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1
Beckhoff FC5102 manual available for free PDF download: Documentation
Beckhoff FC5102 Documentation (100 pages)
PCI Cards for CANopen
Brand:
Beckhoff
| Category:
PCI Card
| Size: 2.22 MB
Table of Contents
Table of Contents
3
1 Foreword
5
Notes on the Documentation
5
Safety Instructions
6
Documentation Issue Status
7
2 Product Overview
8
Hardware Overview
8
Fig. 1 FC5102
8
Fig. 2 FC5102 Panel
9
Technical Data
10
Fig. 3 Fc510X
10
Canopen Introduction
11
Fig. 4 Canopenlogo
11
Fig. 5 Canopen Device Model
11
3 Fitting and Wiring
13
Installation
13
Fig. 6 DIP Switch on = Terminating Resistor Connected
13
Canopen Cabling
14
CAN Topology
14
Bus Length
14
Fig. 7 Termination of the Bus with a 120 Ohm Termination Resistor
14
Fig. 8 Insensitivity to Incoming Interference
14
Drop Lines
15
Star Hub (Multiport Tap)
15
CAN Cable
15
Fig. 9 Sample Topology of Drop Lines
15
Fig. 10 Structure of CAN Cable ZB5100
16
Shielding
17
Cable Colors
17
Fig. 11 Structure of Can/Devicenet Cable ZB5200
17
BK5151, Fc51Xx, CX with CAN Interface and EL6751: D-Sub, 9 Pin
18
Fig. 12 BK5151, EL6751 Pin Assignment
18
Fig. 13 Fc51X2
18
Bk51X0/Bx5100: 5-Pin Open Style Connector
19
LC5100: Bus Connection Via Spring-Loaded Terminals
19
Fig. 14 Bk51X0/Bx5100 Socket Assignment
19
Fieldbus Box: M12 CAN Socket
20
Fig. 15 LC5100
20
Fig. 16 Pin Assignment: M12 Plug, Fieldbus Box
20
4 Parameterization and Commissioning
21
Configuration: Twincat System Manager
21
Fig. 17 Twincat System Manager
21
Fig. 18 Context Menu
22
Fig. 19 Fc510X Tab
23
Fig. 20 Synchronization Mode
24
Fig. 21 Synchronization Mode: Slave (Sync Master: Balanced PC Clock)
25
Fig. 22 Synchronization Mode: Master
25
Fig. 23 Example
26
Fig. 24 Box States Tab
27
Fig. 25 Fc510X - Diagnostic Variables
28
Beckhoff Bus Coupler
29
Fig. 26 Bk51X0/IX-B510 Tab
29
Fig. 27 Sdos Tab
30
Canopen Node
31
Fig. 28 CAN Node Tab
31
Fig. 29 PDO Tab
33
Fig. 30 Tree Representation
34
Fig. 31 Context Menu
35
Fig. 32 Sdos Tab
35
Configuration Files
36
5 Canopen Communication
37
Network Management
37
Fig. 33 Canopen Bootup State Diagram
37
Fig. 34 Schematic Diagram: "Guarding Procedure
39
Bootup of the Fc510X
41
Fig. 35 Schematic Diagram: "Heartbeat Procedure
41
Process Data Objects (PDO)
44
Fig. 36 Default Identifier Allocation: Master/Slave
45
Fig. 37 PDO Linking: Peer to Peer
45
Fig. 38 Diagram: CAN Process Data Transmission
46
Fig. 39 Diagram: CAN "SYNC" Telegram
47
Fig. 40 Timing Diagram: "Inhibit Time
48
Fig. 41 Time Representation of the Event Timer
49
Fig. 42 Mapping Representation
50
PDO Parameterization
51
Service Data Objects (SDO)
53
Fig. 43 SDO Protocol: Access to the Object Directory
53
SDO Communication with Fc510X
56
Fig. 44 Edit SDO Entry
56
Baud Rate and Bit Timing
60
Identifier Distribution
61
6 Error Handling and Diagnostics
62
Leds
62
Bus Node Diagnostics
62
Fc510X Diagnostics
65
Error Telegrams: Emergency
66
ADS Error Codes
67
Canopen Trouble Shooting
71
7 Bus Trace Function
74
Fc510X as Bus Monitor
74
8 Appendix
80
CAN Identifier List
80
Approvals
95
Bibliography
95
List of Abbreviations
96
Support and Service
98
List of Illustrations
99
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