Lust ServoOne - General Introduction; Introduction to Canopen; Measures for Your Safety; Operation

[Chapter 1]
User Manual CANopen/EtherCAT
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1 General Introduction
1.1 Measures for your safety
The ServoOne family drive devices are quick and safe to handle. For your own safety and
for the safe functioning of your device, please be sure to observe the following points:
Read the Operation Manual first
1.
Follow the safety instructions•
Electric drives are dangerous:
Electrical voltages > 230 V/460 V:
Dangerously high voltages may still be present 10 minutes after
the power is cut. So always make sure the system is no longer live.
Rotating parts
Hot surfaces
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Your qualification:
In order to prevent personal injury and damage to property, only
personnel with electrical engineering qualifications may work on the
device.
Knowledge of national accident prevention regulations (e. g. VBG4
in Germany)
Knowledge of layout and interconnection with the CAN bus field bus
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During installation observe the following instructions:
Always comply with the connection conditions and technical specifi-
cations.
Electrical installation standards, e.g. for cable cross-section, shiel
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ding, etc.
Do not touch electronic components and contacts (electrostatic
discharge may destroy components).
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1.2 Introduction to CANopen
CANopen is an interconnection concept based on the CAN (Controller Area Network)
serial bus system. CAN has many specific advantages, in particular multi-master capabi-
lity, real-time capability, resistant response to electromagnetic interference and the high
level of availability and low cost of controller chips. These advantages have resulted in
CAN being introduced into widespread use in automation too.
Simplified cross-manufacturer communication
The integration of any number of devices in a manufacturer-specific network involves
substantial expense. CANopen was developed to solve this problem. In CANopen the
use of CAN identifiers (message addresses), the time response on the bus, the network
management (e. g. system start and user monitoring) and coding of the data contents
is specified in a uniform way. CANopen makes it possible for devices from different
manufacturers to communicate in a network at minimal cost. CANopen uses a subset
of the communication services offered by CAL to define an open interface. The selected
CAL services are summarised in a kind of “user guide“. This guide is called the CANopen
Communication Profile.
CANopen functionality of ServoOne
The CANopen Communication Profile is documented in CiA DS-301 and regulates “how“
communication is executed. It distinguishes between process data objects (PDOs) and
service data objects (SDOs). The Communication Profile additionally defines a simplified
network management system.
Based on the communication services of DS-301 (Rev. 4.01), the device profile for vari
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able-speed drives DSP-402 (Rev2.0) was compiled. It describes the operation modes and
device parameters supported.
The following sections will provide you with an overview of the CANopen functionality
integrated in ServoOne. There then follows the information necessary for commissioning.