Baumuller b Maxx Series Operating Handbook
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Baumuller b Maxx Series Operating Handbook

Baumuller b Maxx Series Operating Handbook

For powerlink bm4-o-plk-01
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Application Manual
English
Language
Translation
Document No. 5.13013.04
Part No.
445132
Status
14-Jan-2018
E
5.13013.04
Read the Operating Handbook before starting any work!
b maXX
POWERLINK
BM4-O-PLK-01
POWERLINK
Controlled Node
BM4400, BM4400 ES
BM4600, BM4600 ES
BM4700, BM4700 ES

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  • Page 1 Application Manual English Language Translation Document No. 5.13013.04 Part No. 445132 Status 14-Jan-2018 b maXX POWERLINK BM4-O-PLK-01 POWERLINK Controlled Node BM4400, BM4400 ES BM4600, BM4600 ES BM4700, BM4700 ES Read the Operating Handbook before starting any work! 5.13013.04...
  • Page 2 Copyright This Application Manual may be copied by the owner in any quantity, but only for internal use. This Application Manual may not be copied or reproduced, in whole or in part, for any other purposes. The use and disclosure of information contained in this Application Manual are not permitted. Designations and company marks contained in this Application Manual could be trademarks, the use of which by third parties for their own purposes could violate the rights of the rights holder.

  • Page 3: Table Of Contents

    Table of contents Introduction ............. . General information .
  • Page 4 Table of contents Configuration Example with B&R X20 PLC ........41 Appendix A - Abbreviations .

  • Page 5: Introduction

    NTRODUCTION ® The application manual is an important part of the b maXX 4400 (ES) device. Therefore this manual must be read completely, before starting any operation, last but not least on behalf of the own security. This manual describes how the company Baumüller Nürnberg GmbH implemented the option module POWERLINK Controlled Node for the series b ®...

  • Page 6: Mounting And Installation

    Mounting and installation Mounting and installation The mounting of the option module POWERLINK Controlled Nodeis described in the in- struction manual POWERLINK Controlled Node5.12072. Address Setting The address setting and baud rate of the POWERLINK Controlled Node are described in the instruction manual POWERLINK Controlled Node 5.12072. XDD file The XDD file is a XML file and is for the description of the function range of a POWERLINK device.

  • Page 7: Fundamental Safety Instructions

    UNDAMENTAL SAFETY INSTRUCTIONS In this chapter the dangers are prescribed, which can arise during parameterization of the Baumüller b maXX 4000 controller unit and the meaning of the information sign is ex- plained. Safety notes and mandatories WARNING! Danger from modification of the parameter settings! The change of parameters affects the behavior of the Baumüller-unit and conse- quently the behavior of the construction and its components.
  • Page 8 Information sign Application Manual POWERLINK Controlled Node Document no. 5.13013.04 Baumüller Nürnberg GmbH of 80...

  • Page 9: Basics Powerlink

    POWERLINK ASICS Literature concerning POWERLINK On behalf of basic information with reference to POWERLINK the following literature is recommended: m [1]  Ethernet POWERLINK Communication Profile Specification  EPSG Draft Standard 301  Ethernet POWERLINK Standardization Group (EPSG) m [2]  Ethernet POWERLINK XML Device Description ...

  • Page 10: Basic Principles Powerlink

    Basic principles POWERLINK Basic principles POWERLINK POWERLINK Version 2 (Ethernet type 0x88ab) is a published fieldbus system on the ba- sis of real-time Ethernet, that integrates the mechanisms of CANopen completely. Twisted pair cables (100Base-TX) serve as physical basis. Net work POWERLINK enables users to choose any topology.
  • Page 11 Basics POWERLINK Ethernet frame The Ethernet frame consists of a header and the data payload. The header consists of the destination and the source MAC address as well as of the Ethertype field that contains some control information. The Ethernet payload field, including the POWERLINK frame, contains at least 46 and up to 1500 bytes.
  • Page 12 Basic principles POWERLINK PReq PReq PReq PRes PRes ASnd PRes Device profile POWERLINK supports the CANopen device profiles. These profiles describe application- specific and device-specific definitions, meaning of the data with regard to contents and device functionality. Amongst others, there are device profiles for drives, I/O modules, en- coders or programmable devices.

