Technosoft IBL2403 Series, Technical Reference

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Technosoft 2007 49 IBL2403 Technical Reference
5. Step 3. Motion Programming
5.1. Using a CANopen Master (for IBL2403 CANopen execution)
The IBL2403 drive supports the CiA draft standard
DS-301 v4.02
CANopen Application Layer and
Communication Profile. It also conforms with the CiA draft standard proposal
DSP-402 v2.0
CANopen Device Profile for Drives and Motion Control. For details see CANopen Programming
manual (part no. P091.063.UM.xxxx)
5.1.1. DS-301 Communication Profile Overview
The IBL2403 drive accepts the following basic services and types of communication objects of
the CANopen communication profile DS 301 v4.02:
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Service Data Object (SDO)
Service Data Objects (SDOs) are used by CANopen master to access any object from the drive’s
Object Dictionary. Both expedited and segmented SDO transfers are supported (see DS301
v4.02 for details). SDO transfers are confirmed services. The SDOs are typically used for drive
configuration after power-on, for PDOs mapping and for infrequent low priority communication
between the CANopen master with the drives.
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Process Data Object (PDO)
Process Data Objects (PDO) are used for high priority, real-time data transfers between
CANopen master and the drives. The PDOs are unconfirmed services which are performed with
no protocol overhead. Transmit PDOs are used to send data from the drive, and receive PDOs
are used to receive on to the drive. The IBL2403 accepts 4 transmit PDOs and 4 receive PDOs.
The contents of the PDOs can be set according with the application needs using the dynamic
PDO-mapping. This operation can be done during the drive configuration phase using SDOs.
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Synchronization Object (SYNC)
The SYNC message provides the basic network clock, as the SYNC producer broadcasts the
synchronization object periodically. The service is unconfirmed. The IBL2403 supports both
SYNC consumer and producer.
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Time Stamp Object (TIME)
The Time Stamp Object is not supported by the IBL2403 device.
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Emergency Object (EMCY)
Emergency objects are triggered by the occurrence of a drive internal error situation. An
emergency object is transmitted only once per ‘error event’. As long as no new errors occur, the
drive will not transmit further emergency objects.
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Network Management Objects (NMT)
The Network Management is node oriented and follows a master-slave structure. NMT objects
are used for executing NMT services. Through NMT services the drive can be initialized, started,
monitored, reset or stopped. The IBL2403 is a NMT slave in a CANopen network.