Canopen Management - gefran SIEIDrive ADL300 Functions Description And Parameters List

1.1.8 SDO Entries
Only the "Expedited" data transfer mode (max. 4 Bytes) is used.
1) Subindex 0 (Number of supported entries ) = 3 because the device is a Server of the SDO service.
2) The structure of the Subindex 1 and 2 (COB-ID used by the SDO) is:
- Bit 31 (valid/invalid SDO); it is equal to 1 because just the Default SDOs are used.
- Bit 30 reserved = 0.
- Bit 29 = 0 because the 11-bit ID is used (CAN 2.0A).
- Bits 11-28 are not used.
- Bit 0-10 COB-ID (see table 1.4.1).
The element "node ID of SDO's client resp. server" is not supported because just the Default SDOs are used.
1.1.9 COB-ID SYNC Entries
The structure of the 32 bits contained in the COB-ID SYNC communication parameter is:
- Bit 31 = 1 because the CANopen interface card is a "consumer" of SYNC messages.
- Bit 30 = 0 because the interface card does not create SYNC messages.
- Bit 29 = 0 because the 11-bit ID is used (CAN 2.0A).
- Bits 11-28 are not used.
- Bit 0-10 COB-ID (see table 1.4.1).
1.1.10 COB-ID Emergency
The structure of the 32 bits contained in the COB-ID Emergency Message communication parameter is:
- Bit 31 = 0 because the CANopen interface card is not a "consumer" of Emergency messages.
- Bit 30 = 0 because the interface card creates Emergency messages.
- Bit 29 = 0 because the 11-bit ID is used (CAN 2.0A).
- Bits 11-28 are not used.
- Bit 0-10 COB-ID (see table 1.4.1).

1.2 CANopen management

The user interface of the CANopen protocol is performed via the drive parameters. The parameters are controlled via hier-
archical menus. All the writing parameters referring to the field bus are active only after the drive reset. Here following is a
list of drive parameters useful to control the CANopen protocol.
To enable CANopen, set parameter PAR 4000 Fieldbus type to CANopen or DS417.
The following parameters are available in the COMMUNICATION->FIELDBUS CONFIG menu:
PAR Par Name
4004 Fieldbus baudrate
4006 Fieldbus address
4010 Fieldbus M->S enable
4012 Fieldbus alarm mode
4014 Fieldbus state
• Fieldbus baudrate = Sets the network baud rate. Values available for CANopen: 125k, 250k, 500k, 1M
• Fieldbus address = address of this slave node in the network, accepted values from 1 to 127
• Fieldbus M->S enable = if set to Off data in the RPDOs are not processed by the drive
• Fieldbus alarm mode = if set to 1 the drive generates Opt Bus Fault errors relating to the loss of communication (Bus
Loss) even when the drive is not enabled.
• Fieldbus state = state of the communication for this node on the CANopen network: Stop, Pre-Operational, Opera-
tional.
138
Type Default value
Enum None
2 byte unsigned 0
Enum 0n
2 byte unsigned 0
Enum Stop
ADL300 • Appendix
Attr
Write
Write
Write
Write
Read only