  • Page 13: Supported Operation Modes Of The Canopen Device Profile Dsp402

    Basics POWERLINK Supported operation modes of the CANopen device profile DSP402 3.3.1 Short summery The following operation modes are supported, i.e. all prescribed objects can be found on the option module . Device Control optional objects completely available Homing Mode optional objects completely available Profile Position Mode optional objects not available completely...

  • Page 14: Operating Modes And Field Bus Objects

    Supported operation modes of the CANopen device profile DSP402 3.3.2 Operating modes and field bus objects Operating modes Device Control All prescribed and all optional objects are supported. Field bus object mandatory/ Field bus object name number optional 0x6040 mandatory controlword 0x6041 mandatory...
  • Page 15 Basics POWERLINK Field bus object mandatory/ Field bus object name number optional 0x6084 mandatory profile_deceleration 0x6085 optional quick_stop_deceleration 0x6086 mandatory motion_profile _type Position Control Function All prescribed and partly all optional objects are supported. Field bus object mandatory/ Field bus object name number optional 0x6062...
  • Page 16 Supported operation modes of the CANopen device profile DSP402 Factor Group (Group of user units) No prescribed objects available, optional objects are supported partly Field bus object mandatory/ Field bus object name number optional 0x608F SIX 0 = 2 optional position_encoder_resolution 0x6090 SIX 0 = 2 optional...

  • Page 17: Communication To The B Maxx 4000 Controller

    OMMUNICATION TO THE b maXX 4000 CONTROLLER In this chapter the data communication between the POWERLINK Controlled Node and the b maXX 4000 device is described. Communication flow The POWERLINK Controlled Nodemodule exchanges via a Dual-Port-RAM in the FPGA data with the b maXX 4000 controller. This data exchange is made with a defined time pattern via the BACI interface (Baumüller bus).

  • Page 18: Parameterizing The Baci Communication Times

    Parameterizing the BACI communication times Parameterizing the BACI communication times Between the POWERLINK Controlled Nodeand the b maXX 4000 controller 8 set val- ues and 8 actual values can be exchanged as process data in a communication cycle. Which set values and actual values are exchanged is specified in the mapping objects on ZData Exchange and Parameterization–...

  • Page 19: Configuration Possibilities Of The Powerlink Controlled Node In Prodrive

    Communication to the b maXX 4000 controller Configuration possibilities of the POWERLINK Controlled Node in ProDrive. ProDrive „option module G/H - configuration 1" (P0830 / P0840). Depending on the slot the POWERLINK option card is plugged in. NOTE! Settings result in a modified behavior! 4.3.1 Changing the units of some fieldbus objects Bit 2...

  • Page 20: Gear Factor

    Configuration possibilities of the POWERLINK Controlled Node in ProDrive. 4.3.5 Gear factor Bit 12 0 No gear.factor 1 Gear factor from controller parameter (numerator P3314, denominator P3315)  The following objects are concerned: 0x604C SIX 1, 0x604C SIX 2 ® 4.3.6 Factor Group according to CiA ®...

  • Page 21: Calculation On The Basis Of The Factor Group

    Communication to the b maXX 4000 controller Position encoder resolution 0x608F Operation mode P1000 Relative positioning control targe position 0 P0607 Target position 0x607A Position set value for interpolation P0369 else Position encoder resolution 0x608F Position actual value 0x6064 Position actual value P0362 Position encoder resolution 0x608F Position window 0x6067...

  • Page 22: General Notes According Powerlink Controlled Node

    General notes according POWERLINK Controlled Node General notes according POWERLINK Controlled Node NOTE! Changes, which are executed via ProDrive, are not automatically updated on the POWERLINK Controlled Node. The access on the controller should be done with field bus objects via POWERLINK, if possible. Changes via ProDrive at the switching over between relative and absolute positioning modes are not noticed on the POWERLINK Controlled Node during the positioning operation.

  • Page 23: User Units Uu

    Communication to the b maXX 4000 controller 4.4.1 User units UU The user units can be entered via ProDrive under „Scaling“. Save in the data set in order to save the user units even after a switching off. If the desired user units have been set, they should be preserved even after subsequent updates of the controller.

