Can Open Communication - Emerson PACMotion VFD Series User Manual

CAN Open Communication

Overview
The CANopen communication profile in the PACMotion VFD is implemented according to the specification
DS301 version 4.02 of CAN in automation (www.can-cia.de). Specific device profiles such as DS402 are not
supported.
Basic Operation Setup
The CANopen communication function is enabled by default after power up however in order to use any
control functions through CANopen, Parameter P1-12 must be set to 6.
The CAN communication baud rate can is selected by parameter P5-02. Available baud rates are 125 kbps,
250 kbps, 500 kbps, 1 Mbps. Default settings is 500 kbps.
The Node ID is set up through drive address parameter P5-01 with a default value of 1.
COB ID and Functions
PACMotion VFD provides the following default COB-ID and functions:
Table 46: Messages and COB-IDs
Type
NMT
Sync
Emergency
PDO1 (TX)
PDO1 (RX)
PDO2 (TX)
PDO2 (RX)
SDO (TX)
SDO (RX)
Error Control
NOTE
1. The PACMotion VFD SDO channel only supports expedited transmission.
2. The PACMotion VFD can only support up to 2 Process Data Objects (PDO). All PDOs are pre-mapped,
however PDO2 is disabled by default. Table 2 gives the default PDO mapping information.
3. Customer configuration (mapping) will NOT be saved during power down. This means that the CANopen
configuration will restore to its default condition each time the drive is powered up.
80
COB-ID
000h
080h
080h + Node address
180h + Node address
200h + Node address
280h + Node address
300h + Node address
580h + Node address
600h + Node address
700h + Node address
PACMotion VFD AC Variable Speed Drive User Guide
Function
Network management.
Synchronous message.
COB-ID can be configured to other value.
Emergency message.
COB-ID can be configured to other value.
Process data object.
PDO1 is pre-mapped and enabled by default.
PDO2 is pre-mapped and disabled by default.
Transmission mode, COB-ID and mapping can be configured.
SDO channel can be used for drive parameter access.
Guarding and Heartbeat function are supported.
COB-ID can be configured to other value.
GFK-3111A