Siemens Simovert Masterdrives Compendium page 561

02.2004
Free CANopen
device
Description
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES
The free CANopen device allows units such as AFEs or R/RFs that are
not specified in the profile to be linked to CANopen systems. The
MASTERDRIVES VC which is not operating as a CANopen device on
the CBC can therefore be linked to a CANopen bus system as well.
The objects 'control word 6040h', 'status word 6041h', 'modes of
operation 6060h' and 'modes of operation display 6061h' are provided
in the free CANopen device. The objects 6040h and 6041h must be
linked to the control word and status words of the connected device.
Objects 6060h and 6061h transfer the bits only 1:1. You must use free
blocks to interconnect the bits in a meaningful manner.
A range of manufacturer-specific objects are provided for the
transmission of setpoints or actual values. These must be mapped to a
PDO so that they are available in the device. The tables in Subsections
8.5.1 and 8.5.2.4 specify which PDOs and objects are provided for the
free CANopen device.
CANopen is a standardized application for distributed industrial
automation systems based on CAN and the communication standard
CAL. CANopen is a CAN in Automation (CiA) standard which has been
used very widely ever since its launch.
CANopen can be regarded as the definitive standard for the
implementation of industrial CAN-based system solutions in Europe.
CANopen is founded on a so-called "communications profile" that
specifies the basic communication mechanisms and their definition [CiA
DS 301].
The primary device types employed in industrial automation systems
such as, for example,
♦ digital and analog input / output modules [CiA DS 401]
♦ drives and motion control [CiA DSP 402]
♦ control units [CiA DSP 403]
♦ controllers [CiA DSP 404]
♦ PLCs [CiA DSP 405]
♦ encoders [CiA DSP 406]
are defined in so-called "device profiles".
The device profiles specify the functionality of standard equipment of
the relevant type.
Compendium Motion Control
Communication / CBC CANopen Communication Board
8.5-3