CONTENTS
Festo P.BE-CMMS-CO-SW-EN 1012a 5
CONTENTS
1. General remarks ..................................................................................................... 8
1.1 Intended use ......................................................................................................... 8
1.2 Safety instructions ................................................................................................ 8
1.3 Target group.......................................................................................................... 9
1.4 Service .................................................................................................................. 9
1.5 Important user instructions ................................................................................... 9
2. CANopen................................................................................................................ 12
2.1 Overview ............................................................................................................. 12
2.2 Cabling and Plug Assignment .............................................................................. 13
2.2.1 Pin allocations ..................................................................................... 13
2.2.2 Cabling Note ........................................................................................ 14
2.3 Activation of CANopen......................................................................................... 15
3. Access Procedure .................................................................................................. 17
3.1 Introduction......................................................................................................... 17
3.2 SDO Access ......................................................................................................... 18
3.2.1 SDO Sequences for Reading and Writing ............................................. 19
3.2.2 SDO Error Messages ............................................................................ 20
3.2.3 Simulation of SDO Access via RS232 ................................................... 21
3.3 PDO Message ...................................................................................................... 22
3.3.1 Description of the Objects ................................................................... 23
3.3.2 Objects for PDO Parameter Setting...................................................... 26
3.3.3 Activation of PDOs ............................................................................... 30
3.4 SYNC-Message .................................................................................................... 30
3.5 EMERGENCY-Message ......................................................................................... 31
3.5.1 Structure of the EMERGENCY-Message................................................ 31
3.5.2 Description of the Objects ................................................................... 43
3.6 Heartbeat / Bootup (Error Control Protocol)........................................................ 45
3.6.1 Structure of the Heartbeat Message .................................................... 45
3.6.2 Structure of the Bootup Message ........................................................ 46
3.6.3 Description of the Objects ................................................................... 46
3.7 Network Management (NMT Service) .................................................................. 47
3.8 Nodeguarding (Error Control Protocol) ................................................................ 49
3.8.1 Overview.............................................................................................. 49
3.8.2 Structure of the Nodeguarding Messages............................................ 49
3.8.3 Description of the Objects ................................................................... 50
3.9 Table of Identifiers .............................................................................................. 51
