CAN in Automation (CiA) has released the CiA 402-5 specification. It defines a new mapping for Process Data Objects (PDO) suitable for CANopen devices, which are able to control asynchronous as well as synchronous motors. This takes into account that suppliers integrate position control and sequence control into one unit. For the user this not only convenient but also avoids the need of two configuration tools.
The first PDO is used to control the drive’s state machine and to confirm the state change request. The second PDO contains additionally the target position respectively the current position, and the third provides the target velocity or the current velocity. All these PDOs are predefined. The CAN identifiers are assigned automatically depending on the setting of the node-ID.
CANopen is one of the most used communication interfaces for servomotors. The internationally standardized CiA 402 drive and motion control profile (IEC 61800-7-201/301) specifies the CANopen interface for inverters, servo drives, and stepper motors. “With this PDO mapping superset, the user can control with the very same device asynchronous as well as synchronous motors,” explained Holger Zeltwanger, CiA’s managing director. “There is no need to configure the PDOs.”
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