Frequency Converter
CANopen Card

Instruction Manual
R912006713

Edition 01

Bosch Rexroth AG

CANopen Card

Record of Revision
EditionRelease Date

DOK-RCON0*-XFCX610*CAN-IT01-EN-P 2016.05

Notes
First release

Reference
For documentations available in other type or language, please consult your local sales partner or check www.boschrexroth.com.
Copyright© Bosch Rexroth (Xi'an) Electric Drives and Controls Co., Ltd. 2016
This document, as well as the data, specifications and other information set
forth in it, are the exclusive property of Bosch Rexroth (Xi'an) Electric Drives
and Controls Co., Ltd. It may not be reproduced or given to third parties without
its consent.
Liability
The specified data is intended for product description purposes only and shallnot be deemed to be a guaranteed characteristic unless expressly stipulated in
the contract. All rights are reserved with respect to the content of this documentation and the availability of the product.
RS-98050289cc2dac120a347ea5015cf386-1-en-US-23

CANopen Card

Bosch Rexroth AG
Table of Contents

Table of Contents
Page
1

General Introduction.............................................................................. 1

2
2.1
2.2

Installation Introduction........................................................................ 2
Interface Introduction............................................................................ 2
Cable and Connection........................................................................... 33

LED Status Introduction........................................................................

4
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
4.9.1
4.9.2
4.9.3
4.10
4.10.14.10.24.10.3
4.11
4.12

Converter Configuration........................................................................ 5
Overview................................................................................................ 5
COB-Identifiers ..................................................................................... 5
Object Dictionary................................................................................... 6
Process Data Objects (PDO)............................................................... 10
Process Data Objects (PDO) Configuration........................................ 12
Service Data Objects (SDO)................................................................ 16
Network Management Objects (NMT) ................................................ 17
Emergency Service (EMCY)................................................................. 19
Synchronisation Service (SYNC).......................................................... 21
Overview.............................................................................................. 21
Error Control Services......................................................................... 21
Non-Volatile Storage............................................................................ 22
Device Profile....................................................................................... 23
Overview.............................................................................................. 23
Rexroth Drive Profile............................................................................ 24
CiA-402 Drive Profile............................................................................ 26
Related Communication Parameters................................................... 35
CANopen Option Card Parameters...................................................... 37

5

Diagnosis.............................................................................................

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38

I

Bosch Rexroth AG

II

CANopen Card

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CANopen Card

Bosch Rexroth AG
General Introduction

1 General Introduction
CANopen is a high-level communication protocol which is based on CAN (Controller Area Network) bus. As one of fieldbus commonly used in the industrial
control field, CANopen can realize the interconnection of multiple industrial devices.
CANopen adopts Open Systems Interconnection (OSI) model and implements
media access control and physical signal transmission on basis of CAN technology. Its design is based on three sub-protocols, i.e. DS102 CAN physical layer forindustrial applications, DS 301 CANopen communication profile for industrial
systems and DSP 402 device profile for drives and motion control.
CANopen operates in master-slave structure or distributed control structure
which is based on peer-to-peer communication. Up to 127 slave nodes can besupported. CANopen card of the slave node is powered from frequency converter, and all slave nodes are connected to the same bus.
CANopen defines corresponding configuration files for devices in specificclasses. For other devices, a specific class must be defined to ensure the compatibility with CANopen system.

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Installation Introduction

CANopen Card

2 Installation Introduction
2.1 Interface Introduction

Fig. 2-1: Interface data

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Installation Introduction

2.2 Cable and Connection
Please select CANopen cable type in accordance with the following instructions.
Baudrate
1,000 kbps
500 kbps
250 kbps
125 kbps
50 kbps
20 kbps
10 kbpsMax. cable
length
25m
100 m
250 m
500 m
1,000 m
1,000 m
1,000 mResistance

Cable cross section[mΩ/m][mm2/AWG]

<70
< 60

0.25...0.34 / AWG23...AWG22
0.34...0.6 / AWG22...AWG20< 40

0.5...0.6 / AWG20< 26

0.75...0.8 / AWG18

Termination
resistor

120 ΩTab. 2-1: Cable data

It is not suitable to connect frequency converter with “flat cable” and otherunscreened cable types. With regards to the connection of the cable screen, it isrecommended to connect to the ground at both ends of the cable at every
CANopen slave node. Low impedance ground connection of high frequency
screen is very important. This can be achieved by connecting to the ground witha cable clamp or a conductive cable device, such as converter shielding kit.

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LED Status Introduction

CANopen Card

3 LED Status Introduction
The CiA-303-3 provides a standardized way for state indication of a CANopen device. There is an error LED and a run LED. The run LED is green and indicates
the CANopen state. The error LED is red and shows errors of the physical layer.
LED

State
No error
Warning limit reached

ERROR LED
Error control event
Bus off
OFF
NMT stopped
RUN LEDNMT pre-operational
NMT operational

Color
Off

Description
The device is in working condition.

Single flash

At least one of the error counters of the CAN
controller has reached or exceeded the warning
limit. (CAN Passive Error)

Double flash

A guard event (NMT slave or NMT master) or a
Heartbeat event has occurred.

Red light on
OffSingle flash
Blinking green
Green light on

The CAN controller is bus-off.
The CANopen controller is in “OFF” state.
The device is in NMT STOPPED state.
The device is in NMT PRE-OPERATIONAL state.
The device is in NMT OPERATIONAL state.

Tab. 3-1: Description of various LED states

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Converter Configuration

4 Converter Configuration
4.1 Overview
Communication with the frequency converter in CANopen is achieved via Service
Data Objects (SDOs), Process Data Objects (PDOs) and Network Management(NMT).
Users can download the EDS file through the following steps:
1. Click on http://www.boschrexroth.com/dcc.
2. Choose “Frequency converter -> EFC 3610 (or EFC 5610)” from the navigation bar on left side of the operation interface.
3. Choose “Download area” tab from right side of the interface.
4. Click on “EDS_XFCX610.ZIP” to download the EDS file.

