8.5 CBC CANopen communication board

Transcription

1 0.00 Communication / CC CANopen Communication oard 8.5 CC CANopen communication board This chapter describes the CANopen software functions. The CANopen software functions comply with profile definitions: CiA DS 0.0 CiA DSP 0 V. This functionality is available for the MASTERDRIVES MC and a freely definable CANopen device from CC SW version.0 and later. CAUTION efore installing and commissioning a MASTERDRIVES with a communication board, you must read Section 8. "CC communication board" (part CC) as well as the safety instructions given in Subsections 8.. and 8... The terms and abbreviations used in this document are defined in Subsection Preconditions Certain conditions must be fulfilled before the CC can be operated with CANopen. CANopen functionality is available only with MASTERDRIVES MC firmware version.5 and later. The actual value weighting factor (AVWF) must be normalized in µm to ensure that actual values and setpoints are converted correctly. The free CANopen device can be a MASTERDRIVES VC, a rectifier/regenerative feedback unit or an AFE. The following CANopen modi have been implemented for the MASTERDRIVES MC with F0: Profile Velocity mode (speed control) Profile Position mode (MDI positioning) Homing mode (homing) Synchronous mode (electronic gearbox) Setup mode Automatic Position mode Automatic Single lock mode The following modes have been implemented for the MASTERDRIVES MC: Profile Velocity mode (speed control) Profile Position mode (-pos positioning) Homing mode Profile Torque mode Setup mode Parameters must be assigned in the MASTERDRIVES system before the individual CANopen modes can be used. SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-

2 Communication / CC CANopen Communication oard 0.00 The relevant scriptfiles are stored on the Drive Monitor CD supplied with every unit. The scriptfiles contain the basic parameter settings for CANopen communication, but no motor settings or optimization data. The scriptfiles have to be adapted to suit individual applications. You therefore need to adapt, for example, the PDO mapping or the coarse pulse selection. The necessary interconnections and signal outputs from the CC are stored as drawings in Subsection The CC CANopen functionality can be utilized only by one CC in one device. If you require a second CC to be able to transmit particular process data from the MASTERDRIVES, you will need to operate the second board on layer (P7.0 = 0). MASTERDRIVES MC MASTERDRIVES MC-F0 NOTE What is the difference between MASTERDRIVES MC, MASTERDRIVES MC-F0 and the free CANopen device? The modes Profile Position, Setup and Homing with basic positioning are available to the MASTERDRIVES MC without the F0 technology option. The Profile Velocity and Profile Torque modes are processed via the basic unit. All modes are processed via the F0 technology option on MASTERDRIVES MC-F0. The MASTERDRIVES MC-F0 functionality is available only if you have enabled the F0 option. The CANopen modes Profile Position, Profile Velocity and Homing are available on the MASTERDRIVES MC-F0. They are controlled via object 600h. Manufacturer-specific modes Synchronous and Setup as well as Automatic Position and Automatic Single lock modes can also be used. The Synchronous mode and Setup modes are controlled via word 600h. The manufacturer-specific modes (Automatic Position and Automatic Position Single lock mode) are controlled via object 00h (technology control word). The above modes are controlled as described in Chapter 9 "Technology Option F0" in the compendium. Object 0h is used as the status word for the mode. The objects are assigned in the same way as described in function diagrams [FP 809] and [FP 8]. The difference in mode functionalities between the MC and MC-F0 versions is negligible. Some objects differ in terms of their transferability or subindices. Detailed information about these differences can be found in the list of Objects (Subsection 8.5.) and the receive and transmit PDO tables (Subsection 8.5..). In Homing mode with the MC but without technology option F0, only homing methods 7-5 are available and referencing (homing) without the technology option is less accurate. 6SE7087-6QX70 (Version AD) Siemens AG 8.5- Compendium Motion Control SIMOVERT MASTERDRIVES

