Pilz PMCprimo DriveP.01/AA0/4/0/0/208-480VAC - Manual (Page 23)

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected]
4-5
4.1 Device properties
4 Function description
4.1.5.2 CANopen
CANopen 4- Funktion_CANopen
The CANopen interface is suitable for networking drive components at
field level. It meets the requirements defined in the communications pro-
tocol DS-301.
The following device classes with CANopen device profiles are support-
ed:
 I/O modules DS-401
 Electrical drives DS-402
 Encoders DS-406
Funktion_CANopen_PMCprimo_C
The CAN network is designed as a linear structure. The CANopen com-
munication protocol is based on CAN.
 CAN networking with the motion controller is suitable for applications
with a maximum subscriber number of ≤ 32 and a cycle time ≥ 1 ms.
 Only CAN devices that are known to the controller or support a cor-
responding device profile can be operated in the motion controller's
CAN network.
 CAN devices detected by the motion controller are ready for opera-
tion immediately after the initial network run-up. No complex config-
uration of the CAN devices is required.
 The overall cable length and the length of the stub lines depend on the
transmission rate.
 Process data objects (PDO) are defined for each CAN device type and
cannot be customised by the user.
 For servo amplifiers, the "FS" command can be used to set which
process data is to be exchanged between the motion controller and
the servo amplifier (see "PMCprimo Programming Manual").
 The signal lines must be terminated with resistors (120 Ohm) on the
first and last subscriber. The resistors are generally integrated within
the connected devices and can be activated there. For a
PMCprimo C, a terminating resistor can be activated in the fieldbus
junction box PMCprotego D.CAN-CANbus Adapter or
PMCprotego D.CAN-PFOFIBUS Adapter.