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Verlag:
Vde Verlag Weitere Titel dieses Verlages anzeigen
Inhalt | ||||||
Vorwort | 5 | |||||
1 | Modelle für Kommunikation und Geräte | 11 | ||||
1.1 | Kommunikationsschichten und Referenzmodell | 11 | ||||
1.2 | Gerätemodell und Kompatibilitätsklassen | 13 | ||||
1.3 | Beschreibung und Definition von Objekten | 15 | ||||
2 | Physikalische Schicht | 17 | ||||
2.1 | Bit-timing und Stuffbits | 17 | ||||
2.2 | High-speed-Treiberchips | 19 | ||||
2.3 | Netztopologie | 21 | ||||
2.4 | Steckverbinder | 25 | ||||
3 | CAN-Protokoll | 27 | ||||
3.1 | Telegramm-Formate | 28 | ||||
3.2 | Erkennung, Eingrenzung und Behandlung von Fehlern | 35 | ||||
3.2.1 | Mechanismen zur Fehlerkennung | 35 | ||||
3.2.2 | Unentdeckbare Fehler | 41 | ||||
4 | Anwendungsschicht | 43 | ||||
4.1 | Grundlagen und Prinzipien | 44 | ||||
4.2 | Kommunikationsobjekte | 49 | ||||
4.2.1 | Prozessdatenobjekte | 50 | ||||
4.2.2 | Servicedatenobjekte | 67 | ||||
4.2.3 | Synchronisation | 78 | ||||
4.2.4 | Signalisierung von Gerätefehlern | 82 | ||||
4.3 | Objektverzeichnis | 85 | ||||
4.3.1 | Aufteilung des Objektverzeichnisses | 87 | ||||
4.3.2 | Beschreibung der Kommunikationsobjekte | 89 | ||||
4.3.3 | Implementierung des Objektverzeichnisses | 100 | ||||
4.4 | Netzwerk-Management | 103 | ||||
4.4.1 | NMT-Dienste und Protokolle | 104 | ||||
4.4.2 | Geräteüberwachung | 107 | ||||
4.5 | Zuordnung der CAN-Identifier | 109 | ||||
4.5.1 | Predefined-Master/Slave-Connection-Set | 109 | ||||
4.5.2 | Minimale Gerätefunktionalität | 112 | ||||
4.6 | Zuteilung der Node-ID | 113 | ||||
4.6.1 | Layer-Setting-Services (LSS) | 113 | ||||
5 | Zusätzliche Funktionen der Anwendungsschicht | 118 | ||||
5.1 | Programmierbare CANopen-Geräte | 118 | ||||
5.1.1 | Begriffsdefinitionen | 119 | ||||
5.1.2 | Standardisierter Netzwerk-Boot-up | 120 | ||||
5.1.3 | Funktionen des CANopen-Managers | 120 | ||||
5.1.4 | Prozessdaten eines programmierbaren CANopen-Geräts | 125 | ||||
5.1.5 | Netzwerkvariable | 126 | ||||
5.1.6 | Herunterladen von Programmen | 132 | ||||
5.2 | Mehrfach-Netzwerke | 132 | ||||
5.3 | Protokoll zur sichereren Übertragung von Daten | 135 | ||||
5.3.1 | Safety-related Datenobjekte (SRDO) | 136 | ||||
5.3.2 | CANopen-Safety-Implementierungen | 139 | ||||
6 | Geräteprofile | 143 | ||||
6.1 | Grundlagen | 143 | ||||
6.2 | Geräteprofil für EinAusgabe-Module | 144 | ||||
6.2.1 | Digitale Eingänge | 145 | ||||
6.2.2 | Digitale Ausgänge | 146 | ||||
6.2.3 | Analoge Eingänge | 147 | ||||
6.2.4 | Analoge Ausgänge | 149 | ||||
6.2.5 | Joystick | 150 | ||||
6.3 | Geräteprofil für elektrische Antriebe | 151 | ||||
6.3.1 | Antriebs-Zustandsmaschine | 152 | ||||
6.3.2 | Antriebs-Betriebsarten | 154 | ||||
6.3.3 | Faktorgruppe | 161 | ||||
6.3.4 | Vordefmierte PDOs | 161 | ||||
