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Description du protocole HAT 1000 CANopen Safety / HAT 3000 CANopen Safety
Table des matières
1
Introduction .................................................................................................................. 6
2
Fonctions de l'HAT CANopen Safety .......................................................................... 6
3
Les vitesses de communication .................................................................................. 7
4
CAN-Frames ................................................................................................................. 7
5
Node-ID ......................................................................................................................... 7
6
Service de transfert ...................................................................................................... 7
6.1 Service Data Object (SDO) ......................................................................................... 7
6.2 Process Data Object (PDO) ........................................................................................ 8
6.3 Synchronisation Object (SYNC) .................................................................................. 9
6.4 Safety Relevant Data Object (SRDO) ......................................................................... 9
6.5 Emergency Object (EMCY) ........................................................................................11
6.6 Heartbeat ...................................................................................................................11
6.7 Network Management Services (NMT) ......................................................................12
6.8 Boot Up Protocol ........................................................................................................12
7
Flux de données dans le HAT CANopen Safety ........................................................13
7.1 Sensor Unit ................................................................................................................13
7.2 Calibration & Scaling .................................................................................................13
7.3 Transmission Unit ......................................................................................................13
8
L'Object Dictionary ......................................................................................................14
8.1 Structure de l'Object Dictionary ..................................................................................14
8.2 Structure de la pièce spécifique d'après DS406 .........................................................14
9
Entrées dans l'Object Dictionary ................................................................................15
9.1 Communication Profile Specific Entries (DS301) .......................................................15
9.1.1 Index 1000h : DeviceType (read only) ................................................................ 15
9.1.2 Index 1001h : ErrorRegister (read only) .............................................................. 15
9.1.3 Index 1002h: Manufacturer status register (read only) ........................................ 15
9.1.4 Index 1003h: Pre-defined error field (read only) .................................................. 15
9.1.5 Index 1005h: SyncMessageIdentifier (read write) ............................................... 15
9.1.6 Index 1008h : ManufacturerDeviceName (const) ................................................ 15
9.1.7 Index 1009h : ManufacturerHardwareVersion (const) ......................................... 15
9.1.8 Index 100Ah : ManufacturerSoftwareVersion (const) .......................................... 15
9.1.9 Index 1010h : StoreParameters .......................................................................... 15
9.1.10 Index 1011h: RestoreDefaultParameters ............................................................ 16
9.1.11 Index 1014h: CobIdEmergencyMessage (read write) ......................................... 16
9.1.12 Index 1017h: ProducerHeartbeatTime (read write) ............................................. 16
9.1.13 Index 1018h: IdentityObject ................................................................................ 17
9.1.14 Index 1029h: Error behaviour ............................................................................. 17
9.1.15 Index 1301h: SRDO communication parameter .................................................. 17
Edition: 25/02/2022
HYDAC ELECTRONIC GMBH
Page 2
Mat.-Nr.: 669985
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