gefran SIEIDrive ADL300 Functions Description And Parameters List

ADL300 • Appendix 135
Appendix - 1.0 CANopen interface
CANopen is a communication prole for CanApplicationLayer-based industrial systems.
The reference document is the “CANopen application layer and communication prole” CiA 301 Version 4.2.0 21 February
2011 by CAN in Automation e. V.
The drive also implements part of the DS417 Prole according to the specic CANopen Device Prole Drives and Motion
Control V3.0.0 dated 14 December 2007.
The CAN protocol (ISO 11898) is CAN2.0A with an 11-bit identier.
The integrated CANopen interface is developed as a “Minimum Field Device”.
The data exchange is cyclic; the Master unit reads the Slave input data and writes the Slave output data.
Note! CANopen is only present in ADL...-...-C models.
1.1 CANopen functions
This chapter describes the controlled functions of the CANopen communication prole.
Main features:
1) The “Mandatory Protocol boot-up” is managed.
2) The SYNC function is implemented.
3) The PDO asynchronous assignment is managed.
4) The Node Guarding and HearthBeat protocols are managed.
5) The emergency message is managed (“EMERGENCY”).
6) The Dynamic ID distribution function (DBT slave) is not managed.
7) A “Generic Pre-Dened Master/Slave connection” is implemented to simplify the Master tasks during the initialization
phase.
8) “Inhibit-Times” (in units of 100 uS) can be modied.
9) The high-resolution synchronization is not supported.
10) “TIME STAMP” is not managed.
11) On the access of the structured parameters, the OFFhex option subindex (access to the whole object) is not managed.
12) In order to obtain a higher e󰀩ciency level, only the “Expedited” data transfer (max. 4 Bytes) of the SDO services is managed.
13) The “communication prole area” parameters are not saved by a save command, which on the other hand works on
the “manufacturer-specic” and “prole” areas.
1.1.1 Pre-dened Master/Slave Connection
The “Generic Pre-dened Master/Slave connection” allows a peer-to-peer communication between one Master and 127
Slaves; the Broadcast address is zero.
1.1.2 NMT Services (Network Management)
The NMT “mandatory” services are:
- Enter_Pre-Operational_State CS = 128 (80h)
- Reset_Node CS = 129 (81h)
Performs an adjustment software reset command.
- Reset_Communication CS = 130 (82h)
Also the following NMT services are managed:
- Start_Remote_Mode CS = 1
- Stop_Remote_Mode CS = 2
The COB-ID * of an initialization NMT service is always at 0; CS is the Command Specier dening the NMT service.
1.1.3 Monitoring
The ADL300 drive supports the Node Guarding and HeartBeat mechanism. The Node Guarding conguration can be per-
formed through the master via the standard Object Dictionary elements (1006h, 100Ch, 100Dh).
The Node Guarding threshold (maximum time between two NodeGuarding messages received from ADL) is calculated as:
“Guard time” x “LifeTime Factor”
The HeartBeat is congured by means of the objects 1016h and 1017h. The threshold in this case is calculated as:

gefran SIEIDrive ADL300 Specifications

General

Brand	gefran
Model	SIEIDrive ADL300
Category	Inverter
Language	English