Appendix - Bus Master Configuration; Electronic Data Sheet (Eds); Operating Behavior; Start-Up Behavior - Aventics CANopen VS CL03 Série Mode D'emploi

AVENTICS | CANopen | R402003660–BAL–001–AE 97
Appendix – bus master configuration
13 Appendix – bus master
configuration

13.1 Electronic Data Sheet (EDS)

The EDS Electronic Data Sheet is an ASCII file specified by CiA
that describes the objects and performance data of a bus
coupler. The file BDC-B-CO_32.EDS is available for the bus
coupler. The EDS file can be downloaded from the Internet at
(www.aventics.com/mediadirectory).

13.2 Operating behavior

The behavior of the bus connection depends on the CANopen
characteristics.
CAN frames have a maximum data capacity of 8 bytes. When
using the standards for CiA DS-301 (Master/Slave Connection
Set) 4 channels to send PDOs (Process Data Objects) and 4
channels to receive PDOs can be defined per CAN node.
Since the bus switch takes 4 bytes for outputs, 1 receiving PDO
is sufficient.
Furthermore, one SDO channel (Service Data Object) in the
transmission and receiving directions is available per CAN node.
13.2.1

Start-up behavior

Behavior after power on After the assembly has been switched on (connecting the 24 V
electronics supply), the hardware components are tested.
If the start-up test has been successfully completed and bus
voltage is available, the CAN controller is initialized according to
the settings of the rotary and DIP switches.
The assembly module is in the "Preoperational" condition after
being successfully initialized. It can then be set to the
"Operational" condition by the CAN master with an "NMT START"