Redler Technologies · Rayon motor drive family
CANopen User Manual
The CANopen interface of the Rayon servo drive: network setup, CiA 301 communication, the CiA 402 drive state machine and every object in the drive's object dictionary. For engineers integrating the drive with a PLC or motion controller.
- Document PN
- RRUSM000012
- Revision
- 2.1
- Updated
- Product family
- Motor Controllers
- CiA 301 / 402Communication / drive profile
- 1 Mbit/sDefault bit rate
- 4 + 4Receive / transmit PDOs
- 0x4F4Vendor ID
Applies to
Document control
Revision history
| Rev. | Description | Date | Prepared | Approved |
|---|---|---|---|---|
| 1.0 | Initial release. | 08/07/2022 | — | — |
| 1.2 | Added objects 1007h, 2117h, 211Ch, 2141h, 2148h, 2150h, 606Fh, 6070h, 6076h, 6077h, 60FDh. Updated structure. | 27/05/2024 | — | — |
| 2.0 | Updated objects 1018h, 2107h, 211Dh, 2133h, 2147h, 2149h, 214Eh, 606Dh, 606Eh. | 20/04/2025 | — | — |
| 2.1 | Document digitized into an interactive web manual and every object verified against the current firmware; corrected sub-indices, data types, defaults and ranges where the firmware differs. | 28/09/2026 | Alon M. | — |
Before you start
Introduction
This manual describes the CANopen interface of the Rayon servo drive: how to connect the drive to a CANopen network, how the CiA 301 communication services and the CiA 402 drive state machine behave, and every object in the drive's object dictionary. It is written for engineers integrating the drive with a PLC or motion controller.
This manual does not replace the CANopen specifications (CiA 301, CiA 402 / IEC 61800-7). Drive setup, calibration and control-loop behaviour are described in the Motor Drivers User Manual (RRUSM000011); the serial protocol is described in the Serial Communication User Manual (RRUSM000013).
Contents of the full manual
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Document control
- Revision history
Before you start
- Introduction
- How objects are presented
Network setup
- Wiring guidelines
- Node address and bit rate
- EDS file
CANopen operation
- Device communication
- Drive state machine
Mandatory objects
- 1000h Device Type
- 1001h Error Register
- 1018h Identity
Communication objects
- 1003h Pre-defined Error Field
- 1005h COB-ID SYNC
- 1006h Communication Cycle Period
- 1007h Synchronous Window Length
- 1008h Manufacturer Device Name
- 1009h Manufacturer Hardware Version
- 100Ah Manufacturer Software Version
- 1010h Store Parameters
- 1011h Restore Default Parameters
- 1014h COB-ID EMCY
- 1016h Consumer Heartbeat Time
- 1017h Producer Heartbeat Time
- 1200h Server SDO Parameter
- 1400h Receive PDO Communication Parameter 1
- 1401h Receive PDO Communication Parameter 2
- 1402h Receive PDO Communication Parameter 3
- 1403h Receive PDO Communication Parameter 4
- 1600h Receive PDO Mapping Parameter 1
- 1601h Receive PDO Mapping Parameter 2
- 1602h Receive PDO Mapping Parameter 3
- 1603h Receive PDO Mapping Parameter 4
- 1800h Transmit PDO Communication Parameter 1
- 1801h Transmit PDO Communication Parameter 2
- 1802h Transmit PDO Communication Parameter 3
- 1803h Transmit PDO Communication Parameter 4
- 1A00h Transmit PDO Mapping Parameter 1
- 1A01h Transmit PDO Mapping Parameter 2
- 1A02h Transmit PDO Mapping Parameter 3
- 1A03h Transmit PDO Mapping Parameter 4
Manufacturer objects
- 20F0h NMT After Boot
- 2100h Error Code
- 2101h Enable Drive
- 2103h Current Command
- 2104h Speed Command
- 2105h Position Command
- 2106h Calibration
- 2107h Signal Generator Command
- 210Ch Brake
- 210Fh Bode Plot Configuration
- 2110h Digital Inputs Mode
- 2111h Digital Inputs Polarity
- 2117h Hall Raw Input
- 2118h Commutation Feedback
- 2119h Speed Feedback
- 211Ah Position Feedback
- 211Ch Analog Command Feedback
- 211Dh Digital I/O Status
- 211Eh Current Feedback
- 2120h Temperature
- 2121h Drive Status
- 2132h Motion Parameters
- 2133h Motor Parameters
- 2134h Current Protection
- 2135h Motor Limits
- 2136h Position Profile
- 2138h Stop Motion Parameters
- 2139h Speed Profile
- 213Dh Device Communication
- 213Eh Device Parameters
- 213Fh Save/Load Parameters
- 2141h Bootloader Parameters
- 2146h Hall Parameters
- 2147h Encoder 1 Parameters
- 2148h Encoder 2 Parameters
- 2149h SSI Parameters
- 214Eh Interpolation Gear
- 2150h Hardware Offset
- 2151h Current PID
- 2152h Speed PID
- 2153h Position PID
- 2154h Hall Map
- 2165h Current IIR Filter
- 216Eh Analog Command
Device objects (CiA 402)
- 603Fh Error Code
- 6040h Controlword
- 6041h Statusword
- 605Ah Quick Stop Option Code
- 605Dh Halt Option Code
- 605Eh Fault Reaction Option Code
- 6060h Modes of Operation
- 6061h Modes of Operation Display
- 6062h Position Demand Value
- 6064h Position Actual Value
- 606Bh Velocity Demand Value
- 606Ch Velocity Actual Value
- 606Dh Velocity Window
- 606Eh Velocity Window Time
- 606Fh Velocity Threshold
- 6070h Velocity Threshold Time
- 6073h Maximum Current
- 6075h Motor Rated Current
- 6076h Motor Rated Torque
- 6077h Torque Actual Value
- 6078h Current Actual Value
- 607Ah Target Position
- 607Ch Home Offset
- 607Eh Polarity
- 607Fh Maximum Profile Velocity
- 6080h Motor Maximum Speed
- 6081h Profile Velocity in Position Profile Mode
- 6083h Profile Acceleration
- 6084h Profile Deceleration
- 6085h Quick Stop Deceleration
- 608Fh Position Encoder Resolution
- 6090h Velocity Encoder Resolution
- 6091h Fieldbus Gear Ratio
- 6092h Feed Constant
- 6098h Homing Method
- 6099h Homing Speeds
- 609Ah Homing Acceleration
- 60C2h Fieldbus Interpolation Time
- 60C5h Maximum Acceleration
- 60C6h Maximum Deceleration
- 60FDh Digital Inputs
- 60FFh Target Velocity
- 6502h Supported Drive Modes
Units
- User units
Appendix
- Object index