Canopen Overview; Communication Objects; Application Objects - BONFIGLIOLI Vectron Active Cube User Manual

11 CANopen Overview

CANopen
munication system for motion control applications. The CANopen
DS402 "drives and motion control" describes and defines the necessary objects and
functions for motion control systems.
The CANopen
ciple. This chapter will give a short overview of the different functions based on
DS301. Detailed information on the CAN physical layer and CANopen
tions can be found in the respective literature (e. g. "Controller Area Network" by
Prof. Dr.-Ing. K. Etschberger) and standards published by CAN-in-Automation CiA
(www.can-cia.org).
Every CANopen
objects can be divided into the two main groups – communication objects and appli-
cation objects. The objects are addressed by their index 0xnnnn (16 bit) and sub-
index 0xnn (8 bit).
The different functions defined by CANopen
use fixed identifier ranges. These identifier ranges are defined by the "Predefined
Connection Set". By default every function uses an identifier calculated as the base
number plus node-ID (node–ID set by parameter
11.1

Communication Objects

The communication objects are located in the index range 0x1nnn. They describe the
communication behavior of a CANopen
comprise device information
(e. g. manufacturer's vendor-id or inverter serial number). With the help of communi-
cation objects the application objects for device control are mapped to the PDO mes-
sages.
11.2

Application Objects

The application objects are divided into two groups again. The index range 0x2000 –
0x5FFF is reserved for manufacturer specific objects and the index range 0x6nnn is
reserved for device profile specific objects. Device profile specific objects 0x6nnn are
defined by DS402 drives and motion control. They are used for controlling the device
application (start/stop, speed, motion control functions).
30
®
is used in a wide range of applications and is an especially favoured com-
®
standard DS301 describes the basic communication functions in prin-
®
device contains an object dictionary with all supported objects. The
CM-CAN ACU
®
(NMT, SDO, SYNC, PDO, Emergency)
CAN node number
®
device. Some of the communication objects
®
based standard
®
DS301 func-
®
387.
04/13