Configuration; Configure The Canopen Network - Danfoss CANopen VLT Midi Drive FC 280 Programming Manual

Configuration

3 Configuration

3.1 Configure the CANopen Network

3.1.1 Object Model
CAN-bus
Communication
unit
Illustration 3.1 Functional Principle of CANopen Nodes
All information accessible via the CAN bus is stored in the
object directory (OD).
The contents of the OD are organized in Table 3.1.
Object directory Object type
index range
0000h Not used
0001h–025Fh Data types
0260h–0FFFh Reserved
1000h–1FFFh Communication object area
2000h–5FFFh Manufacturer-specific area
6000h–9FFFh Standardized device profile area
A000h–FFFFh Reserved
Table 3.1 Contents of the OD
For a complete overview of the objects supported in the
OD, refer to chapter 7 Object Directory.
MG07E102
Programming Guide
Object
directory
3.1.2 Communication in CANopen
In CANopen protocol, the communication is done via
service data objects (SDOs), process data objects (PDOs),
and network management (NMT).
PDOs are real-time process data with high priority. PDOs
are only available if the node is in operational state.
SDOs are non-time-critical data and are used to configure
the frequency converter. SDOs are only available if the
node is in both operational and pre-operational state.
NMT functions monitor the network stability and include
synchronization, detection of faults, and emergency
message transmission.
COB identifiers (ID)
Each communication object has a unique identity (COB-ID)
containing the function code and the node ID (node
address), see Illustration 3.2.
Illustration 3.2 COB-ID
Danfoss A/S © 02/2016 All rights reserved.
Application unit
Processing unit
3 3
7