Appendix; Electronic Data Sheet (Eds); Operating Behavior; Start-Up Behavior - Aventics CANopen Instrucciones De Servicio

98 AVENTICS | CANopen, CANopen sb | R412009415–BDL–001–AE

Appendix

Behavior after
power on
13 Appendix
Information on the bus master configuration with
CANopen
13.1

Electronic Data Sheet (EDS)

The EDS Electronic Data Sheet is an ASCII file specified by
CiA that describes the objects and performance data of a
CANopen device. File BDC-B-CO_32.EDS/BDC-B-
CO_32SB.EDS is available for the bus coupler. The EDS
file can be downloaded from the Internet at
www.aventics.com/mediadirectory.
13.2

Operating behavior

The behavior of the bus connection depends on the
CANopen characteristics.
CAN frames have a maximum data capacity of 8 bytes.
When using the standards for CiA DS-301 (Master/Slave
Connection Set) 4 channels to send PDOs (Process Data
Objects) and 4 channels to receive PDOs can be defined
per CAN node.
Since the bus switch takes 4 bytes for outputs, 1 receiving
PDO is sufficient.
Furthermore, one SDO channel (Service Data Object) in
the transmission and receiving directions is available per
CAN node.
13.2.1

Start-up behavior

After the assembly has been switched on (connecting the
24 V logics supply), the hardware components are tested.
If the start-up test has been successfully completed and
bus voltage is available, the CAN controller is initialized
according to the presettings on the rotary and DIP
switches.
The assembly module is in the "Preoperational" condition
after being successfully initialized. It can then be set to
the "Operational" condition by the CAN master with an