4.2 COB-Identifiers
Each communication object has a unique identity (COB-ID) comprising the function code and the node ID (node address) shown as follows.

Fig. 4-1: COB-ID

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Converter Configuration

CANopen Card

4.3 Object Dictionary
The object dictionary is essentially a grouping of objects accessible via the network in an ordered predefined fashion. Each object within the object dictionaryis addressed using a 16-bit index and an 8-bit sub-index. The object dictionary
contains collection of all the data items which have an influence on the behaviour of the application objects, the communication objects and the state machine used on this device.
Index range (Hex)1000h...1FFFh
2000h...5FFFh
6000h...9FFFh

Object group
Communication profile
Vendor specific objects
Standard device profiles

Tab. 4-1: CANopen object groups

The table below gives an overview of the objects prescribed for CANopen:
ObjectGeneral objects

Error control protocol

SDO

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Index
1000h
1001h
1002h
1008h
1009h
100Ah
1010h
1011h
1018h
100Ch
100Dh
1014h
1015h
1016h
1017h
1029h
1200h

Name
Device type
Error register
Manufacturer status register
Manufacturer device name
Manufacturer hardware version
Manufacturer software version
Store parameter field
Restore default parameters
Identity object
Guard time
Life time factor
COB-ID EMCY
Inhibit time emergency
Heartbeat consumer entries
Producer heartbeat timeError behaviour
Server SDO parameter 1

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Converter Configuration

Object

Index
1400h
1401h
1402h
1403h
1600h
1601h
1602h
1603h
PDO objects
1800h
1801h
1802h
1803h
1A00h
1A01h
1A02h
1A03h
2000h...3000h
Manufacturer specific objects
4000h...5FFFh
Device profiles
6000h...9FFFh

Name
Receive PDO communication parameter 1
Receive PDO communication parameter 2
Receive PDO communication parameter 3
Receive PDO communication parameter 4
Receive PDO mapping parameter 1
Receive PDO mapping parameter 2
Receive PDO mapping parameter 3
Receive PDO mapping parameter 4
Transmit PDO communication parameter 1
Transmit PDO communication parameter 2
Transmit PDO communication parameter 3
Transmit PDO communication parameter 4
Transmit PDO mapping parameter 1
Transmit PDO mapping parameter 2
Transmit PDO mapping parameter 3
Transmit PDO mapping parameter 4
Function code mapping
Reserved for future enhancements
Used for CANopen drive profile CiA-402

Tab. 4-2: Object dictionary

For CANopen drive profile CiA-402 velocity mode, the following objects are supported:

Device profile segment

603Fh
6040h
6041h
6042h
6043h
6044h
6046h
6048h
6049h
604Dh
6060h
6061h

Error code
Control word
Status word
Target velocity
Velocity demand
Velocity actual value
Velocity min max amount
Velocity acceleration
Velocity deceleration
Pole number (needed for conversion velocity vs.
output frequency)
Modes of operation
Modes of operation display

Tab. 4-3: CANopen drive profile CiA-402 velocity mode objects
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Converter Configuration

CANopen Card

Let H.L be the High and Low byte, respectively of the numerical representationof a function code, where H is the simple decimal interpretation of the hexadecimal encoding of the function class.
Example: Frequency converter class “d” is encoded by 0x10. The simple decimal
interpretation of “0x10” then is “10”. (Hint: this simple trick closes the unused
gap in frequency converter class encoding between 0x0A and 0x0F in order to
get all frequency converters mapped into CANopen index manufacturer parameters ranged between 0x2000 and 0x5FFF.)
Then the index of the corresponding “Manufacturer specific objects” is: I =0x2000 + H x 100 + L.
Function code Yx.z, where Y ε {b,d,C,E,U,F,H}, x ε {0…9}, z ε {0…99}
That means:
Function code → H.L range (DEC) → FC index (DEC) → CAN index (HEX)bx.z → {00…09}.{0...99} → {0000…0999} → {0x2000…0x23E7}
dx.z → {10…19}.{0...99} → {1000…1999} → {0x23E8…0x27CF}
Cx.z → {20…29}.{0...99} → {2000…2999} → {0x27D0…0x2BB7}
Ex.z → {30…39}.{0...99} → {3000…3999} → {0x2BB8…0x2F9F}
Ux.z → {40…49}.{0...99} → {4000…4999} → {0x2FA0…0x3387}
Fx.z → {50…59}.{0...99} → {5000…5999} → {0x3388…0x376F}
Hx.z → {60…69}.{0...99} → {6000…6999} → {0x3770…0x3B57}
Manufacturer specific objects (2000h...3FFFh)
All function codes (16 bit) can be reached through the manufacturer specific objects. The structure of the manufacturer specific objects is as follows:
Sub-index
1
2...8
9
10
11
12...18
21
22...28
31
32...38
41
41...48
51
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Description
Access to data (parameter set 0)
Reserved (parameter set 1...7)
Reserved (parameter set 1...7)
Index of the list pointerList element to which the element 10 points (only in case of parameters in the list)
Reserved (for parameter sets)
Parameter nameReserved (for parameter sets)
Parameter attribute
Reserved (for parameter sets)
Parameter unit
Reserved (for parameter sets)
Minimum value of the parameter
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Converter Configuration

CANopen Card

Sub-index
52...58
61
62...68
71
72...78
81
82...88

Description
Reserved (for parameter sets)
Maximum value of the parameter
Reserved (for parameter sets)
Maximum length of the parameters in the list
Reserved (for parameter sets)
Actual length of the parameter in the list
Reserved (for parameter sets)

