INVT Goodrive350 Series, Operation Manual

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Communication extension card CANopen communication card
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Chapter 3 CANopen communication card
3.1 Overview
1. Thanks for choosing INVT CANopen communication cards. This manual describes the
function specifications, installation, basic operation and settings, and information about
the network protocol. To ensure that you install and operate the product properly, read
this manual and the communication protocol section in the VFD operation manual
carefully before you use the product.
2. This manual only describes how to operate the CANopen communication card and the
related commands but does not provide details about the CANopen protocol. For more
information about the CANopen protocol, read the related specialized articles or books.
3. This communication card is defined as a CANopen slave station communication card and
is used on a VFD that supports CANopen communication.
4. The CANopen communication of this communication card supports access to VFDs
through process data objects (PDOs) and service data objects (SDOs). PDOs and SDOs
are used to read the object dictionary defined by the manufacturer.
3.2 Features
1. Supported functions
 Supports the CAN2.0A protocol.
 Supports CANopen DS301.
2. Supported CANopen services

PDO: 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 a 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 node protection (NMT Node Guarding).
 Supports heartbeat packets (Heartbeat Producer).
 Supports network management (NMT).
•
Supports NMT module control.
•
Supports NMT broadcast addresses.
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Supports NMT error control.