Contents
1 Overview .................................................................................................................................. 1
2 Installation and Setting ........................................................................................................... 2
2.1 Installation of MD380CAN2 ........................................................................................... 2
2.2 Hardware Layout ........................................................................................................... 2
2.3 Interface Description ..................................................................................................... 3
3 Protocol Description of the MD38CAN2 ................................................................................. 7
3.1 Software Feature ........................................................................................................... 7
3.2 COB-ID ............................................................................................................................ 7
3.3 Parameter Operation of AC Drive.................................................................................. 8
3.4 SDO Read-Write Operations ........................................................................................ 10
3.5 PDO AC Drive Operation .............................................................................................. 13
4 Parameters Related to CANopen Communication ............................................................. 15
4.1 CANopen Card Enabling .............................................................................................. 15
4.2 Parameters Related to Communication Control ....................................................... 15
4.3 Parameters Related to Communication Monitoring ................................................. 16
4.4 Emergency Message and AC Drive Fault Description ................................................ 19
5 Simple Diagnosis ................................................................................................................... 21
5.1 Brief Introduction ........................................................................................................ 21
5.2 Diagnosis ...................................................................................................................... 21
5.3 Troubleshooting .......................................................................................................... 21
6 Overview of the CANopen Protocol ..................................................................................... 22
6.1 Brief Introduction ........................................................................................................ 22
6.2 Object Dictionary ......................................................................................................... 22
6.3 Common Communication Objects ............................................................................. 23
7 Format Description of CANopen Message ........................................................................... 24
7.1 NMT Module Control Message .................................................................................... 24
7.2 NodeGuarding Message .............................................................................................. 24
7.3 Heartbeat Message ...................................................................................................... 25
Revision History ....................................................................................................................... 26
Warranty Agreement ................................................................................................................ 27
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General