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4.2 CAN OPEN
Name
ID_CANOPEN
CANOPEN_BAUD_SEL
EN_FLDBUS_REF
PRC_T_REF_FLDBUS
PRC_T_MAX_FLDBUS
PRC_SPD_REF_FLDBUS
SPD_REF_PULS_FLDBUS
PRC_APP_T_REF
PRC_APP_T_MAX
PRC_APP_SPD_REF
PRC_APP_FRQ_SPD_REF
EN_SYNC_REG
SYNC_REG_KP
SYNC_REG_TA
SYNC_DELAY
PWM_SYNC_OFFSET
4.2.1 CONFIGURATION OF THE APPLICATION
4.2.1.1 CONFIGURATION OF THE NODE
The drive configuration as CAN node includes the use of the following customer parameters ( of
conventional use ):
ID_CANOPEN
CANOPEN_BAUD_SEL
These parameters must be rightly configured and saved in the permanent memory of the
drive (C63=1). At start up these data are considered and become operating.
80
Description
P162 - CAN BUS node ID
C48 - CAN Baud rate
P247 - Enable FIELD-BUS
reference values
D69 - Fieldbus Torque reference
D71 - Fieldbus Torque Max
reference
D75 - Fieldbus Speed reference
D78 - Fieldbus Speed Reference in
Pulses
D10 - Torque reference value
(application generated)
D32 - Maximum torque imposed
(application generated)
D33 - Speed reference (application
generated)
D14 - Frequency speed reference
value (application generated)
C23 - Enable CANOpen SYNC
traking loop
P11 - CanOpen SYNC loop
regulator Proportional gain
P12 - CanOpen SYNC loop
regulator lead time constant
D57 - Delay from SYNC reception
to Speed routine execution
D58 - PWM offset for SYNC delay
control
Name
Description
P162 - CAN BUS node ID
C48 - CAN Baud rate
Min
Max
Default
1
127
1
Range
0
1 M
1
800 k
2
500 k
3
250 k
0
4
125 k
5
50 k
6
20 k
7
10 k
0
1
0
-400
400
0
-400
400
0
-100
100
0
0
-100
100
0
-100
100
0
-100
100
0
-100
100
0
0
1
0
0
200
5
2000
0
400
0
0
0
Min
Max
1
127
Range
0
1 M
1
800 k
2
500 k
3
250 k
4
125 k
5
50 k
6
20 k
7
10 k
UM
Scale
1
1
1
% MOT_T_NOM
40.96
% MOT_T_NOM
40.96
% MOT_SPD_MAX
163.84
Pulses per Tpwm
1
% MOT_T_NOM
40.96
% MOT_T_NOM
40.96
% MOT_SPD_MAX
163.84
% MOT_SPD_MAX
163.84
1
1
1
us
1
pulses
1
Default
1
0
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