COMPAX CANopen
4
3 General
CANopen provides for the use of two types of communication with different characteristics:
!
Real-time data are transmitted with the process data objects (PDO).
!
Parameters- and programs are transmitted via the service data objects (SDO).
The communication channels of CANopen are configured using specific communication objects.
A device profile with manufacturer-specific objects (commands) was defined for access to COMPAX. These objects can:
!
be addressed as service data objects
!
and partly mapped to process data objects for cyclical access.
CANopen for COMPAX
The CANopen interface enhances the flexibility of the
Compact Servo-Controllers COMPAX-M and COMPAX-S.
You have access to all normal COMPAX functions such as:
!
Changing parameters.
!
Presetting commands.
!
Reading and writing control inputs and outputs.
!
Writing to record storage.
!
Reading status.
CANopen Hardware
The module (option CAN-Bus) contains the PCA82C200T
BasicCAN stand-alone controller by Philips. It supports the
CAN protocol in specification 1.2. The physical data cables
are accessed by the Si9200 CAN transceiver by TEMIC in
accordance with the CIA standard according to ISO/DIS
11898.
4 Bus Wiring
CAN-Bus connector assignment
COMPAX-S: X5 (pins) / X7 (socket)
NMD: X6 (pins) / X7 (sockets)
COMPAX -
GND
X7/3
X7/6
X7/7
X7/2
X5(6)/3
X5(6)/7
X5(6)/2
COMPAX S (NMD)
CAN - GND
CAN-L
CAN-H
CAN - GND
CAN-L
CAN-H
CAN - GND
COMPAX -
GND
X5(6)/6
CAN - GND
CAN - GND and COMPAX - GND are electrically separated.
4.1 Design
RS 485
POWER SUPPL Y
Ξ6 Ξ7
Ξ8
Ρε αδψ Ερρορ
ΡΣ485ΙΝ ΟΥΤ
Χοντρολ
DIGITAL
Status Nu mber
X6
X8 X10
-+Enter
Ready Error
RS232
Inp ut
Output
Test
Contro l
X9 X11
Value
COMPAX-M
SSK13/..
COM PAX-S
Στατυσ Νυµβερ
Ξ6
Ξ8 Ξ10
− + Εντερ
Ρε αδψ Ερρορ
ΡΣ23 2
Ινπυτ
Ουτπυτ
Τεστ
Χοντρολ
Ξ9 Ξ11
ςαλυε
Στατυσ Νυµβερ
Ξ6
Ξ8 Ξ10
− + Εντερ
Ρε αδψ Ερρορ
ΡΣ23 2
Ινπυτ
Ουτπυτ
Τεστ
Χοντρολ
Ξ9 Ξ11
ςαλυε
Siem ens SPS Siemens SPS Siemens SPS Siemens SPS
X1 X2
24 V
GND
ERDE
RS 485
RS 485
E1
E2
E3
E4
E5
E6
E7
E8
E9
E10
E11
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
E12
E13
E14
E15
E16
E17
E18
E19
E20
E21
E22
A12
A13
A14
A15
A16
A17
A18
A19
A20
A21
A22
SPS
COMPAX-S+Option
∆ΙΓΙΤΑΛ
Στατυσ Νυµβερ
Ξ6
Ξ8 Ξ10
− +Εντερ
Ρε α δψ Ερρορ
ΡΣ232
Ινπυτ
Ουτπυτ
Τεστ
Χοντρολ
Ξ9 Ξ11
ςαλυε
COMPAX-M
∆ΙΓΙΤΑΛ
Στατυσ Νυ µβερ
Ξ6
Ξ8 Ξ1 0
− +Εντερ
Ρε α δψ Ερρορ
ΡΣ232
Ινπυτ
Ουτπυτ
Τεστ
Χοντρολ
Ξ9 Ξ11
ςαλυε
COMPAX-M
∆ΙΓΙΤΑΛ
Στατυσ Νυ µβερ
Ξ6
Ξ8 Ξ1 0
− +Εντερ
Ρε α δψ Ερρορ
ΡΣ232
Ινπυτ
Ουτπυτ
Τεστ
Χοντρολ
Ξ9 Ξ11
ςαλυε
COMPAX-M
COM PAX-S
NMD
COMPAX-S+Option
COMPAX-M+Option
Within a system assembly consisting of COMPAX-M
and network module, the Profibus signals are
transmitted over the existing ribbon cable connection.
F8
F8
F8