216 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
10.1 General information about CANopen
10.1.1 Introduction
A CANopen option is available for the MIS23x (SMC75) and MIS34x, MIS43x (SMC85).
When this option is installed, the controllers include a CANopen slave. Through the
CANopen slave, all the registers of the controller can be accessed. Both implement ob
-
ject dictionaries that follow the CiA DS-301 standard.
The controllers are designed to be used on a CANbus, CANopen DS-301 and CANopen
DSP-402. Do not use the modules together with CANKingdom or DeviceNet.
MIS23x (SMC75)
The MIS23x (SMC75) contains a number of statically mapped PDOs that can be used to
access the most common registers. It also supports the DSP-402 (motion profile) stand
-
ard, and the motor can be controlled using this as well.
MIS34x (SMC85)
The MIS34x (SMC85) supports dynamic mapping of all objects in both 16- and 32-bit.
The data field length of a PDO can be between 1 and 8 bytes so the user can decide how
to combine these objects to obtain the most efficient packed amount of information in
order to decrease bus load. Please consult the section
Dynamic Mapping (Only MIS34x
and SMC85), page 232 to learn how to construct these PDO's. MIS34x (SMC85) also
supports default mapping, which makes it compatible with MIS23x (SMC75) if no chang-
es in the PDO mapping have been made by the user or EDS-file.
Furthermore it is possible to implement a flexible register, which is fully user customiza-
ble so that the user can select single bits to monitor by a TxPDO. Read more about this
in the section
Flexible Register setup, page 246.
10.1.2 CiA membership
CiA (CAN in Automation) is a non-profit society. The object of the society is to promote
CAN (Controller-Area-Network) and to provide a path for future developments of the
CAN protocol. CiA specifications cover physical layer definitions as well as application
layer and device profile descriptions.
In order to receive the CAN standard, is it necessary to obtain CiA membership. The
membership fee depends on a company’s number of employees. Membership runs from
January 1
st
until December 31
st
and is renewed automatically unless cancelled in writing
by the end of a calendar year. Companies applying for membership after July 1
st
pay 50%
of annual membership.
A PDF application form can be downloaded from http://www.can-cia.org/cia/applica-
tion.html.
Note: Once you have received a license from CIA, standards will be sent on a CD and
are downloadable via member login. All of the CiA specifications can be ordered from
the following URL:
www.can-cia.org/downloads/ciaspecifications/
10.1.3 CANopen network
The CAN bus is a serial bus with multi-master capabilities where different products from
different manufacturers can communicate with each other. These include, for example,
devices such as PLCs, motors, sensors and actuators. Some message types have higher
priority and are sent first, for time-critical applications. New devices can easily be inte
-
grated on an existing bus, without the need to reconfigure the entire network. The de-
vices are connected through a 2-wire bus cable with ground, and data is transmitted
serially.
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