Table Of Contents - Vacon CANopen OPTE6 User Manual

1. Safety ...............................................................................................................5
1.1 Danger................................................................................................................................5
1.2 Warnings ............................................................................................................................6
1.3 Earthing and earth fault protection ...................................................................................7
2. CANopen option board OPTE6 - General ..........................................................8
2.1 Overview .............................................................................................................................8
2.2 Software .............................................................................................................................8
2.2.1 CAN.....................................................................................................................................8
2.2.2 CANopen.............................................................................................................................8
3. CANopen protocol description .........................................................................9
3.1 NMT ....................................................................................................................................9
3.2 Node control protocols ....................................................................................................10
3.3 Error control protocols ....................................................................................................11
3.3.1 Heartbeat protocol ...........................................................................................................11
3.3.2 Node guarding protocol ...................................................................................................12
3.3.3 EMCY object......................................................................................................................12
3.4 SDO protocol ....................................................................................................................14
3.5 PDO protocol ....................................................................................................................15
3.5.1 PDO communication parameter record ..........................................................................15
3.5.2 COB ID ..............................................................................................................................16
3.5.3 Transmission type............................................................................................................17
3.5.4 PDO parameter mapping record .....................................................................................18
3.6 SYNC protocol ..................................................................................................................19
3.6.1 SYNC with counter ...........................................................................................................19
3.7 Communication objects ...................................................................................................21
3.7.1 0X1000 - Device Type .......................................................................................................21
3.7.2 0X1001 - Error Register ...................................................................................................21
3.7.3 0X1003 - Pre-defined Error Field ....................................................................................22
3.7.4 0X1005 - COB ID SYNC .....................................................................................................22
3.7.5 0X100C - Guard Time .......................................................................................................22
3.7.6 0X100D - Life Time Factor ...............................................................................................22
3.7.7 0X1014 - COB ID EMCY.....................................................................................................23
3.7.8 0X1016 - Heartbeat Consumer Entries............................................................................23
3.7.9 0X1017 - Producer Heartbeat Time .................................................................................24
3.7.10 0X1018 - Identify Object ...................................................................................................24
3.7.11 0X1019 - Synchronous counter overflow value ...............................................................24
3.7.12 0X1029 - Error behaviour.................................................................................................25
3.8 Saving and restoring the object dictionary ......................................................................25
3.8.1 0X1010 Store parameter field ..........................................................................................25
3.8.2 0X1011 Restore default parameters................................................................................25
4. CANopen option board OPTE6 - technical data...............................................27
4.1 General .............................................................................................................................27
4.2 CAN cable.........................................................................................................................27
4.2.1 Isolated ground connection .............................................................................................28
4.2.2 Recommended cable .......................................................................................................29
5. OPTE6 layout and connections .......................................................................30
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