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CD1k_CANopenProtocol_en_2.10.1.1

CD1k_CANopenProtocol_en_2.10.1.1

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Overview: The document is a comprehensive manual for the CANopen Communication Profile of the INFRANOR CD1-k drive, specifically for hardware release version 2.0 and firmware release from version 11.E3. It emphasizes the necessity of consulting the installation and user guides for proper setup and operation. The manual is intended for skilled technicians familiar with electronics and servo systems, adhering to EN 60204-1 standards.

Warnings and Compliance: The manual highlights the importance of reading all instructions before operating the amplifiers. It stresses that maintenance should only be performed by qualified personnel. Compliance with CE standards is contingent upon following the manual's recommendations. The document also addresses WEEE regulations, indicating that INFRANOR products fall under Category 9 for monitoring and control instruments, and outlines the recycling obligations in France through RECYLUM.

Safety Instructions: The manual provides critical safety instructions, including waiting at least 5 minutes after power down before handling amplifiers due to residual voltage risks. It also covers ESD precautions, advising on proper storage and handling to prevent damage from electrostatic discharge.

Communication Profile: The document details the CANopen communication objects, including CAN Telegram, Default COB-ID, Network Management Objects (NMT), Synchronisation Object (SYNC), Process Data Object (PDO), Service Data Object (SDO), and Emergency Object (EMCY). It explains the network initialization and system boot-up processes, including the NMT state machine and initialization procedures.

Object Dictionary: The manual provides an extensive overview of the object dictionary, detailing various objects such as Device Type, Error Register, Manufacturer Device Name, and others. It includes information on Sync Objects, SDO Objects, Emergency Objects, and PDO Objects, with specific parameters and mappings.

Device Profile: The document outlines the PDO mapping for receive and transmit PDOs, common entries in the object dictionary, and device control mechanisms. It describes the drive state machine and specific object dictionary entries related to control words, status words, and operation modes.

Position Sensor Group: The manual briefly mentions the position sensor group, indicating further details on units and configurations.

Specifications: The document outlines the communication profile for CD1-k CANopen, focusing on Process Data Objects (PDOs) and Service Data Objects (SDOs). It specifies that at least 180 ms are necessary for the servo-drive to start synchronization. The document details the structure and parameters of PDOs, including communication parameters and mapping.

Procedures: The initialization procedure involves configuring all device parameters, starting the transmission of SYNC, and setting all nodes to the operational state. The NMT state machine defines the communication status, transitioning through states such as Initialization, Pre-operational, Operational, and Stop.

Standards and Norms: The document adheres to the CANopen communication standards, specifically DS-301 and DSP-402 for device functionality. It describes the object dictionary structure, including device type, error register, and manufacturer information.

Recommendations: For effective communication, the document recommends ensuring the accuracy of the SYNC period to be better than 0.3%. It also advises on the proper configuration of communication cycle periods and synchronous window lengths.

Key Data and Parameters: - PDOs are defined by communication parameters and mapping. - Transmission types include synchronous, asynchronous, and event-driven modes. - Emergency objects consist of an 8-byte telegram with specific error codes. - The object dictionary includes various objects like device type, error register, and manufacturer details.

Limitations: The document specifies that modifications to COB-ID must not occur in the NMT Operational State without a Reset_Communication. It also notes that certain objects cannot be accessed via SDO.

Best Practices: Ensure proper synchronization and configuration of communication parameters to avoid errors. Regularly update the cycle period adjustment limit to maintain synchronization accuracy.

