Table Of Contents - HMS CM CANopen User Manual

Table of Contents

Preface About This Document
How To Use This Document ................................................................................................................ 1
Related Documents.................................................................................................................................. 1
Document History ................................................................................................................................... 1
Conventions & Terminology.................................................................................................................. 2
Glossary ..................................................................................................................................................... 2
Support ...................................................................................................................................................... 2
Chapter 1 Product Overview
Introduction .............................................................................................................................................. 3
Features...................................................................................................................................................... 4
Chapter 2 CANopen Fieldbus Functionality
Supported Fieldbus Services................................................................................................................... 5
Chapter 3 Transparent CAN Mode
Chapter 4 Installation
Mounting ................................................................................................................................................... 7
Status LEDs .............................................................................................................................................. 8
Maximum Cable Lengths ........................................................................................................................ 8
Line Termination...................................................................................................................................... 9
Chapter 5 Configuration
General..................................................................................................................................................... 10
SIMATIC S7-1200 PLC Configuration .............................................................................................. 10
CANopen Network Configuration ..................................................................................................... 12
Configuration Files................................................................................................................................. 12
Configuration Example ......................................................................................................................... 12
Chapter 6 CANopen Module Specification
NMT State Machine............................................................................................................................... 19
Data Exchange........................................................................................................................................ 21
Error Control.......................................................................................................................................... 23
PDO Functionality........................................................................................................................ 21
Heartbeat Mechanism .................................................................................................................... 23
Node Guarding.............................................................................................................................. 24
Emergency Object (EMCY)........................................................................................................... 24
Diagnostics .................................................................................................................................... 25
Table of Contents