vacon® nx

ac drives

optc6
canopen option board
user manual
 1

INDEX Document code: DPD00896B

Date: 24.08.2017

1. GENERAL ........................................................................................................................... 2

2. CANOPEN OPTION BOARD TECHNICAL DATA .................................................................... 3

2.1 General ..................................................................................................................................... 3
2.2 CANopen cable ......................................................................................................................... 3
3. CANOPEN ........................................................................................................................... 4

4. CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS .................................................. 5

4.1 CANopen option board ............................................................................................................. 5
4.2 Bus terminal resistors ............................................................................................................. 5
4.3 LED indications ......................................................................................................................... 6
4.4 Connection of CANopen bus cable ........................................................................................... 7
5. INSTALLATION OF VACON ® NX CANOPEN BOARD ........................................................... 12
5.1 Board information sticker ...................................................................................................... 14
6. COMMISSIONING .............................................................................................................. 15

7. CANOPEN- VACON ® NX INTERFACE................................................................................. 19

7.1 CANopen message frame ...................................................................................................... 19
7.2 Network Management (NMT) ................................................................................................. 21
7.3 Process data (PDO)................................................................................................................. 22
7.4 Transmission types ................................................................................................................ 23
7.5 Controlling the drive via PDO messages with Drive Profile ................................................... 24
7.6 Using manufacturer specific PDOs with ByPass modes ........................................................ 27
7.7 Drive Monitoring ..................................................................................................................... 29
7.8 Anyparameter service ............................................................................................................ 30
8. Service Data (SDO) ........................................................................................................... 31

9. Node Guarding Protocol ................................................................................................... 44

10. Electronic Data Sheet, EDS-file ....................................................................................... 45

11. APPENDICES .................................................................................................................... 46

appendix a - device profile for drives ..................................................................................................... 46
appendix b sdo messages.................................................................................................................... 47
appendix c process data contents ....................................................................................................... 48
appendix d .............................................................................................................................................. 49

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 2 GENERAL

1. GENERAL
VACON® NX AC drives can be connected to the CANopen system using a fieldbus board. The AC drive
can then be controlled, monitored and programmed from the Host system.

The CANopen fieldbus board is installed in slot D or slot E on the control board of the AC drive.

Internal components and circuit boards are at high potential when the AC drive is
connected to the power source. This voltage is extremely dangerous and may
cause death or severe injury if you come into contact with it.

DANGER

NOTE! When experiencing problems with fieldbus functionalities, always write down all the texts and
codes on the keypad display. Then send the problem description together with the Drive Info File to
the local distributor. See local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ .

NOTE! You can download the English and French product manuals with applicable safety, warning
and caution information from http://drives.danfoss.com/knowledge-center/technical-
documentation/.

REMARQUE Vous pouvez télécharger les versions anglaise et française des manuels produit

sur le site http://drives.danfoss.com/knowledge-center/technical-documentation/.

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CANOPEN OPTION BOARD TECHNICAL DATA 3

2. CANOPEN OPTION BOARD TECHNICAL DATA

2.1 General

CANopen Interface Open Style Connector (Pluggable connector, 5.08mm)

connections Data transfer CAN (ISO 11898)
method
Transfer cable 2 wire twisted shielded cable
Electrical isolation 500 VDC
Communications CANopen CiA DS-301
CiA DSP-402
Baud rate 10 kBaud
20 kBaud
50 kBaud
100 kBaud
125 kBaud
250 kBaud
500 kBaud
1000 kBaud
Addresses 1 127
Environment The specifications of the drive are applicable.
Safety Fulfils EN50178 standard
Table 2-1. CANopen technical data

2.2 CANopen cable

According to the ISO 11898 standard, cables to be chosen for CAN bus lines should have a nominal
impedance of 120, and a specific line delay of nominal 5 ns/m. Line termination has to be provided
through termination resistors of 120 located at both ends of the line. The length related resistance
should have 70 m/m. All these mentioned AC and DC parameters are suitable for a 1 Mbit/s
transmission rate.

The table below shows practical bus length for CANopen networks with less than 64 nodes:

Baudrate [Kbit/s] Max. Bus length [m]

1000 30
800 50
500 100
250 250
125 500
50 1000
20 2500

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 4 CANOPEN

3. CANOPEN
CANopen is a networking system based on the serial bus Controller Area Network (CAN). The
CANopen Communication Profile (CiA DS-301) supports both direct access to device parameters and
time-critical process data communication. CANopen device profiles (CiA DS-40x) define standards for
basic device functionality while providing ample scope for additional vendor-specific device features.
CANopen leashes the full power of CAN by allowing direct peer to peer data exchange between nodes
in an organised and, if necessary, deterministic manner. The network management functions
specified in CANopen simplify project design, implementation and diagnosis by providing standard
mechanisms for network start-up and error management.
CANopen supports both-cyclic and event-driven communication. This makes it possible to reduce the
bus load to a minimum but still maintaining extremely short reaction times. High communication
performance can be achieved at relatively low baud rates, thus reducing EMC problems and
minimising cable costs.
CANopen is the ideal networking system for all types of automated machinery. One of the
distinguishing features of CANopen is its support for data exchange at the supervisory control level as
well as accommodating the integration of very small sensors and actuators on the same physical
network. This avoids the unnecessary expense of gateways linking sensor/actuator bus systems with
higher communication networks and makes CANopen particularly attractive to original equipment
manufacturers.

Device Profile Drives and Motion Control (CiA DSP-402) document represents the standardised
CANopen Device Profile for digital controlled motion products like servo controllers, AC drives or
stepper motors. All the above-mentioned devices use communication techniques which conform to
those described in the CANopen Application Layer and Communication Profile. The starting and
stopping of the drive and several mode specific commands are executed by the statemachine. The
operation mode defines the behaviour of the drive. The following modes are defined in this profile:

Homing Mode
Profile Position Mode
Interpolated Position Mode
Profile Velocity Mode
Profile Torque Mode
Velocity Mode

VACON® CANopen Option Board supports the Velocity Mode

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CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS 5

4. CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS

VACON® CANopen Board is connected to the fieldbus through a 5-pin pluggable bus connector (board
NXOPTC6).
The communication with the control board of the AC drive takes place through the standard VACON®
Interface Board Connector.

4.1 CANopen option board

A
M

1
2
3 X6
4
5
X1
Bus connector Jumpers Interface board
connector
Grounding plate

Figure 4-1. VACON® CANopen option board OPT-C6

Signal Connector Description

CAN_GND 1 Ground / 0V / V-
CAN_L 2 CAN_L bus line (dominant low)
(CAN_SHLD) 3 Optional CAN shield
CAN_H 4 CAN_H bus line (dominant high)
(CAN_V+) 5 -
Table 4-1.OPT-C6 bus connector signals

4.2 Bus terminal resistors

If VACON® drive is the last device of the CANopen line the bus termination must be set. Use jumper
X6 (ON position see Figure 4-1), or an external resistor (120) connected to terminals 2 and 4.

ON OFF

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 6 CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS

4.3 LED indications

The CANopen Option Board includes two LED status indicators next to the connector: Fieldbus status
(M), CANopen(A). Led N is unused.

N Not used
A Green
M Green

1
2
3 X6
4
5
X1
Figure 4-2. LED indications on the CANopen board

CANopen board status LED (A) GREEN

LED is: Meaning:
OFF Option board not activated
ON Option board in initialisation state waiting for activation
command from the AC drive
Blinking fast Option board is activated and in RUN state
(1 blink / s) Option board is ready for external communication
Blinking slow Option board is activated and in FAULT state
(1 blink/ 5s) Internal fault of option board

Fieldbus status LED (M) GREEN

LED is: Meaning:
OFF Fieldbus module is waiting for parameters from the AC
drive
No external communication
ON Fieldbus module is activated
Parameters received and module activated
Module is waiting for messages from the bus
Blinking fast Module is activated and receiving messages from the bus
(1 blink / s)
Blinking slow Module is in FAULT state
(1 blink / 5s) No messages from Master within the watchdog time
Bus broken, cable loose or Master off line

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CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS 7

4.4 Connection of CANopen bus cable

The bus cable shield can be grounded in three different ways:
a) clamping the cable to the AC drive frame
b) to the frame of the AC drive through an RC filter
c) directly to the AC drive frame

Note: Normally, the option board has already been installed in slot E of the control board. It is not
necessary to detach the whole board for the grounding of the bus cable shield. Just detach the
terminal block.

