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YEU SIEP C710616 86A - AC Drive A1000 Option Powerlink - Technical Manual
7 DSP301 and DSP402 Specifications
7
DSP301 and DSP402 Specifications
Network communication on Powerlink is based on the DSP301 communication profile and the CANopen DSP402 device profile for drives and
motion control. This profile specifies mandatory objects that will be implemented as well as manufacturer specific and optional objects.
Process Data Objects (PDOs) are used for I/O exchange and Service Data Object (SDO) for explicit messaging. The time for transmitting PDOs is
significantly lower than the time for transmitting SDO, therefore, communication objects like command/reference are mapped onto PDOs as
standard.
All CANopen communication objects can be accessed via SDO. The SDO allow acknowledged access to communication objects, i.e., the
communication adapter confirms the intended access.
7.1
Modes
The A1000 series Powerlink option will support two operating modes:
Table 6 States of the Powerlink State Machine
DSP402 drive profile/vendor mode activation is done automatically by the option within the following constraints:
1. If an RxPDO mapping has been assigned to DSP402 control word 0x6040 and Powerlink is in the SAFEOP or OP state the DSP402 profile will be
processed.
2. If the Powerlink state machine is NOT in the SAFEOP or OP state and an SDO write request is performed on the DSP402 0x6040 control word the
DSP402 profile will be processed.
3. If the Powerlink state machine is NOT in the SAFEOP or OP state and an SDO read request is performed on the DSP402 0x6041 status word the
DSP402 profile will be processed.
4. Otherwise the vendor specific control word will be accessed normally.
The numbers of poles has to be set correctly and the display unit of the inverter has to be switched to rpm for proper operation. Refer to
for
further details.
7.2
Implemented CANopen Objects/Components
The following message types are implemented:
• SDO (Service Data Object) uses asynchronous data transmission and is used to access objects without mapping them to an I/O (PDO) connection.
With SDO communication, the user will have access to all CANopen objects in the module.
• PDO (Process Data Object)
The PDO object is used for I/O communication.
• Error Signalling
Error register and error history (pre-defined error field) are accessible via 1001 and 1003 objects, respectively. The error code is accessible via
603F object.
Mode
Description
Mode Verification
DSP402 Velocity mode
In this mode the drive can be controlled using standardised I/O objects. This
simple mode allows to control the velocity of the drive with limits and ramp
functions.
DSP402 object 0x6061 (Modes of operation display) = 2
Vendor specific mode
(DSP402 profile bypass)
In this mode the DSP402 state machine processor in the option is bypassed and the
drive native control/status words are used. Besides controlling the drive, this mode
allows flexible access to drive parameters and monitors.
DSP402 object 0x6061 (Modes of operation display) = -2
Summary of Contents for SI-EL3
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