JVL MAC050 User Manual page 160

4.4 Expansion Modules MAC00-FC2/FC4
Index 6000-9FFF:
The standardised device profile area, contains all data objects common to a class of de-
vices that can be read or written via the network. The drives profile uses entries from
6000h to 9FFFh to describe the drive parameter and the drive functionality. Within this
range up to 8 devices can be described. In such a case the device are denominated Multi
Device Modules. Multi Device Module are composed of up to 8 device profile segments.
By this feature it is possible to build devices with multiple functionality. The different de-
vice profile entries are shifted with 800h.
A 16-bit index is used to address all entries within the object dictionary. In case of a sim-
ple variable this references the value of this variable directly. In case of records and arrays
however, the index addresses the whole data structure. To allow individual elements of
structures of data to be accessed via the network a sub-index has been defined. For single
object dictionary entries such as and Unsigned8, Boolean, Integer32, the value for the
sub-index is always zero. For complex object dictionary entries such as arrays or records
with multiple data fields the sub-index refers to fields within a data-structure pointed to
by the main index. Index counting starts with one.
The DS-301standard is the application and the communications profile for a CANopen®
bus, and is the interface between the devices and the CAN bus. It defines the standard
for common data and parameter exchange between other bus devices, and it controls
and monitors the devices in the network. In the table below are listed some of the com-
munications profile objects
Data
Transfer
PDO
The access from the CAN network is done through data objects PDO (Process Data Ob-
ject) and SDO (Service Data Object).
4.4.48 Boot up telegram
After the initialization phase, a CANopen® slave log on with a boot up message. The
node address of the slave is contained in this. This allows a CANopen® master to know
which slaves are connected to the network. The protocol uses the same identifier as the
error control protocols, see the figure below:
One data byte is transmitted with value 0.
156 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
:
Parameter Special
Transfer functions
SDO
SYNC
EMCY
NMT Master
Indication
TT1085GB
Process Data Objects
Service Data Objects
Synchronisation
Emergency
COB-ID = 700h + Node-ID
0
NMT Slave
Request