4.4.1 Grounding by clamping the cable to the AC drive frame

This manner of grounding is the most effective and especially recommended when the distances
between the devices are relatively short (see 4.4.2.1).
In this manner of grounding, the position of jumper X1 is of no importance

CanOpen ca ble CanOpen c able CanOpen cable

Figure 4-3. Grounding by clamping the cable to the AC drive frame

1 Strip about 5 cm of the CANopen cable in the same way as shown in Figure 4-4 but cut off the
grey cable shield.
Remember to do this for both bus cables (except for the last device).

2 Leave no more than 1 cm of the data cable outside the terminal block and strip the data cables at
about 0.5 cm to fit in the terminals. See Figures 4-5 and 4-6.
Note: Do this for both bus cabels

3 Insert the data cables of both CANopen cables into terminals #2 and #4. See Figure 4-7.

4 Strip the CANopen cable at such a distance from the terminal that you can fix it to the frame with
the grounding clamp.

Figure 4-4.

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 8 CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS

4.4.2 Grounding the bus cable shield directly to the AC drive frame using jumper X1
1 Set jumper X1 in ON position:

ON

OFF
X1

Figure 4-5. Jumper X1 positions

2 Strip about 5 cm of the CANopen cable as shown in the picture.

Note: Do the same for both bus cables (except for the last device). However, since the
grounding must be done on one cable only cut off the exposed part of the other grounding
cable.

Figure 4-6.

3 Leave no more than 1 cm of the red and green data cable outside the terminal block and
strip the data cables at about 0.5 cm to fit in the terminals. See pictures below.
Note: Do this for both bus cabels.

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CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS 9

Figure 4-7.

Figure 4-8.

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 10 CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS

4 We recommend you to use an Abico connector to fit the grounding cable into the grounding
terminal (#3).
Insert the white and brown data cables of both CANopen cables into terminals #2 (white)
and #4 (brown).

Figure 4-9.

5 Place the CANopen board into slot E of the control board (see board installation on page 12)
and fix both the CANopen cables on the frame with the clamp.

Figure 4-10.

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CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS 11

4.4.2.1 Grounding the bus cable shield directly to the AC drive frame using an RC-filter
We recommend you to do the grounding in this manner when the distance between the devices
exceeds 50 meters (55 yds.). When the distance between the devices is long disturbances (e.g. voltage
spikes) are more likely to appear. In this grounding method, the disturbances are filtered out. Even if
the ground planes of A, B and C are different (which is very typical e.g. in construction) there is no
current between them because the points do not have a ground connection.

A B C
CanOpen cable CanOpen cable CanOpen cable

Figure 4-11. Grounding with RC filter

1 Set jumper X1 in OFF position

A
M
ON
1
2
OFF 3
4
5
X1

Figure 4-12. Jumper X1 positions

2 Carry out the grounding in the same way as advised in Chapter 4.4.1.

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 12 INSTALLATION OF VACON® NX CANOPEN BOARD

5. INSTALLATION OF VACON ® NX CANOPEN BOARD

! MAKE SURE THAT THE AC DRIVE IS SWITCHED OFF BEFORE AN OPTION OR

FIELDBUS BOARD IS CHANGED OR ADDED!
NOTE

A VACON® NX AC drive

B Remove the cable cover.

C Open the cover of the control unit.

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INSTALLATION OF VACON® NX CANOPEN BOARD 13

D Install CANopen option board in slot E

on the control board of the AC drive.
Make sure that the grounding plate (see
below) fits tightly in the clamp.

1
2
3 X6
4
5
X1

E Make a sufficiently wide opening for

your cable by cutting the grid as wide as
necessary.

F Close the cover of the control unit and

the cable cover.

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 14 INSTALLATION OF VACON® NX CANOPEN BOARD

5.1 Board information sticker

The CANopen option board package delivered by the factory includes a sticker (shown below). Please
mark the board type (1), the slot into which the board is mounted (2) and the mounting date (3) on the
sticker. Finally, attach the sticker on your drive.

1 3

Drive m odified:
Option board: N XOPT................ Date:...................
in slot: A B C D E
IP54 upgrade/ Collar Date:...................
EMC level modified: H
 T / T  Date:...................
H

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COMMISSIONING 15

6. COMMISSIONING

READ FIRST CHAPTER 'COMMISSIONING' IN VACON® NX USER'S MANUAL VACON® NXS NXP Air-
cooled User Manual" or VACON® NXL User's Manual", go to http://drives.danfoss.com/knowledge-
center/technical-documentation/).
Note! You must select Fieldbus as the active control place, if you wish to control the AC drive through
fieldbus. See VACON® NX User Manual.
The VACON® CANopen board is commissioned with the control keypad by giving values to appropriate
parameters in menu M7 (for locating the expander board menu see VACON® NX User Manual.

Expander board menu (M7)

The Expander board menu makes it possible for the user 1) to see what expander boards are
connected to the control board and 2) to reach and edit the parameters associated with the expander
board.
Enter the following menu level (G#) with the Menu button right. At this level, you can browse through
slots A to E with the Browser buttons to see what expander boards are connected. On the lowermost
line of the display you also see the number of parameter groups associated with the board.
If you still press the Menu button right once you will reach the parameter group level where there are
two groups: Editable parameters and Monitored values. A further press on the Menu button right
takes you to either of these groups.

CANopen parameters
To commission the CANopen board, enter the level P7.5.1.# from the Parameters group (G7.5.1). Give
desired values to all CANopen parameters.

READY READY READY

Expander boards E:NXOPTC6 Parameters

G1G5 G1 G2 P1P3
READY READY

CHANGE VALUE
Node ID Node ID
enter CONFIRM CHANGE
63 63

Figure 6-1. Changing the CANopen option board parameters

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 16 COMMISSIONING

# Name Default Range Description

1 Node ID 1 1 127
2 BAUD RATE 1 10 kBaud Communication speed
2 20 kBaud
3 50 kBaud
4 100 kBaud
6
5 125 kBaud
6 250 kBaud
7 500 kBaud
8 1000 kBaud
3 Operate mode 1 Drive Profile Communication set selection
2 ByPass 1 = xPDO1, xPDO6
3 ByPass 2 2 = xPDO1, xPDO21, xPDO22
4 Bypass 3 3 = xPDO1, xPDO21, xPDO22
1
5 Bypass 4 4 = xPDO1, xPDO21, xPDO22,
xPDO23
5 = xPDO1, xPDO21, xPDO22,
xPDO23
Table 6-1. CANopen parameters

NOTE! Bypass modes 3 and 4 require OPTC6 V26 firmware or newer. See VACON® NX control
firmware requirements below.

Bypass and Bypass 3 modes can be used in customer-specific applications and in special
applications, such as System Interface application.

Bypass 2 and Bypass 4 modes are used with standard applications, e.g. VACON® NXL Multicontrol
application and VACON® All-in-One applications for VACON® NXS and NXP.

ByPass 2 mode is supported in the following System software versions:

• NXL NXL00005V253
• NXS NXS00001V174
• NXP NXP00002V174

ByPass 3 and 4 mode are supported in the following System software versions:
• NXP NXP00002V194

The parameters of every device must be set before connecting to the bus. Especially the parameters
ation.

CANopen status
To see the present status of the CANopen Fieldbus, enter the CANopen Status page from Monitor
menu (G7.5.2). See picture and table below.

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COMMISSIONING 17

RE ADY RE A DY
I/Oter m I/ Oterm

M on it or CANiopen statu s
V1V1 25 .0
CANopen status
Message counter

Figure 6-2. DeviceNet status

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 18 COMMISSIONING

CANopen status
0 INITIALISING
4 STOPPED
5 OPERATIONAL
6 PRE_OPERATIONAL
7 RESET_APPLICATION
8 RESET_COMM
9 UNKNOWN
Table 6-2. CANopen status indications

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CANOPEN- VACON® NX INTERFACE 19

7. CANOPEN- VACON ® NX INTERFACE

CANopen communication objects transmitted via the CAN network are described by services and
protocols. They are classified as follows:
- The real-time data transfer is performed by the Process Data Objects (PDOs) protocol
 REAL-TIME CONTROL OF THE DRIVE
- Service Data Objects (SDO) protocols provide the read and write access to entries of a device
object dictionary
 CONFIGURATION OF THE DRIVE, READ/WRITE DRIVE PARAMETERS
- The Network Management (NMT) protocols provide services for network initialization, error
control and device status control
 START/STOP CANOPEN COMMUNICATION

7.1 CANopen message frame

SOF COB-ID RTR CTRL Data Segment CRC ACK EOF

1bit 11bit 1bit 5bit 0-8bytes 16bits 2bits 7bits

SOF Start of Frame CRC Cyclic Redundancy Check

RTR Remote Transmission Request ACK Acknowledge
CTRL Control Field (i.e. Data Length) EOF End of Frame

COB-ID
The identification field of the CANopen-message is 11 bits.

