Goodrive600 series high-performance multifunction VFD
Communication networking
-140-
6.4.4 CANopen protocol introduction
1. Supported functions
CAN2.0A protocol
CANopen DS301
2. Supported CANopen services
Supports four pairs of PDO services (PDO1 TX to PDO4 TX, and PDO1 RX to PDO4 RX), where the PDO1 pair is
used to read and write parameters of the VFD, and the PDO2 to PDO4 pairs are used to control and obtain the actual
parameter values of the VFD in real time.
SDO: SDO information adopts the "client/server" mode and is used to configure slave nodes and provide access to
the object dictionary of each node.
Supports the emergency service.
Supports NMT node guarding.
Supports heartbeat packets (heartbeat producer)
Supports network management (NMT).
Supports NMT module control.
Supports NMT broadcast addresses.
Supports NMT error control.
Supports boot-up.
Supports SYNC (1
–240).
Supports asynchronous transmission of 254 and 255.
Supports time disabling.
Supports event timers.
Supports manufacturer-defined object dictionary. You can use the SDO to control and obtain the actual parameter
values of the VFD in real time.
3. Non-supported CANopen services
Saves object dictionary parameters at power outage
Time stamp service
6.4.5 CANopen packet format
CAN2.0A packets are used to transmit data between the master node and bus nodes by means of data frames.
Frame
header
Arbitration field
1 bit
11 bits
1 bit
6 bits
0
–
8 bytes
15 bits
1 bit
1 bit
1 bit
7 bits
Function code
Node identification (communication address)
9
8
7
6
5
4
3
2
1
0
1 0
Identifier of the
communication object
(COB-ID)
Remote
transmission
request
Control
field
Data field
CRC
sequence
CRC
delimiter
Response
delimiter
Response
interver
Frame
footer
Figure 6-4 Packet structure
