Índice
Prefacio ..................................................................................................................................................... 3
1
Introducción ............................................................................................................................................. 13
1.1
Conocimientos previos.................................................................................................................13
1.2
1.3
Lista de objetos CANopen ...........................................................................................................15
1.4
1.4.1
1.4.2
Objetos libres ...............................................................................................................................21
1.5
Número de PDO definibles ..........................................................................................................22
1.6
1.7
Mapeado PDO .............................................................................................................................25
1.8
COB-ID.........................................................................................................................................26
1.9
Servicios SDO..............................................................................................................................27
1.10
Servicios PDO..............................................................................................................................31
1.11
1.12
Protocolo de arranque .................................................................................................................35
1.13
1.14
1.15
Monitorización de fallos ...............................................................................................................41
1.16
1.17
1.18
2
2.1
2.2
CBC10 para bus CAN..................................................................................................................51
2.2.1
Montaje de CBC10.......................................................................................................................53
2.2.2
Funcionalidad CANopen ..............................................................................................................53
2.2.3
2.3
2.3.1
Interfaz CANopen
Manual de puesta en marcha, IH2, 01/2013, 6SL3097-4AA00-0EP0
9