BONFIGLIOLI Vectron Active Cube User Manual

11 CANopen Overview
CANopen
®
is used in a wide range of applications and is an especially favoured com-
munication system for motion control applications. The CANopen
®
based standard
DS402 “drives and motion control” describes and defines the necessary objects and
functions for motion control systems.
The CANopen
®
standard DS301 describes the basic communication functions in prin-
ciple. This chapter will give a short overview of the different functions based on
DS301. Detailed information on the CAN physical layer and CANopen
®
DS301 fun
c-
tions can be found in the respective literature (e. g. “Controller Area Network” by
Prof. Dr.-Ing. K. Etschberger) and standards published by CAN-in-Automation CiA
®
(www.can-cia.org).
Every CANopen
®
device contains an object dictionary with all supported objects. The
objects can be divided into the two main groups – communication objects and appl
i-
cation objects. The objects are addressed by their index 0xnnnn (16 bit) and sub
-
index 0xnn (8 bit).
The different functions defined by CANopen
®
(NMT, SDO, SYNC, PDO, Emergency)
use fixed identifier ranges. These identifier ranges are defined by the
“Predefined
Connection Set”. By default every function uses an identifier calculated as the base
number plus node-ID (node–ID set by parameter CAN node number 387.
11.1 Communication Objects
The communication objects are located in the index range 0x1nnn. They describe the
communication behavior of a CANopen
®
device. Some of the communication objects
comprise device information
(e. g. manufacturer’s vendor-id or inverter serial number). With the help of commun
i-
cation objects the application objects for device control are mapped to the PDO me
s-
sages.
11.2 Application Objects
The application objects are divided into two groups again. The index range 0x2000 –
0x5FFF is reserved for manufacture
r specific objects and the index range 0x6nnn is
reserved for device profile specific objects. Device profile specific objects 0x6nnn are
defined by DS402 drives and motion control. They are used for controlling the device
application (start/stop, speed, motion control functions).
30 CM-CAN ACU 04/13

BONFIGLIOLI Vectron Active Cube Specifications

General

Brand	BONFIGLIOLI
Model	Vectron Active Cube
Category	DC Drives
Language	English