3 0.00 Communication / CC CANopen Communication oard Free CANopen device Description The free CANopen device allows units such as AFEs or R/RFs that are not specified in the profile to be linked to CANopen systems. The MASTERDRIVES VC which is not operating as a CANopen device on the CC can therefore be linked to a CANopen bus system as well. The objects 'control word 600h', 'status word 60h', 'modes of operation 6060h' and 'modes of operation display 606h' are provided in the free CANopen device. The objects 600h and 60h must be linked to the control word and status words of the connected device. Objects 6060h and 606h transfer the bits only :. You must use free blocks to interconnect the bits in a meaningful manner. A range of manufacturer-specific objects are provided for the transmission of setpoints or actual values. These must be mapped to a PDO so that they are available in the device. The tables in Subsections 8.5. and specify which PDOs and objects are provided for the free CANopen device. CANopen is a standardized application for distributed industrial automation systems based on CAN and the communication standard CAL. CANopen is a CAN in Automation (CiA) standard which has been used very widely ever since its launch. CANopen can be regarded as the definitive standard for the implementation of industrial CAN-based system solutions in Europe. CANopen is founded on a so-called "communications profile" that specifies the basic communication mechanisms and their definition [CiA DS 0]. The primary device types employed in industrial automation systems such as, for example, digital and analog input / output modules [CiA DS 0] drives and motion control [CiA DSP 0] control units [CiA DSP 0] controllers [CiA DSP 0] PLCs [CiA DSP 05] encoders [CiA DSP 06] are defined in so-called "device profiles". The device profiles specify the functionality of standard equipment of the relevant type. SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-

4 Communication / CC CANopen Communication oard 0.00 A central element of the CANopen standard is the description of device functionality using an "object directory" (OD). The object directory is divided into two areas, one containing general data about the device such as identification, manufacturer name, etc., plus communication parameters and a second area containing a description of the device functionality. An entry ("object") in the object directory is identified by a 6-bit index and an 8-bit subindex. The entries in the object directory make the "application objects" of a device, such as input and output signals, device parameters, device functions or network variables, accessible in standardized form via the network. In a similar manner to other field bus systems, CANopen also uses two basic data transmission mechanisms, i.e. high-speed exchange of short process data via so-called "Process Data Objects" (PDOs) and access to entries in the object directory via so-called "Service Data Objects" (SDOs). The primary purpose of the latter is to transfer parameters while equipment is being configured and, in general, to transmit long data areas. Process data objects are generally transferred in eventoriented form, cyclically or - on request - as broadcast objects without additional protocol overhead. A total of 8 bytes of data can be transmitted in one PDO. The transmission and receipt of PDOs can be synchronized throughout the network ("synchronous PDOs") using a synchronization message. The assignment between application objects and a particular PDO (transmission object) can be configured via a structure definition ("PDO mapping") in the OD. Assignments can thus be adapted to meet the requirements of a particular application. SDOs are transmitted as a confirmed data transfer, with two CAN objects per transmission, in the form of a peer-to-peer connection between two network nodes. The relevant object directory entry is addressed through specification of the index and subindex of the OD entry. Messages with a total length of 5 bytes can be transferred. Transferring SDO messages involves an additional overhead. Standardized, higher-priority, event-oriented alarm messages ("Emergency_Messages") are provided to signal device faults. The functionality required for the preparation and coordinated starting of a distributed automation system complies with the mechanisms defined by the CAL Network Management (NMT) specification. The principle of "Node Guarding" underlying the cyclical node monitoring functions are also compliant with NMT. CAN message identifiers can be assigned to PDOs and SDOs through the direct entry of identifiers in the data structures of the object directory or, for simple system structures, through the use of predefined identifiers. 6SE7087-6QX70 (Version AD) Siemens AG 8.5- Compendium Motion Control SIMOVERT MASTERDRIVES

