Canopen device profile for PLCopen motion control

Paul Boughton
The Can in Automation (CIA) non-profit organisation has released version 1.0 of the CIA 452 Canopen device profile for PLCopen motion control as a draft standard proposal (DSP). The device profile specifies the Canopen interface for drives controlled by programmable logic controllers (PLCs) using PLCopen motion control. The drive uses some operation modes and configuration parameters as defined in the Canopen-related parts of the IEC 61800-7 (Adjustable speed electrical power drive systems). Parameters for such additional modes as gear, jog and camming are defined in the CIA 452 specification. The drive is controlled by a drive command and 16-bit or 32-bit reference values, depending on the chosen operation mode. The mode-dependent feedback from the drive is given via a status word and the current values. The drive control is therefore fulfilled using one TPDO (transmit process data) and one RPDO (receive process data).
In addition, CIA has released version 1.7 of the CiA 303-1 Canopen additional specification for cabling and connector pin assignment as draft recommendation. It recommends cabling and pin-assignment of bus connectors for Canopen-based systems and specifies naming conventions for the bus lines, ground lines and shield connections. In addition to editorial clarifications, the eight-pin Ampseal connector for redundant communication has been added. Also new are references to the 18-pin VDA interface connector and the two-pin power connector used in automotive applications. The recommendation is downloadable for free from CIA's website.
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