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Faulhaber MC 5010 Communications Manual
Also see for MC 5004: Programming manualCommunications manualTechnical manual
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Contents
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4th edition, 9-11-2018 7000.05050, 4th edition, 9-11-20187000.05050CANopen protocol description153.2 Communication servicesFig. 4: Communication services of the Motion ControllerThe communication part contains communication services as specified in CiA 301.Tab. 2: Communication services to CiA 301Communications profileFAULHABER Motion Controllers support the CANopen communications profile toCiA 301 V4: 4 transmission PDOs 4 receipt PDOs 1 server SDO Emergency object NMT with node guarding and heartbeat SYNC objectCommunication services DescriptionNMT (Network Management) Activates nodes and monitors the current status of a node (see chap. 3.8, p. 27).SDO (Service Data Object) The CANopen master uses the SDO to access parameters within a node. EachSDO access reads or writes exactly one parameter. An SDO can only address onenode in a network (see chap. 3.5, p. 21).PDO (Process Data Object) The PDO is used to access real-time data. A PDO can use a CAN message toaccess multiple drive parameters concurrently. The parameters sent or receivedin a PDO can be freely configured (see chap. 3.4, p. 17).SYNC object SYNC objects are used to synchronise different applications on the CAN-BUS(see chap. 3.7, p. 26).EMCY (Emergency Object) An emergency message is used to inform the CANopen master about errors. ACAN message conveys the error code asynchronously so that the status of theCANopen slave need not be interrogated after an error (see chap. 3.6, p. 24).Communication ApplicationMotorCANn , Pos∗ ∗Motor ControlControl WordStatus Wordn, PosEMCYPDO1 … PDO4SDOCiA 301 CANopenStatemachineNMTGuardingCAN BusError Handling Object Dictionary CiA 402 DriveStatemachine |
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