Tab. 4-4: Manufacturer specific objects

As evident from the table, with the help of the sub-index, besides the date (subindex 1), even other information (minimum value, maximum value …) of thefunction codes can be read out.
List access
The complete list of a list parameter can be read or written via the access to theoperating date of the parameter.
To access individual elements in the list, there is an option to set a list index(sub-index 10), and then to access the respective list element of the list index
via sub-index 11 (up to sub-index 18). For every access via sub-index 11 (up to
sub-index 18), the list index is incremented by one element. With this, in case ofmultiple access to sub-index 11 (up to sub-index 18), a related section of a list is
processed.
The list index is reset to the first element if one of the actions listed below occurs:●

Change in the parameter●

Abort of the connection

Therefore the list index should be set for each list element access which does
not start from the first element.
If the length of the list has to be changed, this can be corrected by changing theactual length of the list parameter (sub-indices 81...88). The maximum list
length can be read out using the sub-indices 71...78.
The parameter value is stored if writing to the last element occurs.
In case of failure of the control voltage, the changes are discarded.

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Converter Configuration

4.4 Process Data Objects (PDO)
PDOs represent real-time process data with high priority. It is only possible if
node is in “operational” state.
The CANopen option card features four sets of predefined PDOs:●

The first set of PDOs is automatically enabled when CiA-402 drive profile isactive and it is fixed (static) mapping:– One received PDO (RPDO1), is used to control (Control word) the drive.
– One transmitted PDO (TPDO1), is used to monitor (Status word) the drive.

●●

The TPDO1 with transmission type of 255 shall only be triggered
when the mapped drive status word is changing (event), othermapped objects shall not cause a PDO transmission.

●

The TPDO1 with transmission type of 0 shall be transmitted after
the occurrence of the SYNC but acyclic (not periodically), i.e. only
if the drive status word is changed (event) before the occurrenceof SYNC.

The second set of PDOs (PDO2 for CiA-402 drive profile) includes: The second set of PDOs is initially disabled and the user has to enable it. The default
mapping configuration is for supporting CiA-402 velocity mode.
– One received PDO (RPDO2), is used to control the drive (Control word andvelocity reference). In addition, it can be configured to include two additional objects/parameters. Control word and velocity reference can also be
replaced with any two other objects which have write access rights via
PDO.
– One transmitted PDO (TPDO2), is used to monitor the drive (Status wordand velocity actual value). In addition, it can be configured to include two
additional objects which have read access via PDO. Status word and velocity actual value can also be replaced with any two other objects which haveread access rights via PDO.

●

The third set of PDOs (PDO3 for Rexroth drive profile) includes: The default
mapping configuration enables the drive to be commanded by frequency input and Rexroth drive control word.
– One received PDO (RPDO3), is used to control the drive (Control word andfrequency command). In addition, it can be configured to include two additional objects/parameters. Control word and frequency command can also
be replaced with any two other objects which have write access rights via
PDO.
– One transmitted PDO (TPDO3), is used to monitor the drive (Status word
and actual output frequency). In addition, it can be configured to include
two additional objects which have read access via PDO. Status word andactual output frequency can also be replaced with any two other objects
which have read access rights via PDO.

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Converter Configuration

The fourth set of PDOs are initially disabled and no default mapping configuration is done. And the PDO information is freely deployed by the user.
●

For TPDO2 with transmission type of 255 no internal profile specific event is defined for triggering PDO transmission. So for thistransmission type of 255/254 (asynchronous) only event timer
will trigger PDO transmission.

●

PDO2 does not support transmission type of 0 (synchronous acyclic).

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Converter Configuration

CANopen Card

4.5 Process Data Objects (PDO) Configuration
The following configuration shall be executed.
●

PDO1 mapping is static and hence it cannot be changed.

●

The default PDO mapping configuration is shown as below for Rexroth drive
profile.
RPDO

MappingNo.

object index

1
2
3
4
TPDO
No.
1
2
3
4

Mapping object name0x60400x6040Control word
Control word

0x60420x3770Target velocity (vl)
Drive control word

0x377A
0x0000Mapping

Frequency command-

Comment
Controls the CiA-402 state machine

Mapping object nameobject index
0x6041
Status word
0x6041
Status word
0x60440x3771vl control effort
Drive status word

0x23EA
0x0000

Output frequency-

Controls the state machine and thenominal speed (vl)Controls the drive system state machineand setting frequency
Comment
Shows the drive status
Shows status and the current speed (vl)Shows the drive status and the current
output frequency-

Tab. 4-5: PDO communication parameter structure for CiA-402 profile

Index

Sub

0
1
2
0x1400345
00x16001

Name
Number of entries
COB-ID used by PDO
Transmission type
Inhibit time (not implemented)
Reserved
Event timer
Number of mapped objects
Control word

Default value
50x80000200 + Node-ID**
255
0
0
1
0x60400010

Tab. 4-6: RPDO1**: When CiA-402 is enabled, the RPDO1 is enabled, so COB-ID getschanged to 0x80000200 + Node-ID. RPDO1 is disabled in Rexroth
Profile. If enabled then it’s erroneous.

