User`s manual

DS2100 User's Manual SECTION 6:CANOPEN INTERFACE
PAGE 6-26 C27750-001
6.13.3 SYNC Transmit
In some applications it may be necessary for the DS2100 to be the SYNC master. This can be achieved by setting bit
1 of parameter can_configuration
to 1.
The time period for the transmitted SYNC message is programmable using the parameter
sync_pre_divider_for_sync_transmission
(index 0x2007, sub-index 0). This parameter specifies the SYNC period in
multiples of 2ms. The default value for this parameter is 5 (10ms).
Note that the SYNC will only be transmitted if the CANopen state machine is in Operational mode.
6.13.4 Auto-Start
If the application does not have a NMT master then the drive CANopen state machine can be configured to
transition directly to Operational mode after power-up or reset. This can be achieved by setting bit 3 of parameter
can_configuration
to 1.
6.13.5 Calculate SYNC Period
This feature enables the drive to calculate the SYNC period from the first n SYNC messages received by the
DS2100. The number of SYNC messages used to calculate the SYNC period is programmable via the parameter
sync_number_pulses_measured
(index 0x2006, sub-index 0). The default value for this parameter is 5.
This feature is enabled by setting bit 4 of parameter can_configuration
to 1.
6.13.6 Check for PDO Data Changed
This feature is only used for type 254 and 255 transmit PDO’s and enables the frequency of transmit PDO’s to be
reduced by checking for a change in the data content before transmitting the PDO. When enabled, by setting bit 5 of
parameter can_configuration
to 1, this feature is used for all type 254 and 255 PDO’s configured in the drive.
The data content is compared to the data the last time the PDO was transmitted and the PDO is only transmitted if
the data has changed.
6.13.7 Recovery From Bus-Off
This allows automatic recovery from a CAN controller bus-off condition by waiting for a programmable period of
time from the bus-off event before re-enabling the CAN bus on the drive. The time before re-enabling is set by
parameter can_bus-off_recovery_time_(ms) which is defined in multiples of 1ms. If this parameter is set to 0 then
the bus-off recovery function is inactive. The default value for this parameter is 0.