Lenze 931E/K Small Drives Control - Manual (Page 156)

Appendix
Communication interfaces
Control via CAN bus
10
l
156 SW−HB 13.0002−EN 4.1
10.2 Communication interfaces
10.2.1 Control via CAN bus
Functions available
The 931E/K servo positioning controller uses the CANopen protocol according to
DS301 / DSP402.
The following operating modes specified in CANopen are supported:
ƒ Torque control (profile torque mode)
ƒ Speed control (profile velocity mode)
ƒ Homing (homing mode)
ƒ Positioning (profile position mode)
ƒ Synchronous position selection (interpolated position mode)
The following access types are supported for data exchange:
Access type Description
SDO Service Data Object Used for the standard parameterisation of the controller.
(Approx. 150 SDOs are supported.)
PDO Process Data Object Fast exchange of process data (e.g. actual speed) possible. (2
PDOs are supported.)
SYNC Synchronisation Message Synchronisation of several CAN nodes.
EMCY Emergency Message Transfer of error messages.
NMT Network Management Network service: E.g. all CAN nodes can be influenced at the same
time.
HEARTBEAT Error Control Protocol The bus devices are monitored by means of regular messages.