Technosoft iPOS4808 BX-CAN, Technical Reference

Page: 75 / 107


Technosoft 2015 73 iPOS4808 BX-CAN Technical Reference

Module Control Services – through these unconfirmed services, the NMT master
controls the state of the drive. The following services are implemented: Start Remote
Node, Stop Remote Node, Enter Pre-Operational, Reset Node, Reset Communication

Error Control Services – through these services the NMT master detects failures in a
CAN-based network. Both error control services defined by DS301 v4.02 are supported by
the iPOS4808: Node Guarding (including Life Guarding) and Heartbeat

Bootup Service - through this service, the drive indicates that it has been properly
initialized and is ready to receive commands from a master
5.1.2. CiA-305 Layer Setting Services (LSS) and Protocols Overview
When used in a CANopen network, the iPOS4808 drives accept node-ID and CAN bus bit timing
settings according with CiA 305 protocol. This allows a CANopen master supporting CiA WD 305
to configure each iPOS4808 from the network with the desired node-ID and CAN bus bit timing.
CiA-305 protocol allows connecting non-configured drives to a CANopen network and performing
the drives configuration on-the-fly via the CANopen master.
5.1.3. CiA-402 and Manufacturer Specific Device Profile Overview
The iPOS4808 supports the following CiA 402 modes of operation:

Profile position and velocity modes

Homing mode

Interpolated position mode
Additional to these modes, there are also several manufacturer specific modes defined:

External reference modes (position, speed or torque)

Electronic gearing and camming position mode
5.1.4. TechnoCAN Extension
In order to take full advantage of the powerful Technosoft Motion Language (TML) built into the
iPOS4808, Technosoft has developed an extension to CANopen, called TechnoCAN through
which TML commands can be exchanged with the drives. Thanks to TechnoCAN you can inspect
or reprogram any of the Technosoft drives from a CANopen network using EastSetup or
EasyMotion Studio and an RS-232 link between your PC and any of the drives.
TechnoCAN uses only identifiers outside of the range used by the default by the CANopen
predefined connection set (as defined by CiA 301). Thus, TechnoCAN protocol and CANopen
protocol can co-exist and communicate simultaneously on the same physical CAN bus, without
disturbing each other.
5.1.5. Checking Setup Data Consistency
During the configuration phase, a CANopen master can quickly verify using the checksum objects
and a reference
.sw file (see 4.5 and 5.2.4 for details) whether the non-volatile EEPROM memory
of an iPOS4808 drive contains the right information. If the checksum reported by the drive doesn’t
match with that computed from the
.sw file, the CANopen master can download the entire .sw file
into the drive EEPROM using the communication objects for writing data into the drive EEPROM.