2 Introduction
This reference guide assumes that the reader has a working knowledge of CANopen
Fieldbus Protocol and familiarity with the programming and operation of motion control
equipment. This guide is intended as a reference only.
2.1 Overview
CANopen Fieldbus is an internationally accepted communications protocol designed for
commercial and industrial installations of motion control applications. High data transfer
rates combined with it’s efficient data formatting permit the coordination of motion control
devices in multi-axis applications. AC Tech’s implementation of the CANopen protocol
allows for baud rates ranging from 10 kbps to 1Mbps.
DSP402 compatible control and status words are available to the user for configuring
modes of operation and altering the drive operating parameters. Additionally, to offer
greater interoperability with the SMVector inverter, a drive specific set of objects are
available that offer further drive profile configuration and allow access to specific modes of
operation.
2.2 SMVector CANopen Implementation Specifications
• Supported data rates (bit/s): 1.0M, 800K, 500K, 250K, 125K, 50K, 20K, 10K.
• 2 transmit and 2 receive process data objects (PDOs) supported.
• Synchronous, Asynchronous and Change of State PDO communications modes
supported.
• Two Service Data Objects (SDO) provide access to all SMV parameters
• Heartbeat and Node guarding with selectable timeout action
• DSP402 compatible Control and Status Words accessible via PDO and SDO.
To simplify the setup of the CANopen Master, AC Tech will provide the applicable EDS
(Electronic Data Sheet).
4
ENGLISH
Introduction
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