Baumer BA_DSRT_22DJ - Handbuch (Seite 67)

Manual_CANopen_StrainLink_DE_V3_05.doc 2/65 Baumer
07.07.11/dam Frauenfeld, Switzerland
1 Allgemeines ....................................................................................................................................5
1.1 Sicherheitshinweise..........................................................................................................................5
1.2 Montage und Inbetriebnahme ..........................................................................................................5
2 Projektierung ..................................................................................................................................6
2.1 Maximaler Systemausbau ................................................................................................................6
3 Anschlüsse .....................................................................................................................................7
3.1 Elektrischer Anschluss .....................................................................................................................7
3.1.1 Anschlussbelegung ..........................................................................................................................7
3.1.2 Anschluss-Skizze .............................................................................................................................7
3.2 Potentialverhältnisse ........................................................................................................................8
3.3 EMV-gerechte Verdrahtung ..............................................................................................................9
3.3.1 Erdung inaktiver Metallteile ..............................................................................................................9
3.3.2 Schirmung von Leitungen.................................................................................................................9
3.4 Spezifikation der CAN-Leitungen .....................................................................................................9
4 CANopen .......................................................................................................................................10
4.1 Einleitung........................................................................................................................................10
4.2 Signale, Aufbau und Bus Topologie................................................................................................ 11
4.2.1 Bus-Signale .................................................................................................................................... 11
4.2.2 Netzwerk-Topologie ........................................................................................................................ 11
4.2.3 Aufbau einer CAN Nachricht ..........................................................................................................12
4.2.4 Bitweise Busarbitrierung.................................................................................................................13
4.2.5 Prioritätsorientierte Nachrichtenübertragung .................................................................................14
4.2.6 Identifier-Verteilung ........................................................................................................................14
4.3 Objekte ...........................................................................................................................................15
4.4 Kommunikations-Mechanismen .....................................................................................................16
4.4.1 Process Data Objects (PDO) .........................................................................................................16
4.4.2 Service Data Objects (SDO) ..........................................................................................................17
4.4.3 Network Management (NMT) .........................................................................................................18
4.4.4 Emergency (EMGY) .......................................................................................................................20
4.4.5 Node-Guarding und Hearbeat ........................................................................................................21
4.5 Weitere Begriffserklärung ...............................................................................................................22
4.5.1 Boot-Up Nachricht ..........................................................................................................................22
4.5.2 EDS ................................................................................................................................................22
4.5.3 DCF ................................................................................................................................................22
4.5.4 LSS.................................................................................................................................................22
5 CANopen Protokoll ......................................................................................................................23
5.1 Allgemeines ....................................................................................................................................23
5.1.1 Bootloader ......................................................................................................................................23
5.2 Network Management ....................................................................................................................23
5.2.1 Predefined Connection Set ............................................................................................................23
5.2.2 Startprozedere ................................................................................................................................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 Übersicht der unterstützten Objekte...............................................................................................26
5.4 SDO-Struktur ..................................................................................................................................28