6.4 | Profil für Sensoren und messwertverarbeitende Module | 162 | ||||
6.4.1 | Funktionsblock ,Analoge Eingänge' | 162 | ||||
6.4.2 | Funktionsblock ,Regler' | 164 | ||||
6.4.3 | Funktionsblock ,Alarm' | 164 | ||||
6.4.4 | Funktionsblock ,Digitale EinAusgänge' | 165 | ||||
6.4.5 | Vom Datentyp zum Objektverzeichnis | 165 | ||||
6.4.6 | Besonderheiten des Profils | 166 | ||||
6.5 | Profil für Encoder und Nockenschaltwerke | 167 | ||||
6.5.1 | Encoder-Parameter und Diagnose-Objekte | 169 | ||||
6.5.2 | Betriebsarten | 170 | ||||
6.5.3 | Nockenschaltwerke im Encoder | 171 | ||||
6.6 | Geräteprofil für Hydraulik-Ventile | 171 | ||||
6.6.1 | Allgemeine Festlegungen | 174 | ||||
6.6.2 | Anwendungsobjekte | 175 | ||||
6.6.3 | PDO-Mapping | 176 | ||||
6.7 | Geräteprofil für Neigungssensoren | 176 | ||||
6.8 | Geräteprofile für Webmaschinen | 177 | ||||
6.9 | Geräteprofile für Batterien und Ladegeräte | 179 | ||||
6.10 | Geräteprofil für medizinische Geräte | 181 | ||||
6.11 | Weitere Geräteprofile | 187 | ||||
7 | Schnittstellen-Profile | 188 | ||||
7.1 | Schnittsstellen zu IEC 61131-3 kompatiblen Steuerungen | 188 | ||||
7.1.1 | Datentypen | 188 | ||||
7.1.2 | Netzwerkvariable | 189 | ||||
7.1.3 | Funktionsbausteine | 190 | ||||
7.1.4 | Datenaustausch | 192 | ||||
7.2 | Schnittsstellen zu Netzwerken in Nutzfahrzeugen | 193 | ||||
7.3 | Schnittsstellen zu Ethernet-basierenden Netzwerken | 194 | ||||
7.4 | CANopen-Gateway zu AS-Interface | 197 | ||||
7.5 | Weitere Schnittstellen-Profile | 201 | ||||
8 | Anwendungsprofile | 202 | ||||
8.1 | Grundlagen | 202 | ||||
8.2 | Anwendungsprofil für Passagier-Informationssysteme | 203 | ||||
8.3 | Anwendungsprofil für Sensoren in Baumaschinen | 206 | ||||
8.4 | Anwendungsprofil für Abfallsammelfahrzeuge | 210 | ||||
8.5 | Anwendungsprofil für Aufzugssteuerungen | 213 | ||||
8.6 | Anwendungsprofil für Extruder-Nachfolgegeräte | 215 | ||||
8.7 | Anwendungsprofil für Kontrastmittel-Injektoren | 218 | ||||
8.8 | Anwendungsprofile für Schienenfahrzeuge | 222 | ||||
8.8.1 | Fahrzeug-Integrationsnetzwerk | 223 | ||||
8.8.2 | Anwendungsprofile für gewerkeinterne Kommunikation | 225 | ||||
8.9 | Anwendungsprofil für Kranzusatzgeräte | 229 | ||||
9 | CANopen-Werkzeuge | 234 | ||||
9.1 | Gerätedatenblatt und Gerätekonfigurationsdatei | 235 | ||||
9.2 | Konfigurieren von CANopen-Geräten und -Systemen | 237 | ||||
9.3 | Ablauf einer Systemkonfiguration | 241 | ||||
9.4 | Aufbau und Arbeitsweise von Konfigurationswerkzeugen | 242 | ||||
9.5 | Designwerkzeuge für CANopen-Geräte | 246 | ||||
9.6 | Simulationswerkzeuge | 246 | ||||
9.7 | Testsysteme für Konfomität und Leitungsfähigkeit | 247 | ||||
9.7.1 | Prüfung der CANopen-Konformität | 247 | ||||
9.7.2 | Messen der Performance | 250 | ||||
Literaturverzeichnis | 251 | |||||
Autoren | 255 | |||||
Stichwortverzeichnis | 257 |