Table Of Contents - Siemens Simatic Operating Instructions Manual

Table of contents

1 Introduction ............................................................................................................................................. 7
1.1 Preface ...................................................................................................................................... 7
1.2 Documentation guide ................................................................................................................ 8
2 Safety instructions ................................................................................................................................... 9
2.1 Safety instructions ..................................................................................................................... 9
2.2 Security information ................................................................................................................ 11
3 System overview ................................................................................................................................... 13
3.1 Field of application .................................................................................................................. 13
3.2 System configuration .............................................................................................................. 16
3.3 System requirements .............................................................................................................. 17
3.4 Design ..................................................................................................................................... 18
4 Functions .............................................................................................................................................. 19
4.1 CANopen ................................................................................................................................ 19
4.1.1 Basic functions ........................................................................................................................ 19
4.1.1.1 Overview ................................................................................................................................. 19
4.1.1.2 Object dictionary ..................................................................................................................... 20
4.1.1.3 Process data objects (PDO) ................................................................................................... 21
4.1.1.4 Service Data Objects (SDO) ................................................................................................... 22
4.1.1.5 EMCY messages .................................................................................................................... 22
4.1.1.6 Heartbeat / Node Guarding ..................................................................................................... 23
4.1.1.7 SYNC messages ..................................................................................................................... 23
4.1.1.8 Data exchange between controller and PN/CAN LINK .......................................................... 24
4.1.1.9 Conversion of data formats between PROFINET and CANopen ........................................... 24
4.1.2 CANopen Manager ................................................................................................................. 25
4.1.2.1 State model ............................................................................................................................. 26
4.1.2.2 Control and status information ................................................................................................ 28
4.1.2.3 Acyclic data exchange between controller and PN/CAN LINK ............................................... 31
4.1.2.4 Monitoring functions ................................................................................................................ 34
4.1.3 CANopen Slave ...................................................................................................................... 35
4.1.3.1 Object dictionary ..................................................................................................................... 36
4.1.3.2 State model ............................................................................................................................. 37
4.1.3.3 Control and status information ................................................................................................ 39
4.1.3.4 Monitoring functions ................................................................................................................ 41
4.1.4 Response to errors ................................................................................................................. 42
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB
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