Elevator Core CANopen Communication
The CAN communication profile in the Elevator Core is implemented according to the specification DS301 version 4.02 of CAN in automation (https://www.can-cia.org/). Specific device profiles such as DS402 are not supported.
All parameter values can be read from the drive and written to, depending on the operating mode of the drive – some parameters may not be changed whilst the drive is enabled.
The Drive provides the following default COB-ID and functions:
Type | COB-ID | Function |
|---|---|---|
NMT | 000h | Network management. |
Sync | 080h | Synchronous message. COB-ID can be configured to other value. |
Emergency | 080h + Node address | Emergency message |
PDO1 (TX) | 180h + Node address | Process data object. PDO1 is pre-mapped and enabled by default. COB-ID can be configured to other value. PDO2 is pre-mapped and disabled by default. Transmission mode, COB-ID and mapping can be configured |
PDO1 (RX) | 200h + Node address | |
PDO2 (TX) | 280h + Node address | |
PDO2 (RX) | 300h + Node address | |
SDO (TX) | 580h + Node address | SDO channel can be used for drive parameter access |
SDO (RX) | 600h + Node address | |
Error Control | 700h + Node address | Guarding and Heartbeat function are supported. COB-ID can be configured to other value. |
The Drive's SDO channel only supports expedited transmission.
The Drive can only support up to 2 Process Data Objects (PDO). All PDOs are pre-mapped; however PDO2 is disabled by default. The table below gives the default PDO mapping information.
Customer configuration (mapping) will NOT be saved during full power down. This means that the CAN open configuration will restore to its default condition each time the drive is powered up.
Note
Full power down is defined as:
Mains Power removed
USB-C Cable removed
24V External supply to IO removed