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CANopen eds Files

The configuration options for a CANopen device are available in eds files (electronic data sheets) in a standard

data format. The data format is specified in CiA DSP 306. A tool is available from the CAN-in-Automation e.V.

user association with which this data format can be checked.

Since it was found that a large number of eds files do not properly observe the standard, Beckhoff have until

now not supported eds files in the system manager. The direct configuration of PDO parameters makes it pos-

sible to adapt to the devices that are to be incorporated, and also to use devices that do not entirely meet the

standard.

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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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