igus Motion Plastics dryve D1, Manual

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External Signal Exchange
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Operating Manual dryve D1, ST-, DC-, EC/BLDC-Motor Control System - V2.4
6.4 CANopen
In the following chapter, the CANopen interface is explained.
The implementation is according to CiA301 and CiA402 (CiA402-3 servo drives)
6.4.1 Special Features of SDO/PDO Communication
SDO
SDO communication is primarily for parameterisation of object entries.
If the dryve D1 is disconnected from the voltage supply, all the configured SDO parameters are lost.
These must be re-written by the master every time the device is switched on again.
PDO
PDO communication is used for process data transfer.
There are 4 TPDOs and 4 RPDOs available for communication.
6.4.2 Telegram Structure
To accomplish a successful communication, a read/write telegram must correspond to the following scheme.
For example, a telegram for reading the object 6041h Statusword and the response telegram of the dryve D1 in "Operation
Enabled" status (
State Machine Visualisation , p. 85) In this case, the dryve D1 has the "Node-ID 1".
In later sections, we will only refer to Bytes 1 to 7.
Read telegram
COB-ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
CAN
iden
Node ID Quantity of
send Byte Write/Read-
Command Object
Index Part
2 Object
Index Part
1 Object
Sub-Index Data
– Specification of the "Least Significant
Bit (LSB)" in Byte 4 and the "Most Significant
Bit (MSB)" in Byte 7
601h 8h 40h 41h 60h 00h 00h 00h 00h 00h
Response telegram
COB-ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
581h 8h 4Bh 41h 60h 00h 27h 06h 00h 00h
Extract of COB-ID definition
Write/Read Commands
Request SDO Client Response SDO Server Description
22h 60h Write data, seize not specified
23h 60h Write data, seize 4 Byte
27h 60h Write data, seize 3 Byte
2Bh 60h Write data, seize 2 Byte
2Fh 60h Write data, seize 1 Byte
40h 42h Read data, seize not specified
40h 43h Read data, seize 4 Byte valid in response
40h 47h Read data, seize 3 Byte valid in response
40h 4Bh Read data, seize 2 Byte valid in response
40h 4Fh Read data, seize 1 Byte valid in response
6.4.3 PDO mapping
PDO Mapping executed in the master control unit. The PDO Mapping specifies which objects information is exchanged on a
regular basis between the D1 and the master. For further information, please refer to the operating instructions for the master
control unit.