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Index

Bosch Rexroth AG
Converter Configuration

Sub

0
1
2
0x1401345
00x1601 1
2

Name
Number of entries
COB-ID used by PDO
Transmission type
Inhibit time (not implemented)
Reserved
Event timer
Number of mapped objects
Control word
Target velocity (vl)Default value
50x80000300 + Node-ID
255
0
0
2
0x60400010
0x60420010

Tab. 4-7: RPDO2

Index

Sub

0
1
2
0x140234
5
00x1602 1
2

Name
Number of entries
COB-ID used by PDO
Transmission type
Inhibit time (not implemented)
Reserved
Event timer
Number of mapped objects
Drive control word
Frequency command

Default value
50x00000400 + Node-ID
255
0
0
2
0x37700010
0x377A0010

Tab. 4-8: RPDO3

Index

Sub

0
1
2
0x1404345
00x1604
1...4Name
Number of entries
COB-ID used by PDO
Transmission type
Inhibit time (not implemented)
Reserved
Event timer
Number of mapped objects-

Default value
50x80000500 + Node-ID
255
0
0
0
0x00000000

Tab. 4-9: RPDO4

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Converter Configuration

Index

Sub

0
1
2
0x18003
4
5
0
0x1A001

CANopen Card

Name
Number of entries
COB-ID used by PDO
Transmission type
Inhibit time
Reserved
Event timer
Number of mapped objects
Status word

Default value
50x00000180 + Node-ID**255
50 (100us)
100 (1ms)
10x60400010

Tab. 4-10: TPDO1**: When CiA-402 is enabled, the TPDO1 is enabled, so COB-ID getschanged to 0x00000180 + Node-ID. TPDO1 is disabled in Rexroth
Profile. If enabled then it’s erroneous.
Index

Sub

0
1
2
0x1801
3
4
5
0
0x1A01 1
2

Name
Number of entries
COB-ID used by PDO
Transmission type
Inhibit time
Reserved
Event timer
Number of mapped objects
Status word
vl control effort

Default value
50x80000280 + Node-ID
255
50 (100us)
100 (1ms)
20x60410010
0x60440010

Tab. 4-11: TPDO2

Index

Sub

0
1
2
0x1802
3
4
5
0
0x1A02 1
2

Name
Number of entries
COB-ID used by PDO
Transmission type
Inhibit time
Reserved
Event timer
Number of mapped objects
Drive status word
Output frequency

Default value
50x00000380 + Node-ID
255
50 (100us)
100 (1ms)
20x37710010
0x23EA0010

Tab. 4-12: TPDO3
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Index

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Converter Configuration

Sub

0
1
2
0x18053
4
5
0
0x1A05
1...4

Name
Number of entries
COB-ID used by PDO
Transmission type
Inhibit time
Reserved
Event timer
Number of mapped objects-

Default value
50x80000480 + Node-ID
255
50 (100us)
100 (1ms)
00x00000000

Tab. 4-13: TPDO4

1. PDO mapping configuration is not supported in NMT operational state.
PDO mapping has to be done in NMT pre-operation state only. If PDO configuration is done in operational state, then CANopen option card automatically enters into pre-operation state.
2. [b8.61]: Field bus option card producer list defines all those parameterswhich can be mapped to TPDO.
3. [b8.62]: Field bus option card consumer list defines all those parameterswhich can be mapped to RPDO.

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Converter Configuration

4.6 Service Data Objects (SDO)
SDO telegrams are used for configuration and setup.
The SDO services listed below are supported:●

Initiate SDO Download for writing maximum 4 byte data in the VFC/EFC x610,
also for initiating the writing of more than 4 byte data in the VFC/EFC x610
(the data length is determined during "Initiate" process).

●

Download SDO Segment for transmitting a fragment with data in the
VFC/EFC x610 Initiate SDO.

●

Upload for transmitting maximum 4 byte data from VFC/EFC x610 to the master, also for initiating the transmission of more than 4 byte data from VFC/EFC
x610 to the master (VFC/EFC x610 informs master the length of the responsedata).

●

Upload SDO Segment for transmitting a fragment with data from the VFC/EFC
x610 to the master.

●

Abort SDO Transfer for reporting errors and to abort SDO accesses.
SDO abort code

05040000h
05040001h
05040005h
06010001h
06010002h
06020000h
06040041h
06040042h
06040043h
06060000h
06070010h
06090011h
06090030h
06090031h
06090032h
060A0023h
08000000h
08000020h
08000022h
08000024h

Description
SDO protocol timed out
Client/server command specifier not valid or unknown
Out of memory
Attempt to read a write only object
Attempt to write a read only object
Object does not exist in the object dictionary
Object cannot be mapped to the PDO
The number and length of the objects to be mapped would exceed PDO length
General parameter incompatibility reason
Access failed due to an hardware error
Data type does not match, length of service parameter does not match
Sub-index does not exist
Value range of parameter exceeded (only for write access)Value of parameter written too high
Value of parameter written too low
No resources available
General error
Data cannot be transferred or stored to the application
Data cannot be transferred or stored to the application because of the present
device state
No data available

Tab. 4-14: SDO abort codes

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Converter Configuration

4.7 Network Management Objects (NMT)
NMT functions monitor the network stability and include synchronization, detection of faults and emergency message transmission.
The NMT state machine determines the behaviour of the communication function.

Fig. 4-2: NMT state diagram of CANopen device

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CANopen Card

Fig. 4-3: Option card communication states and transitions

State

DescriptionPM
Pre-OPOP
IDLE

Parameterization mode (no exchange of process data)
Pre-operation mode, however, no exchange of process data
Operation mode, exchange of process data, process data is valid
Operation mode, exchange of process data, process data is invalid

Tab. 4-15: Option card communication states description●

The communication status between option card and host system
is transferred cyclically.

●

The coupling between option card and NMT state machine is defined in the table below.

NMT – state
Pre-OP / STOPPED

Option card state
Pre-OP
OP / IDLE
IDLE state is entered on two cases:

OP

1. Field-bus Data is Invalid (CAN is in ERROR PASSIVE, BUS OFF or
INIT state and NMT is in OP state).
2. IDLE state is entered whenever the PDO configuration is invalid.