  • Page 24: Canopen Offset

    General notes according POWERLINK Controlled Node NOTE! The calculation of the user units is very time-consuming and should not be effected in cyclic operation (position and synchronization). If the user units are set to 1:1, the calculation of the UU is not applicable. The UU have an effect on the following fieldbus objects: 0x6062, 0x6063, 0x6064, 0x6067, 0x607A, 0x607C, 0x607D SIX1, 0x607D SIX2, 0x6081, 0x6083, 0x6084, 0x6085, 0x6099 SIX 1, 0x6099 SIX 2, 0x609A...

  • Page 25: Types Of Positioning, Depending On The Positioning Mode (P0601)

    Communication to the b maXX 4000 controller 4.4.4 Types of positioning, depending on the positioning mode (P0601) NOTE! Make sure that also the positioning data set 0 is set in ProDrive under positioning 0, otherwise the positioning will not be effected correctly in POWERLINK. The switching between the positioning modes „relative“, „negative/positive“...
  • Page 26 General notes according POWERLINK Controlled Node Application Manual POWERLINK Controlled Node Document no. 5.13013.04 Baumüller Nürnberg GmbH of 80...

  • Page 27: Data Exchange And Parameterization

    XCHANGE AND ARAMETERIZATION The access to data or parameter is made at POWERLINK via CANopen objects. Accordant to profile structure it is differed between objects for communication control (in- dices 0x1XXX) and user- or device-specific objects. The latter are divided into objects ac- cording to profile DSP 402 (indices 0x6XXX) and manufacturer-specific objects (indices 0x4XXX.

  • Page 28: Directory Of Objects For Communication Control

    Directory of objects for communication control Directory of objects for communication control In this section all objects of the communication-specific area of the object directory are to be found, which are supported by the Baumüller POWERLINK Controlled Node in ac- cordance with EPSG DS301.
  • Page 29 Data Exchange and Parameterization Name Index Subindex Data type Default value NMT_IdentityObject_REC 0x1018 0x00 UINT8 0x04 VendorID_U32 0x01 UINT32 0x0000015A ProductCode_U32 0x02 UINT32 0x00010000 RevisionNo_U32 0x03 UINT32 0x00010000 SerialNo_U32 0x04 UINT32 0x00000000 In this object there is information about the device. RevisionNo_U32 contains the current version of firmware e.
  • Page 30 Directory of objects for communication control Name Index Subindex Data type Default value PDO_RxCommParam_00h_REC 0x1400 0x00 UINT8 0x02 Node_ID_U8 0x01 UINT8 0x00 MappingVersion_U8 0x02 UINT8 0x00 This object contains information on the receive PDO. Name Index Subindex Data type Default value PDO_RxMappParam_00h_REC 0x1600 0x00...

  • Page 31: Net Work Management (Nmt)

    Data Exchange and Parameterization Net work management (NMT) Commands of the network management serve mainly the control of the communication states in POWERLINK net. The state diagram of the communication of the POWERLINK Controlled Nodeis illustrat- ed here: Figure 2: State diagram POWERLINK Controlled Node Application Manual POWERLINK Controlled Node Document no.

  • Page 32: Service Data (Sdo)

    Service data (SDO) State Description NMT_CS_NOT_ACIVE Transient state for starting the CN and for identify- ing in the network NMT_CS_PRE_OPERATIONAL_1 Identification of the node by the MN via IdentRe- quest NMT_CS_PRE_OPERATIONAL_2 PDO configuration by the MN; configuration examination NMT_CS_READY_TO_OPERATE Signalizing the service readiness to the MN;  Starting the PDO communication NMT_CS_OPERATIONAL Normal operating state of the CN;...

  • Page 33: Frame Structure Soa

    Data Exchange and Parameterization 5.3.1 Frame structure SoA The structure of the Start of Asynchronous (SoA) frame is as follows: Bit offset Byte offset Message Type = SoA (0x05) Destination = Broadcast address (0xFF) Source = Node ID of the MN (0xF0) NMTStatus EA/res ER/res...

  • Page 34: Frame Structure Asnd

    Service data (SDO) 5.3.2 Frame structure ASnd The structure of the asynchronous Send (ASnd) frame is as follows:  Bit offset Byte offset Message Type = ASnd (0x06) Destination (Node ID of the addressed nodes) Source (Node ID of the transmitting node) Service ID (see the following table) 4 ..
  • Page 35 Data Exchange and Parameterization Abort code Description 0x05040000 SDO protocol timed out. 0x05040001 Unknown command ID 0x05040002 Invalid block size 0x05040003 Invalid sequence number 0x05040005 Out of memory 0x06010000 Unsupported access to an object 0x06010001 Attempt to read a write-only object 0x06010002 Attempt to write a read-only object 0x06020000 Object does not exist in the object dictionary 0x06040041 Object cannot be mapped to the PDO.