ID-Bit 10 9 8 7 6 5 4 3 2 1 0
COB-ID Function Code Module-ID

The default identification field consists of a functional part and a module-ID part. The functional part
determines the object priority. This kind of identification field allows communication between a
master and 127 slaves. Broadcasting is indicated by a module-id of zero. Function codes are
determined with object dictionaries in device profiles.

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 20 CANOPEN- VACON® NX INTERFACE

Predefined connection sets

CANopen option board has two different communication parameter sets. These sets can be selected
via Operate Mode
-profile described in CiA DSP-402.

Drive Profile - mode

Object Function Code COB-ID Comm. parameter at Index
(binary)
NMT message 0000 0x0000 -
Sync Message 0001 0x0080 0x1005
Time-Stamp-Message 0001 0x0100 -
PDO1, Process Data Objects (tx) 0011 0x0180 +Node 0x1800
PDO1, Process Data Objects (rx) 0100 0x0200 +Node 0x1400
PDO6, Process Data Objects (tx) 0101 0x0280 +Node 0x1801
PDO6, Process Data Objects (rx) 0110 0x0300 +Node 0x1401
SDO, Service Data Objects (tx) 1011 0x0580 +Node
SDO, Service Data Objects (rx) 1100 0x0600 +Node
Node Guarding 1110 0x0700 +Node (0x100E)
Table 7-1. Drive Profile -mode

ByPass - mode
Object Function Code COB-ID Comm. parameter at Index
(binary)
NMT message 0000 0x0000 -
Sync Message 0001 0x0080 0x1005
Time-Stamp-Message 0010 0x0100 -
PDO1, Process Data Objects (tx) 0011 0x0180 +Node 0x1800
PDO1, Process Data Objects (rx) 0100 0x0200 +Node 0x1400
PDO21, Process Data Objects (tx) 0111 0x0380 +Node 0x1814
PDO21, Process Data Objects (rx) 1000 0x0400 +Node 0x1414
PDO22, Process Data Objects (tx) 1001 0x0480 +Node 0x1815
PDO22, Process Data Objects (rx) 1010 0x0500 +Node 0x1415
PDO23, Process Data Objects (tx) 0101 0x280 +Node 0x1816
PDO23, Process Data Objects (rx) 0110 0x300 +Node 0x1416
SDO, Service Data Objects (tx) 1011 0x0580 +Node
SDO, Service Data Objects (rx) 1100 0x0600 +Node
Node Guarding 1110 0x0700 +Node (0x100E)
Table 7-2. Bypass -mode

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CANOPEN- VACON® NX INTERFACE 21

7.2 Network Management (NMT)

The CANopen network management is node-oriented and follows a master/slave structure. It
requires one device in the network, which fulfills the function of the NMT master. The other nodes are
NMT slaves.
The CANopen NMT slave devices implement a state machine, see picture below. After power on a
node initialises and transits to the "Pre-operational State". In this state communication across SDO
channels is possible for node configuration, but not yet across PDOs. With the NMT message "Start
on the network can be set into the "Operational State". In this
state, also the exchange of data by means of PDOs is possible. With enabling the operation of all
nodes of a network at the same time, a co-ordinated operation of the communicating system is
secured (DS301).
To Set VACON® CANopen Option board to the "Operational State" the following message must be
sent:

Message: Start_Remote_Node
Master to Slave (1)

Header Data
ID RTR Len 1 = CS 2 = Node ID 3 4 5 6 7 8
0000 0 2 01 01

Function of the internal state machine:

Power
Initialization 4
On
5

Pre-Operational

2 3

Prepared
1 3

1
Operational 2

Change Message / Event Command Specifier (CS)

1 Start Remote Node CS = 1
2 Stop Remote Node CS = 2
3 Enter Pre-operational State CS = 128
4 Reset Node CS = 129
5 Reset Communication CS = 130
6 Initialisation finished Automatic

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 22 CANOPEN- VACON® NX INTERFACE

7.3 Process data (PDO)

The real-
PDOs is performed with no protocol overhead. Process Data is time-critical data used for control of
the drive and monitor status of the drive. Transmit PDOs support several transmission modes which
are cyclic, acyclic, synchronous, asynchronous and RTR only mode. Most PDOs support also Event
Timer for transmitting PDOs. TPDO1 is exception which is defined for asynchronous only operation.
Receive PDOs support only asynchronous transmission mode (event driven). VACON® CANopen
option board uses 8 types of PDOs as follows:

RTR Only mode

Synchronous

Asynchronous

Event Timer
Acyclic

(default
Cyclic
PDO
Mapped Data Mapped Data Mapped Data Mapped Data
Type

TPDO1 statusword - - - x
TPDO6 statusword vl_control_effort - - X X X x X X
TPDO21 nx_status_word nx_actual_speed process_data_out process_data_out X X X x X X
1 2
TPDO22 process_data_out3 process_data_out4 process_data_out5 process_data_out6 X X X x X X
RPDO1 controlword - - - x
RPDO6 controlword vl_target_velocity - - x
RPDO21 nx_control_word nx_speed_reference process_data_in1 process_data_in2 x
RPDO22 process_data_in3 process_data_in4 process_data_in5 process_data_in6 x

Note: manufacturer specific PDOs (TPDO21/RPDO21/ TPDO22/RPDO22) consist of application specific

process data. See appendix for contents of these process datas in different applications. See Chapter
7.6 (Using manufacturer specific PDOs) or a specific application manual.

Note! All Tx objects are event-driven by default. (Message is sent out if one or several values within
the message change)

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CANOPEN- VACON® NX INTERFACE 23

7.4 Transmission types

transmission type PDO transmission

cyclic acyclic synchronou asynchronou RTR only
s s
0 X X
1-240 X X
241-251 - Reserved -
252 X X
253 X X
254 X
255 X
Table 7-3. Description of transmission type

Synchronous (transmission types 0-240 and 252) means that the transmission of the PDO shall be
related to the SYNC object. Preferably the devices use the SYNC as a trigger to output or actuate
based on the previous synchronous Receive PDO respectively to update the data transmitted at the
following synchronous Transmit PDO. Asynchronous means that the transmission of the PDO is not
related to the SYNC object. A transmission type of zero means that the message shall be transmitted
synchronously with the SYNC object but not periodically. A value between 1 and 240 means that the
PDO is transferred synchronously and cyclically. The transmission type indicating the number of
SYNC which are necessary to trigger PDO transmissions. Receive PDOs are always triggered by the
following SYNC upon reception of data independent of the transmission types 0 - 240.

The transmission types 252 and 253 mean that the PDO is only transmitted on remote transmission
request. At transmission type 252, the data is updated (but not sent) immediately after reception of
the SYNC object. At transmission type 253 the data is updated at the reception of the remote
transmission request (hardware and software restrictions may apply). These value are only possible
for TPDOs. For TPDOs transmission type 254 means, the application event is manufacturer specific
(manufacturer specific part of the Object Dictionary), transmission type 255 means, that the
application event is defined in the device profile. RPDOs with that type trigger the update of the
mapped data with the reception. PDOs Sub-index 3h contains the inhibit time. This time is a minimum
interval for PDO transmission. The value is defined as multiple of 100 s. It is not allowed to change
the value while the PDO exists (Bit 31 of sub-index 1 is 0).

In mode 254/255 additionally an event time can be used for TPDO. If an event timer exists for a TPDO
(value not equal to 0) the elapsed timer is considered to be an event. The event timer elapses as
multiple of 1 ms of the entry in sub-index 5h of the TPDO. This event will cause the transmission of
this TPDO in addition to otherwise defined events. The occurrence of the events set the timer.
Independent of the transmission type the RPDO event timer is used recognize the expiration of the
RPDO.

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 24 CANOPEN- VACON® NX INTERFACE

7.5 Controlling the drive via PDO messages with Drive Profile
PDO1 Rx
Master to Slave (1)
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x201 0 2 controlword - - - - - -
PDO1 Tx
Slave (1) to Master
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x181 0 2 statusword - - - - - -
PDO6 Rx
Master to Slave (1)
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x301 0 4 controlword vl_target_velocity - - - -
PDO6 Tx
Slave (1) to Master
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x281 0 4 statusword vl_control_effort - - - -

The state of the drive can be controlled by the controlword

The state of the drive is shown in the statusword.

