Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD
95
15 CAN Open
An alternative to the SBCCAN protocol is CANopen (to be expressly requested when placing
your order: the drive may only have one protocol at a time) with the following
implementations and functions:
The following objects are available based on CANopen’s Pre-defined Connection Set:
Objects Function code COB-Ids Index
NMT object 0000 0x00 -
EMERGENCY objec 0001 0x81-0xff 0x1014
SDO (tx) object 1011 0x581-0x5ff 0x1200
SDO (rx) object 1100 0x601-0x67f 0x1200
NMT Error Control
(Node guarding)
1100 0x701-0x77f 0x100c- 0x100d
NMT object:
NMT state machine (DS301)
NMT Error Control & Boot Up Protocol:
- Boot Up
- Node Guarding – 39.14=1 for each receipt
EMERGENCY object :
Below is a description of emergency object implementation:
Emergency message dal Drive al master
Emergency message
Data length
8 byte
Field Name
Error code Err. Reg Drive address Data
Contents
16 bit code 8 bit error 8 bit address 32 bit reply data
Identifier
ID2 ID1 ID0 - - - - - ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
A2 A1 A0 X X X X X 0 0 0 1 A6 A5 A4 A3
A0:A6 Drive address (Pr49), valid values 1..127.
An alarm message and two pop-up messages are available for this object, and each of these
can be enabled or disables by setting the appropriate commands.
- Alarm message (enabled if b150.1=1)
- Target position reached (enabled if b150.5=1)
- Value motor captured (enabled if b150.7=1)
The alarm message, if enabled, is sent each time that the current alarm status (Pr[23])
changes, so that when a new alarm occurs (or when the alarms are reset) the value 0x01 is
sent to the field Err.Reg, and the least significant byte of the Data field will contain the drive’s
alarm code.
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