEGRAM COUNTER.................................................................. 23
P0708 – BUS OFF ERROR COUNTER ........................................................................................ 23
P0709 – LOST CAN MESSAGE COUNTER .................................................................................. 23
P0710 – DEVICENET I/O INSTANCES ........................................................................................ 24
P0711 – DEVICENET READING #3 ............................................................................................. 27
P0712 – DEVICENET READING #4 ............................................................................................. 27
P0713 – DEVICENET READING #5 ............................................................................................. 27
P0714 – DEVICENET READING #6 ............................................................................................. 27
P0715 – DEVICENET WRITING #3 .............................................................................................. 27
P0716 – DEVICENET WRITING #4 .............................................................................................. 27
P0717 – DEVICENET WRITING #5 .............................................................................................. 27
P0718 – DEVICENET WRITING #6 .............................................................................................. 27
P0719 – DEVICENET NETWORK STATUS................................................................................... 28
P0720 – DEVICENET MASTER STATUS ..................................................................................... 28
5 SUPPORTED OBJECT CLASSES .................................................................................. 29
5.1 IDENTITY CLASS (01H) ................................................................................................... 29
5.2 MESSAGE ROUTER CLASS ( 02H ) .................................................................................... 29
5.3 DEVICENET CLASS (03H) ................................................................................................ 29
5.4 ASSEMBLY CLASS (04H) ................................................................................................ 29
5.5 CONNECTION CLASS (05H) ............................................................................................ 30
5.5.1 Instance 1: Explicit Message..................................................................................... 30
5.5.2 Instance 2: Polled..................................................................................................... 30
5.5.3 Instance 4: Change of State/Cyclic............................................................................ 31
5.6 MOTOR DATA CLASS (28H) ............................................................................................ 31
5.7 CON TROL SUP ERVISOR CLASS (29H) ............................................................................. 31
5.8 AC/DC DRIVE CLASS (2AH)............................................................................................. 32
5.9 ACKNOWLEDGE HANDLER CLASS (2BH) ........................................................................ 32
5.10 MANUFACTURER SPECIFIC CLASSES ......................................................................... 33
6 FAULTS AND ALARMS RELATED TO THE DEVICENET COMMUNICATION......... 34
A133/F233 – CAN INTERFACE WITHOUT POWER SUPPLY ......................................................... 34
A134/F234 – BU S OF F .............................................................................................................. 34
A136/F236 – ID L E MA ST ER ....................................................................................................... 34
A137/F237 – DEVICENET CONNECTION TI M EOUT ..................................................................... 35
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