1introduction – West Control Solutions KS 800 CANopen Interface Manual User Manual
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KS 800 CAN-Interface
1
Introduction
Controller KS800 is provided with a CAN interface, via which all data (parameter and configu-
ration data) required for operation can be sent to the controller. A master (PC or PLC) can also
read all process data via this interface.
According to "CANopen", the accesses are grouped into SDOs (Service Data Objects) and PDOs
(Process Data Objects). SDOs are provided for configuration and parameter setting of bus units
and PDOs are provided for the normal operating values.
KS800 operation at the CAN bus:
After KS800 start-up, the unit is in the "Pre Operational Mode". Communication via the CAN
interface is possible by means of SDOs. After bus and controller configuration, the master must
put KS800 to "Operational Mode" (NMT Start), in which using PDOs is also possible.
How to use PDOs must be configured in advance. There are "asynchronous" and "synchronous
PDOs". Asynchronous PDOs are sent with status changes such as out-of-tolerance band, sensor
break or similar events. Synchronous PDOs are sent on request by the master. For this purpose,
the master sends a SYNC frame. In the KS800 default setting, asynchronous PDOs are enabled
(for details, see Process-Data-Objects).
Implemented in KS800 are based on the "CANopen Communication Profile for Industrial Sys-
tems" (CiA Draft Standard 301). The functionality corresponds to the "Minimum The
communication services Capability Device" with "Predefined Master/Slave Connection Set",
completed by "LMT-services", however, without "Time Stamp" and "Store Paramter" objects.
Type
Address (dec.)
Address (hex.)
NMT_Commands
0
0x0
SYNC
128
0x80
LMT-RX
2021
0x7E5
LMT-TX
2020
0x7E4
EMERGENCY
128 + NodeID
*
)
0x80 + NodeID
*
)
PDO1-TX
384 + NodeID
*
)
0x180 + NodeID
*
)
PDO1-RX
512 + NodeID
*
)
0x200 + NodeID
*
)
PDO2-TX
640 + NodeID
*
)
0x280 + NodeID
*
)
PDO2-RX
768 + NodeID
*
)
0x300 + NodeID
*
)
SDO-TX
1408 + NodeID
*
)
0x580 + NodeID
*
)
SDO-RX
1536 + NodeID
*
)
0x600 + NodeID
*
)
NODE_GUARD
1769 + NodeID
*
)
0x6E0 + NodeID
*
)
**
)
*
) NodeID range within 1 ...127
**
)KS 800 default does not correpond to 301-standard
9499 040 49511
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