Vacon NX OPTC6 User Manual
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Contents
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nx interface vacon • 1924-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com77. CANOPEN-VACON NX INTERFACECanOpen communication objects transmitted via the CAN network are described by services andprotocols. They are classified as follows:- The real-time data transfer is performed by the Process Data Objects (PDOs) protocol REAL-TIME CONTROL OF THE DRIVE- Service Data Objects (SDO) protocols provide the read and write access to entries of a deviceobject dictionary CONFIGURATION OF THE DRIVE, READ/WRITE DRIVE PARAMETERS- The Network Management (NMT) protocols provide services for network initialization, errorcontrol and device status control START/STOP CANOPEN COMMUNICATION7.1 CanOpen message frameSOF COB-ID RTR CTRL Data Segment CRC ACK EOF1bit 11bit 1bit 5bit 0-8bytes 16bits 2bits 7bitsSOF Start of Frame CRC Cyclic Redundancy CheckRTR Remote Transmission Request ACK AcknowledgeCTRL Control Field (i.e. Data Length) EOF End of FrameCOB-IDThe identification field of the CANopen-message is 11 bits.ID-Bit 10 9 8 7 6 5 4 3 2 1 0COB-ID Function Code Module-IDThe default identification field consists of a functional part and a module-ID part. The functional partdetermines the object priority. This kind of identification field allows communication between amaster and 127 slaves. Broadcasting is indicated by a module-id of zero. Function codes aredetermined with object dictionaries in device profiles. |
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