Tab. 4-16: Option card communication states description

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Converter Configuration

4.8 Emergency Service (EMCY)
When an error occurs or is cleared, an EMCY telegram is transmitted. The EMCY
telegram transports 8-byte data.
0
Error code
Object: 0x603F

12Error register
Object: 0x1001

3

4

5

6

7

Manufacturer specific bytes

This object provides The error register is a field [b6.91]
the error code of the of 8 bits, each for a certain Least 2
last error occurred in error type. If an error oc- bytes
the drive device.
curs the bit has to be set.
Bit meaning[b6.91] Least 3 signifisignificant cant bytes

0: Generic error
1: Current
Error code = 0xFF00(for all manufacturer 2: Voltage
specific)
3: Temperature
Error code -> CiA 4: Communication error
301/402 specific error (overrun, error state)codes
5: Device profile specificE.g. If [b6.91] =Man_fact[5] = 0x01
0xF5001
Man_fact[6] = 0x50
Man_fact[3] = 0x01
Man_fact[7] = 0x0F
Man_fact[4]= 0x50

6: Reserved
7: Manufacturer specificTab. 4-17: Error telegram●

Emergency telegram is triggered whenever a critical error is detected in either
option card or error condition occurs in Host.

●

EMCY Frame with error code 0x8120 is sent when CAN is in error passive
state.

●EMCY Frame with error code 0x8140 is sent after CAN recovers from BUSOFF error condition.

●

Supported CiA-301 and CiA-402 error codes:

No Error
Generic error
Generic communication error
CAN overrun
CAN in passive error
Heart beat or node guarding error
Protocol error
CAN recovered from bus-off
Continuous over current (device output side)

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0x00000x10000x81000x81100x81200x81300x82000x81400x2310

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CANopen Card

Continuous over current no.1
2312h continuous over current no.2
Continuous over current no.3
DC link over-voltage
Over-voltage no. 1
Over-voltage no. 2
DC link under-voltage
Over-voltage no. 1
Over-voltage no. 2
DC link under-voltage
Short circuit (device internal)
Phase failure
Load error
Excess temperature drive
Too low temperature drive
Parameter error
Any other manufacturer specific error
Any other manufacturer specific warning

0x23110x23120x23130x32100x32110x32120x32200x32110x32120x32200x22500x31300x32300x43100x43200x6320
0xFF00
0xFF01

Tab. 4-18: CiA-301 and CiA-402 error codes01

Error code
0x0000

2

3

4

5

6

7

Error register

Manufacturer Specific Bytes (last occurred error diagnostic code)[b6.91] Least 2 significant
Object: 0x1001[b6.91] Least 3 significant bytes
bytes

Tab. 4-19: Error-cleared telegram

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Converter Configuration

4.9 Synchronisation Service (SYNC)
4.9.1 Overview
SYNC object is used to provide synchronous modes of communication of the
CANopen slaves.
●

PDO1 supports synchronous cyclic and synchronous acyclic
modes.

●

PDO2, PDO3 and PDO4 support only synchronous cyclic modes.

4.9.2 Error Control Services
The error control services are used to detect failures within a CAN-based network.
The CANopen option card supports the following error control protocols:
1. Heartbeat object
2. Node guarding object●

Either one of the error control protocol i.e. heartbeat or node
guarding can be enabled at a time.

●

Whenever failures are detected an error “FnC-” (Network Setup
Error) is set and an EMCY telegram is sent.

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CANopen Card

4.9.3 Non-Volatile Storage
The following objects are implemented:
1. 0x1010: Store Parameter Field
2. 0x1011: Restore Default Parameter●

Saving the contents of object (parameter) data value happens
whenever it is written and the already saved data value is different. Saving of objects in EEPROM is handled.

●

Only communication and device profile objects of CANopen option card parameters are restored to default values upon command to object 0x1011.

●

Manufacturer specific parameter/objects are not restored to default values upon command to object 0x1011.

●

The following CANopen option card parameters are not restored
to default values upon command to object 0x1011:– [H2.00] – Node Address– [H2.01] – CAN Baudrate– [H2.02] – CANopen Device Profile Selection– [H2.98] – CANopen Termination Resistor Switch

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Converter Configuration

4.10 Device Profile
4.10.1 Overview
1. Communication profile:
The communication profile of xFC01 CANopen option card is based on:●

Physical layer is as per CAN 2.0A standards.

●

The CANopen® specification CiA-301(Version: 4.2.0).

2. Function profile:
The functional profile of xFC01 CANopen option card complies with:●"Device profile for drives and motion control" (DSP-402 V2.0, velocitymode).

●

Bosch Rexroth VFC/EFC x610 drive profile.

Profile Selection Option: For controlling the drive two profiles are provided. The
parameter [H2.02] is defined for profile selection. The two profiles are:
0. Rexroth Drive Profile
1. CiA-402 Drive Profile

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4.10.2 Rexroth Drive Profile
Rexroth Drive Profile: Set the parameter [H2.02] to 0 and activate Rexroth profile; the CANopen option card automatically disables RPDO1 and TPDO1.
Bit
15...8
7
6
5
4
3
2
1
0

Value
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0

Description
Reserved
ActiveControl word inactive
Stop acceleration/deceleration active (stop the internal acc/dec ramp generator)
Inactive
Fault reset active
Inactive
E-stop active
Inactive
Stop according to parameter setting
Inactive
ReverseForwardJog active (jogging direction determined by bit 2)
Inactive
Run command active
Inactive

Tab. 4-20: VFC/EFC x610 drive control word

Bit
15...8
7
6
5
4
3

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Value
1
0
1
0
1
0
1
0
1
0

Description
Fault code (equal to [E9.05])
Fault
No fault
Stall over current
NormalStall over voltage
NormalDecelerating
Not in deceleration
Accelerating
Not in acceleration

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Bit
2
1
0

Bosch Rexroth AG
Converter Configuration

Value
1
0
1
0
1
0

Description
Jogging
Not in jog
Running
Stop
ReverseForwardTab. 4-21: VFC/EFC x610 drive status word

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Converter Configuration

4.10.3 CiA-402 Drive Profile
Set the parameter [H2.02] to 1 and activate CiA-402 Drive Profile; the CANopen
option card automatically enables RPDO1 and TPDO1.
After device profile selection option is changed to CiA-402 the
CANopen master should send NMT reset application command.
Device control:
The device control function block controls all functions of the drive (drive function and power section). It is divided into:●

Device control of the state machine.