Communication Profile Overview:
Receive PDO Communication Parameters:
1. 1st Receive PDO (RPDO1): COB-ID: Default 200h + Node-ID, Transmission Type: Default 253
2. 2nd Receive PDO (RPDO2): COB-ID: Default 300h + Node-ID, Transmission Type: Default 253
3. 3rd Receive PDO (RPDO3): COB-ID: Default 400h + Node-ID, Transmission Type: Default 1
Receive PDO Mapping:
1. 1st Receive PDO Mapping: Mapped Object: Control Word (60400010h)
2. 2nd Receive PDO Mapping: Mapped Object: Target Velocity (60FF0020h)
3. 3rd Receive PDO Mapping: Mapped Object: Interpolated Data Record (60C10120h)
Transmit PDO Communication Parameters:
1. 1st Transmit PDO (TPDO1): COB-ID: Default 180h + Node-ID, Transmission Type: Default 253
2. 2nd Transmit PDO (TPDO2): COB-ID: Default 280h + Node-ID, Transmission Type: Default 253
3. 3rd Transmit PDO (TPDO3): COB-ID: Default 380h + Node-ID, Transmission Type: Default 1
Transmit PDO Mapping:
1. 1st Transmit PDO Mapping: Mapped Object: Status Word (60410010h)
2. 2nd Transmit PDO Mapping: Mapped Object: Velocity Value (606C0020h)
3. 3rd Transmit PDO Mapping: Mapped Object: Actual Position Value (60640020h)
Device Profile Overview:
PDO Mapping:
1. Receive PDO: Control Word, Target Velocity, Interpolation Data Record, RPDO1 and RPDO2 are acyclic; RPDO3 is cyclic and synchronous.
2. Transmit PDO: Status Word, Velocity Value, Actual Position, TPDO1 and TPDO2 are remotely requested; TPDO3 is cyclic and synchronous.
Common Entries in the Object Dictionary:
1. Motor Type (6402h): PM Synchronous motor
2. Motor Data (6410h): Includes parameters like Motor Id, Number of Motor Pole Pairs, Phase Order, etc.
3. Supported Drive Modes (6502h): Includes Profile Position Mode, Profile Velocity Mode, etc.
4. Drive Manufacturer (6504h): 'Infranor'
5. Drive Data (6510h): Includes Drive Family Code, Drive Voltage, etc.
6. Digital Inputs (60FDh): Includes Negative Limit Switch, Positive Limit Switch, etc.
7. Digital Outputs (60FEh): Includes Physical Outputs and Bitmask.
Device Control: Drive State Machine: Describes the status and control sequence of the drive. Control Word (6040h): Includes functions like Switch On, Disable Voltage, Quick Stop, etc.

Overview: The document provides a detailed technical description of the CD1-k CANopen Communication Profile, focusing on various operational modes, status indicators, and configuration parameters for motor control systems.

1. Status Word (Object 6041h): This section outlines the status word, which indicates the current status of the drive. Key bits include readiness to switch on, operation enabled, fault status, and specific operation modes. The status word can trigger device event transmissions.

2. Quick Stop Option Code (Object 605Ah): Defines actions for quick stop scenarios, such as disabling the drive or slowing down using speed ramps or current limits. The default action is to slow down on the current limit.

3. Mode of Operation (Object 6060h): Describes various operational modes like Profile Position Mode, Profile Velocity Mode, Torque Profile Mode, Homing Mode, and Interpolated Position Mode. The current mode is displayed in Object 6061h.

4. Position Sensor Group: Discusses the configuration of position sensors, including resolver and encoder inputs. It covers the selection and scaling of sensors for motor feedback and secondary sensor applications.

5. Profile Position Mode: Involves a trapezoidal trajectory generator for executing positioning with parameters like target position, profile speed, and acceleration. Key objects include Target Position (607Ah), Max Motor Speed (6080h), and Profile Velocity (6081h).

6. Object Dictionary Entries: Lists various objects with their attributes, data types, and default values. These include parameters for position resolution, encoder input selection, and motor feedback programming.

7. Encoder Configuration: Details the configuration options for different encoder types, including TTL, SIN/COS, and absolute encoders. It also covers encoder pulse interpolation and zero mark pitch settings.

8. Motor Feedback and Scaling: Explains the selection and programming of motor feedback sensors and the scaling factors for secondary sensors, which enhance position resolution.

Conclusion: The document provides comprehensive guidelines for configuring and operating the CD1-k system, emphasizing the importance of precise parameter settings for optimal motor control performance.

Overview: This document provides a detailed technical description of various objects and parameters related to the CANopen communication profile, specifically focusing on motion control and homing functionalities.

1. Specifications:

End Velocity (Object 6081h): Defines the end velocity with a default value of 0 and unit in increments per second (inc/s).
Profile Acceleration (Object 6083h): Specifies the acceleration profile with a default value of 10000h, measured in increments per second squared (inc/s²).
Profile Deceleration (Object 6084h): Similar to acceleration, with the same default value and unit.
Motion Profile Type (Object 6086h): Determines the type of motion profile, either trapezoidal (0) or S-curve (-1), with a default value of 0.

2. Software Position Limit (Object 607Dh):

Defines minimum and maximum position limits for a linear axis, with a range from -231 to 231-1.

