CINFRANOR CANopen Communication Profile CANopen Drive

CD1-k CANopen Communication Profile WARNING ! This is a general manual describing the CANopen Communication Profile of the INFRANOR CD1-k drive (hardware release version 2.0 and firmware release from version 11.E3). For the installation and commissioning of the drive, please refer to the appropriate manuals (CD1-k Installation Guide and CD1k User Guide). Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the amplifiers operational. Maintenance procedures should be attempted only by highly skilled...

CD1-k – CANopen Communication Profile  Information and sorting instructions regarding INFRANOR Waste category Recyclable waste Recyclable waste Recyclable waste Recyclable waste Electronical boards and components WEEE (Waste Electronic and Electrical Equipment) Dangerous industrial waste Waste management Waste disposal centre / collection point of recyclable waste Waste disposal centre / collection point of recyclable waste Waste disposal centre / metal collection point Waste disposal centre / metal collection point France: http://www.ecosystem.eco/fr/sousrubrique/solutions Abroad: Country-specific...

CD1-k - CANopen Communication Profile

CD1-k - CANopen Communication Profile

CD1-k - CANopen Communication Profile

CD1-k - CANopen Communication Profile

CD1-k – CANopen Communication Profile

CD1-k – CANopen Communication Profile Chapter 1 – Overview 3.13 - REFERENCE CiA DS-201..207 CAN Application Layer for Industrial Applications Version 1.1 Application Layer and Communication Profile Version 4.01 Device Profile: Drive and Motion Control Version 1.1 Controller Area Network CAN in Automation e. V. CAN-Bus international manufacturer and user organisation. CAN Application Layer. The Application layer for CAN as specified by CiA. Communication Object is a CAN message. Data must be sent accross a CAN network inside a COB. COB-Identifier. Each CAN message has a single identifier. There...

CD1-k - CANopen Communication Profile Device Control: The drive starting and stopping are executed by the state machine. The state machine - handled with a control word and a status word via CAN bus - gives the possibility to control the state of the drive: servo on/off, start/stop movement, fault reset... Operation modes: The operation mode defines the behaviour of the drive : Homing Mode: In this mode, various methods can be used to find a home position. Profile Position Mode: In this mode, a trapezoidal trajectory generator gives the drive the possibility to execute a positioning with pre-set...

CD1-k - CANopen Communication Profile OINFRANORChapter 2 - Communication Profile2.1 - COMMUNICATION OBJECTS2.1.1 - CAN TELEGRAM SOM SOM : COB-ID RTR : CTRL: Data : CRC : ACK : EOM : Start Of Message COB-Identifier of 11 bits Remote Transmission Request Control field up to 8 bytes Cyclic Redundancy Check 2.1.2 - DEFAULT COB-ID The COB-ID is of 11 bits. Node-ID (bits 0 - 6) is the drive address from 1 to 127. TX = T ransmit from drive to master RX = Receive by drive from master Chapter 2 - Communication Profile

CD1-k - CANopen Communication Profile OINFRANOR2.1.3 - NETWORK MANAGEMENT OBJECTS (NMT)NMT Protocols NMT Master Node-ID: The Node-ID indicates the address of the CD1-k (defined by switches). If Node_ID = 0, the protocol addresses all NMT slaves. The SYNC object is a broadcast message sent by the master. This message provides a network clock. The period is specified by the communication cycle period (object 1006h). The Infranor servo-drives use this SYNC message to synchronize their clock. At least 180 ms are necessary for the servo-drive to start the synchronisation. Communication cycle Synchronous...

CD1-k - CANopen Communication Profile OINFRANOR2.1.5 - PROCESS DATA OBJECT (PDO) PDOs are unconfirmed messages used for real-time data exchange. PDOs sent by the master are RPDOs and PDOs sent by the drive are TPDOs. Data in each PDO are defined by a list of objects (PDO mapping). - PDO communication parameters at object 1400h + RPDO_number-1 (for RPDO) or 1800h + TPDO_number-1 (for TPDO) - PDO mapping at object 1600h + RPDO_number-1 (for RPDO) or 1A00h + TPDO_number-1 (for TPDO) - Transmission type The distribution of COB-ID is defined by default (see section 2.1.2). The modification of COB-ID...

CD1-k – CANopen Communication Profile 2.1.5.2 - PDO Mapping The sub-index 0 of the mapping parameter contains the number of valid entries within the mapping record. This number of entries is also the number of application variables which shall be transmitted/received with the corresponding PDO. The sub-index 1 to number of entries contains the information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length (in bits). Structure of PDO Mapping Entry: Byte : PDO mapping 3 (nb of entries) yyyyh (index) yyh (sub-index) zzzzh zzh xxxxh...

CD1-k - CANopen Communication Profile OINFRANOR 2.1.7 - EMERGENCY OBJECT (EMCY) The Emergency telegram consists of 8 bytes: Chapter 2 - Communication Profile

CD1-k – CANopen Communication Profile 2.2 - NETWORK INITIALISATION AND SYSTEM BOOT-UP 2.2.1 - NMT STATE MACHINE The NMT state machine defines the communication status. Power On (1) Pre-operational NMT, SDO, Sync, Emcy (7) (13) Operational NMT, SDO, Sync, Emcy, PDO At Power on, the initialisation state is automatically entered Once the Initialisation over, Pre-Operational is automatically entered Start_Remote_Node indication Enter_Pre-Operational_State indication Stop_Remote_Node indication Reset_Node indication Reset_Communication indication Minimum Boot-Up consists of one CAN telegram : a broadcast...

CD1-k - CANopen Communication Profile OINFRANOR2.3 - OBJECT DICTIONARY2.3.1 - GENERAL INFORMATION2.3.1.1 - Object 1000h: Device Type This object describes the type of a device. Chapter 2 - Communication Profile