Danfoss CANopen VLT Midi Drive FC 280 Programming Manual page 10

Configuration
Object
NMT
3 3
SYNC
Time stamp
EMERGENCY
PDO1 (tx)
PDO1 (rx)
PDO2 (tx)
PDO2 (rx)
PDO3 (tx)
PDO3 (rx)
PDO4 (tx)
PDO4 (rx)
SDO (tx)
SDO (rx)
NMT error
control
(node guarding)
Table 3.2 Communication Object
Transmit and receive is always seen from the point of view
of a node:
•
RX: Nodes receiving data (controller to node).
•
TX: Nodes transmitting data (node to controller).
Example:
•
COB-ID 383 stands for PDO3 transmit from node
address 3.
•
COB-ID 185 stands for PDO1 transmit from node
address 5.
•
COB-ID 604 stands for SDO receive to node
address 4.
3.1.3 Controlling the Network
In each CANopen node, a state machine controls the
different states of the node.
After power-up, the node transmits a boot-up message
with the COB-ID value 700h+node ID, and goes from
initialization to pre-operational state.
8
CANopen
Function Resulting COB-ID Communi-
code cation
(binary) parameter in
OD
0000 0 –
0001 125 (1005h)
0010 256 –
0001 129 (81h)–255 1014h
(FFh)
0011 385 (181h)–511 1800h
(1FFh)
0100 513 (201h)– 1400h
639(27Fh)
0101 641 (281h)– 1801h
767(2FFh)
0110 769 (301h)–895 1401h
(37Fh)
0111 897 (381h)–1023 1802h
(3FFh)
1000 1025 (401h)–1151 1402h
(47Fh)
1001 1153 (481h)–1279 1803h
(4FFh)
1010 1281 (501h)–1407 1403h
(57Fh)
1011 1409 (581h)–1535 1200h – ...
(5FFh)
1100 1537 (601h)–1663 1200h – ...
(67Fh)
1110 1793 (701h)–1919 1016h, 1017h
(77Fh) (100Eh)
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®
In the pre-operational state, SDO communication is
possible, but not PDO communication.
The node must receive a start network command from an
NMT master to enter the operational state.
In operational state, both SDO and PDO communications
are possible.
The NMT state of the node is shown with the green
indicator light:
•
Blinking: Pre-operational.
•
On: Operational.
•
Single flash: Stopped.
A node reset, or communication reset command from the
NMT master puts the node to the initialization state. When
the initialization is finished, the node enters pre-
operational state automatically.
NOTICE
It may take several seconds to reset a frequency
converter with the NMT node reset command. The reset
time depends on the power size of the frequency
converter. Greater power size may require a longer reset
time.
Illustration 3.3 Controlling the Network
3.1.4 Error Control
CANopen has 2 types of error control: Node guarding and
heartbeat.
In node guarding, the NMT master sends a remote frame
(RTR) signal cyclically with the following COB-ID: 700h
+node ID.
The node replies with its actual status.
The frequency converter monitors the reception of the RTR
frames, and the presence of the NMT master.
MG07E102