Fuji Electric FRENIC-Ace series - Canopen Communication; Modes

9.2 CANopen Communication
9-10
9.2 CANopen Communication
9.2.1 Modes
Table 9.2-1 lists the CANopen modes. The CANopen mode will apply to the items not contained in the table below.
Table 9.2-1 CANopen Mode
Item Modes Remarks
Physical layer CAN (ISO11898) (High speed)
Node ID 1 to 127 Can be set by the inverter
function code y21 / o31
Baud rate 20k, 50k, 125k, 250k, 500k, 800k, 1Mbit/s Can be set by the inverter
function code y24 / o32
Maximum cable
length
Refer to Table 9.2-3 Twisted pair cable (shielded)
No. of connection
units
30 (MAX) Loop bus
Protocol version Standard format (2.0A)
Profile Compliant with the following profiles;
• CiA DS 301 Ver.4.02
• CiA DSP 402 Ver.2.0 Velocity Mode
PDO • Receive PDO and Transmit PDO, three types each
• PDO assignment cannot be changed
Refer to Section 9.2.5
SDO • Supports one Server SDO Refer to Section 9.2.6
Other services • Network Management(NMT) Start_Remote_Node,
Stop_Remote_Node, Enter_Pre-Operational,
Reset_Communication, Reset_Node
• Heartbeat (Producer and Consumer)
• Node Guarding
• Emergency (EMCY)
Refer to Section 9.2.7
The built-in CANopen and option communication cards cannot be used at the same time.
The built
-in CANopen is not supported in FRN-E2
■
-2/4GB, -4C.