Kinco FD3&CD3 User Manual
Chapter11 CANopen Communication
CANopen is one of the most famous and successful open fieldbus standards.It has been widely recognized and
applied a lot in Europe and USA. In 1992,CiA (CANinAutomation) was set up in Germany,and began to develop
application layer protocol CANopen for CAN in automation. Since then, members of CiA developed a series of
CANopen products,and applied in a large number of applications in the field of machinery manufacturing such as
railway, vehicles, ships, pharmaceutical, food processing etc..Nowadays CANopen protocol has been the most
important industrial fieldbus standard EN-50325-4 in Europe
The FD3 series servo supports standard CAN (slave device), strictly follow CANopen2.0A / B protocol, any host
computer which support this protocol can communicate with it. FD2S Servo uses of a strictly defined object list, we
call it the object dictionary, this object dictionary design is based on the CANopen international standards, all objects
have a clear definition of the function. Objects said here similar to the memory address, we often say that some
objects, such as speed and position,can be modified by an external controller, some object were modified only by the
drive itself, such as status and error messages.
These objects are as following:
Index Sub Bits Attribute Meaning
6040 00 16(=0x10) RW Control word
6060 00 8(=0x08) RW Operation mode
607A 00 32(=0x20) W Target position
6041 00 16(=0x10) MW Status word
The attributes of objects are as follows:
1. RW:The object can be both read and written.
2. RO:The object can be read only
3. WO:The object can be written only.
4. M:The object can be mapping,similar to indirect addressing.
5. S:The object can be stored in Flash-ROM without lost after power failure.
11.1 Hardware Introduction
CAN communication protocol describes a way of transmitting information between devices, The definition of CAN
layer is the same as the open systems interconnection model OSI, each layer communicates with the same layer in
another device, the actual communication takes place adjacent layers in each device,but the devices only
interconnect by the physical media of the physical layer in the model.CAN standard defines data link layer and
physical layer in the mode. The physical layer of CAN bus is not strictly required, it can use a variety of physical
media such as twisted pair Fibre. The most commonly used is twisted pair signal, sent by differential voltage
transmission (commonly used bus transceiver). The two signal lines are called CAN_H and CAN_L. The static voltage
is approximately 2.5V, then the state is expressed as a logical 1, also called hidden bit. It represents a logic 0 when
CAN_H is higher than the CAN_L, we called it apparent bit,then the voltage is that CAN_H = 3.5V and CAN_L=
1.5V,apparent bit is in high priority.
The X6 interface of servo driver supports CANopen communication. The standard CAN interface is as following
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