Parker Hannifin S.p.A S.B.C. Division
SLVDN User’s Manual
Page 133 of 181
13.EtherCAT interface
The EtherCAT optional realizes the messages in according to the CANopen DSP402
standard:
CoE EtherCAT – CANopen DSP402
13.1.
CANopen DSP402 (D version)
The CANbus node must be set through Pr49 with values from 1 to 127.
Transmission speed depends on Pr31, Pr48 e b150.4 as the following table:
All changes in speed, address or function mode are activated using the b42.3 command or
when the converter is powered on again.
In the CANopen implementation of SLVD-N an SDO channel is available (standard cob-id)
with a changeable timeout value mapped at the index 0x2020 as Unsigned 16 with a default
value of 5000 (1 unit 1.024 msec). Both standard guarding protocols are available , Node
guarding and heartbeat (the two cannot exist in the same time) Heartbeat is activated when a
producer heartbeat time is set different from 0.Three PDO channels PDO 1,2,4 from the
predefined standard connection set are available PDO 1 and 2 are serviced by a cyclic routine
executed every 2.048 msec and they are remappable (elements of 2 or 4 bytes can be mapped)
the RTR is allowed event time and inhibit time are active they can handle synchronous
requests serviced every 2.048 msec or they can be handled as event driven.
PDO 4 is the PDO channel used for strictly realtime operation as controlling motor trajectory
or position loop (the PDO is synchronous type 1) no RTR is allowed and a restricted set of
parameters can be mapped , in particular (
ID
: to the second axis apply as offset 0x0800, while
to the third axis the offset is 0x1000;
PDO
: to the second axis apply as offset 0x0040, while
to the third axis the offset is 0x0080):
PDO 4 rx :
[0x6040]
control word
[0x60c1][1] position reference in counts
[0x60c1][2] velocity reference in counts/sec
[0x60c1][3] velocity reference in rpm
Pr48
Pr31
≠
15
Pr31=15 Pb150.4
0
125 kbps
1 Mbps
0
0
125 kbps
500 kbps
1
1 1
Mbps
2 500
kbps
3 250
kbps
4 125
kbps
5 50
kbps
6 20
kbps
7 10
kbps