Issue 01/05
List of contents
1
Description .............................................................................................................. 9
2
2.1
2.2
CANopen ................................................................................................................ 13
3
3.1
3.2
3.2.1
3.2.2
3.2.3
Boot up telegram..................................................................................................... 36
3.2.4
3.2.5
3.2.6
Synchronization service .......................................................................................... 49
3.2.7
3.3
3.3.1
CANopen control word............................................................................................ 56
3.3.2
CANopen status word ............................................................................................. 57
3.3.3
3.3.4
4
Connecting to CANopen ...................................................................................... 65
4.1
4.2
4.3
4.4
Bus connection ....................................................................................................... 70
5
5.1
5.2
5.3
5.4
Setting-up the PDOs ............................................................................................... 76
5.5
Timing of the PDOs................................................................................................. 79
5.6
5.7
5.7.1
5.7.2
5.8
5.8.1
5.8.2
CANopen Option Module
Operating Instructions
6SE6400-5BC00-0BP0
List of contents
7