EDS94AYCCA EN 5.0 - 06/2012
L
15
E94AYCCA communication manual (CANopen®)
Product description
Features
3.3
Features
For many years the system bus (CAN) based on the CANopen communication profile has
been integrated in Lenze controllers. Due to the lower number of data objects available,
the functionality and compatibility of the old system bus are lower as compared with
CANopen. For parameter setting, two parameter data channels are always available to the
user while CANopen provides only one active parameter data channel (along with the
possibility to establish further channels).
The system bus (CANopen) of the Servo Drives 9400 is an advancement of the 9300
controller series' system bus (CAN).
The communication module E94AYCCA (CANopen) provides the following features:
Interface module for the system bus (CANopen), connectable to the expansion slots of
Servo Drives 9400
Internal voltage supply of the communication module via the Servo Drive 9400.
Full compatibility according to CANopen DS301, V4.02
Support of the NMT master/slave function "node guarding" (DS301,V4.02)
Support of the NMT slave function "heartbeat" (DS301,V4.02)
No restrictions regarding the selection of node addresses
Number of parameterisable server and client SDO channels:
– max. 10 channels with 1 ... 8 bytes
Number of parameterisable PDO channels:
– max. 4 Transmit-PDOs (TPDOs) with 1 ... 8 bytes
– max. 4 Receive-PDOs (RPDOs) with 1 ... 8 bytes
All PDO channels are functionally equivalent.
Monitoring of the RPDOs for data reception
Telegram counters for SDOs and PDOs
Bus status diagnostics
Boot-up telegram generation
Emergency telegram generation
Reset node telegram generation (with master configuration)
Sync telegram generation and response to sync telegrams:
– Transmit/receive data
– Synchronisation of the device-internal time base
Abort codes
All CAN functions parameterisable via codes
Object directory (all mandatory functions, optional functions, indexes)