CiA, the international CAN users’ and manufacturers’ group, has released a new version of the CiA 402-2 CANopen profile for drives and motion controllers. This part of the document series specifies the operation modes and the parameters in detail. The updated version 4.1 is based on the IEC 61800-7-201 standard. The improvements include some editorial improvements and mainly corrections of errors, which are unfortunately in the IEC standard. It is intended to introduce the changes into the IEC standard as early as possible.
“The CiA 402 series is the most implemented drive profile,” said Holger Zelwanger, CiA managing director.
The nonprofit association also released CiA 402-6, which describes the PDO mapping for CANopen FD. It comprises several sets of pre-defined PDOs. One is for single servo drives and stepper motors, another for single-axis frequency inverters, and a third one for multi-axes devices. In particular, PDO set for multiple-axes allows controlling simultaneously up to motors with one message. The specification also introduces the Valid PDO Mapping Entries parameters for TPDOs and RPDOs.
“The Part 6 is the first CANopen profile making use of the longer payload in CAN FD messages,” Zelwanger said. “This improves the system design and allows to use CAN also in challenging motion control applications.”