3. Position Control:

Position Window (Object 6067h): Sets a range of accepted positions around the target position, defaulting to 0.
Position Modulo (Object 307Fh): Resets the position counter at a specified modulo value, defaulting to 0.

4. Homing Mode:

Homing Offset (Object 607Ch): Defines the position feedback value at the homing position.
Homing Method (Object 6098h): Lists various methods for finding the homing position, with specific methods for different scenarios.
Homing Speeds (Object 6099h): Specifies speeds during the homing process.
Homing Acceleration (Object 609Ah): Sets the acceleration during homing, defaulting to 00010000h.

5. Position Control Function:

Position Actual Value (Objects 6063h and 6064h): Provides the current position value in increments.
Position Loop Deadband (Object 3067h): Introduces a deadband around the position loop setpoint to manage specific applications.
Following Error Window (Object 6065h): Defines the acceptable error range before triggering a fault.

6. Position Control Parameter Set (Object 60FBh):

Includes parameters like Proportional Position Gain, Feedforward Speed Gain, and others to fine-tune position control.

Conclusion: The document outlines the configuration and control parameters for motion and position control in a CANopen communication profile, providing detailed specifications and default values for each object.

Feedforward Terms and Gains
The document discusses feedforward terms used to reduce following errors during motor acceleration and deceleration phases. It specifies the data type as Unsigned16 with a value range of 0 to FFFFh and a default value stored in EEPROM. The feedforward speed gain is a combination of damping speed gain and feedforward friction gain, which helps cancel the load viscous friction effect.

Interpolated Position Mode
This mode is used for coordinated control of multiple axes, requiring trajectory generation by the host controller. The document details the synchronization of cycle times using SYNC messages and describes different interpolation modes: linear, PV cubic, and P3 cubic. Each mode has specific requirements for position and velocity data, with linear interpolation being optimal at very low speeds.

Object Dictionary Entries
The document provides detailed descriptions of various objects related to interpolation and velocity control, including their indices, data types, access permissions, and default values. Key objects include Interpolation Submode Select, Interpolation Data Record, and Interpolation Data Configuration.

Profile Velocity Mode
This mode allows operation with a velocity reference, closing only the speed and current loops. The document lists object dictionary entries for velocity control, including actual and demand values, velocity window and threshold settings, and target velocity. It also describes the ramp function and velocity control parameter set, detailing proportional, integral, and derivative gains.

Profile Torque Mode
In torque mode, the drive operates with current loops without speed or position control. The document outlines object dictionary entries for torque control, including target torque, torque slope, and torque control parameter set. It also describes the filtered current monitor and current monitor filter.

Current Monitor Filter
Index 3078h defines the current monitor filter with a range of 500 to 10,000 micro-seconds and a default value of 4000. It is accessible for read and write operations.

Stepper Emulation Mode
This mode is applicable for motors with a resolver for position feedback. It requires configuration of Pulse and Direction inputs. The mode is activated by setting object 6060 to -1. Key control and status bits include enabling pulse following and indicating pulse following status. Parameters such as motor speed and direction are controlled by input pulses and the Direction input logic state.

Electronic Gearing Mode
This mode synchronizes the servo motor with a master axis using a gearing ratio. It is activated by setting object 6060 to -2. Control and status bits manage motor gearing and offset profiles. Parameters include revolution increments and gearing ratio calculations based on sensor type.

Manufacturer Device Specific
Includes object dictionary entries for error and stop functions, current functions, inputs/outputs, position control, and more. Key objects include Drive Error Code (3020h), Warning Code (3021h), and Fault Reaction Masks (3330h, 3331h) which define error-triggered stops.

Error and Stop Function
Defines various objects for managing errors and stops, such as Drive Error Code, Warning Code, and Fault Reaction Masks. These objects specify conditions under which the motor will stop or slow down, including position limits, temperature warnings, and current limits.

Motor Temperature Sensor Monitor
This section describes the monitoring of motor temperature using a sensor. The threshold for warnings is calculated based on the equivalent resistance of the temperature value. The formula provided helps in determining the resistance, which is crucial for understanding the temperature sensor's specifications.

