CANopen Elevator Core Communication Profile
CANopen - Overview
CANopen communication can be used to control and monitor the drive.
The following table details the CANopen Specification that is supported by the Elevator Core.
Protocol | CANopen (CiA 301) |
|---|---|
Baud Rate | 125kbps, 250kbps, 500kbps (default), 1Mbps |
Optional Modules | None - Built in as Standard |
Physical Signal | RS 485 (3-wire) |
User Interface | RJ45 |
Supported Message Transmission Format | 2x PDO |
Communication Loss Actions | Trip (default) Ramp to stop then trip Ramp to stop only (No trip) Run at Inspection Speed (P8-08) |
Maximum Number of drives on network | 127 |
CANopen EDS File
The Elevator Core has an associated EDS file that can be downloaded from: CANopen EDS File under the Drive Configuration Files tab.
CANopen - Network Management (NMT)
The network management (NMT) service is used to control NMT states of CANopen devices.
An NMT message is a 2-byte CAN frame with COB-ID 0 (0000h).
The first byte contains a command to specify the NMT command.
The second byte contains a Node-ID of a target device
If the node-ID is 0, the message is a global message to all devices on the CANopen network.
Following a Power ON, all CANopen devices will enter the initialisation state. Following completion of the initialisation, the device will switch to pre-operational state and transmit an emergency message to announce the completion of initialisation and availability on the network. In this state, the SDO telegram may be used to configure the node as required, and PDO communication is disabled. The NMT telegram is then used by the Network Controller to switch the device into operational state when configured and ready to operate.
Supported Network Management Function
The drive supports the following Network Management commands:
NMT Command | Function | Target Node State Transition |
|---|---|---|
0x01 | Start Remote Node | Pre-Operational to Operational |
0x02 | Stop Remote Node | Any Sate to Stopped |
0x80 | Enter Pre-Operational | Operational to Pre-Operational |
0x81 | Reset Node | Any State to Initialisation followed by Pre-Operational |
0x82 | Reset Node Communication | Any State to Initialisation followed by Pre-Operational |
The NMT message has the following format:
COB-ID | NMT Command | Target Node ID |
|---|---|---|
0x0000 | 1 Byte | 1 Byte |
Note
The NMT telegram always has COB-ID 0x0000
If the node-ID is 0, the message is a global message to all devices on the CANopen network.
CANopen - Supported Communication Object Identifiers COB-ID
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
CANopen - CAN Specific Communication Profile Objects
Index | Sub Index | Function | Access | Type | PDO Map | Default Value |
|---|---|---|---|---|---|---|
1000h | 0 | Device Type | RO | U32 | N | 0 |
1001h | 0 | Error Register | RO | U8 | N | 0 |
1002h | 0 | Manufacturer Status Register | RO | U16 | N | 0 |
1005h | 0 | COB-ID Sync | RW | U32 | N | 00000080h |
1008h | 0 | Manufacturer Device Name | RO | String | N | ODL3 |
1009h | 0 | Manufacturer Hardware Version | RO | String | N | x.xx |
100Ah | 0 | Manufacturer Software Version | RO | String | N | x.xx |
100Ch | 0 | Guard Time (1ms) | RW | U16 | N | 0 |
100Dh | 0 | Life Time Factor | RW | U8 | N | 0 |
1014h | 0 | COB-ID EMCY | RW | U32 | N | 00000080h+Node ID |
1015h | 0 | Inhibit Time Emergency (100μs) | RW | U16 | N | 0 |
1016h | 0 | Consumer Heartbeat items | RW | U32 | N | 0 |
1 | Consumer Heartbeat Time | RW | U16 | N | 0 | |
1017h | 0 | Producer Heartbeat Time (1ms) | RW | U16 | N | 0 |
1018h | 0 | Identity Object No. Of entries | RO | U8 | N | 4 |
1 | Vendor ID | RO | U32 | N | 0x0000031A | |
2 | Product Code | RO | U32 | N | Drive Dependent | |
3 | Revision Number | RO | U32 | N | x.xx | |
4 | Serial Number | RO | U32 | N | Drive Dependent | |
1200h | 0 | SDO Parameter No. Of entries | RO | U8 | N | 2 |
1 | COB-ID Client -> Server (RX) | RO | U32 | N | 00000600h+Node ID | |
2 | COB-ID Server -> Client (TX) | RO | U32 | N | 00000580h+Node ID | |
1400h | 0 | RX PDO1 comms param. no. of entries | RO | U8 | N | 2 |
1 | RX PDO1 COB-ID | RW | U32 | N | 40000200h+Node ID | |
2 | RX PDO transmission type | RW | U32 | N | 254 | |
1401h | 0 | RX PDO2 comms param. no. of entries | RO | U8 | N | 2 |
1 | RX PDO2 COB-ID | RW | U32 | N | C0000300h+Node ID | |
2 | RX PDO2 transmission type | RW | U8 | N | 0 | |
1600h | 0 | RX PDO1 1 mapping / no. of entries | RW | U8 | N | 4 |
1 | RX PDO1 1st mapped object | RW | U32 | N | 20000010h | |
2 | RX PDO1 2nd mapped object | RW | U32 | N | 20010010h | |
3 | RX PDO1 3rd mapped object | RW | U32 | N | 20030010h | |
4 | RX PDO1 4th mapped object | RW | U32 | N | 00060010h | |
1601h | 0 | RX PDO2 1 mapping / no. of entries | RW | U8 | N | 4 |
1 | RX PDO2 1st mapped object | RW | U32 | N | 00060010h | |
2 | RX PDO2 2nd mapped object | RW | U32 | N | 00060010h | |
3 | RX PDO2 3rd mapped object | RW | U32 | N | 00060010h | |
4 | RX PDO2 4th mapped object | RW | U32 | N | 00060010h | |
1800h | 0 | TX PDO1 comms parameter number of entries | RO | U8 | N | 3 |
1 | TX PDO1 COB-ID | RW | U32 | N | 40000180h+Node ID | |
2 | TX PDO1 transmission type | RW | U8 | N | 254 | |
3 | TX PDO1 Inhibit time (100μs) | RW | U16 | N | 0 | |
1801h | 0 | TX PDO2 comms param no. of entries | RO | U8 | N | 3 |
1 | TX PDO2 COB-ID | RW | U32 | N | C0000280h+Node ID | |
2 | TX PDO2 transmission type | RW | U8 | N | 0 | |
3 | TX PDO2 Inhibit time (100μs) | RW | U16 | N | 0 | |
1A00h | 0 | TX PDO1 mapping / no. of entries | RW | U8 | N | 4 |
1 | TX PDO1 1st mapped object | RW | U32 | N | 200A0010h | |
2 | TX PDO1 2nd mapped object | RW | U32 | N | 200B0010h | |
3 | TX PDO1 3rd mapped object | RW | U32 | N | 200D0010h | |
4 | TX PDO1 4th mapped object | RW | U32 | N | 200E0010h | |
1A01h | 0 | TX PDO2 mapping / no. of entries | RW | U8 | N | 4 |
1 | TX PDO2 1st mapped object | RW | U32 | N | 200F0010h | |
2 | TX PDO2 2nd mapped object | RW | U32 | N | 20100010h | |
3 | TX PDO2 3rd mapped object | RW | U32 | N | 20110010h | |
4 | TX PDO2 4th mapped object | RW | U32 | N | 200C0010h |