Danfoss VLT CANopen MCA 105 - Page 10

Object Function
code
(binary)
Resulting COB-ID Communi-
cation
parameter in
OD
NMT 0000 0 –
SYNC 0001 125 (1005h)
Time stamp 0010 256 –
EMERGENCY 0001 129 (81h)–255
(FFh)
1014h
PDO1 (tx) 0011 385 (181h)–511
(1FFh)
1800h
PDO1 (rx) 0100 513 (201h)–
639(27Fh)
1400h
PDO2 (tx) 0101 641 (281h)–
767(2FFh)
1801h
PDO2 (rx) 0110 769 (301h)–895
(37Fh)
1401h
PDO3 (tx) 0111 897 (381h)–1023
(3FFh)
1802h
PDO3 (rx) 1000 1025 (401h)–1151
(47Fh)
1402h
PDO4 (tx) 1001 1153 (481h)–1279
(4FFh)
1803h
PDO4 (rx) 1010 1281 (501h)–1407
(57Fh)
1403h
SDO (tx) 1011 1409 (581h)–1535
(5FFh)
1200h – ...
SDO (rx) 1100 1537 (601h)–1663
(67Fh)
1200h – ...
NMT error control
(Nodeguarding)
1110 1793 (701h)–1919
(77Fh)
1016h, 1017h
(100Eh)
Table 3.2 Communication Object
Transmit and receive is always seen from the node’s point
of view:
•
RX = Nodes receiving data (Controller -> node)
•
TX = Nodes transmitting data (node -> controller)
Example:
•
COB-ID 383 = PDO3 transmit, from node address
3.
•
COB-ID 185 = PDO1 transmit, from node address
5.
•
COB-ID 604 = SDO receive, to node address 4.
3.1.3 Controlling the Network
In each CANopen node, a state machine controls the
dierent states of the node.
After power-up, the node transmits a boot-up message
with the COB-ID: 700h + Node ID, and goes from initiali-
sation to pre-operational state.
In this state, SDO communication is possible, but not PDO
communication.
The node must have a start network-command from an
NMT-master to enter the operational state.
In operational state, both SDO and PDO communication
are possible.
The NMT-state of the node is displayed with the green NS
LED:
•
Flashing = Pre-operational.
•
Solid on = Operational.
•
Single ash = Stopped.
A reset node or reset communication-command from the
NMT-master makes the node jump to initialisation state
and directly on to pre-operational state.
Illustration 3.3 Controlling the Network
3.1.4 Error Control
CANopen oers 2 ways of error-control: Node guarding
and Heartbeat.
In node guarding, the NMT-master sends a remote-frame
(RTR) cyclically: 700 + node ID.
The node replies with its actual status.
The node (frequency converter) monitors the reception of
the RTR-frames, and thereby monitors the presence of the
NMT-master.
Congure the monitoring of the NMT-master via:
•
OD: 100C Guard time in [ms].
•
OD: 100D Life time factor.
If Guard Time x Life Time Factor has expired, the action
programmed in the parameter 8-04 Control Word Timeout
Function is executed.
Conguration
VLT
®
CANopen MCA 105
8 Danfoss A/S © 06/2015 All rights reserved. MG92G102
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