Parker MDC Series, Руководство пользователя

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Parker Hannifin Manufacturing Srl user’s manual MDC
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6 CAN bus interface
A CAN bus interface based on the physical layer ISO/DIS11898 is included on the converter.
The Data link layer is the full CAN version 2.0 part A (ID 11 bit).
6.1 CANopen dsp402 (D/E5 version)
The CANbus node must be set through Pr49 with values from 1 to 127.
Transmission speed is 250 kbps.
In the CANopen implementation of drive an SDO channel is available (standard cob-id). Both
standard guarding protocols are available , Node guarding and heartbeat (the two cannot exist
in the same time) Heartbeat is activated when a producer heartbeat time is set different from
0.Three PDO channels PDO 1,2,4 from the predefined standard connection set are available
PDO 1 and 2 are serviced by a cyclic routine executed every 2.048 msec and they are
remappable (elements of 2 or 4 bytes can be mapped) the RTR is allowed event time and
inhibit time are active they can handle synchronous requests serviced every 2.048 msec or
they can be handled as event driven.
PDO 4 is the PDO channel used for strictly realtime operation as controlling motor trajectory
or position loop (the PDO is synchronous type 1) no RTR is allowed and a restricted set of
parameters can be mapped , in particular (ID: to the second axis apply as offset 0x0800, while
to the third axis the offset is 0x1000; PDO: to the second axis apply as offset 0x0040, while to
the third axis the offset is 0x0080):
PDO 4 rx : [0x6040] control word
PDO 4 tx : [0x6041] status word
[0x6064] position feedback in counts
Life guarding protocol is implemented and can be activated writing life time factor and guard
time besides a missing guarding event ,life guarding protocol can be triggered by a missing
sync or a bus-off condition.
Note NMT commands are handled every 1.024 msec, so subsequent commands should be
sent to the drive not closer than 1.204 msec including broadcast NMT commands.