The Statemachine describes the device status and the possible control sequence of the drive.

controlword statusword

bit Name bit Name

0 Switch ON 0 Ready to Switch ON
1 Disable Voltage 1 Switched ON
2 Quick Stop 2 Operation Enable
3 Enable Operation 3 Fault
4 Operation Mode Specific 4 Voltage Disable
5 Operation Mode Specific 5 Quick Stop
6 Operation Mode Specific 6 Swich ON Disable
7 Reset Fault 7 Warning
8 Halt 8 Manufacturer Specific
9 Reserved 9 Remote
10 Reserved 10 Target Reached
11 Manufacturer Specific 11 Internal Limit Active
12 Manufacturer Specific 12 Operation Mode Specific
13 Manufacturer Specific 13 Operation Mode Specific
14 Manufacturer Specific 14 Manufacturer Specific
15 Manufacturer Specific 15 Manufacturer Specific

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CANOPEN- VACON® NX INTERFACE 25

By using a control word the drive can be controlled as follows:

Command ControlWord Description

Prepare READY 0006hex
Prepare RUN 0007hex
RUN 000Fhex he active control
place
STOP 0007hex Stop motor
FAULT RESET (step 1) bit 7 = 0 Rising edge to bit 7
FAULT RESET (step 2) bit 7 = 1

vl_target_velocity
The vl_target_velocity is the required speed reference to the AC drive.
The unit is RPM.

vl_control_effort
The vl_control_effort is the actual speed of the motor.
The unit is RPM.

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 26 CANOPEN- VACON® NX INTERFACE

State Machine
The state machine describes the device status and the possible control sequence of the drive. The

current status of state machine. The modes INIT, STOP, RUN and FAULT correspond to the actual
mode of the Drive.

SW = StatusWord
CW = ControlWord word

Fault
Power ON MALFUN CTION REACTION ACTIVE
FAULT SW :xxxFh or xx2Fh

Automatic
Automatic

MALFUN CTION
N OT READY TO SW ITCH ON FAULT SW :xx08h or xx28h
IN IT SW :xx00h
Reset malfunction
Automatic CW : 0000h

CW : 0080h
SW ITCH ON DISABLED
STOP SW :xx40h or xx60h

CW : 000Dh CW : 0006h
CW : 0002h

READY TO SW ITCH ON
STOP CW : 0003h
SW :xx21h

CW : 0006h CW : 0007h CW : 0006h

SW ITCHED ON
STOP SW : xx23h

CW : 000Fh CW : 0007h

OPERATION EN ABLED QUICK STOP ACTIVE

RUN SW :xx27h CW : 0002h STOP SW :xx07h

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CANOPEN- VACON® NX INTERFACE 27

7.6 Using manufacturer specific PDOs with ByPass modes

any Bypass
mode. For communication set used in ByPass modes, see Table 7-2. Manufacturer specific PDOs are
TPDO21, TPDO22, TPDO23, RPDO21, RPDO22 and RPDO23.

PDO21 Rx
Master to Slave (1)
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x401 0 8 nx_control_word nx_speed_referense process_data_in1 process_data_in2

PDO21 Tx
Slave (1) to Master
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x381 0 8 nx_status_word nx_actual_speed process_data_out1 process_data_out2

PDO22 Rx
Master to Slave (1)
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x501 0 8 process_data_in3 process_data_in4 process_data_in5 process_data_in6

PDO22 Tx
Slave (1) to Master
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x481 0 8 process_data_out3 process_data_out4 process_data_out5 process_data_out6

PDO23 Rx
Master to Slave (1)
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x301 0 4 process_data_in7 process_data_in8 - -

TDO23 Tx
Slave (1) to Master
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x281 0 4 process_data_out7 process_data_out8 - -

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 28 CANOPEN- VACON® NX INTERFACE

Controlling drive
NOTE: Some VACON®
terface. Refer to the specific application
manual for details

The Reference to the drive can be set also via manufacturer specific Process Data Object 21 (rx) when
option board is set to Bypass mode. In the application, the value is scaled in percentage of frequency
area between the set minimum and maximum frequencies.

nx_control_word, used only with Bypass 2 or Bypass 4 mode. When Bypass or Bypass 3 modes are used,
check more detailed Control Word in the application manual
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
- - - - - - - - - - - - - RST DIR RUN

In VACON® applications, the three first bits of the control word are used to control the AC drive.
However, you can customise the content of the control word for your own applications because the
control word is sent to the AC drive as such.

Bit Description
Value = 0 Value = 1
0 Stop Run
1 Clockwise Counter clockwise
2 Rising edge of this bit will reset active fault
Not in use Not in use

nx_speed_reference
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
MSB LSB

This is the Reference 1 to the AC drive. Used normally as Speed reference. The allowed scaling is
10000...10000. In the application, the value is scaled in percentage of the frequency area between the
set minimum and maximum frequencies.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
MSB LSB

These are application specific process data. See APPENDIX C for content of these process data in
different applications.

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CANOPEN- VACON® NX INTERFACE 29

7.7 Drive Monitoring

Several drive actual values/parameters can be monitored by using manufacturer specific PDOs.

nx_speed_reference
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
MSB LSB

This is the reference 1 to the AC drive. Used normally as Speed reference.

The allowed scaling is 0..10000. In the application, the value is scaled in percentage of the frequency
area between set minimum and maximum frequency.

nx_status_word, used only Bypass 2 or Bypass 4 mode. When Bypass or Bypass 3 modes are used, check
more detailed Status Word in the application manual
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
- - - - - UVFS DDIR TCSPDL FR Z AREF W FLT DIR RUN RDY

Information about the status of the device and messages is indicated in the Status word. The Status
word is composed of 16 bits that have the following meanings:

Bit Description
Value = 0 Value = 1
0 Not Ready Ready
1 STOP RUN
2 Clockwise Counterclockwise
3 - Faulted
4 - Warning
5 Ref. frequency not reached Ref. Frequency reached
6 - Motor is running at zero speed
7 Flux Ready Flux Not Ready
8 TC Speed Limit Active (depends on drive TC Speed Limit Not Active (depends on
model) drive model)
9 Detected Encoder Direction Clockwise Encoder Direction Counterclockwise
(depends on drive model) (depends on drive model)
10 UV Fast Stop Active (depends on drive UV Fast Stop Not Active (depends on drive
model) model)
11...15 Not In use Not In use
Table 7-4. Status word bit descriptions

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
MSB LSB

These are application specific process data. See APPENDIX C for content of these process data in
different applications.

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 30 CANOPEN- VACON® NX INTERFACE

7.8 Anyparameter service

SDO protocol can be used to read any parameter or actual value and write any parameter from drive.
These parameters are read from drive with its ID number specified in user manual. There are three
index in object dictionary as follow for anyparameter service.

Inde Description Size Type Hi 16b Low 16b

x
2000 AnyparameterReadID U16 RW - Read ID
2001 AnyparameterReadV U32 RO Status Value
alue
2002 AnyparameterWrite U32 RW ID Write Value

Reading anyparameter
Writing new value to index 2000 will trigger read event, while read is in process index 2001 is zero.
Read event will return value to index 2001. If read is success status will get value of ID and Value is
value of ID. If read fails Status will get value 0xFFFF (dec 65535).

Writing anyparameter
When new ID and value is written to index 2002 a write event will be triggered. Index 2002 value will
remain as long as writing is processed (normal sdo/pdo operation during this time). If write is success
index 2002 ID and value will be cleared and new write is possible. If write fails ID will clamp to 0xFFFF
and value zero.

16bit

Index 2000 0x0066 Write ID with SDO protocol

Read ID .
. 100ms delay for read event
.
Read value with SDO protocol
Index 2001 0x0066
16bi 0x0032
16bit 0xFFFF 0x0000 = Fail
t ID Value = OK
Status Value 0x000 0x0000 = In process
Figure 7-1. Reading Any Parameter

16bi 16bit
t Write ID and value with SDO
Index 2002 0x0066 0x003C
protocol
ID Value .
. 100ms delay for write event
.
16bi 16bit
t Read write event status
Index 2002 0x0000 0x0000 0x0000 0x0000 = OK,
Status 0xFFFF 0x0000 = Fail
0x0066 0x003c = In Process

Figure 7-2. Writing Any Parameter

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Service Data (SDO) 31

8. SERVICE DATA (SDO)

With service Data Objects (SDOs) the access to entries of a device Object Dictionary is provided. Via
SDO all items from object dictionary can be read/written.
Service Data Objects (SDO)s are normally used for device configuration such as setting device
parameters. They are also used to define the type and format of information communicated using the
Process Data Objects. CANopen Configuration tools with EDS-files can be used for that purpose. The
construction and the method of operation of the SDOs can be found in the CANopen (DS301)
Communication Profile document. Appendix B consist of short description of the SDOs used with
VACON® CANopen option Board.

