Operating Instructions

CANopen Overview

Wiring for CANopen

356 | 443

Type number 1–240 indicates the number of SYNC message between two PDO transmissions.

Type number 252 indicates the data is updated (but not sent) immediately after receiving SYNC.

Type number 253 indicates the data is updated immediately after receiving RTR.

Type number 254: CANopen does not support this transmission format.

Type number 255 indicates the data is an asynchronous transmission.

All PDO transmission data must be mapped to the index with Object Dictionary.

EMCY (Emergency Object)

When errors occur inside the hardware, an emergency object is triggered. An emergency object is only sent when

an error occurs. If there is nothing wrong with the hardware, there is no emergency object warning of an error

message.

Wiring for CANopen

Use an external CANopen communication card RT-CAN-COMM for CANopen wiring to connect the CANopen to

the drive. The link uses an RJ45 cable. You must wire the two farthest ends with 120 Ω terminating resistors as

shown below.

Fig. 122:

CANopen Communication Interface Descriptions

CANopen Control Mode Selection

There are two control modes for CANopen: the DS402 standard (Pr.09-40=1) is the default, and the standard

setting (Pr.09-40=0). There are two control modes according to the standard. One is the old control mode (Pr.09-

30=0); this control mode can only control the motor drive under the frequency control. The other mode is a new

standard (Pr.09-30=1); this new control mode allows the motor drive to be controlled under all kinds of modes. The

Climatix VFD currently supports the speed mode. The following table shows the control mode definitions:

CANopen

Control Mode

Speed

Index

Description