Description Issue 01/05
CANopen Option Module Operating Instructions
10 6SE6400-5BC00-0BP0
Functionality of CANopen
• The CANopen option module for MICROMASTER 420/430/440 supports the
CANopen data transfer types with SDOs (Service Data Objects) as well as with
PDOs (Process Data Objects)
• Further, the CANopen option module supports PDO mapping – with certain
restrictions.
• The CANopen option module for MICROMASTER 420/430/440 supports the
CANopen communications profile DS 301 Version 4.0, the device profile DSP
402 (Drives and Motion Control) Version 1.1 and the indicator profile DR303-3
Version 1.0.
• For communication monitoring, the CANopen option module supports the Node
Guarding/Life Guarding as well as the Heartbeat protocol (Heartbeat Producer)
and SYNC loss detection (using communication cycle time.
• The CANopen option module offers an SDO->parameter channel with which all
of the MICROMASTER 420/430/440 parameters can be read or written into. In
this case, it does not involve CANopen objects, as the numbering of the sub-
indices differs with respect to CAN-open (subindex 0 does not contain the
number of objects, but already the first object). However, the objects from the
parameter channel can, just like CANopen objects, be read and written using
SDO access operations - they are designated with a * in the following.
• The CANopen option module supports free process data objects in order to be
able to read or write all of the process data, available in the drive, via the CAN
bus.
• With the CANopen option module, MICROMASTER 440 supports the Profile
Torque Mode and the Velocity Mode; whilst the MICROMASTER 420/430 only
supports the Velocity Mode.
• The default settings of the drive are as follows: NodeID=3, baud rate=10kbit/s
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