Object Dictionary

Index Name Type Attr.

hex dec
1000 4096 device_type Unsigned32 CO
1001 4097 error_register Unsigned8 RO
1003 4099 predefined error field Unsigned32 RO
1005 4101 cob-id sync message Unsigned32 RO
100C 4108 guard_time Unsigned32 RW
100D 4109 life_time_factor Unsigned32 RW
1018 4120 Identity Object Identity
1200 4608 1st_server_SDO_parameter SDOParameter
1400 5120 1st_receive_PDO_parameter PDOCommPar
1405 5125 6st_receive_PDO_parameter PDOCommPar
1414 5140 21st_receive_PDO_parameter PDOCommPar
1415 5141 22st_receive_PDO_parameter PDOCommPar
1600 5632 1st_receive_PDO_mapping PDOMapping
1605 5637 6st_receive_PDO_mapping PDOMapping
1614 5652 21st_receive_PDO_mapping PDOMapping
1615 5653 22st_receive_PDO_mapping PDOMapping
1800 6144 1st_transmit_PDO_parameter PDOCommPar
1805 6149 6nd_transmit_PDO_parameter PDOCommPar
1814 6164 21nd_transmit_PDO_parameter PDOCommPar
1815 6165 22nd_transmit_PDO_parameter PDOCommPar
1A00 6656 1st_transmit_PDO_mapping PDOMapping
1A05 6661 6st_transmit_PDO_mapping PDOMapping
1A14 6676 21st_transmit_PDO_mapping PDOMapping
1A15 6677 22st_transmit_PDO_mapping PDOMapping
2000 8192 AnyParameterReadID Integer16 RW
2001 8193 AnyParameterReadValue Integer32 RO
2002 8194 AnyParameterWrite Integer32 RW
2003 8195 nx_current_percentage Integer16 RO
2004 8196 nx_torque_percentage Integer16 RO
2063 8291 nx_fault_code Integer16 RO
27D1 10193 NX control word Integer16 RW
27D3 10195 NX speed reference Integer16 RW
27D4 10196 Process data in1 Integer16 RW
27D5 10197 Process data in2 Integer16 RW
27D6 10198 Process data in3 Integer16 RW
27D7 10199 Process data in4 Integer16 RW
27D8 10200 Process data in5 Integer16 RW
27D9 10201 Process data in6 Integer16 RW
27DA 10202 Process data in7 Integer16 RW
27DB 10203 Process data in8 Integer16 RW

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 32 Service Data (SDO)

2836 10294 NX status word Integer16 RO

2838 10296 NX actual speed Integer16 RO
2839 10297 Process data out1 Integer16 RO
283A 10298 Process data out2 Integer16 RO
283B 10299 Process data out3 Integer16 RO
283C 10300 Process data out4 Integer16 RO
283D 10301 Process data out5 Integer16 RO
283E 10302 Process data out6 Integer16 RO
283F 10303 Process data out7 Integer16 RO
2840 10304 Process data out8 Integer16 RO
6040 24640 controlword Unsigned16 RW
6041 24641 statusword Unsigned16 RO
6042 24642 vl_target_velocity Integer16 RW
6043 24643 vl_velocity_demand Integer16 RO
6044 24644 vl_control_effort Integer16 RO
6046 24646 vl_velocity_min_max_amount Unsigned32 RW
6048 24648 vl_velocity_acceleration Ramp RW
6049 24649 vl_velocity_deceleration Ramp RW
604A 24650 vl_velocity_quick_stop Ramp RW
604E 24654 vl_velocity_reference Unsigned32 RW
6060 24672 modes_of_operation Integer8 RO
6061 24673 modes_of_operation_display Integer8 RO

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Service Data (SDO) 33

Description of the Object Dictionary

Abbreviations
ro - read only i16 - Integer8
wo - write only i32 - Integer8
rw - read write u8 - Unsigned8
co - constant u16 - Unsigned16
bool - Boolean u32 - Unsigned32
i8 - Integer8 float - Floating Point

Index Sub- Name Default Type Descriptions

(HEX) Index Min Attr.
Max
General Parameters
1000 00 Device Type 0x00010192 u32 co The device type specifies the kind of device. The lower
0x00000000 16 bits contain the device profile number and the upper
0xFFFFFFFF 16 bits an additional information.
1001 00 Error Register 0x00 u8 ro The error register is a field of 8 bits, each for a certain
0x00 error type. If an error occurs the bit has to be set.
0xFF
Bit Meaning
0 generic error
1 current
2 voltage
3 temperature
4 communication error (overrun, error state)
5 device profile specific
6 reserved
7 manufacturer specific
1003 Pre-defined Error Field This object holds errors that have occurred on the device
and have been signalled via Emergency Object. It is an
error history. Writing value 0 to sub index 0 deletes the
entire error history.
00 Number of Errors 0x0000 u8 rw
0x0000
0x00FE
01 Standard Error Field 0x00000000 u32 ro
0x00000000
0xFFFFFFFF
02 Standard Error Field 0x00000000 u32 ro
0x00000000
0xFFFFFFFF
03 Standard Error Field 0x00000000 u32 ro
0x00000000
0xFFFFFFFF
04 Standard Error Field 0x00000000 u32 ro
0x00000000
0xFFFFFFFF
05 Standard Error Field 0x00000000 u32 ro
0x00000000
0xFFFFFFFF
06 Standard Error Field 0x00000000 u32 ro
0x00000000
0xFFFFFFFF
07 Standard Error Field 0x00000000 u32 ro
0x00000000
0xFFFFFFFF
08 Standard Error Field 0x00000000 u32 ro
0x00000000
0xFFFFFFFF
09 Standard Error Field 0x00000000 u32 ro
0x00000000
0xFFFFFFFF

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 34 Service Data (SDO)

0A Standard Error Field 0x00000000 u32 ro

0x00000000
0xFFFFFFFF
1005 00 cob-id sync message 0x80000080 u32 ro cob-id used for synchronize PDO messages
0x00000001
0xFFFFFFFF
100C 00 Guard Time 0x03E8 u16 rw This entry contains the guard time in
0x0000 milliseconds. It is 0, if not used.
0xFFFF Unit: ms

100D 00 Life Time Factor 0x02 u8 rw The life time factor multiplied with the guard time gives
0x00 the life time for the device. It is 0, if not used.
0xFF
1018 Identity Object This object contains general information about the
device.
00 Number of entries 0x4 u8 ro
0x1
0x4
01 Vendor Id 0x00000090 u32 ro Sub-Index 1 contains a unique value allocated each
0x0 manufacturer.
0xFFFFFFFF
02 Product Code 0x00000119 u32 ro Sub-Index 2 identifies the manufacturer specific product
0x0 code (device version).
0xFFFFFFFF
03 Revision number 0x00000001 u32 ro Sub-Index 3 contains the revision number. Bit 31-16 is
0x0 the major revision number and Bit 15-0 the minor
0xFFFFFFFF revision number.