  • Page 36: Synchronization (Sync)

    Synchronization (SYNC) Synchronization (SYNC) The Start of Cycle (SoC) frame is used for synchronizing the CNs. This frame is uncon- firmed (multicast) and is sent by the MN. It does not contain any data. The POWERLINK Controlled Node is able to receive SoC frames. The receipt of a SoC frame generates an interrupt on the POWERLINK Controlled Node;...

  • Page 37: Process Data (Pdo)

    Data Exchange and Parameterization Process data (PDO) Process data objects are unconfirmed frames that are optimized for the exchange of data with real-time requirements. There are two kinds of PDOs, differing in the direction of the data transmission from the perspective of the device. The POWERLINK Controlled Node for b maXX 4000 controllers supports a transmit PDO (TPDO) as well as a receive PDO (RPDO).

  • Page 38: Pdo Mapping

    Process data (PDO) The structure of the PollResponse (PRes) frame is as follows: Bit offset Byte offset Message Type = PRes (0x04) Destination = Broadcast Address (0xFF) Source = Node ID of the CN NMT status PDOVersion reserved 8 ... 9 Size (Size of the process data in byte) 10 ...
  • Page 39 Data Exchange and Parameterization NOTE! The mapping cannot be changed in state NMT_CS_OPERATIONAL. A new map- ping will be activated only after transition to NMT_CS_READY_TO_OPERATE. A maximum of 1490 bytes are provided by the PReq respectively the PRes data frame for the payload data transmission.
  • Page 40 Process data (PDO) Actual values The permitted cyclic actual values are marked in a table in column „PDO mapping“ as ZB.2 6000 object numbers (device profile DSP 402)– „TX“, see table from page 48. The manufacturer-specific parameters (four thousands objects) must be checked up in the pa- rameter manual b maXX 4000 (5.03039), chapter 7.1.4 attributes.

  • Page 41: Configuration Example With B&R X20 Plc

    ONFIGURATION XAMPLE WITH B&R X20 PLC The following chapter describes the configuration of the POWERLINK Controlled Node for b maXX 4000 controller with a B&R X20 PLC by means of Automation Studio (V3.0.90.22). To integrate the POWERLINK Controlled Node for b maXX 4000, the XDD-file must be imported into the Automation Studio Project.

  • Page 42: Configuration - Physical View - Open Powerlink

    Now the option module can be inserted into the POWERLINK interface of the PLC under  Physical View Open POWERLINK: Figure 4: Configuration - Physical View - open POWERLINK The option module is displayed as b maXX 4400 Powerlink controlled node under POWERLINK devices.

  • Page 43: Configuration - Select Controller Module

    Configuration Example with B&R X20 PLC Figure 5: Configuration - Select controller module Following a successful import, the option module appears in the Automation Studio Phys- ical View. Figure 6: Configuration - option module in Physical View Application Manual POWERLINK Controlled Node Document no.
  • Page 44 Application Manual POWERLINK Controlled Node Document no. 5.13013.04 Baumüller Nürnberg GmbH of 80...

  • Page 45: Appendixa - Abbreviations

    A - A PPENDIX BBREVIATIONS BACI Baumüller drives serial interface Collision Detection Controlled Node CSMA Carrier Sense Multiple Access Draft Standard Proposal Field bus object Ident number Media Access Control Managed Node Net work management Personal Computer Process Data Object Service Data Object Subindex Storage-programmable logic controller...
  • Page 46 Application Manual POWERLINK Controlled Node Document no. 5.13013.04 Baumüller Nürnberg GmbH of 80...

  • Page 47: Appendix B - Quick Reference

    B - Q PPENDIX UICK REFERENCE The following quick reference shows the connection between CANopen object numbers and the b maXX 4000 controller parameter numbers (see parameter manual b maXX 4000 5.03039). 4000 object numbers (manufacturer-specific objects) Manufacturer-specific objects result from  0x4000 + parameter number (hex).