5 0.00 Communication / CC CANopen Communication oard 8.5. Object directory The following tables show a complete list of all implemented objects. The table contains the index and subindex of the object, as well as a brief description of its functionality. The transmission mode for each object is specified, i.e. the table indicates whether the PDO or SDO transfer method is used for the relevant object. The parameters or connectors which contain the object data are also listed. If the table specifies both modes of transmission, the object can be transferred either as an SDO only or as both an SDO and PDO. For more detailed information about objects, please refer to the CANopen profiles DS 0 V.0 and DSP 0 V.. CiA DS 0 Object index Subindex Object name Description Transmitted by SDO / No Connector / Parameter Transmitted by PDO / No Connector / Parameter 000h Device Type Device type No - 00h Error Register Group register for errors No - 00h Pre-defined error field Display parameter for error code No - 005h 008h 00Ah.0 Number of errors Number of errors No -. Standard error field Error code of error No - CO-ID SYNC Message Manufacturer Device Name Manufacturer Software Version Identifier of SYNC message 6 No - Manufacturer, device name No - CC software version No - 00h Node-ID Number of node on bus P98 No - 00Ch Guard Time Period between two guarding messages 00Dh Life Time Factor Number of permissible guarding message failures until life time event 00Eh 00Fh 0h Node Guarding Identifier Number of SDOs supported CO-ID Emergency Message 6 No - 6 No - Node guarding identifier 6 No - Number of implemented SDO channels EMERGENCY message identifier No - 6 No - SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-5

6 Communication / CC CANopen Communication oard 0.00 Object index Subindex Object name Description Transmitted by SDO / No Connector / Parameter Transmitted by PDO / No Connector / Parameter 08 Identity Object Identifying object No -.0 Number of entries Number of subindices No -. Vendor-ID Manufacturer number allocated by Cia 09h Error behaviour object Object for configuring error reaction of bus node.0 No. Of error classes Number of different error reactions. Communication error Reaction of bus node to a life guarding event No - No - No - 6 No - 00h SDO-Parameters Identifier for SDO messages No - 00h- 0h 600h- 60h 800h- 80h.0 Number of entries Number of subindices No -. CO-ID Client>Server SDO request identifier 6 No -. CO-ID Server>Client SDO response identifier 6 No - Receive PDO Communication Parameters Setting parameters for receive PDOs No -.0 Number of entries Number of subindices No -. CO-ID PDO PDO identifier 6 No -. Transmission type Setting parameters for transmission mode Receive PDO Mapping Parameters.0 Number of mapped objects in PDO Parameters for mapped objects in receive PDOs. First mapped object First mapped object. Dependent on PDO selected from R_PDO list. Second mapped object Second mapped object. Dependent on PDO selected from R_PDO list. Third mapped object Third mapped object. Dependent on PDO selected from R_PDO list. Fourth mapped object Fourth mapped object. Dependent on PDO selected from R_PDO list Transmit PDO Communication Parameters 6 No - No - Number of mapped objects No - Setting parameters for transmit PDOs No - No - No - No - No -.0 Number of entries Number of subindices No -. CO-ID PDO PDO identifier 6 No -. Transmission type Setting parameters for transmission mode 6 No - 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES

7 0.00 Communication / CC CANopen Communication oard Object index A00h- A0h Subindex Object name Transmit PDO Mapping Parameters 0. Number of mapped objects in PDO Description Parameters for mapped objects in transmit PDOs. First mapped object First mapped object. Dependent on PDO selected from T_PDO list. Second mapped object Second mapped object. Dependent on PDO selected from T_PDO list. Third mapped object Third mapped object. Dependent on PDO selected from T_PDO list. Fourth mapped object Fourth mapped object. Dependent on PDO selected from T_PDO list Transmitted by SDO / No Connector / Parameter Transmitted by PDO / No Connector / Parameter No - Number of mapped objects No - No - No - No - No - Manufacturerspecific objects Object index Subindex Object name Description 00h Gear ratio Speed ratio factor for slave gears in synchronous operation 00h Transmitted by SDO / No Connector / Parameter Transmitted by PDO / No Connector / Parameter 9 9).0 Number of entries Number of subindices No -. Numerator Gear numerator U60.0 K005-K0. Denominator Gear denominator U60.0 K005-K0 Version_Parameter_ Set Parameter for storage of a parameter set in MASTERDRIVES 00h Transmission Rate Parameter for baud rate setting 0h Node Number Parameter for device address setting U P P No - No - No - 00h.0 Number of entries Number of subindices 0 No -. Nominal speed Nominal speed P05 No -. Reference speed before the decimal point. Reference speed after the decimal point. Norm maximum deceleration Reference speed before the decimal point Reference speed after the decimal point P5.0 No - P5.0 No - Rated acceleration U857 No - SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-7

