Can Bus Interface; Sbc Can - Parker TWIN-N Series User Manual

Parker Hannifin S.p.A Divisione S.B.C.

10 CAN bus interface

A CAN bus interface based on the physical layer ISO/DIS11898 is included on the converter.
The Data link layer is the full CAN version 2.0 part A (ID 11 bit) and a subset of the
application layer SBCCAN is used.
Are available two CAN protocols:
1. SBC CAN (standard)
2. CANopen (requested: C or D version)
Note: to be expressly requested when placing your order: the drive may only have one
protocol at a time

10.1 SBC CAN

The CAN bus on the drive has two functional modes.
The first functional mode is real time mode . This is to establish a real time digital link
between 15 drives and a control that executes the calculation of the trajectories and sends the
position reference, the speed reference or both to the devices which can change the actual
position of the motors (b150.2=1). Real time mode is active when Pr31=15.
The second functional mode is communication mode . This is used to write or read every
parameter of each drive connected to the bus (maximum of 15). This function is very useful
when you want to sue the motion functions that have already been realized in the base
software of the device. Communication mode is automatically set when Pr31≠15.
The CAN bus node must be set through Pr27 with values from 0 to 14 (*).
Transmission speed depends on Pr31, Pr48 e b150.4 as the following table:
Pr48
For bus length greater then about 1000 m bridge or repeater devices may be needed.
All changes in speed, address or function mode are activated using the b42.3 command or
when the converter is powered on again.
(*) In the messages via CANbus, the node number is identified through Pr27+1:
- in real-time 1 to 15;
- in communication 1 to 31.
Pr31≠15
0 125 kbps
0 125 kbps
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2
3
4
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7
user's manual TWIN-N and SPD-N
Pr31=15 b150.4
1 Mbps
500 kbps
1 Mbps
500 kbps
250 kbps
125 kbps
50 kbps
20 kbps
10 kbps
0
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