User`s manual

DS2100 User's Manual SECTION 6: CANOPEN INTERFACE
PAGE 6-2 C27750-001
TABLE OF CONTENTS
SECTION 6: DS2100 CANOPEN INTERFACE ........................................................................................... 6-1
6.1 INTRODUCTION ........................................................................................................................................... 6-3
6.2 REFERENCE DOCUMENTATION ................................................................................................................... 6-3
CAN CABLE WIRING ............................................................................................................................................. 6-4
6.3 CAN NODE IDENTIFIER............................................................................................................................... 6-6
6.4 CAN CONTROLLER CONFIGURATION......................................................................................................... 6-6
6.4.1 CAN Enable ....................................................................................................................................... 6-6
6.4.2 CAN bus bitrate ................................................................................................................................. 6-6
6.4.3 CAN Controller Parameters .............................................................................................................. 6-7
6.5 DATA TYPES............................................................................................................................................... 6-8
6.6 NETWORK INITIALISATION AND SYSTEM BOOTUP...................................................................................... 6-8
6.6.1 CAN state........................................................................................................................................... 6-9
6.6.2 Network Initialisation and System Bootup Parameters ................................................................... 6-10
6.7 SERVICE DATA OBJECTS (SDO) ............................................................................................................... 6-11
6.7.1 SDO communication object identifier.............................................................................................. 6-11
6.7.2 SDO timeout..................................................................................................................................... 6-11
6.7.3 SDO abort codes.............................................................................................................................. 6-11
6.7.4 SDO Parameters.............................................................................................................................. 6-12
6.8 PROCESS DATA OBJECTS (PDO)............................................................................................................... 6-13
6.8.1 Communication Object Identifier .................................................................................................... 6-13
6.8.2 Transmission Type........................................................................................................................... 6-13
6.8.3 PDO Inhibit Time ............................................................................................................................ 6-13
6.8.4 PDO Event Time.............................................................................................................................. 6-13
6.8.5 PDO mapping.................................................................................................................................. 6-14
6.8.6 PDO Parameters ............................................................................................................................. 6-15
6.9 SYNCHRONISATION .................................................................................................................................. 6-17
6.9.1 Synchronisation Parameters............................................................................................................ 6-18
6.10 COMMUNICATION PROFILE OBJECTS ........................................................................................................ 6-19
6.10.1 Error reporting ................................................................................................................................ 6-19
6.10.2 Heartbeat Protocol.......................................................................................................................... 6-19
6.10.3 Storing and restoring Parameters ................................................................................................... 6-19
6.10.4 Drive Identification.......................................................................................................................... 6-19
6.10.5 Identity Object ................................................................................................................................. 6-20
6.10.6 Communication Profile Parameters ................................................................................................6-21
6.11 CAN INDICATORS .................................................................................................................................... 6-22
6.11.1 Run Indicator................................................................................................................................... 6-22
6.11.2 Error Indicator ................................................................................................................................ 6-23
6.12 DATA TYPE PARAMETERS ........................................................................................................................ 6-24
6.12.1 Data Type Parameters..................................................................................................................... 6-24
6.13 ADDITIONAL FUNCTIONALITY CONFIGURATION....................................................................................... 6-25
6.13.1 CAN Configuration Parameter........................................................................................................ 6-25
6.13.2 Boot-Up Complete ........................................................................................................................... 6-25
6.13.3 SYNC Transmit ................................................................................................................................ 6-26
6.13.4 Auto-Start......................................................................................................................................... 6-26
6.13.5 Calculate SYNC Period ................................................................................................................... 6-26
6.13.6 Check for PDO Data Changed ........................................................................................................ 6-26
6.13.7 Recovery From Bus-Off ................................................................................................................... 6-26
6.13.8 Additional Functionality Configuration Parameters....................................................................... 6-27