Parker EME Introduction
192-121102 N04 June 2008 9
6.4 Profibus ................................................................................................ 354
6.4.1. Typical application with fieldbus and IEC61131............................................... 354
6.4.2. Profibus configuration ........................................................................................ 354
6.4.2.1 Configuration of the process-data channel............................................... 355
6.4.2.2 PKW parameter channel........................................................................... 356
6.4.2.3 Error reaction to a bus failure ................................................................... 356
6.4.3. Cyclic process data channel .............................................................................. 356
6.4.3.1 Control and status word............................................................................ 356
6.4.4. Acyclic parameter channel ................................................................................. 357
6.4.4.1 Parameter access with DPV0: Required data channel............................. 357
6.4.4.2 Data formats of the bus objects ................................................................ 363
6.4.5. Simatic S7 -300/400 - modules ........................................................................... 366
6.5 CANopen - Node Settings ................................................................... 367
6.5.1. CANopen - configuration .................................................................................... 367
6.5.1.1 CANopen Operating Mode ....................................................................... 367
6.5.1.2 Error reaction to a bus failure ................................................................... 368
6.5.1.3 Baud rate .................................................................................................. 368
6.5.1.4 Possible PDO assignment ........................................................................ 369
6.5.1.5 Transmission cycle time............................................................................ 369
6.5.2. Supporting IEC modules..................................................................................... 369
6.5.2.1 C3_CANopen_State ................................................................................. 370
6.5.2.2 C3_CANopen_GuardingState .................................................................. 371
6.5.2.3 C3_CANopen_AddNode........................................................................... 372
6.5.2.4 C3_CANopen_ConfigNode....................................................................... 373
6.5.2.5 C3_CANopen_NMT.................................................................................. 374
6.5.2.6 Reading an object in another node (C3_CANopen_SDO_Read4) .......... 375
6.5.2.7 Writing an object in another node (C3_CANopen_SDO_Write4)............. 376
6.5.3. CANopen communication profile....................................................................... 377
6.5.3.1 Object types .............................................................................................. 378
6.5.3.2 Communication objects............................................................................. 378
6.5.4. Acyclic parameter channel ................................................................................. 382
6.5.4.1 Service Data Objects (SDO)..................................................................... 382
6.5.4.2 Object up-/download via RS232 / RS485 ................................................. 384
6.5.4.3 Data formats of the bus objects ................................................................ 384
6.6 DeviceNet ............................................................................................. 385
6.6.1. DeviceNet Configuration..................................................................................... 385
6.6.1.1 Error reaction to a bus failure ................................................................... 385
6.6.2. DeviceNet object classes.................................................................................... 386
6.6.2.1 Overview of the DeviceNet object classes................................................ 387
6.6.2.2 Object classes........................................................................................... 387
6.6.3. Data formats of the bus objects......................................................................... 387
6.7 Ethernet Powerlink .............................................................................. 388
6.7.1. Configuring Ethernet Powerlink / EtherCAT..................................................... 388
6.7.1.1 CN Controlled Node (Slave) ..................................................................... 388
6.7.1.2 Slave with configuration via master .......................................................... 388
6.7.1.3 Error reaction to a bus failure ................................................................... 388
6.7.1.4 Possible PDO assignment ........................................................................ 389
6.8 HEDA Bus............................................................................................. 390
6.8.1. HEDA standard mode.......................................................................................... 391
6.8.1.1 Error reaction to a bus failure ................................................................... 391
6.8.1.2 HEDA-Master............................................................................................ 392
6.8.1.3 HEDA-Slave.............................................................................................. 392
