280 ADV200 • Appendix
APP.1.2-CANopenprotocolsupport
The drive controls an external I/O module via CANopen, with some master functions, limited to the possibility of
managing a single device.
The single slave that is connected must be equipped with CANopen DS301 according to “DS401 Device prole
for generic I/O modules Version 3.0.0 3 June 2008” and must be set separately from the drive to operate with a
baudrate of 500 kbps, with address 1.
The drive has access to the following objects in the Object Directory of the salve:
.Index Sub. Name
0x1000 0 Device type
0x100c 0 Guard time (as an alternative to 0x1016 and 0x1017)
0x100d 0 Lifetime factor
0x1016 0 Consumer HB Object
1 Cons.HB n+T
0x1017 0 Producer HB time
0x1018 0 Identity Object
1 Vendor Id
2 Product Code
0x1400/1/2/3 0 RPDOs Communication Parameters
1 COB-ID
2 Transmission type = 1
0x1600/1/2/3 0 RPDOs Mapping
1-n Object mapped
0x1800/1/2/3 0 RPDOs Communication Parameters
1 COB-ID
2 Transmission type = 1
3 Inhibit time
0x1A00/1/2/3 0 TPDOs Mapping
1-n Object mapped
The slave must preferably support the Heartbeat protocol, or at least NodeGuarding.
If objects 1016 and 1017 are writeable, HeartBeat is used and the 100C and 100D objects are reset, otherwise
they are set to 200 and 3, respectively, and the NodeGuarding protocol is active.
The drive interprets the Emergency command as a possible error and so generates an alarm, which is man-
aged in all 3 phases.
The slave must support the NMT protocol for transition to Pre-Operational and Operational.
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