  • Page 48: 6000 Object Numbers (Device Profile Dsp 402)

    6000 object numbers (device profile DSP 402) 6000 object numbers (device profile DSP 402) It is possible to access some parameters of the controller via 4000-objects as well as via one or several 6000s. There are only a few parameters, that can exclusively be accessed by means of a 6000 param- eter (0x606A).
  • Page 49 Quick reference CANopen object number Operating mode acc. to DSP 402 Index Sub index 0x6061 0x00 P0304 Device control 0x6062 0x00 P0463 Position control function 0x6063 0x00 P0362 Position control function 0x6064 0x00 P0462 Position control function 0x6066 0x00 P1056 Position control function 0x6067 0x00...
  • Page 50 6000 object numbers (device profile DSP 402) CANopen object number Operating mode acc. to DSP 402 Index Sub index 0x6099 0x02 P1202 TX / RX Homing mode 0x609A 0x00 P1203 TX / RX Homing mode 0x60F8 0x00 P1054 TX / RX Profile velocity mode 0x60FB 0x01...
  • Page 51 Quick reference CANopen object number Operating mode acc. to DSP 402 Index Sub index 0x60FB 0x1C P0344 Position control function 0x60FB 0x1D P1040 TX/RX Position control functionn 0x60FD 0x00 P0461 Common entries 0x60FF 0x00 P1179 TX / RX Profile velocity mode 0x6510 0x01 P0001...
  • Page 52 6000 object numbers (device profile DSP 402) Application Manual POWERLINK Controlled Node Document no. 5.13013.04 Baumüller Nürnberg GmbH of 80...

  • Page 53: Appendix C - Conversion Tables

    C - C PPENDIX ONVERSION TABLES This chapter contains tables specifying the conversion of CANopen communication objects into b maXX 4000  controller communication parameters and vice versa. Conversion is performed by giving the value ranges  (x = x ..
  • Page 54 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f P0300 f 0x6040 Controlword 0x6040 Control word P0300 Bit 6 in the control word is now sup- ported; f y = x f y = x x = 0 ..
  • Page 55 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f 0x6041 Statusword 0x6041/ro Status word P0301 In operation mode = 7: IP-Mode If the control word bit 4 is being set, f y = x x = 0 ..
  • Page 56 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f P1179 f 0x6042 vl_target_velocity 0x6042 RFG1Input32 P1179 The user-defined unit (speed units) is interpreted in the b maXX 4000 f y = x * f y = x*Motor x = -32768 ..
  • Page 57 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f P1004 f 0x605A quick_stop_option_code 0x605A QuickstopCode (Schnellhalt) P1004 f y = x f y = x Conversion formalism x = -32768 .. 32767 x = 0 ..
  • Page 58 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f P1006 f 0x605C disable_operation_ 0x605C DisableOpCode P1006 option_code f y = x Manufacturer specific x = -32768 .. -3 not used x = -32768..-3 f y = 3...
  • Page 59 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f P1007 f 0x605E fault_reaction_option_ 0x605E ErrorReactionCode P1007 Presently for statical and dynami- code cal position deviations adjustable f y = x f y = x Conversion formalism x = -32768 ..
  • Page 60 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f P1000 f 0x6060 modes_of_operation 0x6060 OperationModeSet P1000 f y = x f y = x Conversion formalism x = -128 .. 127 x = -128 ..
  • Page 61 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f 0x6061 OperationModeAct  modes_of_operation_ 0x6061/ro P0304 The CANopen standard designa- display (actual operating mode) tion, see 0x6060 f y = x Conversion formalism x = -128 ..
  • Page 62 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f 0x6066 PosDevTime  In the CANopen object and in the  following_error_time_out 0x6066/ro P1056 (pos. error time) b maXX 4000 controller parameter the unit is ms.
  • Page 63 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f P0331 f 0x6071 target_torque 0x6071 TrqSetValue P0331 1000 corresponds to 100.0 % related to the rated torque P1036 f y = x*0x4000 / f y = x*1000 / x = -2 ...
  • Page 64 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f P0602 f 0x6081 profile velocity 0x6081 PPosSetSpeed1 P0602 Only in case of changes in option module G/H configuration 1 f y = x f y = x x = 0 ..
  • Page 65 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling velocity_encoder_ 0x6090 0x6090 Only used in case of changes in resolution option module G/H configuration 1 bit 14 = 1. f P2175 f SIX 0x01 encoder_increments_per_...
  • Page 66 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f P1205 f 0x6098 homing_method 0x6098 PPosHomingMode P1205 (ref. homing mode) Manufacturer specific x = -128 .. -12 not used y = -128 ..-12 f y = x f y = x...
  • Page 67 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f y = x f y = x Homing on the positive x = 4 Pos. zero point switch with x = 4 Home Switch &...
  • Page 68 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f y = x f y = x Positive Zero reference x = 19 Positive zero point switch; x = 19 switch, CCW move counter-clockwise rotation f y = x...
  • Page 69 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling homing_speeds 0x6099 (Ref. speed.) 0x6099 Only in case of changes in option module G/H configuration 1  f P1201 f SIX 0x01 Speed_during_search_for_...
  • Page 70 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f P1053 f SIX 0x06 Manufacturer specific SIX 0x06 SpeedFeedForFactor P1053 Default = 0x4000 f y = 0 .. 0x5000 f y = 0 ..
  • Page 71 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f P0611 f SIX 0x16 Manufacturer specific SIX 0x16 PposTargetInput1 P0611 Default = 0 f y = x f y = x x = -2 ..
  • Page 72 f P. no. f Index  CANopen object Index Controller parameters P. no. Comment Value range Scaling Value range re-scaling f 0x60FD digital_inputs 0x60FD /ro DigInOutStatus P0461 f y = 0 .. 2 x = 0 .. 2 f Bit 0 Negative limit switch Status limit switch neg.