●

Operation mode function.

Fig. 4-4: Device control

The state of the drive can be controlled by the control word.
The state of the drive is shown in the status word.
Remote mode:
In remote mode the device is controlled directly from the CANopen network by
PDO and SDO.
The state machine is controlled externally by the control word and external signals.
The write access to the control word is controlled by the optional hardware signal "Remote".

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Converter Configuration

The state machine is also controlled by internal signals like faults and modes ofoperation.

Fig. 4-5: Remote mode

From VFC/EFC x610 drive’s perspective, when the Run command source is from
communication and the communication protocol is CANopen then remote modeis enabled. This remote mode is reflected in the status word: Remote Bit (setwhen active).
[E0.01]: First run command source[E0.02]: Second run command source[E8.00]: Communication protocol
CiA-402 State Machine:
The state machine describes the device status and the possible control sequence of the drive. A single state represents a special internal or external behaviour. The state of the drive also determines which commands are accepted.
States may be changed using the control word and/or according to internal
events. The current state can be read using the status word. The state machine
describes the state machine of the device with respect to control of the powerelectronics as a result of user commands and internal drive faults.

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Converter Configuration

Fig. 4-6: CiA-402 state machine

Note:
●

Some of the CiA-402 states cannot be directly mapped to drive’s internal system state machine. More-over direct control of the drive’s power section by
option card is not feasible. The states defined in the CiA-402 state machine
are simplified and mapped as follows.
Drive status

CiA-402 state

Not ready to switch on
Initialization phase
Switch on disabled / Ready to switch on / Switched on Stop
Operation enable
Run
Quick stop active
Run -> Stop transition
Fault reaction active / Fault
When error is set
Tab. 4-22: The state mapping of CiA-402 state machine●

Quick stop object option code (0x605A) is not implemented.

●

Transition 16 is not supported.

●

Upon reception of Quick stop command the drive automatically transits (12)to “Switch On Disabled” state when the drive stops.

●

Illegal state transition request is handled as follows:
In order to control the drive, the state transitions have to be done in a proper
sequence. If the requested state transition is not appropriate (as defined in
the state chart) then it is termed as “Illegal transition”.

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Converter Configuration

When this occurs, suitable handling or indication will be given to the user/
master.
Examples:-> Trying to directly move to “Operation Enabled” from “Switch On Disabled”.
-> Giving fault reset command in “Operation Enabled” state.
SDO Access:If SDO is used to control the drive, then on occurrence of an illegal transition,
the control word is rejected with abort code 0609 0030, “Invalid value for parameter”. The drive state is not affected.
PDO Access:
If RPDO is used to control the drive, then on occurrence of an illegal transition the drive state is not affected, but the following indication is given:
1. Warning is set and this is indicated on panel by displaying “ISt” (InvalidState Transition) and also in the CiA-Statusword warning bit (7) is set.
2. Emergency telegram is sent with error code 0x8200(protocol error).
3. The warning will be cleared only when the CANopen master gives a new
valid state transition command(CiA-Controlword ) either via SDO or PDO.
0

1

2

Error code

Error register

Object: 0x603F
0x8200Object: 0x1001(Protocol error )

0x21

3

4

5

6

7

Manufacturer Specific Bytes[b6.91][b6.91]0x59000xE5900

Tab. 4-23: CiA-Statusword warning bit

CiA-402 Controlword:
Object 6040h: Control word
The control word consists of bits for:●The controlling of the state●

The controlling of operating modes●

Manufacturer specific options
Bit No.

0
1
2
3
4
5

Functionality
Switch on
Enable voltage
Quick stop
Enable operation
Operation mode specificOperation mode specific

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Description
ActiveActiveActiveActiveInactive (No need to consider on bit)
Inactive (No need to consider on bit)

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Converter Configuration

Bit No.

Functionality
Operation mode specificFault reset
Halt
Reserved
Reserved
Manufacturer specific
Manufacturer specific
Manufacturer specific
Manufacturer specific
Manufacturer specific

6
7
8
9
10
11
12
13
14
15

Description
Inactive (No need to consider on bit)
Active on Rising edge 0->1
ActiveReserved (No need to consider on bit)Reserved (No need to consider on bit)Reserved (No need to consider on bit)Reserved (No need to consider on bit)Reserved (No need to consider on bit)Reserved (No need to consider on bit)Reserved (No need to consider on bit)Tab. 4-24: Definition of control word bits

Device control commands are triggered by the following bit patterns in the control word:
Command
Shutdown
Switch on
Switch on
Disablevoltage
Quick stop
Disableoperation
Enableoperation

Bit of the control word
EnableEnableQuick stop
operation
voltage

Fault reset

Transitions

Switch on

0
0
0

X
0
1

1
1
1

1
1
1

0
1
1

2, 6, 8
3*
3**

0

X

X

X

X

7, 9, 10, 12

0

X

0

1

X

7, 10, 11

0

0

1

1

1

5

0

1

1

1

1

4, 16

X

X

X

X

15

Fault reset

Tab. 4-25: Device control commands

Halt-Bit (8): Drive stops when halt bit is set and enters “Switch on
Disabled State”.
CiA-402 Statusword:
Object 6041h: status word
The status word indicates the current state of the drive. No bits are latched. The
status word consists of bits for:
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Converter Configuration

CANopen Card●

The current state of the drive●

The operating state of the mode●

Manufacturer specific options
Bit No.

