KEB COMBIVERT G6 - Compact Summary of CAN Communication

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Annex
Important warning notice
Attention
The KEB-CAN control has an isolated CAN interface. The addition-
al delay elements (optocoupler) in the waveform, the possible cable
length or the possible transmission speed decreases. The possible
line length or transmission rate is depending on the delay times of all
users in the CAN network. It is the responsibility of the customer to
make an assessment concerning bit rate and possible line length. The
necessary information for the KEB CAN interface connection are listed
below:
Transmit-decelerationtimeoftheCANdriver: ≤ 80 ns
Receive-decelerationtimeoftheCANdriver: ≤ 70 ns
Transmit-decelerationtimeofusedopto-coupler: ≤ 40 ns
Receive-decelerationtimeofusedopto-coupler: ≤ 40 ns
Always select the smallest CAN transmission rate, that is needed for the processing of the
process.
10.2 Compact summary of CAN communication
Fixedidentierallocation:
SDO(rx)Identier = 1536 + Node_Id : SDOrequesttoKEBFI
SDO(tx)Identier = 1408 + Node_Id : SDO acknowledgement from KEB
FI
RPDO1-Identier = 200h + Node_Id : ProcessdatatoKEBFI
TPDO1-Identier = 180h + Node_Id : ProcessdatafromKEBFI
RPDO2-Identier = 300h + Node_Id : ProcessdatatoKEBFI
TPDO2-Identier = 280h + Node_Id : ProcessdatafromKEBFI
RPDO3-Identier = 400h + Node_Id : ProcessdatatoKEBFI
TPDO3-Identier = 380h + Node_Id : ProcessdatafromKEBFI
NodeGuardingIdentier = 1792 + Node_Id
EmergencyIdentier = 128 + Node_Id : EmergencymessagefromKEBFI
ThemostimportantNMTcommands(telegrams)toidentier=0
Start_Remote_Node Enter_Pre_Operational_State Reset_Node
01h Node-Id 80h Node-Id 81h Node-Id
B0 B1 B0 B1 B0 B1
Themostimportantvaluesofthenodestate:
PRE_OPERATIONAL = 7Fh : CommunicationactiveexceptforthePDOs
OPERATIONAL = 05h : Complete communication active