04 Serial number 0x0 u32 ro Sub-Index 4 identified a manufacturer specific serial

0x0 number.
0xFFFFFFFF
Server SDO Parameters
1200 Server SDO Parameter The object contains the parameters for the SDOs for
which the device is the server.
00 Number of Entries 0x02 0x02 u8 ro
0x02
01 COB-ID Client -> Server 0x600+NodeID u32 ro
0x00000601
0xFFFFFFFF
02 COB-ID Server -> Client 0x580+NodeID u32 ro
0x00000581
0xFFFFFFFF
Receive PDO Communication Parameters
1400 Receive PDO 1 It contains the communication parameters of the first
Communication PDO the device is able to receive.
Parameter
00 Number of Entries 0x02 0x02 U8 ro Sub-index 0 contains the number of PDO-parameters
0x05 implemented.
01 COB-ID 0x200+NodeID U32 ro Sub index 1 describes the COB-ID. If bit 31 is set the PDO
0x00000201 is disabled.
0xFFFFFFFF
02 Transmission Type 0xFF u8 ro The transmission mode is defined by sub-index 2.
0x00 Value 0xFF (255) = asynchronous transmission mode (
0xFF =event driven )
1405 Receive PDO 6 It contains the communication parameters of the second
Communication PDO the device is able to receive.
Parameter
00 Number of Entries 0x02 0x02 u8 ro Sub-index 0 contains the number of PDO-parameters
0x05 implemented.
01 COB-ID 0x300+NodeID u32 ro Sub index 1 describes the COB-ID. If bit 31 is set the PDO
0x00000301 is disabled.
0xFFFFFFFF
02 Transmission Type 0xFF u8 ro The transmission mode is defined by sub-index 2.
0x00 Value 0xFF (255) = asynchronous transmission mode (
0xFF =event driven )

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Service Data (SDO) 35

1414 Receive PDO 21 It contains the communication parameters of the

Communication manufacturer specific PDO21 the device is able to
Parameter receive.
00 Number of Entries 0x02 0x02 u8 ro Sub-index 0 contains the number of PDO-parameters
0x05 implemented.
01 COB-ID 0x400+NodeID u32 ro Sub index 1 describes the COB-ID. If bit 31 is set the
0x00000401 PDO is disabled.
0xFFFFFFFF
02 Transmission Type 0xFF 0x00 u8 ro The transmission mode is defined by sub-index 2.
0xFF Value 0xFF (255) = asynchronous transmission mode (
=event driven )
1415 Receive PDO 22 It contains the communication parameters of the
Communication manufacturer specific PDO22 the device is able to
Parameter receive.
00 Number of Entries 0x02 0x02 u8 ro Sub-index 0 contains the number of PDO-parameters
0x05 implemented.
01 COB-ID 0x500+NodeID u32 ro Sub index 1 describes the COB-ID. If bit 31 is set the
0x00000501 PDO is disabled.
0xFFFFFFFF
02 Transmission Type 0xFF 0x00 u8 ro The transmission mode is defined by sub-index 2.
0xFF Value 0xFF (255) = asynchronous transmission mode (
=event driven )
1416 Receive PDO 23 It contains the communication parameters of the
Communication manufacturer specific PDO23 the device is able to
Parameter receive.
00 Number of Entries 0x02 0x02 u8 ro Sub-index 0 contains the number of PDO-parameters
0x05 implemented.
01 COB-ID 0x300+NodeID u32 ro Sub index 1 describes the Cob-ID. If bit 31 is set the
0x00000301 PDO is disabled.
0xFFFFFFFF
02 Transmission Type 0xFF 0x00 u8 ro The transmission mode is defined by sub-index 2.
0xFF Value 0xFF (255) = asynchronous transmission mode (
=event driven )
Receive PDO Mapping Parameters
1600 Receive PDO 1 Mapping It contains the mapping parameters of the first PDO
Parameter the device is able to receive.
Sub-index 0 contains the number of the mapped data
objects. All further entries define the data by its index,
sub-index and length.
00 Number of Entries 0x01 0x00 u8 ro
0x40
01 PDO Mapping Entry 0x60400010 u32 ro
0x00000000
0xFFFFFFFF
1605 Receive PDO 6 Mapping It contains the mapping parameters of the PDO6 the
Parameter device is able to receive.
Sub-index 0 contains the number of the mapped data
objects. All further entries define the data by its index,
sub-index and length.
00 Number of Entries 0x02 u8 ro
0x0 0x40
01 PDO Mapping Entry 0x60400010 u32 ro
0x00000000
0xFFFFFFFF
02 PDO Mapping Entry 0x60420010 u32 ro
0x00000000
0xFFFFFFFF
1614 Receive PDO 21 It contains the mapping parameters of the PDO21 the
Mapping Parameter device is able to receive.
Sub-index 0 contains the number of the mapped data
objects. All further entries define the data by its index,
sub-index and length.
00 Number of Entries 0x04 u8 ro
0x00
0x40
01 PDO Mapping Entry 0x27D10010 u32 ro
0x00000000
0xFFFFFFFF
02 PDO Mapping Entry 0x27D30010 u32 ro

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 36 Service Data (SDO)

0x00000000
0xFFFFFFFF
03 PDO Mapping Entry 0x27D40010 u32 ro
0x00000000
0xFFFFFFFF
04 PDO Mapping Entry 0x27D50010 u32 ro
0x00000000
0xFFFFFFFF
1615 Receive PDO 22 It contains the mapping parameters of the PDO22 the
Mapping Parameter device is able to receive.
Sub-index 0 contains the number of the mapped data
objects. All further entries define the data by its index,
sub-index and length.
00 Number of Entries 0x04 u8 ro
0x00
0x40
01 PDO Mapping Entry 0x27D60010 u32 ro
0x00000000
0xFFFFFFFF
02 PDO Mapping Entry 0x27D70010 u32 ro
0x00000000
0xFFFFFFFF
03 PDO Mapping Entry 0x27D80010 u32 ro
0x00000000
0xFFFFFFFF
04 PDO Mapping Entry 0x27D90010 u32 ro
0x00000000
0xFFFFFFFF
1616 Receive PDO 23 It contains the mapping parameters of the PDO23 the
Mapping Parameter device is able to receive.
Sub-index 0 contains the number of the mapped data
00 Number of Entries 0x02 u8 ro
0x00
0x40
01 PDO Mapping Entry 0x27DA0010 u32 ro
0x00000000
0xFFFFFFFF
02 PDO Mapping Entry 0x27DB0010 u32 ro
0x00000000
0xFFFFFFFF
Transmit PDO Communication Parameters
1800 Transmit PDO 1 It contains the communication parameters of the first
Communication PDO the device is able to transmit.
Parameter
00 Number of Entries 0x04 u8 ro Sub-index 0 contains the number of PDO-parameters
0x02 implemented.
0x05
01 COB-ID 0x180+NodeID u32 ro Sub index 1 describes the COB-ID. If bit 31 is set the
0x00000181 PDO is disabled.
0xFFFFFFFF
02 Transmission Type 0xFF u8 ro The transmission mode is defined by sub-index 2.
0x00 Value 0xFF (255) = asynchronous transmission mode (
0xFF =event driven )
03 Inhibit Time 0x03E8 u16 rw An inhibit time can be defined on sub-index 3 in 100 µs.
0x0000 This time is minimum interval for PD transmission.
0xFFFF Default 100 ms
04 Compatibility Entry 0x03 u8 ro
0x00
0xFF
1805 Transmit PDO 6 It contains the communication parameters of the PDO
Communication 6 the device is able to transmit.
Parameter
00 Number of Entries 0x05 u8 ro Sub-index 0 contains the number of PDO-parameters
0x02 implemented.
0x05
01 COB-ID 0x280+NodeID u32 ro Sub index 1 describes the COB-ID. If bit 31 is set the
0x00000281 PDO is disabled.
0xFFFFFFFF
02 Transmission Type 0xFF u8 rw The transmission mode is defined by sub-index 2.

