Version 1.00
| Optidrive ODE-3 IP66 Outdoor Rated User Guide |
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9. CAN Communication
9.1. CAN Communication
The CAN communication profile in the Optidrive E3 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.
The CAN communication function is enabled by default after power up. However in order to use any control functions through CAN,
the following setting is required: P-12 = 7 or 8.
The CAN communication baud rate can be set by using parameter P-36 (Index 2). Available baud rates are: 125kbps, 250kbps,
500kbps, 1Mbps. (with default setting as 500kbps).
The Node ID is set up through drive address parameter P-36 (Index 1) with the default value of 1.
The tables below show the Index and Sub Index required to address each parameter. All User Adjustable parameters are accessible
by CAN, except those that would directly affect the communications.
All parameter values can be read from the drive and written to, depending on the operating mode of the drive – some parameters
may not be changed whilst the drive is enabled
for example
.
Optidrive E3 provides the following default COB-ID and functions:
Type
COB-ID
Function
NMT
000h
Network management.
Sync
080h
Synchronous message.
COB-ID can be configured to other value.
Emergency
080h + Node address
Emergency message.
PDO1 (TX)
180h + Node address
Process data object.
PDO1 is pre-mapped and enabled by default.
COB-ID can be configured to other value.
PDO2 is pre-mapped and disabled by default.
Transmission mode, COB-ID and mapping can be configured.
PDO1 (RX)
200h + Node address
PDO2 (TX)
280h + Node address
PDO2 (RX)
300h + Node address
SDO (TX)
580h + Node address
SDO channel can be used for drive parameter access.
SDO (RX)
600h + Node address
Error Control
700h + Node address
Guarding and Heartbeat function are supported.
COB-ID can be configured to other value.
NOTE
The Optidrive E3 SDO channel only supports expedited transmission.
The Optidrive E3 can only support up to 2 Process Data Objects (PDO). All PDOs are pre-mapped; however PDO2 is disabled
by default. The table below gives the default PDO mapping information.
Customer configuration (mapping) will NOT be saved during power down. This means that the CANopen configuration will
restore to its default condition each time the drive is powered up.
CAN Communication
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