Communication; Packet Format - INVT Goodrive350 Series Operation Manual

Communication extension card
CANH
CANL
CANG
Shielding

3.4 Communication

3.4.1 Packet format

CAN2.0A packets are used to transmit data between the master station and bus nodes
through data frames.
Frame
header
1 bit
Function code
1 0 9
Communication object
NMT
SYNC
EMERGENCY
PDO1 Tx
PDO1 Rx
PDO2 Tx
PDO2 Rx
PDO3 Tx
PDO3 Rx
PDO4 Tx
PDO4 Rx
SDO Tx
SDO Rx
Node protection
wire
EC-TX105
Figure 3-1 Electrical wiring diagram
Arbitration field
Remote
Identifier of the
transmission
communication object
request
(COB-ID)
11 bits 1 bit
Node identification (communication address)
8 7 6 5
Figure 3-2 Packet structure
Function code (binary)
EC-TX105
Control CRC
Data field
field sequence
6 bits 15 bits
0–8 bytes
4 3 2 1 0
0
1
1
11
100
101
110
111
1000
1001
1010
1011
1100
1110
-19-
CANopen communication card
120Ω terminal
resistor
EC-TX105
CRC Response Response
delimiter interver delimiter
1 bit 1 bit 1 bit
COB-ID (hexadecimal)
0x00
0x80
0x81–0xFF
0x181–0x1FF
0x201–0x27F
0x281–0x2FF
0x301–0x37F
0x381–0x3FF
0x401–0x47F
0x481–0x4FF
0x501–0x57F
0x581–0x5FF
0x601–0x67F
0x701–0x77F
Frame
footer
7 bits