Beckhoff FC5101 Bedienungsanleitung PDF herunterladen (Seite 60)

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Baud rate + Bit Timing

The following baud rates and entries in the bit-timing register are supported by the CANopen devices:

Baud rate [kbaud] BTR0 BTR1 Sampling Point

1000 0x00 0x14 75%

800 0x00 0x16 80%

500 0x00 0x1C 87%

250 0x01 0x1C 87%

125 0x03 0x1C 87%

100 0x04 0x1C 87%

50 0x09 0x1C 87%

20 0x18 0x1C 87%

10 0x31 0x1C 87%

The bit-timing register settings given (BTR0, BTR1) apply, for example, for the Philips 82C200, SJA1000, Intel

80C527, Siemens 80C167 and other CAN controllers. They are optimised for the maximum bus length.

1 2 ... 55 56 57 58 59 60 61 62 63 64 65 ... 94 95

Beckhoff PC Fieldbuscard 1
CANopen PCI Card FC5101 1
Contents 3
7. Bus Trace Function 76 4
8. Appendix 83 4
1. Foreword 5
Safety Instructions 6
Safety Rules 6
State at Delivery 6
Personnel Qualification 6
Version of the Documentation 7
2. Product Overview 8
CANopen Introduction 9
Topology 10
Bus access procedures 10
Certification 10
CAN Terminating Resistor 11
Pin out 11
3. Fitting and wiring 13
CAN topology 14
Bus length 14
Wiring the Bus System 14
Drop lines 15
Star Hub (Multiport Tap) 15
CAN cable 16
Screening 17
FC510x: D-sub, 9 pin 17
System Manager – Features 20
Context menu 21
"FC510x" tab 22
”ADS” tab 25
”Box States” tab 26
Tab ”(Online) DPRAM” 26
Input Diagnosis 26
”SDOs” tab 29
"Diag" tab 29
CANopen Device 30
CANopen PDOs 31
”PDO” tab 32
Context menu: 33
CANopen eds Files 34
5. CANopen Communication 35
State Transitions 36
Boot-up message 36
Node Monitoring 37
Introduction 39
6. Download User Parameters 40
7. Start Node 40
8. SYNC 40
Process Data Objects (PDO) 42
Communication parameters 42
Event driven 44
Polled 44
Synchronised 44
Inhibit time 46
Event Timer 46
PDO Mapping 47
Variable mapping 48
Dummy Mapping 48
PDO Parameterisation 49
Determining the Bus Loading 50
Service Data Objects (SDO) 51
Protocol 51
FC5101: SDO Communication 55
Starting Up 55
ADSREAD / ADSWRITE 56
Example: SDO Read via ADS 56
Example: SDO Write via ADS 58
Baud rate + Bit Timing 60
Identifier Allocation 61
Default identifier 61
LED Behavior 62
FC510x: Bus Node Diagnostics 63
Node State (Box-State) 63
DiagFlag: 64
FC510x Diagnostics 66
General Diag 67
FC510x: Emergency Messages 68
FC510x: ADS Error Codes 69
Trouble Shooting 73
7. Bus Trace Function 76
Monitor Software 78
Starting the Recording 80
Stopping the Recording 80
Trace example: 80
FC510x Monitor ADS Interface 81
Telegram Structure 82
8. Appendix 83
License 92
List of Literature 93
German Books 93
English Books 93
Standards 93
List of Abbreviations 94
Support and Service 95
Beckhoff Support 95
Beckhoff Service 95

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