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