Table Of Contents - Vacon OPTE6 User Manual

1. Safety ...............................................................................................................3
1.1 Danger................................................................................................................................3
1.2 Warnings ............................................................................................................................4
1.3 Earthing and earth fault protection ...................................................................................5
2. CANopen option board OPTE6 - General ..........................................................6
2.1 Overview .............................................................................................................................6
2.2 Software .............................................................................................................................6
2.2.1 CAN.....................................................................................................................................6
2.2.2 CANopen.............................................................................................................................6
3. CANopen protocol description .........................................................................7
3.1 NMT ....................................................................................................................................7
3.2 Node control protocols ......................................................................................................8
3.3 Error control protocols ....................................................................................................10
3.3.1 Heartbeat protocol ...........................................................................................................10
3.3.2 Node guarding protocol ...................................................................................................10
3.3.3 EMCY object......................................................................................................................11
3.4 SDO protocol ....................................................................................................................13
3.5 PDO protocol ....................................................................................................................14
3.5.1 PDO communication parameter record ..........................................................................14
3.5.2 COB ID ..............................................................................................................................15
3.5.3 Transmission type............................................................................................................16
3.5.4 PDO parameter mapping record .....................................................................................17
3.6 SYNC protocol ..................................................................................................................18
3.6.1 SYNC with counter ...........................................................................................................18
3.7 Communication objects ...................................................................................................20
3.7.1 0X1000 - Device Type .......................................................................................................20
3.7.2 0X1001 - Error Register ...................................................................................................20
3.7.3 0X1003 - Pre-defined Error Field ....................................................................................21
3.7.4 0X1005 - COB ID SYNC .....................................................................................................21
3.7.5 0X100C - Guard Time .......................................................................................................21
3.7.6 0X100D - Life Time Factor ...............................................................................................21
3.7.7 0X1014 - COB ID EMCY.....................................................................................................22
3.7.8 0X1016 - Heartbeat Consumer Entries............................................................................22
3.7.9 0X1017 - Producer Heartbeat Time .................................................................................23
3.7.10 0X1018 - Identify Object ...................................................................................................23
3.7.11 0X1019 - Synchronous counter ........................................................................................23
3.7.12 0X1029 - Error behaviour.................................................................................................24
3.8 Saving and restoring the object dictionary ......................................................................25
3.8.1 0X1010 Store parameter field ..........................................................................................25
3.8.2 0X1011 Restore default parameters................................................................................25
3.8.3 Bypass parameter set......................................................................................................25
4. CANopen option board OPTE6 - technical data...............................................30
4.1 General .............................................................................................................................30
4.2 CAN cable.........................................................................................................................30
4.2.1 Isolated ground connection .............................................................................................31
4.2.2 Recommended cable .......................................................................................................32
5. OPTE6 layout and connections .......................................................................33
5.1 Layout and connections ...................................................................................................33
5.2 LED Indications ................................................................................................................35
5.3 Jumpers ...........................................................................................................................36
24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com
vacon • 1
T C
ABLE OF ONTENTS
Document: DPD01091B
Release date : 20042016