Current Functions

Current Offset (30D0h): Defines an offset for current output, useful for vertical axes. It is adjustable within a specified range and expressed as a percentage of amplifier rating.
Current Limitation (30D1h): Sets a dynamic limit on current output, adjustable up to the amplifier's maximum current.
Current Monitor (30D4h): Monitors motor current, relying on correct motor position for accuracy.
I²t Monitor (30D5h): Calculates the motor RMS current value over the last 4 seconds, providing a percentage of the amplifier rating.
Voltage Monitor (30E0h): Monitors motor voltage with specific data conversion values for different amplifiers.

Inputs/Outputs

Digital Inputs Bitmask (30FDh): Describes the default functions of digital inputs, which can be repurposed as simple digital inputs.
Analog Inputs: Includes voltage and low-pass filter settings for analog inputs, with specific conversion and compensation procedures.

Position Control Function
This section details the calculation of motor position, including the use of internal raw position and position offsets. It explains how to handle motor shifts when the drive is out of logic supply and provides methods for calculating and adjusting position offsets.

Servo On/Off Timing Function
Defines the timing for enabling or disabling the drive via control words, including delays for servo loop output and motor brake reactions.

Position Capture Function
Describes the ability to capture motor and secondary sensor positions at a high rate using specific logic inputs, with configurations based on sensor feedback.

Capture Input Selection (Object 3389h): This section defines the configuration for capture inputs, allowing selection between CAPTURE and INDEX inputs, and between main and secondary capture sensors. The default value is set to 10h.

Capture Configuration (Object 3380h): This object configures the capture at rising or falling edges for two inputs. The default value is 0.

Capture Status (Object 3381h): This read-only object provides the status of capture events, including edge detection and signal status. It supports PDO mapping.

Capture Time Filter (Object 338Ah): Defines the time interval threshold for validating position capture, with a default value of 375 µs.

Capture Position Filter (Object 3382h): Sets a distance threshold for position capture, ensuring signal stability.

Capture 1 and 2 Position (Objects 3383h and 3384h): These objects return the latched positions for inputs 1 and 2, respectively, based on the capture configuration.

Single Shot Capture Command and Status (Objects 3385h and 3386h): These objects manage and display the status of single shot capture commands for rising and falling edges.

TPDO3 Control (Objects 33A0h and 33A1h): Controls the transmission mode for TPDO3, synchronizing with the SYNC message based on predefined control values.

Phasing Function (Objects 3410h and 3414h): Describes procedures for auto-phasing and motor phasing, requiring specific signatures to execute.

Auto-Tuning Function (Objects 3421h, 3430h, and 3420h): Details the auto-tuning process, including time interval selection, application requirements, and execution procedures with specific signatures.

Encoder Output (Object 3487h): Configures encoder emulation output, including resolution, division ratio, deadband, zero pulse shift, and enabling/disabling output.

Cogging Torque Compensation (Object 3491h): This optional feature compensates for motor cogging torque, requiring specific factory equipment and prior acquisition procedures.

Cogging Torque Compensation
Object Code: VAR
Data Type: Unsigned16
Access: Read/Write
Default Value: EEPROM
Bit 8 controls Cogging Torque Compensation, where 0 disables and 1 enables it.

Cogging Torque Acquisition Procedure
Index: 3492h
Data Type: Unsigned32
Access: Write Only
To execute, write the signature 'coga' to this object.

Digital Cam Configuration
Index: 2500h
Cam Configuration Register with 4 sub-indexes:

Cam Enable Register: Enables corresponding cam.
Cam Polarity Register: Sets cam output polarity.
Cam Type Register: Defines cam type (0 for 1 position, 1 for 2 positions).
Cam Hysteresis Register: Defines cam position hysteresis.

Index: 2501h
Defines positions for each cam, with 20 elements for 10 cams.

Cam Status
Index: 2502h
Data Type: Unsigned16
Access: Read Only
Outputs the status of each cam.

Absolute Encoder Feedback
Index: 3216h
Defines encoder increments per revolution and revolutions for multi-turn encoders.
Index: 3215h
Absolute position reset procedure with signatures 'razp' and 'setp' for resetting and centering.
Index: 3219h
Defines encoder absolute position offset.
Index: 3218h
Defines maximum absolute position value.

SinCos Inputs Calibration
Index: 3496h
SinCos inputs error compensation procedure with signature 'scmp'.

Communication and Object Dictionary
Includes various communication parameters and object dictionary entries for device configuration and operation.

Overview: This document provides a comprehensive guide on the CD1-k CANopen Communication Profile, focusing on the Object Dictionary List and a Quick Start guide for Infranor Servo Drives.

