3.5 Emergency service 40
3.5.1 Error evaluation and handling 40
3.6 Network management services 42
3.6.1 NMT services for device control 42
3.6.2 NMT services for connection monitoring 44
3.6.2.1 Node guarding / Life guarding 44
3.6.2.2 Heartbeat 46
4 Installation 47
5 Commissioning 49
5.1 Commissioning the device 49
5.2 Address and baud rate 49
6 Operation 51
6.1 Indication of the operating state 52
6.2 Changing the operating state 55
6.3 Starting and changing an operating mode 55
6.4 Operating mode Profile Position 57
6.4.1 Example: Profile Position 59
6.4.1.1 Example Node address 1 60
6.5 Operating mode Interpolated Position 61
6.6 Operating mode Homing 64
6.6.1 Example: Homing 64
6.6.1.1 Example Node address 1 66
6.7 Operating mode Profile Velocity 67
6.7.1 Example: Profile Velocity 68
6.7.1.1 Example Node address 1 69
6.8 Operating mode Profile Torque 70
6.8.1 Example: Profile Torque 71
6.8.1.1 Example Node address 1 72
7 Diagnostics and troubleshooting 73
7.1 Error diagnostics via integrated HMI 73
7.2 Error register 75
7.3 Communication Alarm List 76
7.3.1 ErrorCode order by Alarm 77
7.3.2 SDO Abort Codes 79
8 Object dictionary 81
9 Glossary 111
9.1 Units and conversion tables 111
9.1.1 Length 111
9.1.2 Mass 111
9.1.3 Force 111
9.1.4 Power 111
Table of contents LXM23A CANopen
4 Fieldbus protocol for servo drive
0198441113938, V2.00, 10.2011
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