Communication manual 8400 motec CANopen
Product description
Product features and variants
16 L EDS84DMOTCAN EN 3.0 - 11/2011
The system bus (CANopen) of the Inverter Drives 8400 motec is the advanced version of the
system bus (CAN) and includes the following features:
Full compatibility according to CANopen DS301, V4.02.
Support of the "Heartbeat" NMT slave function (DS301, V4.02).
Number of parameterisable server SDO channels:
– Max. 2 channels with 1 ... 8 bytes
– Because of the 2 server SDO channels, the address range from 1 ... 63 is available.
Number of parameterisable PDO channels:
– Max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
– Max. 2 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
All PDO channels are functionally equivalent.
Monitoring of the RPDOs for data reception
Adjustable error response to ...
– physical CAN errors (frame, bit, ACK error)
– bus-stop, bus-working
– missing PDOs
Telegram counters for SDOs and PDOs
Bus status diagnostics
Boot-up telegram generation
Emergency telegram generation
Reset node telegram generation (in the case of master configuration)
Sync telegram generation and response to sync telegrams:
– Data transmission/reception
– Device-internal time base synchronisation
Abort codes
Object directory (all mandatory functions, optional functions, indexes)
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