Baumer BA_DSRT_22DJ - Handbuch (Seite 2)

Manual_CANopen_StrainLink_EN_V3_05.doc 2/65 Baumer
22.07.11/dam Frauenfeld, Switzerland
1 General ............................................................................................................................................5
1.1 Safety instructions ............................................................................................................................5
1.2 Mounting and initial start-up .............................................................................................................5
2 Project engineering ........................................................................................................................6
2.1 Maximum system extent...................................................................................................................6
3 Connections....................................................................................................................................7
3.1 Electrical connection ........................................................................................................................7
3.1.1 Pin assignment .................................................................................................................................7
3.1.2 Connection diagram .........................................................................................................................7
3.2 Electrical potential conditions ...........................................................................................................8
3.3 EMC-compatible wiring ....................................................................................................................9
3.3.1 Grounding inactive metal parts.........................................................................................................9
3.3.2 Shielding lines ..................................................................................................................................9
3.4 Specification of the CAN lines ..........................................................................................................9
4 CANopen .......................................................................................................................................10
4.1 Introduction.....................................................................................................................................10
4.2 Signals, structure and bus topology ............................................................................................... 11
4.2.1 Bus signals ..................................................................................................................................... 11
4.2.2 Network topology............................................................................................................................ 11
4.2.3 CAN message structure .................................................................................................................12
4.2.4 Bitwise bus arbitration ....................................................................................................................13
4.2.5 Priority-oriented message transmission .........................................................................................14
4.2.6 Identifier distribution .......................................................................................................................14
4.3 Objects ...........................................................................................................................................15
4.4 Communication mechanisms .........................................................................................................16
4.4.1 Process Data Objects (PDOs)........................................................................................................16
4.4.2 Service Data Objects (SDOs).........................................................................................................17
4.4.3 Network Management (NMT) .........................................................................................................18
4.4.4 Emergency (EMGY) .......................................................................................................................20
4.4.5 Node guarding and Heartbeat ........................................................................................................21
4.5 Additional definitions ......................................................................................................................22
4.5.1 Boot-up message ...........................................................................................................................22
4.5.2 EDS ................................................................................................................................................22
4.5.3 DCF ................................................................................................................................................22
4.5.4 LSS.................................................................................................................................................22
5 CANopen protocol........................................................................................................................23
5.1 General...........................................................................................................................................23
5.1.1 Boot loader .....................................................................................................................................23
5.2 Network Management ....................................................................................................................23
5.2.1 Predefined connection set..............................................................................................................23
5.2.2 Start procedure ...............................................................................................................................24
5.2.3 Start Node.......................................................................................................................................25
5.2.4 Stop Node.......................................................................................................................................25
5.2.5 Pre-Operational Node ....................................................................................................................25
5.2.6 Reset Node.....................................................................................................................................25
5.3 Supported Object Overview ...........................................................................................................26
5.4 SDO-Struktur ..................................................................................................................................28
6 Object description ........................................................................................................................29
6.1 Standard objects.............................................................................................................................29
6.1.1 Device type.....................................................................................................................................29