8 Communication / CC CANopen Communication oard 0.00 Object index Subindex Object name 00h 00h / 6 it 00h 00h / 6 it 00h 00h / 6 it 00h 00h / 6 it 005h 005h / 6 it 006h 006h / 6 it 007h 007h / 6 it 008h 008h / 6 it 009h 009h / 6 it 00Ah 00Ah / 6 it 00h 00h / 6 it 00Ch 00Ch / 6 it 00Dh 00Dh / 6 it 00Eh 00Eh / 6 it 00Fh 00Fh / 6 it 00h 00h / 6 it 0h 0h / 6 it Description Free 6-bit object for receiving in PDO Free 6-bit object for receiving in PDO Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Transmitted by SDO / No Connector / Parameter Transmitted by PDO / No Connector / Parameter K00 K00 K007 K0 K05 K008 K0 K06 K007 K0 K05 K008 K0 K06 K007 K0 K05 K008 K0 K06 K005 K009 K0 K006 K00 K0 K007 K0 K05 K008 K0 K06 K005 K009 K0 K006 K00 K0 K007 K0 K05 K008 K0 K K006 K00 K0 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES

9 0.00 Communication / CC CANopen Communication oard Object index Subindex Object name 0h 0h / 6 it 0h 0h / 6 it 0h 0h / 6 it 05h 05h / 6 it 06h 06h / 6 it 07h 07h / 6 it 08h 08h / 6 it 00h 00h / it 0h 0h / it 0h 0h / it 0h 0h / it 0h 0h / it 05h 05h / it 06h 06h / it 07h 07h / it 08h 08h / it 09h 09h / it Description Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free 6-bit object for receiving in PDO,, Free -bit object for receiving in PDO Free -bit object for receiving in PDO,, Free -bit object for receiving in PDO,, Free -bit object for receiving in PDO,, Free -bit object for receiving in PDO,, Free -bit object for receiving in PDO,, Free -bit object for receiving in PDO,, Free -bit object for receiving in PDO,, Free -bit object for receiving in PDO,, Free -bit object for receiving in PDO,, Transmitted by SDO / No Connector / Parameter Transmitted by PDO / No Connector / Parameter 5 0 K007 K0 K K008 K0 K K008 K0 K06 5 K005 K009 K0 5 K006 K00 K0 5 K007 K0 K05 5 K008 K0 K K0 K07 K0 K05 K07 K0 K05 K07 K0 K05 K05 K09 K0 K07 K0 K05 K05 K09 K0 K07 K0 K K06 K00 K0 5 K05 K09 K0 SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-9

10 Communication / CC CANopen Communication oard 0.00 Object index Subindex Object name 0Ah 0Ah / it 0h 0h / 6 it 0h 0h / 6 it 0h 0h / 6 it 05h 05h / 6 it 06h 06h / 6 it 07h 07h / 6 it 08h 08h / 6 it 09h 09h / 6 it 0Ah 0Ah / 6 it 0h 0h / 6 it 0Ch 0Ch / 6 it 0Dh 0Dh / 6 it 0Eh 0Eh / 6 it 0Fh 0Fh / 6 it 0h 0h / 6 it Description Free -bit object for receiving in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Transmitted by SDO / No Connector / Parameter Transmitted by PDO / No Connector / Parameter 5 K07 K0 K P7.07 P7. P7.5 P7.07 P7. P7.5 P7.08 P7. P7.6 P7.07 P7. P7.5 P7.08 P7. P7.6 P7.05 P7.09 P7. P7.06 P7.0 P7. P7.07 P7. P7.5 P7.08 P7. P7.6 P7.05 P7.09 P7. P7.06 P7.0 P7. P7.07 P7. P7.5 P7.08 P7. P P7.06 P7.0 P P7.07 P7. P7.5 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES