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Service Data (SDO) 37

0x00 Value 0xFF (255) = asynchronous transmission mode (

0xFF =event driven )
03 Inhibit Time 0x03E8 u16 rw An inhibit time can be defined on sub-index 3 in 100 µs.
0x0000 This time is minimum interval for PD transmission.
0xFFFF Default 100 ms
04 Compatibility Entry 0x03 u8 ro
0x00
0xFF
05 Event Timer 0x0000 u16 rw Event Time can be define on sub index 5 in 1ms
0x0000 resolution. This is the time interval PDO will be
0xFFFF transmitted.
Value 0 = Disable Event Timer
1814 Transmit PDO 21 It contains the communication parameters of the PDO
Communication 21 the device is able to transmit.
Parameter
00 Number of Entries 0x05 u8 ro Sub-index 0 contains the number of PDO-parameters
0x02 implemented.
0x05
01 COB-ID 0x380+NodeID u32 ro Sub index 1 describes the COB-ID. If bit 31 is set the
0x00000381 PDO is disabled.
0xFFFFFFFF
02 Transmission Type 0xFF u8 rw The transmission mode is defined by sub-index 2.
0x00 Value 0xFF (255) = asynchronous transmission mode (
0xFF =event driven )
03 Inhibit Time 0x03E8 u16 rw An inhibit time can be defined on sub-index 3 in 100 µs.
0x0000 This time is minimum interval for PD transmission.
0xFFFF Default 100 ms
04 Compatibility Entry 0x03 u8 ro
0x00
0xFF
05 Event Timer 0x0000 u16 rw Event Time can be define on sub index 5 in 1ms
0x0000 resolution. This is the time interval PDO will be
0xFFFF transmitted.
Value 0 = Disable Event Timer
1815 Transmit PDO 22 It contains the communication parameters of the PDO
Communication 22 the device is able to transmit.
Parameter
00 Number of Entries 0x05 u8 ro Sub-index 0 contains the number of PDO-parameters
0x02 implemented.
0x05
01 COB-ID 0x480 + u32 ro Sub index 1 describes the COB-ID. If bit 31 is set the
NodeID PDO is disabled.
0x00000481
0xFFFFFFFF
02 Transmission Type 0xFF u8 rw The transmission mode is defined by sub-index 2.
0x00 Value 0xFF (255) = asynchronous transmission mode (
0xFF =event driven )
03 Inhibit Time 0x03E8 u16 rw An inhibit time can be defined on sub-index 3 in 100 µs.
0x0000 This time is minimum interval for PD transmission.
0xFFFF Default 100 ms
04 Compatibility Entry 0x03 u8 ro
0x00
0xFF
05 Event Timer 0x0000 u16 rw Event Time can be define on subindex 5 in 1ms
0x0000 resolution. This is the time interval PDO will be
0xFFFF transmitted.
Value 0 = Disable Event Timer
1816 Transmit PDO 23 It contains the communication parameters of the PDO
Communication 23 the device is able to transmit.
Parameter
00 Number of Entries 0x05 u8 ro Sub-index 0 contains the number of PDO-parameters
0x02 implemented.
0x05
01 COB-ID 0x280+NodeID u32 ro Sub index 1 describes the COB-ID. If bit 31 is set the
0x00000281 PDO is disabled.
0xFFFFFFFF
02 Transmission Type 0xFF u8 rw The transmission mode is defined by sub-index 2.
0x00 Value 0xFF (255) = asynchronous transmission mode (
0xFF =event driven )
03 Inhibit Time 0x03E8 u16 rw An inhibit time can be defined on sub-index 3 in 100 µs.

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 38 Service Data (SDO)

0x0000 This time is minimum interval for PD transmission.

0xFFFF Default 100 ms
04 Compatibility Entry 0x03 u8 ro
0x00
0xFF
05 Event Timer 0x0000 u16 rw Event Time can be define on sub index 5 in 1ms
0x0000 resolution. This is the time interval PDO will be
0xFFFF transmitted.
Value 0 = Disable Event Timer
Transmit PDO Mapping Parameters
1A00 Transmit PDO 1 It contains the mapping parameter for the PDOs the
Mapping Parameter device is able to transmit.
Sub-index 0 contains the number of the mapped data
objects. All further entries define the data by its index,
sub-index and length. The structure of a mapping
entry is: index , sub index ,length
00 Number of Entries 0x01 0x00 u8 ro
0x40
01 PDO Mapping Entry 0x60410010 u32 ro
0x00000000
0xFFFFFFFF
1A05 Transmit PDO 6 It contains the mapping parameter for the PDOs the
Mapping Parameter device is able to transmit.
Sub-index 0 contains the number of the mapped data
objects. All further entries define the data by its index,
sub-index and length. The structure of a mapping
entry is: index, sub index, length
00 Number of Entries 0x02 0x0 u8 ro
0x40

01 PDO Mapping Entry 0x60410010 u32 ro

0x00000000
0xFFFFFFFF

02 PDO Mapping Entry 0x60440010 u32 ro

0x00000000
0xFFFFFFFF

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Service Data (SDO) 39

1A14 Transmit PDO 21 It contains the mapping parameter for the PDOs the
Mapping Parameter device is able to transmit.
Sub-index 0 contains the number of the mapped data
objects. All further entries define the data by its index,
sub-index and length. The structure of a mapping entry
is: index, sub index, length
00 Number of Entries 0x04 u8 ro
0x00 0x40

01 PDO Mapping Entry 0x28360010 u32 ro

0x00000000
0xFFFFFFFF

02 PDO Mapping Entry 0x28380010 u32 ro

0x00000000
0xFFFFFFFF

03 PDO Mapping Entry 0x28390010 u32 ro

0x00000000
0xFFFFFFFF

04 PDO Mapping Entry 0x283A0010 u32 ro

0x00000000
0xFFFFFFFF

1A15 Transmit PDO 22 It contains the mapping parameter for the PDOs the
Mapping Parameter device is able to transmit.
Sub-index 0 contains the number of the mapped data
objects. All further entries define the data by its index,
sub-index and length. The structure of a mapping entry
is:
index,sub index,length
00 Number of Entries 0x04 u8 ro
0x00
0x40
01 PDO Mapping Entry 0x283B0010 u32 ro
0x00000000
0xFFFFFFFF

02 PDO Mapping Entry 0x283C0010 u32 ro

0x00000000
0xFFFFFFFF

03 PDO Mapping Entry 0x283D0010 u32 ro

0x00000000
0xFFFFFFFF

04 PDO Mapping Entry 0x283E0010 u32 ro

0x00000000
0xFFFFFFFF
1A16 Transmit PDO 23 Mapping It contains the mapping parameter for the PDOs the
Parameter device is able to transmit.
Sub-index 0 contains the number of the mapped data
objects. All further entries define the data by its index,
sub-index and length. The structure of a mapping entry
is: index, sub index, length
00 Number of Entries 0x02 u8 ro
0x00
0x40
01 PDO Mapping Entry 0x283F0010 u32 ro
0x00000000
0xFFFFFFFF
02 PDO Mapping Entry 0x28400010 u32 ro
0x00000000
0xFFFFFFFF
Manufacturer Specific Parameters
2000 AnyParameterReadID 0x0000 u16 rw
0x0000
0xFFFF

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 40 Service Data (SDO)

2001 AnyParameterReadValue 0x00000000 u32 ro

0x00000000
0xFFFFFFFF
2002 AnyParameterWrite 0x00000000 u32 rw
0x00000000
0xFFFFFFFF
2003 NX current percentage 0x0000 u16 ro Measured motor current. (1 = 0.01A)
0x0000
0xFFFF
2004 NX torque percentage 0x0000 u16 ro Calculated torque. Scaled in 0.0%…100.0% (0…1000)
0x0000
0xFFFF
2063 NX fault code 0x0000 i16 ro Shows the drive fault code (=0, if no fault active)
0x0000
0xFFFF
27D1 NX control word 0x0000 i16 rw
0x8000
0x7FFF
27D3 NX speed reference 0x0000 i16 rw
0x8000
0x7FFF
27D4 Process Data In1 0x0000 i16 rw
0x8000
0x7FFF
27D5 Process Data In2 0x0000 i16 rw
0x8000
0x7FFF
27D6 Process Data In3 0x0000 i16 rw
0x8000
0x7FFF
27D7 Process Data In4 0x0000 i16 rw
0x8000
0x7FFF
27D8 Process Data In5 0x0000 i16 rw
0x8000
0x7FFF
27D9 Process Data In6 0x0000 i16 rw
0x8000
0x7FFF
27DA Process Data In7 0x0000 i16 rw
0x8000
0x7FFF
27DB Process Data In8 0x0000 i16 rw
0x8000
0x7FFF
2836 NX status word 0x0000 i16 ro
0x8000
0x7FFF
2838 NX actual speed 0x0000 i16 ro
0x8000
0x7FFF
2839 Process data out1 0x0000 i16 ro
0x8000
0x7FFF
283A Process data out2 0x0000 i16 ro
0x8000
0x7FFF
283B Process data out3 0x0000 i16 ro
0x8000
0x7FFF
283C Process data out4 0x0000 i16 ro
0x8000
0x7FFF
283D Process data out5 0x0000 i16 ro
0x8000
0x7FFF
283E Process data out6 0x0000 i16 ro
0x8000
0x7FFF

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Service Data (SDO) 41

283F Process data out7 0x0000 i16 ro

0x8000
0x7FFF
2840 Process data out8 0x0000 i16 ro
0x8000
0x7FFF
Device Profile Parameters
6040 controlword 0x0000 u16 rw The control command for the state machine. The state
0x0000 machine describes the device status and possible
0xFFFF control sequence of the drive.
6041 statusword 0x0000 u16 ro The status word indicates the current status of the drive.
0x0000
0xFFFF
6042 vl target velocity 0x0000 i16 rw Speed reference of the drive.
0x8000 Unit: RPM
0x7FFF
6043 vl velocity demand 0x0000 i16 ro Speed reference after ramp function.
0x8000 Unit: RPM
0x7FFF
6044 vl control effort 0x0000 i16 ro Actual speed of the motor.
0x8000 Unit: RPM
0x7FFF

