Can Open Communication - Invertek Drives Optidrive ODP-2 User Manual

9.3. CAN Open Communication

9.3.1. Overview
The CANopen communication profile in the P2 drive is implemented according to the specification DS301 version 4.02 of CAN in
automation (www.can-cia.de). Specific device profiles such as DS402 are not supported.
9.3.2. Basic Operation Setup
The CANopen communication function is enabled by default after power up however in order to use any control functions through
CANopen, Parameter P1-12 must be set to 6.
The CAN communication baud rate can is selected by parameter P5-02. Available baud rates are 125kbps, 250kbps, 500kbps,
1Mbps. Default settings is 500kbps.
The Node ID is set up through drive address parameter P5-01 with a default value of 1.
9.3.3. COB ID and Functions
Optidrive P2 provides the following default COB-ID and functions:
Type COB-ID
NMT 000h
Sync 080h
Emergency 080h + Node address
PDO1 (TX) 180h + Node address
PDO1 (RX) 200h + Node address
PDO2 (TX) 280h + Node address
PDO2 (RX) 300h + Node address
SDO (TX) 580h + Node address
SDO (RX) 600h + Node address
Error Control 700h + Node address
NOTE
1. The Optidrive P2 SDO channel only supports expedited transmission.
2. The Optidrive P2 can only support up to 2 Process Data Objects (PDO). All PDOs are pre-mapped, however PDO2 is disabled
by default. Table 2 gives the default PDO mapping information.
3. Customer configuration (mapping) will NOT be saved during power down. This means that the CANopen configuration will
restore to its default condition each time the drive is powered up.
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Table 1 : Messages and COB-IDs
Function
Network management
Synchronous message
COB-ID can be configured to other value.
Emergency message
COB-ID can be configured to other value.
Process data object.
PDO1 is pre-mapped and enabled by default.
PDO2 is pre-mapped and disabled by default.
Transmission mode, COB-ID and mapping can be configured.
SDO channel can be used for drive parameter access.
Guarding and Heartbeat function are supported.
COB-ID can be configured to other value.
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