SIMATIC PN/CAN LINK
Operating Instructions, 03/2017, A5E39895388-AA
5
1 Introduction ............................................................................................................................................. 9
1.1 Preface ...................................................................................................................................... 9
1.2 Documentation guide .............................................................................................................. 10
2 Safety instructions ................................................................................................................................. 11
2.1 Safety instructions ................................................................................................................... 11
2.2 Security information ................................................................................................................ 13
3 System overview ................................................................................................................................... 15
3.1 Field of application .................................................................................................................. 15
3.2 System configuration .............................................................................................................. 18
3.3 System requirements .............................................................................................................. 19
3.4 Design ..................................................................................................................................... 20
4 Functions .............................................................................................................................................. 21
4.1 CANopen ................................................................................................................................ 21
4.1.1 Basic functions ........................................................................................................................ 21
4.1.1.1 Overview ................................................................................................................................. 21
4.1.1.2 Object dictionary ..................................................................................................................... 22
4.1.1.3 Process data objects (PDO) ................................................................................................... 23
4.1.1.4 Service Data Objects (SDO) ................................................................................................... 24
4.1.1.5 EMCY messages .................................................................................................................... 24
4.1.1.6 Heartbeat / Node Guarding ..................................................................................................... 25
4.1.1.7 SYNC messages ..................................................................................................................... 25
4.1.1.8 Data exchange between controller and PN/CAN LINK .......................................................... 26
4.1.1.9 Conversion of data formats between PROFINET and CANopen ........................................... 27
4.1.2 CANopen Manager ................................................................................................................. 28
4.1.2.1 State model ............................................................................................................................. 28
4.1.2.2 Control and status information ................................................................................................ 31
4.1.2.3 Acyclic data exchange between controller and PN/CAN LINK ............................................... 34
4.1.2.4 Monitoring functions ................................................................................................................ 37
4.1.3 CANopen Slave ...................................................................................................................... 38
4.1.3.1 Object dictionary ..................................................................................................................... 38
4.1.3.2 State model ............................................................................................................................. 40
4.1.3.3 Control and status information ................................................................................................ 42
4.1.3.4 Monitoring functions ................................................................................................................ 45
4.1.4 Response to errors ................................................................................................................. 45
4.2 CAN transparent ..................................................................................................................... 47
4.2.1 Overview .................................................................................................................................
47
4.2.2 State model ............................................................................................................................. 47
4.2.3 CAN messages ....................................................................................................................... 48
4.2.4 Control and status information ................................................................................................ 49
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