Lenze EMF2175IB - Manual (Page 30)

CANopen
6 Parameter setting
6-2
L
BA2175 EN 2.0
6.1 Structure of a CAN data telegram
1 bit 11 bit 1 bit 6 bit
0 ... 8 byte
15 bit 1 bit 1 bit 1 bit 7 bit
Start
Identifier
RTR bit
Control field
User data
CRC sequence
CRC delimit.
ACK slot
ACK delimit.
End
Description in chapter 6.1.1 Three different data types are transported in this field:
• Network management telegrams (NMT) (Description in chapter 6.1.2 )
– NMT user data hold information about the communication structure via
CAN bus.
• Parameter data (SDO) (Description in chapter 6.2.1 )
– The user data are for parameter setting.
• Process data (PDO) (Description in chapter 6.3 )
– The process data in the user data are used for fast, mainly frequent
processes (e.g. speed setpoint and actual speed value).
• Network management
• Parameter data
• Process data,
Fig. 6-1 Structure of a CAN data telegram
The data relevant for programming the bus module (identifiers and user data) will be described in
detail in the corresponding chapters.
All other signals refer to the transfer features of the CAN telegram. These Instructions do not
describe them in detail. For more information please see the homepage of “ CAN in Automation
(CiA)” : www.can-cia.de.
6.1.1 Identifiers
The CAN bus system is message-oriented. One of the most important components of a data
telegram is the identifier. Except for the network management (see chapter 6.1.2) and the sync
telegram (see chapter 6.3) the identier contains the controller address.
Identifier = basic identifier + controller address
With CANopen the controller address is used for a participant-oriented message addressing.
The identifier assignment is determined in the CANopen protocol. The basic identifier is default set
as described in the following:
Direction Basic identifier
+ Controller
from the
controller
to the
controller
dec hex
+ Controller
address
Network manager (NMT) 0 0
No
Sync telegram 128 80
No
Process data channel 1
X 384 180
Process data channel 1
X 512 200
Process data channel 2
X 640 280
Process data channel 2
X 768 300
Process data channel 3
X 896 380
Process data channel 3
X 1024 400 yes
Parameter data channel 1
X 1408 580
yes
Parameter data channel 1
X 1536 600
Parameter data channel 2
X 1472 5C0
Parameter data channel 2
X 1600 640
Node guarding 1792 700
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