1 Scope
2 Normative references
3 Definitions and abbreviations
3.1 Definitions
3.2 Abbreviations
4 General requirements
4.1 Overview
4.2 System overview
4.3 Data transmission
4.4 Initialization
4.5 Error and status messages
5 Transfer medium and physical layer
5.1 General
5.2 Topology
5.3 Optical signals on the transmission line
5.4 Time performance of bit transmission
5.5 Bit coding
5.6 Telegrams and fill characters
5.7 Connection to the optical fibre
6 Data transfer and data link layer
6.1 General
6.2 Telegram structure
6.3 Timing of the transmission (communication cycles)
7 Protocol structure
7.1 General
7.2 General protocol structure
7.3 Cyclic data exchange (CP[4])
7.4 Non-cyclic data exchange (service channel)
8 Data contents
8.1 Data types and data structure
8.2 General parameters
8.3 Definition of telegram contents
8.4 Drive operation modes
8.5 Standard operation data
8.6 Scaling of operation data
8.7 Drive parameters
8.8 Mechanics
9 Initialization of the SYSTEM interface
9.1 General
9.2 Communication phase 0 (CP[0])
9.3 Communication phase 1 (CP[1])
9.4 Communication phase 2 (CP[2])
9.5 Communication phase 3 (CP[3])
9.6 Communication phase 4 (CP[4]) - end of initialization
10 Error handling
10.1 Drive safety functions
10.2 Failure of telegrams
10.3 Changing the communication phases
10.4 Monitoring (overview)
10.5 Reaction to handshake time out
10.6 Reaction to error messages in the service channel
10.7 Error counters in the master and the slave
11 Functional sequences
11.1 General
11.2 Allocation of real-time bits
11.3 Homing
11.4 Measurements
11.5 Position spindle procedure command
11.6 Switching of parameter sets and the gear ratio
11.7 Starting/stopping functions
11.8 Park axis procedure command
11.9 Positive stop drive procedure command
11.10 Drive controlled synchronous operation procedure command
11.11 Drive controlled gear engaging procedure command
Annexes
A Identification numbers in numerical order
B Identification numbers in alphabetical order
C Description of IDNs
D SYSTEM interface - Compliance classes
E Coded character set
F Functional principles of the repeater circuit
G Attenuation on the transmission line
H Determination of the transmission timeslots
I Processing operation data
J Procedure command execution
K Additional scaling
ZA Normative references to international publications with
their corresponding European publications