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 42 Service Data (SDO)

6046 vl velocity min max Defines speed limits of the drive in rpm. The parameter
amount consist of a minimum and a maximum speed.
00 Number of Entries 0x02 u8 ro
0x00
0x02
01 Minimum Speed 0x00000000 u32 rw
0x00000000
0xFFFFFFFF
02 Maximum Speed 0x00000000 u32 rw
0x00000000
0xFFFFFFFF
6048 vl velocity acceleration This parameter specifies the slope of the acceleration
ramp. The parameter consist of two parts: the delta
speed and the delta time.

v / rpm

delta speed

delta time

t / sec
00 Number of Entries 0x02 u8 ro
0x00
0x02
01 delta_speed 0x00000000 u32 rw
0x00000000
0xFFFFFFFF
02 delta_time 0x0001 u16 rw
0x0000
0xFFFF
6049 vl velocity deceleration This parameter specifies the slope of the deceleration
ramp. The parameter consist of two parts: the delta
speed and the delta time.

v / rpm

delta speed

delta time

t / sec
00 Number of Entries 0x02 u8 ro
0x00
0x02
01 delta_speed 0x00000000 u32 rw
0x00000000
0xFFFFFFFF
02 delta_time 0x0001 u16 rw
0x0000
0xFFFF
604A vl velocity quick stop Not Used

00 Number of Entries 0x02 u8 ro

0x00
0x02
01 delta_speed 0x00000000 u32 rw
0x00000000
0xFFFFFFFF
02 delta_time 0x0001 u16 rw
0x0000
0xFFFF

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Service Data (SDO) 43

6060 modes of operation 0x02 0x80 i8 ro This parameter switches the actually chosen operation
0x7F mode.
6061 modes of operation 0x02 0x80 i8 ro This parameter shows current mode of operation.
display 0x7F

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8
 44 Node Guarding Protocol

9. NODE GUARDING PROTOCOL

This protocol is used to detect remote errors in the network. Master can update status of slaves and
slaves can guard is master active.
Each NMT slave uses one remote COB for node guarding protocol. The NMT Master polls each NMT
slaves at regular time interval. This time interval is called guard time and may be different for each
NMT slave. The response of the NMT slave contains the state of that NMT slave. Slave start guarding

VACON® CANopen option board has following items for guarding purposes:

Index Sub- Name Default Type Descriptions

(HEX) Index Min Attr.
Max
100C 00 Guard Time 1000 u16 This entry contains the guard time in
0 rw milli-seconds. It is 0, if not used.
65535 Unit: ms
100D 00 Life Time Factor 2 u8 The life time factor multiplied with the
0 rw guard time gives the life time for the
255 device. It is 0, if not used.

Example node guarding messages:

MASTER -> SLAVE (node id = 1)

Message ID Len RTR

NMT (Node 0x701 0 1
Guarding)

SLAVE RESPONSE (node id = 1)

Message ID Len 1
NMT (Node Guarding) 0x701 1 X

X= bit7 0 / 1 (Toggle bit )

Slave state (e.g. 5 operational)

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Electronic Data Sheet, EDS-file 45

10. ELECTRONIC DATA SHEET, EDS-FILE

The usage of devices in a communication network requires configuration of the device parameters
and communication facilities. CANopen defines a standardised way to access these parameters via
the object dictionary.
For handling of the complexity of CANopen systems Software Tools are required. This reduces the
complexity of the planning, configuration and analysis process and significantly increases the security
of the system.
For this purpose Software Tools need an electronic description of the CANopen devices. To allow the
usage of manufacturer independent Tools, this document defines a standardised file format called
Electronic Data Sheet EDS.
For the EDS-file for VACON® CANopen Option Board, go to http://drives.danfoss.com website.

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 46 APPENDICES

11. APPENDICES

appendix a - device profile for drives

VACON® CANopen option board follows the Drive device profile DSP-402. The Velocity mode is
supported.

Basic Device Control and Device Data Interface

Drive Interface

controlword (6040h) State RUN/STOP, FAULT

Machine RST Application
RUN/STOP,READY,FAUL
statusword (6041h)
T

Limit

vl_target_velocity (6042h) RPM RPM to %

MinFrequency
vl_velocity_min_max_amount RPM to Hz MaxFrequency
(6046h) Ramp
vl_velocity_deceleration (6049h) RPM to Hz DecelerationTime

vl_velocity_acceleration (6048h) RPM to Hz AccelerationTime

vl_velocity_demand (6043h) RPM % to RPM

Motor

ActualSpeed
vl_control_effort (6044h) RPM RPM to %

%torque (2003h) MotorTorque

%current (2004h) MotorCurrent

fault code (2063h) FaultCode

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APPENDICES 47

appendix b sdo messages

Read Dictionary Object: SDO1 Rx

Master to Slave (1)
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x601 0 4 Command Object Index Sub- Index D0 D1 D2 D3
Command = 0x40
Command aaabbbbb (= 0100 0000)
aaa = 010, Initiate upload request

Response: SDO1 Tx
Slave (1) to Master
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x581 0 8 Reply Object Index Sub- Index D0 D1 D2 D3
Reply = e.g. 0x43
Reply aaabcces (= 0100 0011)
aaa = 010 Initiate upload response
b =0 not used
cc = 00 number of empty bytes ( that case answer consist of 4 bytes)
e =1 expedited transfer
s =1 data set size is indicated
Data

Write Dictionary Object: SDO1 Rx

Master to Slave (1)
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x601 0 8 Command Object Index Sub- Index D0 D1 D2 D3
Command = e.g. 0x2B
Command aaabcces (= 0010 1011)
aaa = 010 Initiate download request
b =0 not used
cc = 00 number of empty bytes ( that case answer consist of 4 bytes)
e =1 expedited transfer
s =1 data set size is indicated
Data

Response: SDO1 Tx
Slave (1) to Master
Header Data
ID RTR Len 1 2 3 4 5 6 7 8
0x581 0 4 Reply Object Index Sub- Index D0 D1 D2 D3
Reply = 0x60
Reply aaabbbbb (= 0110 0000)
aaa = 010 Initiate download response
bbbbb = 0 0000 not used

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11
 48 APPENDICES

appendix c process data contents

Process Data OUT (Slave  Master)

The fieldbus master can read the actual values using process data variables.
Basic, Standard, Local/Remote, Multi-Step, PID control and Pump and fan control applications use
process data as follows:

Data Value Unit Scale

Process data OUT 1 Output Frequency Hz 0,01 Hz
Process data OUT 2 Motor Speed rpm 1 rpm
Process data OUT 3 Motor Current A 0,1 A
Process data OUT 4 Motor Torque % 0,1 %
Process data OUT 5 Motor Power % 0,1 %
Process data OUT 6 Motor Voltage V 0,1 V

The Multipurpose application has a selector parameter for every Process Data. The monitoring values
and drive parameters can be selected using the ID number (see VACON® NX All in One Application
Manual, Tables for monitoring values and parameters). Default selections are as in the table above.

Process Data IN (Master -> Slave)

ControlWord, Reference and Process Data are used with All-in One applications as follows:

Basic, Standard, Local/Remote, Multi-Step applications

Data Value Unit Scale

Reference Speed Reference % 0.01%
ControlWord Start/Stop - -
Command
Fault reset
Command
PD1 PD6 Not used - -

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APPENDICES 49

Multipurpose control application

Data Value Unit Scale

Reference Speed Reference % 0.01%
ControlWord Start/Stop - -
Command
Fault reset
Command
Process Data IN1 Torque Reference % 0.1%
Process Data IN2 Free Analog INPUT % 0.01%
PD3 PD6 Not Used - -

PID control and Pump and fan control applications

Data Value Unit Scale

Reference Speed Reference % 0.01%
ControlWord Start/Stop - -
Command
Fault reset
Command
Process Data IN1 Reference for PID % 0.01%
controller
Process Data IN2 Actual Value 1 to PID % 0.01%
controller
Process Data IN3 Actual Value 2 to PID % 0.01%
controller
PD4 PD6 Not Used - -

appendix d
Version 8 of the C6 Option board does not work the same way than the others. Some changes are
required at end of the PLC.

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11
 www.danfoss.com

Document ID:

Vacon Ltd
Member of the Danfoss Group DPD00896B

Runsorintie 7 Rev. B
65380 Vaasa
Finland