1.
Safety ...............................................................................................................5
1.1
Danger................................................................................................................................5
1.2
Warnings ............................................................................................................................6
1.3
2.
2.1
Overview .............................................................................................................................8
2.2
Software .............................................................................................................................8
2.2.1 CAN.....................................................................................................................................8
2.2.2 CANopen.............................................................................................................................8
3.
3.1
NMT ....................................................................................................................................9
3.2
Node control protocols ....................................................................................................10
3.3
Error control protocols ....................................................................................................11
3.3.1 Heartbeat protocol ...........................................................................................................11
3.3.3 EMCY object......................................................................................................................12
3.4
SDO protocol ....................................................................................................................14
3.5
PDO protocol ....................................................................................................................15
3.5.2 COB ID ..............................................................................................................................16
3.5.3 Transmission type............................................................................................................17
3.6
SYNC protocol ..................................................................................................................19
3.6.1 SYNC with counter ...........................................................................................................19
3.7
Communication objects ...................................................................................................21
3.7.1 0X1000 - Device Type .......................................................................................................21
3.7.4 0X1005 - COB ID SYNC .....................................................................................................22
3.7.5 0X100C - Guard Time .......................................................................................................22
3.8
4.
4.1
General .............................................................................................................................27
4.2
CAN cable.........................................................................................................................27
4.2.2 Recommended cable .......................................................................................................29
5.
5.1
Layout and connections ...................................................................................................30
5.2
LED Indications ................................................................................................................32
5.3
Jumpers ...........................................................................................................................33
6.
Installation.....................................................................................................35
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
vacon • 3
T
C
ABLE OF
ONTENTS
Document: DPD01091C
Release date : 13092017
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