Owner's manual
Table Of Contents
- KHB 13.0003-EN
- Document history
- Contents
- 1 Preface
- 2 Safety instructions
- 3 Technical data
- 4 Electrical installation
- 5 CANopen communication
- 6 Commissioning
- 7 Parameter setting
- 7.1 Loading and saving of parameter sets
- 7.2 Conversion factors ( factor group)
- 7.3 Power stage parameters
- 7.4 Motor adaptation
- 7.5 Speed controller
- 7.6 Position controller ( position control function)
- 7.7 Digital inputs and outputs
- 7.8 Device information
- 7.9 Manufacturer-specific information parameters
- 7.10 Manufacturer-specific driving records
- 8 Device control
- 9 Operating modes
- 10 Appendix
- 11 Index
CANopen communication
About CANopen
Structure of the CAN data telegram
5
15
KHB 13.0003-EN 2.0
5 CANopen communication
5.1 About CANopen
The CANopenprotocol is a standardised layer 7 protocol forthe CAN bus. This layer is based
on the CAN application layer (CAL), which has been developed as a universal protocol.
In practice, however, it became clear that applications with CAL were too complex for the
user. CANopen is a uniform, easy-to-use structure which has been developed to provide a
connection for CAN devices from different manufacturers.
5.1.1 Structure of the CAN data telegram
Control field CRC delimit. ACK delimit.
Start RTR bit
CRC sequence ACK slot End
Identifier Data
length
User data (0 ... 8 bytes)
z Network management
z Process data
z Parameter data
1bit 11 bits 1bit 2bits 4bits 15bits 1bit 1bit 1bit 7bits
Fig. 2 Basic structure of the CAN telegram
Note!
To the user, only the identifier, the data length and the user data are relevant.
All other data of the CAN telegram is automatically processed by the system.