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VACON® 1000 Fieldbus Options
Operating Guide
5 CANopen
5.1 Function Description
The CANopen gateway can act as two different communication gateways:
•
As a communication gateway between CANopen master protocol and Modbus slave protocol, the gateway can establish con-
nections between many CANopen slaves and a Modbus master device.
•
As a communication gateway between Modbus master protocol and CANopen slave protocol, the gateway can establish con-
nections between many Modbus slave devices and a CANopen master device.
5.2 Specifications
5.2.1 CANopen Master/Modbus Slave
•
The gateway can achieve data communication between many CANopen slaves and a Modbus master.
•
CANopen master features:
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CANopen supports DS301V4.02; Supports NMT, PDO, SDO, Heartbeat, and Guardlife.
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CANopen interface supports: 5, 10, 20, 50, 100, 125, 250, 500, and 1000 kbps.
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CAN interface supports CAN2.0A protocol.
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Supports maximum 8 bytes TPDO and RPDO, fast Download SDO, and fast Upload SDO.
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TPDO and RPDO can use default COBID, or use user-defined COBID, default COBID:
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TPDO COBID: 384 + node address (0x180+node address), or 640 + node address (0x280+node address), or 896 + node
address (0x380+node address), or 1152 + node address (0x480+node address)
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Default value of RPDO: 512 + node address (0x200+node address), or 768 + node address (0x300+ node address), or
1024 + node address (0x400+ node address), or 1280 + node address (0x500+node address)
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Supports TPDO, RPDO, SDO command numbers configuration, configure up to 128 commands (not limited to command
numbers of one kind).
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Modbus slave features:
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Supports function code: 03H, 04H, 06H, 10H
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Supports communication mode: RTU and ASCII
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Supports RS485 or RS232 interface, half-duplex, baud rate: 1200–115200 bps; (Supports baud rate: 1200, 2400, 4800, 9600,
19200, 38400, 57600, 115200 bps)
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Data bits: 8
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Parity: None, Odd, and Even optional
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Stop bits: 1 and 2 optional
•
Operating environment:
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REL Humidity: 5–95% (non-condensing)
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Working circumstance temperature: -20...+60 °C (-4...+140 °F)
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Pollution level: class 3
•
Power: 24 V DC (11–30 V), maximum 60 mA (24 V)
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External dimensions (WxHxD): 25 x 100 x 90 mm (0.98 x 3.94 x 3.54 in)
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Installation: 35 mm DIN rail
5.2.2 CANopen Slave/Modbus Master
•
The gateway can achieve data communication between many Modbus slaves and a CANopen master.
•
CANopen slave features:
-
CANopen supports DS301V4.02; Supports NMT, PDO, SDO, Heartbeat, and Guardlife, The cycle for TPDO transmission, and
Timestamp.
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CANopen interface supports: 5, 10, 20, 50, 100, 125, 250, 500, and 1000 kbps.
-
CAN interface supports CAN2.0A protocol.
Danfoss A/S © 2023.09
AQ454734633756en-000101 / 172K1112 | 49
CANopen
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