11 0.00 Communication / CC CANopen Communication oard Object index Subindex Object name h h / 6 it h h / 6 it h h / 6 it h h / 6 it 5h 5h / 6 it h h / it h h / it h h / it h h / it 5h 5h / it 6h 6h / it 7h 7h / it 8h 8h / it 9h 9h / it Description Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free 6-bit object for sending in PDO,, Free -bit object for sending in PDO,, Free -bit object for sending in PDO,, Free -bit object for sending in PDO,, Free -bit object for sending in PDO,, Free -bit object for sending in PDO,, Free -bit object for sending in PDO,, Free -bit object for sending in PDO,, Free -bit object for sending in PDO,, Free -bit object for sending in PDO,, Transmitted by SDO / No Connector / Parameter Transmitted by PDO / No Connector / Parameter 5 0 P7.08 P7. P7.6 5 P7.05 P7.09 P7. 5 P7.06 P7.0 P7. 5 P7.07 P7. P7.5 5 P7.08 P7. P P7.07/.08 P7./. P7.5/.6 P7.07/.08 P7./. P7.5/.6 P7.05/.06 P7.09/.0 P7./. P7.07/.08 P7./. P7.5/.6 P7.05/.06 P7.09/.0 P7./. P7.07/.08 P7./.P 7.5/ P7.06/.07 P7.0/. P7./.5 5 P7.05/.06 P7.09/.0 P7./. 5 P7.07/.08 P7./. P7.5/.6 SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-

12 Communication / CC CANopen Communication oard 0.00 Object index Subindex Object name Description 00h Parameter Download Object for reading and writing all parameters in MASTERDRIVES 00h 0h 500h- 5FFFh Transmitted by SDO / No Connector / Parameter Transmitted by PDO / No Connector / Parameter No -.0 Number of entries Number of subindices No -. Request identifier, index Subindex containing the PROFIUS request, the index and subindex of the parameter to be assigned.. Value Value to be assigned to the parameter (downloads only). To be read out with uploads. Response identifier, index Technology control word This subindex contains the response identifier to PROFIUS for downloads or uploads The technology can be controlled completely by this control word. The connection is : to the technology control word Technology status word This status word contains all technology checkback signals. The connection is : to the technology status word Parameters of connected device Objects for reading and writing all parameters of the connected device All (see Subsection 8.5..) See Subsection See Subsection No - No - No K00 9 P7.0 P7.0 See Subsection No - 6SE7087-6QX70 (Version AD) Siemens AG 8.5- Compendium Motion Control SIMOVERT MASTERDRIVES

13 0.00 Communication / CC CANopen Communication oard Device Profile DSP 0 Object index Subindex Object name Description Transmitted by SDO Transmitted by PDO 6007h abort connection option code Converter reaction to a lifeguarding event / No Connector / Parameter / No Connector / Parameter 6 7 No - 600h Controlword CANopen control word 5 7 K00 K00 60h Statusword CANopen status word 5 7 K K/ K889 0 KK5 9 K h modes of operation Object for selecting the operating mode 606h modes_of_operation _display Object for displaying the selected operating mode 606h position actual value Object for displaying the current position 5 K00 5 KK5 9 K 0 r h position_window Exact stop window 9 U50.7 U50 0 U859 KK0 No h position_window_time Time in exact stop window 9 U50.6 U50 0 U86 No h velocity sensor actual value Actual speed value in inc./s r00 9 P7 0 No - 606Ah sensor_selection_code Selection of velocity source 9 0 No - 606h velocity_demand_value Velocity command variable r Ch velocity_actual_value Object for displaying the current velocity r0 9 0 No - 607h target_torque Object for torque setpoint 0 U008 K00/ K005/ K009/ K0 6077h torque_actual_value Actual torque 0 r007 K0 6078h current_actual_value Actual current 0 r00 No - 607Ah target_position Target position 9 U05 0 U Ch home offset Reference point offset 9 U50.0 U50 KK9 KK0 KK05 KK09 KK0 No - SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-

