User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-3
7.1 Introduction
CAN is an abbreviation for the Controller Area Network. This is a high-speed serial interface that was designed for
use in Automotive and Industrial applications.
The DS2100 CAN implementation is based on standards from the CANOpen group within the CiA (CAN in
Automation) organisation. The two standards of particular relevance are: -
• DS301 – CANOpen Application Layer and Communication Profile Version 4.0.2, 13-Feb-2002
• DS402- CANOpen Device Profile Drives and Motion Control Version 2.0, 26-July-2002.
These standards are available from the CiA at www.can-cia.de
This DS301 implementation has been outlined in the previous section. The section outlines the DS402
implementation. The chapter does not aim to duplicate all the information that is contained in the CANOpen
standards, but rather will outline the functionality and parameter sets which have been implemented, with specific
emphasis on the areas where the implementation differs from the standard. Each of these standards outline a profile
(i.e. a definition of parameters, values, functionality, etc...), which outlines what is required to configure and use
drive functions over CAN.
• The DS301 standard is particularly concerned with set-up of the parameters relating to the CAN itself, in
order to provide communication to the drive, and has already been outlined.
• The DS402 standard builds on top of this standard to implement a drive profile, by outlining functionality
(e.g. homing mode, position mode, etc….), and the parameters relating to these drive functions. The main
advantage of such a profile is with regard to system integration and device standardisation, since by
implementing a profile, standard drive functionality, parameter numbers, etc.. is implemented on the Moog
drive.
The subsections of this manual are in a similar order to their corresponding sections in the CiA standard, allowing
for easy comparison and cross-referencing by the user.
7.2 References
Ref
Number
Description Rev
1 CiA Draft Standard 301. CANOpen Application Layer and
Communication Profile
Version 4.0.2, 13-Feb-2002
2 CiA Draft Standard Proposal 402. CANOpen Device Profile
Drives and Motion Control
Version 2.0, 26-July-02