Object Dictionary List:

Device Control: Includes control and status words, mode of operation, and quick stop option code.
Position Sensor Group: Details on polarity, position resolution, encoder input selection, and motor feedback programming.
Profile Position Mode: Covers target position, motor speed, profile velocity, acceleration, and deceleration parameters.
Homing Mode: Describes home offset, homing method, speeds, and acceleration.
Position Control Function: Includes position actual value, following error window, and position control parameter set.
Interpolated Position Mode: Discusses interpolation submode, data record, and configuration.
Profile Velocity Mode: Details velocity sensor values, demand, and control parameters.
Profile Torque Mode: Covers target torque, torque slope, and control parameters.
Manufacturer Specific: Includes cam configuration, drive error codes, and sensor feedback.

Quick Start Guide:

Installation: Involves wiring, powering, and commissioning using VDSetup software. Important to disable CAN bus during setup and store parameters in EEPROM.
Operation: Primarily runs in interpolated position mode. Steps include starting communication (NMT), setting communication parameters (SDO), starting synchronization (SYNC), and data exchange (PDO).
Communication Parameters: Key parameters include communication cycle period and synchronous window length. Adjustments needed for interpolated position mode.
Data Exchange: Involves position demand and current position values. Mapping of PDOs can be modified for other data exchanges.
Servo Control: Controlled via control and status words, accessible through SDO or RPDO1/TPDO.

State Diagram Overview
The document provides a state diagram in section 3.3.1, detailing the sequence to enable a drive (servo on). The sequence involves sending a control word from the controller and receiving a status word from the drive, transitioning through various states: 'Switch On Disabled', 'Ready To Switch On', and 'Operation Enable'.

Drive State Transition
- Switch On Disabled: Control word xx00h, Status word x240h, Drive is disabled.
- Ready To Switch On: Control word xx06h, Status word x221h, Drive is disabled.
- Operation Enable: Control word xx0Fh, Status word x227h, Drive is enabled.
The transition from 'Switch On Disabled' to 'Operation Enable' must pass through 'Ready To Switch On'.

Error Handling
If an error occurs, the drive enters 'Fault Reaction Active' and then 'Fault' state. To exit 'Fault', a rising edge of bit 7 in the control word is required. After resetting the fault, the drive returns to 'Switch On Disabled'.

IP-Mode Activation
In 'Operation Enable', setting bit 4 of the control word activates IP-Mode, confirmed by bit 12 in the status word. The drive then follows the position demand value via RPDO3. A mismatch between position demand and current position when bit 4 is set will cause a following error.

Additional Considerations
Errors trigger an emergency message to the controller. The 'Fault' state is indicated by status word xxxFh, with error details in object 3020h.

Catalog excerpts

CINFRANOR CANopen Communication Profile CANopen Drive

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CD1-k CANopen Communication Profile WARNING ! This is a general manual describing the CANopen Communication Profile of the INFRANOR CD1-k drive (hardware release version 2.0 and firmware release from version 11.E3). For the installation and commissioning of the drive, please refer to the appropriate manuals (CD1-k Installation Guide and CD1k User Guide). Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the amplifiers operational. Maintenance procedures should be attempted only by highly skilled...

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CD1-k – CANopen Communication Profile  Information and sorting instructions regarding INFRANOR Waste category Recyclable waste Recyclable waste Recyclable waste Recyclable waste Electronical boards and components WEEE (Waste Electronic and Electrical Equipment) Dangerous industrial waste Waste management Waste disposal centre / collection point of recyclable waste Waste disposal centre / collection point of recyclable waste Waste disposal centre / metal collection point Waste disposal centre / metal collection point France: http://www.ecosystem.eco/fr/sousrubrique/solutions Abroad: Country-specific...

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CD1-k - CANopen Communication Profile

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CD1-k - CANopen Communication Profile

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CD1-k - CANopen Communication Profile

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CD1-k - CANopen Communication Profile

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CD1-k – CANopen Communication Profile

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CD1-k – CANopen Communication Profile Chapter 1 – Overview 3.13 - REFERENCE CiA DS-201..207 CAN Application Layer for Industrial Applications Version 1.1 Application Layer and Communication Profile Version 4.01 Device Profile: Drive and Motion Control Version 1.1 Controller Area Network CAN in Automation e. V. CAN-Bus international manufacturer and user organisation. CAN Application Layer. The Application layer for CAN as specified by CiA. Communication Object is a CAN message. Data must be sent accross a CAN network inside a COB. COB-Identifier. Each CAN message has a single identifier. There...

