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Function description
5.1.5.2
CANopen
The CANopen interface is suitable for networking drive components at field level. It meets
the requirements defined in the communications protocol DS-301.
The following device classes with CANopen device profiles are supported:
}
I/O modules DS-401
}
Electrical drives DS-402
}
Encoder DS-406
The CAN network is designed as a linear structure. The CANopen communication protocol
is based on CAN.
}
CAN networking with the motion controller is suitable for applications with a maximum
subscriber number of ≤ 49 and a cycle time ≥ 1 ms.
}
Only CAN devices that are known to the controller or support a corresponding device pro-
file can be operated in the motion controller's CAN network.
}
CAN devices detected by the motion controller are ready for operation immediately after
the initial network run-up. No complex configuration of the CAN devices is required.
}
The overall cable length and the length of the stub lines depend on the transmission rate.
}
Process data objects (PDO) are defined for each CAN device type and cannot be cus-
tomised by the user.
}
For servo amplifiers, the "FS" command can be used to set which process data is to be
exchanged between the motion controller and the servo amplifier (see "PMCprimo Pro-
gramming Manual").
}
The signal lines must be terminated with resistors (120 Ohm) on the first and last sub-
scriber. The resistors are generally integrated within the connected devices and can be
activated there. For a PMCprimo C2, a terminating resistor can be activated in the field-
bus junction box PMCprotego D.CAN-CANbus Adapter or PMCprotego D.CAN-
PFOFIBUS Adapter.
The PROFIBUS DP and CANopen interface are on the same socket (X42) and are as-
signed to two CANopen interfaces or a combined CANopen/PROFIBUS interface, depend-
ing on the basic configuration (PASmotion).
5.1.5.3
PROFIBUS DP
PROFIBUS is an open fieldbus standard. Communication is defined in IEC 61158 and IEC
61784. Further provisions have been defined in specifications published by the PROFIBUS
User Group. These specifications are available from PROFIBUS International.
The PROFIBUS interface is activated in the basic configuration (PASmotion) and is avail-
able together with a CANopen interface on an RJ45 socket (X7).
The operating parameters of the motion controller and PROFIBUS are set using
CODESYS.
Maximum data length of the PROFIBUS interface:
}
Input 244 Byte
}
Output 244 Byte
Operating Manual PMCprimo C2
1004683-EN-02
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