Description Of Cbc With Canopen - Siemens SIMOTRAS 6SG7050 Operating Instructions Manual

Start-up
Using the CAN BusAnalyser++ from Steinbeis, the transmit data appear as follows (data field
length = 8 bytes, low and high bytes are shown swapped round):
Identifier
The following transfer function is also available:
PKW Request Broadcast
A parameter job (request) is processed simultaneously by all slaves on the bus. The node
address is not used to generate the CAN identifier because this must be set identically on all
slaves utilizing the PKW Request Broadcast function. This common identifier is set in CB
parameter 9 (U719). The corresponding parameter response is made with the CAN identifier
for PKW Response described above.
Notes regarding PKW transmission:
The length of the job and the response is always 4 words. Jobs which apply to all indices of a
parameter (e.g. "Request all indices") are not possible.
As a general rule, the low-order byte (in words) or the low-order word (in double words) is
transferred first. SIMOTRAS HD 6SG70 does not use double word parameters itself, these
jobs can only be executed where access is available to technology board parameters (e.g.
T400).
The CBC does not respond to a parameter request job until the drive data are available. This
normally takes 20 ms. The response times will be longer only if change (write) jobs including
storage of the value in the EEPROM are received from other sources (e.g. serial basic
converter interface), resulting in a delay in job execution.
In certain system states (e.g. initialization states), parameter processing is greatly delayed or
does not take place at all.
The master may not issue a new parameter request job until any current parameter job has
been acknowledged.

7.10.3.2 Description of CBC with CANopen

7.10.3.2.1 Introduction to CANopen
CANopen is a standardized application for distributed, industrial automation systems based on CAN
and the CAL communication standard. CANopen is a standard of CAN in Automation (CiA) and was
in widespread use shortly after it became available.
CANopen can be regarded in Europe as the definitive standard for the implementation of industrial
CAN-based system solutions.
CANopen is based on a so-called "communication profile" which specifies the underlying
communication mechanisms and their definition [CiA DS-301].
The main types of device deployed for automating industrial systems, such as digital and analog
input/output modules [CiA DS-401], drives [CiA DS-402], control panels [CiA DS-403], controllers
[CiA DS-404], PLCs [CiA DS-405] or encoders [CiA DS-406], are described in so-called "device
profiles". These profiles define the functionality of standard equipment of the relevant type.
A central componentof the CANopen standard is the definition of device functionality using an
"Object Directory" (OD). This object directory is subdivided into two sections, one which contains
general information about the device, such as identification, manufacturer's name, etc. and the
communication parameters, and the other describing the scope of device functions. An entry
("object") in the object directory is identified by means of a 16-bit index and an 8-bit subindex.
The "application objects" of a device, such as input and output signals, device parameters, device
functions or network variables, are made accessible in standardized form via the network by means
of the entries in the object directory.
7-40
2C 01 2D 71
ID PKE
Data field
02 00 E4 DA
IND PWE1
SIEMENS AG
SIMOTRAS HD
01.04
00 00
6SG7000-0BA76
Operating Instructions