Bonfiglioli Vectron CM-CAN CANopen Communication Configuration and DS402 Control Guide

It has inhibition time (default 50ms) and event time (default 1000ms).

3.2 SDO channel (index 0x1200)

SDO (Service Data Object) is used for parameterized read and write (Chapter 8.2.2):

Rx-SDO ID = 1536 + Node-ID

Tx-SDO ID = 1408 + Node-ID

Support SDO Expedited Transfer protocol for reading and writing int/uunt/long type parameters.

3.3 Manufacturer Objects (0x2000/n and 0x2nnn)

CM-CAN provides two methods for accessing internal parameters of frequency converters through SDO (Sections 8.6 and 8.7):

Method 1: Object 0x2000/n (Universal Parameter Channel)

Subindex 1: int/uunt parameter (data length 6 bytes)

Subindex 2: long parameter (data length 8 bytes)

Subindex 3: string parameter (data length 36 bytes)

Access process: First, SDO writes the parameter number and dataset (format: parameter number+dataset × 1000), and then SDO reads the parameter values. The response includes ACK/NAK status and error codes.

Method 2: Direct Index Mapping (0x2nnn)

Index=Parameter Number+0x2000

Subindex=Dataset Number (0-9, where 5-9 corresponds to RAM writes to avoid EEPROM burning)

This method is more concise and efficient, supports Expedited SDO transmission, and is recommended for periodic parameter reading and writing.

Chapter 4: DS402 Speed Mode Object and Drive Control

The core capability of CM-CAN lies in supporting the Velocity Mode of CiA DS402 and providing standardized drive control interfaces.

4.1 Control Words and State Machines (0x6040/0x6041)

The bit definition of the control word (0x6040) follows DS402 (Chapter 8.4.3):

Bit 0：Switch On

Bit 1：Enable Voltage

Bit 2：Quick Stop

Bit 3：Enable Operation

Bit 7：Reset Fault

Standard startup sequence:

0x06 (Shutdown) → Enter "Ready to Switch On"

0x07 (Switch On) → Enter "Switched On"

0x0F (Enable Operation) → Enter "Operation Enabled" to enable the motor to operate.

The status word (0x6041) provides feedback on the current device status (Chapter 8.4.4), including key status bits such as "Ready to Switch On", "Switched On", "Operation Enabled", "Fault", etc.

4.2 Speed Control Object (0x6042/0x6044)

Target speed (0x6042): 16 bit integer, unit RPM. The frequency converter combines the pole logarithmic object (0x604D) to convert it into an internal frequency value (Hz).

Control value (0x6044): 16 bit integer, unit RPM, feedback actual speed.

Pole Count (0x604D): An 8-bit integer representing the number of poles of the motor (not pole count). For example, a 4-pole motor (2-pole) should be set to 4.

4.3 Acceleration and deceleration objects (0x6048/0x6049)

Speed acceleration (0x6048): Subindex 1=Delta Speed (RPM), Subindex 2=Delta Time (seconds). Define the acceleration slope (RPM/s) through these two values.

Speed deceleration (0x6049): As above, define the deceleration slope.

Note: Delta Time defaults to 1 second after reset, and modifying Delta Speed can change the acceleration/deceleration slope.

4.4 Speed Limiting Object (0x6046)

Subindex 1=Velocity Min Amount

Subindex 2=Velocity Max Amount

The given speed will be limited within this range. The minimum speed value is reset to 0 after resetting.

Chapter 5: Bus Fault Response and Diagnosis

5.1 Bus Fault Behavior Configuration

Parameter CAN Error Behavior 388 (object 0x6007/0) defines the behavior when a bus fault occurs (Chapter 7):

0: No response, maintain current operating status.

1: Report an error and switch to the fault state (Error).

2: Perform a switch off action and park on a normal slope.

3: Execute Quick stop and quickly stop the vehicle by pressing the emergency stop ramp.

Fault code mapping (Chapter 8.3.2):

F2021: CAN Bus OFF (controller offline)

F2022: Guarding fault (Node protection timeout)

F23nn: Heartbeat fault (nn is the address of the node that lost heartbeat)

5.2 Emergency Message

When a fault occurs, the frequency converter automatically sends an emergency message with an identifier of 128+Node-ID. The 8-byte data contains the error code and internal error information (Chapter 8.1.12). After the fault is eliminated, the device will send an emergency message with zero data content to indicate that normal operation has been restored.