Table Of Contents - Beckhoff FC5101 Documentation

Table of contents

1 Foreword .................................................................................................................................................... 5
1.1 Notes on the documentation.............................................................................................................. 5
1.2 Safety instructions ............................................................................................................................. 6
1.3 Documentation Issue Status.............................................................................................................. 7
2 Product Overview ...................................................................................................................................... 8
2.1 Hardware overview ............................................................................................................................ 8
2.2 Technical data ................................................................................................................................. 10
2.3 CANopen Introduction ..................................................................................................................... 11
3 Fitting and wiring..................................................................................................................................... 13
3.1 Installation ....................................................................................................................................... 13
3.2 CANopen cabling............................................................................................................................. 14
3.2.1 CAN topology................................................................................................................... 14
3.2.2 Bus length........................................................................................................................ 14
3.2.3 Drop lines......................................................................................................................... 15
3.2.4 Star Hub (Multiport Tap) .................................................................................................. 15
3.2.5 CAN cable........................................................................................................................ 15
3.2.6 Shielding .......................................................................................................................... 17
3.2.7 Cable colors..................................................................................................................... 17
3.2.8 BK5151, FC51xx, CX with CAN interface and EL6751: D-sub, 9 pin .............................. 18
3.2.9 BK51x0/BX5100: 5-pin open style connector .................................................................. 19
3.2.10 LC5100: Bus connection via spring-loaded terminals...................................................... 19
3.2.11 Fieldbus Box: M12 CAN socket ....................................................................................... 20
4 Parameterization and Commissioning .................................................................................................. 21
4.1 Configuration: TwinCAT System Manager ...................................................................................... 21
4.2 Beckhoff Bus Coupler ...................................................................................................................... 29
4.3 CANopen node ................................................................................................................................ 31
4.4 Configuration Files........................................................................................................................... 36
5 CANopen Communication ...................................................................................................................... 37
5.1 Network Management ..................................................................................................................... 37
5.2 BootUp of the FC510x ..................................................................................................................... 41
5.3 Process Data Objects (PDO)........................................................................................................... 44
5.4 PDO Parameterization..................................................................................................................... 51
5.5 Service Data Objects (SDO)............................................................................................................ 53
5.6 SDO communication with FC510x................................................................................................... 56
5.7 Baud rate and bit timing................................................................................................................... 60
5.8 Identifier distribution ........................................................................................................................ 61
6 Error handling and diagnostics.............................................................................................................. 62
6.1 LEDs ................................................................................................................................................ 62
6.2 Bus Node Diagnostics ..................................................................................................................... 62
6.3 FC510x Diagnostics ........................................................................................................................ 65
6.4 Error telegrams: Emergency............................................................................................................ 66
6.5 ADS error codes .............................................................................................................................. 67
6.6 CANopen Trouble Shooting............................................................................................................. 71
FC5101 and FC5102 Version: 2.0
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