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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

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

KEB COMBIVERT G6 Programming Manual

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