Can; Overview; Can Communication Configuration Parameter; Can Cob-Id - Invertek Drives Optidrive E3 ODE-3 Series User Manual

5. CAN

5.1. Overview

The CAN communication profile 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.
CAN communication is enabled by default however to use any control functions parameter P-12 must be set to 7 or 8. Refer to the
Programming Guide for further Information.

5.2. CAN Communication Configuration Parameter

The CAN communication baud rate can be set by using parameter P-36. Available baud rates are: 125kbps, 250kbps, 500kbps,
1Mbps. (with default settings as 500kbps).
The Node ID is set up through drive address parameter P-36 as well with the default value of 1.

5.3. CAN COB-ID

The following default COB-ID and functions are supported:
Type
NMT
Sync
Emergency
PDO1 (TX)
PDO1 (RX)
PDO2 (TX)
PDO2 (RX)
SDO (TX)
SDO (RX)
Error Control
NOTE
 The SDO channel only supports expedited transmission.
 A maximum of 2 Process Data Objects (PDO) are supported.
o All PDOs are pre-mapped; however, PDO2 is disabled by default
o The table below gives the default PDO mapping information.
 C ustomer configuration (mapping) will NOT be saved during power down. This means that the CAN configuration will restore to
its default condition each time the drive is powered up.
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COB-ID
000h Network management.
Synchronous message.
080h
COB-ID can be configured to other value.
080h + Node address Emergency message.
180h + Node address Process data object.
PDO1 is pre-mapped and enabled by default.
200h + Node address
COB-ID can be configured to other value.
280h + Node address
PDO2 is pre-mapped and disabled by default.
300h + Node address
Transmission mode, COB-ID and mapping can be configured.
580h + Node address
SDO channel can be used for drive parameter access.
600h + Node address
Guarding and Heartbeat function are supported.
700h + Node address
COB-ID can be configured to other value.
Function
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