ACS CANopen Manual
Version 20110928
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AC C E L E N S ( AC S ) C AN o p e n
The ACS-CANopen is a flexible measurement
device. This is proved by the fact that it has easily
programmable parameters like Resolution, Preset
and software filters. Other functions such as offset
values, baud rate, and node number can also be
configured using CAN objects in the ACS
inclinometers with ease and according to the
network.
Various software tools for configuration and
parameter-setting are available from different
suppliers. It is easy to align and program the
inclinometers using the EDS (electronic data
sheet) configuration file provided. (Refer to section
3.1)
1.4 Typical Applications of ACS
•
Cranes and Construction Machinery
•
Medical Systems
•
Elevated Platforms
•
Mobile Lifts and Fire Engines
•
Automated Guided Vehivles (AGV)
•
Automatic Assembling Machinery
•
Boring and Drilling Applications
•
Levelling and Flattening Machinery
2 . AC S – M o d e s a n d P a r a m e t e r s
The purpose of this chapter is to describe all the
available configuration parameters of the ACS
inclinometers with a CANopen interface.
Before going into details the following information
describes useful technical terms and acronyms for
CANopen network communication.
EDS (Electronic Data Sheet)
An EDS file describes the communication
properties of a device on the CAN network (baud
rates, transmission types, I/O features, etc.). It is
provided by the device manufacturer and is used in
the configuration tool to configure a node (like a
driver in an operating system).
PDO (Process Data Object)
CANopen frame containing I/O data.
We distinguish between:
•
Transmit-PDOs (TPDOs with data provided by
a node) &
•
Receive-PDOs (RPDOs with data to be
consumed by a node).
The transmission direction is always seen from a
node's point of view.
SDO (Service Data Object)
CANopen frames containing parameters. SDOs
are typically used to read or write parameters while
the application is running.
COB-ID (Communication Object Identifier)
Each CANopen frame starts with a COB-ID
working as the Identifier in the CAN frame. During
the configuration phase, each node receives the
COB-ID(s) of the frame(s) for which it is the
provider (or consumer).
NMT (Network Management Protocol)
The NMT protocols are used to issue state
machine change commands (i.e. to start and stop
the devices), detect remote device boot ups and
error conditions.