0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

Functionality
Ready to switch on
Switched on
Operation enabled
Fault
Voltage enabled
Quick stop
Switch on disabled
Warning
Manufacturer specificRemoteTarget reachedInternal limit active
Operation mode specificOperation mode specific
Manufacturer specific
Manufacturer specificDescription
ActiveActiveActiveActiveActiveActiveActiveActiveSet to 0
ActiveDefined as drive transient* status
ActiveSet to 0
Set to 0
Set to 0
Set to 0

Tab. 4-26: Definition of status word bits

Value (Binary)xxxx xxxx x0xx 0000
xxxx xxxx x1xx 0000
xxxx xxxx x01x 0001
xxxx xxxx x01x 0011
xxxx xxxx x01x 0111
xxxx xxxx x00x 0111
xxxx xxxx x0xx 1111
xxxx xxxx x0xx 1000

State
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Quick stop active
Fault reaction active
Fault

Tab. 4-27: Device state bits

Warning Bit (7):Drive warnings are indicated on CiA-402 status word Bit-7. No emergency telegram is triggered for warning conditions detected from the Host. In case of
warnings the Object 0x603F contains the warning code. If the warning is sig-

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CANopen Card

naled from the Host then the corresponding error code object’s (0x603F) data
value is 0xFF01.
Target Reached Bit (10):This bit detects whether drive is in transient* status or not. Target reached bit is
set when the target velocity is reached and this is determined by checking theacceleration and deceleration status of the drive. An internal delay of 30ms istaken before validating and setting this bit in the CiA-Statusword. This is required because drive does not accelerate immediately after RUN command is issued. Approximately 8ms delay time is required for enabling the power-sectionand entering into RUN state.
Simple Velocity Mode:
Velocity mode is composed of the following sub-functions:●

Reference calculation●

Factor function, Reverse factor function●

Percentage function, Reverse percentage function●

Pole number function, Reverse pole number function●

Velocity limit function●

Velocity motor limit function●

Ramp function●

Ramp min function●

Closed open loop control function

Fig. 4-7: Velocity mode with mandatory objects only

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Converter Configuration

Rotation direction is changed with positive and negative values ofobject 0x6042:
Target velocity in RPM. The range of velocity command is from:-32768 RPM to +32767 RPM.

●

In velocity mode: Acceleration is defined as:
Whenever Delta speed or time changes, [E0.26] will be calculated
and updated in the control board.

Unit of acceleration is RPM/s.
●

In velocity mode: Deceleration is defined as:.

Whenever Delta speed or time changes, [E0.27] will be calculated
and updated in the control board.

[E0.08] -> Maximum output frequency
Unit of deceleration is RPM/s.
Parameter dependency relation in CiA-402 velocity mode profile:
When CiA-402 drive profile is selected, a watch-list of parameters is prepared in
the CANopen option card. So when these watch-list parameters are modified,then the associated dependent parameters are calculated and written back to
Host (Control board) by CANopen option card automatically.
Main parameter (Watch list)

Associated dependent parameters and drive profile objects
1. [E0.26]: Acceleration Time

[C1.11]: Motor Poles

2. [E0.27]: Deceleration Time
3. [E0.10]: Output Frequency Low Limit*
4. [E0.09]: Output Frequency High Limit*
1. [E0.26]: Acceleration Time

[E0.08]: Maximum Frequency[E0.09]: Output Frequency High Limit[E0.10]: Output Frequency Low Limit[E0.26]: Acceleration Time
[E0.27]: Deceleration Time

2. [E0.27]: Deceleration Time
3. 0x6046: vl Velocity Min Max amount
0x6046-02: vl Velocity Max amount
0x6046-01: vl Velocity Min amountNot writable when CiA-402 Profile is Active and NMT is in
Operational State
Not writable when CiA-402 Profile is Active and NMT is in
Operational State

Tab. 4-28: List of dependent parameters

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CANopen Card*: The Low and High limits of frequency are calculated based on thevelocity limits as defined in the object 0x6046 : vl Velocity Min Max
amount●When node is in NMT operational state, it is not possible to write parameters[E0.26] and [E0.27] directly by Converter Works/SDO (“Protected by others”
error is thrown).

●

When node is in NMT pre-operation state, it is possible to write parameters[E0.26] and [E0.27] directly by Converter Works/SDO; but the moment the
NMT state transits from pre-operation to operation, the calculated acceleration/deceleration times based on the objects 0x6048 and 0x6049 are written
back to [E0.26] and [E0.27].

●

If motor poles [C1.11] or maximum frequency [E0.08] parameter is changed
when node is in operational state then the dependent parameters are re-calculated and updated automatically.

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Converter Configuration

4.11 Related Communication Parameters
Parameter
E0.00
E0.01

Name

ModifyFirst frequency settingStopsourceFirst run command
StopsourceE8.00

Communication protocol Stop

E8.03

Communication process
Stopdata loss behaviour

H0.00

Control word

Run

H0.01

Status word

Read

H0.10

Frequency command

Run

Function
Settingsourcefrequency

Value
selection

20: Communication

Run command selection source 2: Communication
Field bus protocol selection

0: Modbus*

1: Option card
Selecting the drive behaviour 0: Decelerating stop

when the CANopen node 1: Freewheeling stop
switches to Pre-Op during RUN 2: Keep running
VFC/EFC x610 drive control
word
VFC/EFC x610 Drive Status
Word
0...400 Hz
Setting frequency(0...65535)
Default: 0
0: Inactive*

H0.20

Option card 1 type

Read

1: PROFIBUS card
Shows the option card type in 2: CANopen card
slot 1 detected by frequency
3: Multi-Ethernet card
converter
8: I/O card
9: Relay card

H0.21
H0.22

Option card1 hardware
Read
label
Option card1 firmware
Readstring---0: Inactive*

H0.23

Option card 2 TypeRead

1: PROFIBUS card
Shows the option card type de- 2: CANopen card
tected in slot 2 by frequency
3: Multi-Ethernet card
converter
8: I/O card
9: Relay card

