BONFIGLIOLI active User Manual

706/05
06/05 7
The implementation of CANopen is based on Version 4.01 of DS301. The differences
to older implementations based on Version 2.0 are shown in the following table.
Object Version 2.0 Version 4.01
Boot-up message
Emergency object without
data
Identifier 128 + NodeID
Heartbeat object with data
byte (content = 0)
Identifier = 1792 + NodeID
0x1004
Number of supported PDO‘s
available not available
0x100E
Guarding identifier
available
not available
Identifier = 1792 + NodeID
Communication parameter
second RxPDO
0x1405 (*) now object 0x1401
Communication parameter
second TxPDO
0x1805 (*) now object 0x1801
Mapping parameter
second RxPDO
0x1605 (*) now object 0x1601
Mapping parameter
second TxPDO
0x1A05 (*) now object 0x1A01
0x1016
Consumer heartbeat
not available
available
three subscribers to monitor
0x1017
Producer heartbeat
not available available
0x1018
Identity object
not available
available
Vendor ID = 0x000000D5
(*) These chan
g
es are not chan
g
es to the standard, but an adaptation of the
implementation compared with older versions.
Caution! CANopen to Version 4.01 alternatively supports the guarding OR
heartbeat monitorin
g
mechanisms. Only one of these two methods ma
y
be used.

BONFIGLIOLI active Specifications

General

Brand	BONFIGLIOLI
Model	active
Category	DC Drives
Language	English