  • Page 73: Appendix D - Technical Data: Powerlink Controlled Node

    D - T PPENDIX ECHNICAL DATA POWERLINK C ONTROLLED In this appendix you will find a survey of the technical data of the POWERLINK Controlled Node. Technical features ® Nios FPGA Cyclone IV (Fa. Altera) Memory 8 kByte DPRAM, 64 MByte DDR2 SDRAM, 8 MByte Flash-Eprom Baud rate 100 Mbit Operating voltage...
  • Page 74 Data channels to the b maXX 4000 controller Betriebsanleitung "vorab" POWERLINK Controlled Node Document no. 5.13013.04 Baumüller Nürnberg GmbH of 80...

  • Page 75: Table Of Figures

    Table of figures Table of figures Calculation on the basis of the Factor Group................State diagram POWERLINK Controlled Node................. Configuration - Import fieldbus device..................Configuration - Physical View - open POWERLINK..............Configuration - Select controller module ..................Configuration - option module in Physical View ................. Application Manual POWERLINK Controlled Node Document no.
  • Page 76 Table of figures Application Manual POWERLINK Controlled Node Document no. 5.13013.04 Baumüller Nürnberg GmbH of 80...

  • Page 77: Index

    Index Manufacturer-specific objects Mapping Abbreviations Memory Access type Mounting Actual values Multiplexing Basic principles Net work Bus access Net work management CANopen communication objects Object directory Common entries Object numbers Communication control Objects Communication time slice Operating mode Configuration Common Entries in the Object Dictionary Configuration example Cycle Length Device Control...
  • Page 78 Index State diagram Subindex Synchronization User unit Velocity mode XDD-file Application Manual POWERLINK Controlled Node Document no. 5.13013.04 Baumüller Nürnberg GmbH of 80...

  • Page 79: Revision Survey

    Revision survey Version Status Changes 5.13013.01 06.06.2013 First edition 5.13013.02 09.09.2013 Error correction 5.13013.03 13.08.2014 Addendum Factor Group 5.13013.04 13.01.2017 Addendum Gear factor Ch. 4.3.5 Application Manual POWERLINK Controlled Node Document no. 5.13013.04 of 80...

  • Page 80: Document No. 5.13013.04 Of

    Notes: Application Manual POWERLINK Controlled Node Document no. 5.13013.04 Baumüller Nürnberg GmbH of 80...
  • Page 82 Baumüller Nürnberg GmbH Ostendstraße 80-90 90482 Nürnberg T: +49(0)911-5432-0 F: +49(0)911-5432-130 www.baumueller.de All information given in this manual is customer information, subject to change without notice. We reserve the right to futher develop and actualize  our products continuously using our permanent revision service. Please notice, that specifications/data/information are current values according to the printing date. These statements are not legally binding according to the measurement, computation and calculations.

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