Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
133
10.2 CANopen (C version)
The CANbus node must be set through Pr49 with values from 1 to 127.
Transmission speed depends on Pr31, Pr48 e b150.4 as the following table:
All changes in speed, address or function mode are activated using the b42.3 command or
when the converter is powered on again.
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:
Pr48
Pr31≠15
Pr31=15 Pb150.4
0 125 kbps 1 Mbps 0
0 125 kbps 500 kbps 1
1 1 Mbps
2 500 kbps
3 250 kbps
4 125 kbps
5 50 kbps
6 20 kbps
7 10 kbps
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