Danfoss VLT CANopen MCA 105 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
(Nodeguarding)
Table 3.2 Communication Object
Transmit and receive is always seen from the node's point
of view:
•
RX = Nodes receiving data (Controller -> node)
•
TX = Nodes transmitting data (node -> controller)
Example:
•
COB-ID 383 = PDO3 transmit, from node address
3.
•
COB-ID 185 = PDO1 transmit, from node address
5.
•
COB-ID 604 = 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: 700h + Node ID, and goes from initiali-
sation to pre-operational state.
In this state, SDO communication is possible, but not PDO
communication.
8
VLT
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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®
CANopen MCA 105
The node must have a start network-command from an
NMT-master to enter the operational state.
In operational state, both SDO and PDO communication
are possible.
The NMT-state of the node is displayed with the green NS
LED:
•
Flashing = Pre-operational.
•
Solid on = Operational.
•
Single flash = Stopped.
A reset node or reset communication-command from the
NMT-master makes the node jump to initialisation state
and directly on to pre-operational state.
Illustration 3.3 Controlling the Network
3.1.4 Error Control
CANopen offers 2 ways of error-control: Node guarding
and Heartbeat.
In node guarding, the NMT-master sends a remote-frame
(RTR) cyclically: 700 + node ID.
The node replies with its actual status.
The node (frequency converter) monitors the reception of
the RTR-frames, and thereby monitors the presence of the
NMT-master.
Configure the monitoring of the NMT-master via:
•
OD: 100C Guard time in [ms].
•
OD: 100D Life time factor.
If Guard Time x Life Time Factor has expired, the action
programmed in the parameter 8-04 Control Word Timeout
Function is executed.
MG92G102