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INDEX
Document code: DPD00896A
Date: 17.01.2012
1.
GENERAL ........................................................................................................................... 3
2.
CANOPEN OPTION BOARD TECHNICAL DATA .................................................................... 4
2.1
General ..................................................................................................................................... 4
2.2
CanOpen cable .......................................................................................................................... 4
3.
CANOPEN ........................................................................................................................... 5
4.
CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS .................................................. 6
4.1
CanOpen option board .............................................................................................................. 6
4.2
Bus terminal resistors ............................................................................................................. 6
4.3
LED indications ......................................................................................................................... 7
4.4
Connection of CanOpen bus cable ............................................................................................ 8
5.
INSTALLATION OF VACON NX CANOPEN BOARD ............................................................. 13
5.1
Board information sticker ...................................................................................................... 15
6.
COMMISSIONING .............................................................................................................. 16
7.
CANOPEN-VACON NX INTERFACE ................................................................................... 19
7.1
CanOpen message frame ....................................................................................................... 19
7.2
Network Management (NMT) ................................................................................................. 21
7.3
Process data (PDO) ................................................................................................................. 22
7.4
Transmission types ................................................................................................................ 23
7.5
Controlling the drive via PDO messages with Drive Profile ................................................... 24
7.6
Using manufacturer specific PDOs with ByPass modes ........................................................ 27
7.7
Drive Monitoring ..................................................................................................................... 29
7.8
Anyparameter service ............................................................................................................ 30
8.
Service Data (SDO) ........................................................................................................... 31
9.
Node Guarding Protocol ................................................................................................... 42
10.
Electronic Data Sheet, EDS-file ....................................................................................... 43
11.
APPENDICES .................................................................................................................... 44
appendix a - device profile for drives ..................................................................................................... 44
appendix b – sdo messages .................................................................................................................... 45
appendix c – process data contents ....................................................................................................... 46
appendix d .............................................................................................................................................. 47