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CD1-k - CANopen Communication Profile Device Control: The drive starting and stopping are executed by the state machine. The state machine - handled with a control word and a status word via CAN bus - gives the possibility to control the state of the drive: servo on/off, start/stop movement, fault reset... Operation modes: The operation mode defines the behaviour of the drive : Homing Mode: In this mode, various methods can be used to find a home position. Profile Position Mode: In this mode, a trapezoidal trajectory generator gives the drive the possibility to execute a positioning with pre-set...

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CD1-k - CANopen Communication Profile OINFRANORChapter 2 - Communication Profile2.1 - COMMUNICATION OBJECTS2.1.1 - CAN TELEGRAM SOM SOM : COB-ID RTR : CTRL: Data : CRC : ACK : EOM : Start Of Message COB-Identifier of 11 bits Remote Transmission Request Control field up to 8 bytes Cyclic Redundancy Check 2.1.2 - DEFAULT COB-ID The COB-ID is of 11 bits. Node-ID (bits 0 - 6) is the drive address from 1 to 127. TX = T ransmit from drive to master RX = Receive by drive from master Chapter 2 - Communication Profile

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CD1-k - CANopen Communication Profile OINFRANOR2.1.3 - NETWORK MANAGEMENT OBJECTS (NMT)NMT Protocols NMT Master Node-ID: The Node-ID indicates the address of the CD1-k (defined by switches). If Node_ID = 0, the protocol addresses all NMT slaves. The SYNC object is a broadcast message sent by the master. This message provides a network clock. The period is specified by the communication cycle period (object 1006h). The Infranor servo-drives use this SYNC message to synchronize their clock. At least 180 ms are necessary for the servo-drive to start the synchronisation. Communication cycle Synchronous...

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CD1-k - CANopen Communication Profile OINFRANOR2.1.5 - PROCESS DATA OBJECT (PDO) PDOs are unconfirmed messages used for real-time data exchange. PDOs sent by the master are RPDOs and PDOs sent by the drive are TPDOs. Data in each PDO are defined by a list of objects (PDO mapping). - PDO communication parameters at object 1400h + RPDO_number-1 (for RPDO) or 1800h + TPDO_number-1 (for TPDO) - PDO mapping at object 1600h + RPDO_number-1 (for RPDO) or 1A00h + TPDO_number-1 (for TPDO) - Transmission type The distribution of COB-ID is defined by default (see section 2.1.2). The modification of COB-ID...

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CD1-k – CANopen Communication Profile 2.1.5.2 - PDO Mapping The sub-index 0 of the mapping parameter contains the number of valid entries within the mapping record. This number of entries is also the number of application variables which shall be transmitted/received with the corresponding PDO. The sub-index 1 to number of entries contains the information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length (in bits). Structure of PDO Mapping Entry: Byte : PDO mapping 3 (nb of entries) yyyyh (index) yyh (sub-index) zzzzh zzh xxxxh...

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CD1-k - CANopen Communication Profile OINFRANOR 2.1.7 - EMERGENCY OBJECT (EMCY) The Emergency telegram consists of 8 bytes: Chapter 2 - Communication Profile

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CD1-k – CANopen Communication Profile 2.2 - NETWORK INITIALISATION AND SYSTEM BOOT-UP 2.2.1 - NMT STATE MACHINE The NMT state machine defines the communication status. Power On (1) Pre-operational NMT, SDO, Sync, Emcy (7) (13) Operational NMT, SDO, Sync, Emcy, PDO At Power on, the initialisation state is automatically entered Once the Initialisation over, Pre-Operational is automatically entered Start_Remote_Node indication Enter_Pre-Operational_State indication Stop_Remote_Node indication Reset_Node indication Reset_Communication indication Minimum Boot-Up consists of one CAN telegram : a broadcast...

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CD1-k - CANopen Communication Profile OINFRANOR2.3 - OBJECT DICTIONARY2.3.1 - GENERAL INFORMATION2.3.1.1 - Object 1000h: Device Type This object describes the type of a device. Chapter 2 - Communication Profile

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CD1k_CANopenProtocol_en_2.10.1.1

CD1k_CANopenProtocol_en_2.10.1.1

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