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Converter Configuration

Parameter
H0.24
H0.25

Name
ModifyOption card2 hardware
Read label
Option card2 firmware
Read string

CANopen Card

Function

Value-

Tab. 4-29: Definition of status word bits

* : Factory default

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Converter Configuration

4.12 CANopen Option Card Parameters
MappedParameter

object in
MO/CO/DPO

Name

ModifyH2.00

MO: 0x3838 CANopen address Stop

Function

Value

Selects the address 1...127
for CANopen Node Default: 1
0...6
Default: 3
0: 10 kbits/s

H2.01

MO: 0x3839 CAN baudrate

Stop

Sets the speed of 1: 20 kbits/s
CANopen communi- 2: 50 kbits/s
cation3: 125 kbits/s
4: 250 kbits/s
5: 500 kbits/s
6: 1 Mbit/s
0...1

CANopen device
Stopprofile selection

H2.02

MO: 0x383A

H2.98

CANopen terminaMO: 0x389A tion
resistor Stop
switchTo switch between Default:
different drive pro- 0-> Rexroth Drive Profile
files
1-> CiA- 402 Drive Profile
Selects the state of 0:Disabled (Default)
the termination re1: Enabled
sistorTab. 4-30: CANopen option card parameters

MO: Manufacturer Objects

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Diagnosis

CANopen Card

5 Diagnosis
In VFC/EFC x610 CANopen option card, any error/warning messages on field
bus status will not be displayed until field bus communication is established.
●

If CANopen is in NMT pre-operation (no cyclic field bus communication): No
fieldbus communication error or warning is indicated**.

●If CANopen is in NMT operational state (cyclic field bus communication established, but data is invalid). Data can become invalid whenever CAN is in passive or bus-off or if option board is not able to communicate with control
board. In that case two scenarios arises:– If converter is in RUN state an error “Fdi-” (Field bus data invalid) is set.
– If converter is in STOP state warning “Fdi” (without minus) is set.
– EMCY telegram is triggered whenever critical error is detected.
– No emergency telegram is triggered for warning condition detected from the Host.
– In VFC/EFC x610 CANopen, the error (Fdi-) can be cleared by user
as soon as the converter reaches STOP state. If error condition isstill persistent then upon clearing this error by user warning (Fdi)
is automatically indicated. This warning disappears automatically,
when CAN state switch to error active state and data becomesvalid (For. E.g. CAN recovers from error passive state) or pre-operation (field bus offline).
– Resetting fault from CANopen option card: Error can be remotely
cleared by drive control word using RPDO (i.e. slave’s NMT should
be in operational state).
– If event timer is configured for RPDO, then if within the defined
event time an RPDO telegram is missed, then an error(FTL-) is SET
if the drive is in RUN state, else a warning(FTL) is indicated if thedrive is in STOP state.
– Object 0x1029: Error behaviour is set to 0 by default. So occurrence of the bus-off/heart-beat /node guarding errors causes the
NMT state of the slave device to switch autonomously to pre-operation and this behaviour has the following implications on error
detection due to heartbeat or node guarding protocol errors.
– If the converter was in RUN state then the error detected on thedevice is “Fdi-” and not “FnC-”. This is because the control board
first detects transition to pre-operation and so the control board
first detects the communication disruption so it sets “Fdi-”.
– **Exception: If heart-beat or node-guarding fails then error is SET
irrespective of whether drive is in Pre-Op / OP/ RUN / STOP condition.
– On occurrence of CANOVERRUN error is set irrespective of whether drive is in Pre-Op / OP/ RUN / STOP.

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Diagnosis

CANopen Card●

The following diagnostic codes are applicable to CANopen option card.
Diagnostic Code
E= Warning
F= Error

LED
Display

E5900

ISt

E5903

FtL

E5908

Fdi

F5901

FCd-

F5902

FPC-

F5903

FtL-

F5904

FIn-

F5905

FnC-

F5906

FCE-

Description

Countermeasures

This warning is observed when CiA-402 profile isactive and it is cleared automatically when user
Invalid state transition
gives proper control word sequence to execute
CiA-402 drive state machine.
This warning is generated when RPDO event timer is set and if the converter does not receive the
RPDO frame within the pre-defined event time. It
RPDO telegram loss
gets cleared on arrival of next RPDO - check if
CAN message reception is failing. If fail, increase
RPDO event time.
Check the communication link - CAN physical layer (CAN wires) are short or CAN connector is disOption card processconnected from the slave device when it is in NMT
data invalid
operational. CAN errors- Passive or Bus-off condition occurred.
Communication with the control board is lost.
Host communication
Clear the error by press STOP. If error persists,
timed out
restart the system.
Fieldbus process data
Re-confirm PDO settings at master and slave (Esconfiguration erronepecially PDO message length)
ous
Similar as E5903 – But will appear when convertRPDO telegram loss
er is in run stateCommunication platform
initialization Try default loading of parameters.
failedFieldbus network con- Heartbeat or node-guarding protocol failure,
figuration invalid
check the nodes and communication link.
Check if any invalid parameters are listed inb7.93. If not, review the network settings node
Communication plat- guard intervals, PDO’s & SDO’s (because excesform critical error
sive amount of received/ sending data are related, such as heartbeat, node guard, SDO, NMT,
and SYNC.)

Tab. 5-1: Diagnostic codes applicable to CANopen option card

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CANopen Card

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Notes

Bosch Rexroth AG

Bosch Rexroth (Xi’an)
Electric Drives and Controls Co., Ltd.
No. 3999, Shangji Road,
Economic and Technological Development
Zone, 710021 Xi’an, P.R. China
Phone +49 9352 40 5060
Fax +49 9352 18 4941
service.svc@boschrexroth.dewww.boschrexroth.com*R912006713*
R912006713

DOK-RCON0*-XFCX610*CAN-IT01-EN-P