Appendix - 1.0 Canopen Interface; Canopen Functions - gefran SIEIDrive ADL300 Functions Description And Parameters List

Appendix - 1.0 CANopen interface

CANopen is a communication profile for CanApplicationLayer-based industrial systems.
The reference document is the "CANopen application layer and communication profile" CiA 301 Version 4.2.0 21 February
2011 by CAN in Automation e. V.
The drive also implements part of the DS417 Profile according to the specific CANopen Device Profile Drives and Motion
Control V3.0.0 dated 14 December 2007.
The CAN protocol (ISO 11898) is CAN2.0A with an 11-bit identifier.
The integrated CANopen interface is developed as a "Minimum Field Device".
The data exchange is cyclic; the Master unit reads the Slave input data and writes the Slave output data.
Note!
CANopen is only present in ADL...-...-C models.

1.1 CANopen functions

This chapter describes the controlled functions of the CANopen communication profile.
Main features:
1) The "Mandatory Protocol boot-up" is managed.
2) The SYNC function is implemented.
3) The PDO asynchronous assignment is managed.
4) The Node Guarding and HearthBeat protocols are managed.
5) The emergency message is managed ("EMERGENCY").
6) The Dynamic ID distribution function (DBT slave) is not managed.
7) A "Generic Pre-Defined Master/Slave connection" is implemented to simplify the Master tasks during the initialization
phase.
8) "Inhibit-Times" (in units of 100 uS) can be modified.
9) The high-resolution synchronization is not supported.
10) "TIME STAMP" is not managed.
11) On the access of the structured parameters, the OFFhex option subindex (access to the whole object) is not managed.
12) In order to obtain a higher efficiency level, only the "Expedited" data transfer (max. 4 Bytes) of the SDO services is managed.
13) The "communication profile area" parameters are not saved by a save command, which on the other hand works on
the "manufacturer-specific" and "profile" areas.
1.1.1 Pre-defined Master/Slave Connection
The "Generic Pre-defined Master/Slave connection" allows a peer-to-peer communication between one Master and 127
Slaves; the Broadcast address is zero.
1.1.2 NMT Services (Network Management)
The NMT "mandatory" services are:
- Enter_Pre-Operational_State
- Reset_Node
Performs an adjustment software reset command.
- Reset_Communication
Also the following NMT services are managed:
- Start_Remote_Mode
- Stop_Remote_Mode
The COB-ID * of an initialization NMT service is always at 0; CS is the Command Specifier defining the NMT service.
1.1.3 Monitoring
The ADL300 drive supports the Node Guarding and HeartBeat mechanism. The Node Guarding configuration can be per-
formed through the master via the standard Object Dictionary elements (1006h, 100Ch, 100Dh).
The Node Guarding threshold (maximum time between two NodeGuarding messages received from ADL) is calculated as:
"Guard time" x "LifeTime Factor"
The HeartBeat is configured by means of the objects 1016h and 1017h. The threshold in this case is calculated as:
CS = 128 (80h)
CS = 129 (81h)
CS = 130 (82h)
CS = 1
CS = 2
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