14 Communication / CC CANopen Communication oard 0.00 Object index Subindex Object name Description Transmitted by SDO / No Connector / Parameter Transmitted by PDO / No Connector / Parameter 607Dh software_position_limit Software limit switch No -.0 Number of entries Number of subindices No -. Min_position_limit Software limit switch in negative direction 9 U50. U50 0 U865. No -. Max_position_limit Software limit switch in positive direction 9 U50. U50 0 U865. No - 608h profile_velocity Positioning travel velocity U KK h profile_acceleration Positioning acceleration 9 U50.8 U50 0 U h profile_deceleration Positioning deceleration 9 U50.9 U50 0 U h Motion profile type Motion profile No h torque_slope Torque slope U7. No h torque profile type Torque profile 0 No - 609h feed_constant Feed constant 7 9 No -.0 Number of entries Number of subindices No -. Nominal speed Rated velocity in P05 6 No -. Reference speed Reference (homing) speed 6 No h homing_method Referencing operating mode No h homing speeds Referencing (homing) velocity No -.0 Number of entries Number of subindices No -. Speed_during_search _for_switch. Speed during search for_zero Reference point (home position) approach velocity 9 U50.07 U50 0 U87. Reference creep velocity 9 U50.06 U50 No - No - 609Ah homing acceleration Homing acceleration 0 U006 No - 60FDh Digital_inputs Digital inputs 5 0 P7.5/ FEh Digital_outputs Digital outputs 5 0 K FFh target_velocity Target velocity U08 KK h supported drive modes Implemented traversing operating modes 9 0 No - 67FFh single device type Type of part of equipment 9 No - 6SE7087-6QX70 (Version AD) Siemens AG 8.5- Compendium Motion Control SIMOVERT MASTERDRIVES

15 0.00 Communication / CC CANopen Communication oard Device profile DS 0 Object index Subindex Object name Description Transmitted by SDO / No Connector / Parameter Transmitted by PDO / No Connector / Parameter 6FFFh single device type Type of part of equipment 9 No - 6C0h read_analogue_input Analog input.0 number analogue inp. 6 No. of 6-bit analog inputs No -. read analogue inp. Analog input 9 r67 KK0 Entry is generated by the CC through readout of connector K50 Entry is generated by the CC after parameters P7-P78 have been set Value is permanently stored on the CC Entry is generated through scanning of parameter P79 5 Object can be transmitted as a PDO if a PDO in which this object is mapped is selected from the PDO table 6 Changes are stored in volatile memory on the CC 7 Object not implemented as prescribed in the profile 8 See Subsection "Homing mode" 9 Object connector or parameter available only when device codes 9 and 9 are entered in parameter P79 0 Object connector or parameter available only when device codes 9 and 9 are entered in parameter P79 Object connector or parameter available only when device code 0 is entered Value is calculated as a function of the node address and stored on the CC. SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-5

16 Communication / CC CANopen Communication oard Commissioning the CC General settings A number of settings need to be made to commission the CC with CANopen. After the basic parameters have been assigned, the others can be set via the CAN bus using the CAN bus master or a CAN commissioning tool. Assign parameters via start-up tool e. g. Drive Monitor asic parameters assigned? No P05 it 0= See Subsection for parameter settings P060 Menu selection, see Chapter 6 P60 = oard configuration only P60 = 5 oard configuration and Drive Setting P79.0Set device and reaction to lifeguarding event. P70.0 Set baud rate (factory setting: 0 kaud). Must be modified if a higher baud rate is required P7.0 Set CAN profile (=CANopen). P7.0 Set message failure time (0=deactivate), see Subsection 8..5 Must be modified for noncyclical traffic P98.0 Set CANopen node ID bus address. Must be modified if a bus address other than is required Select motor, see Subsection 6.. P095 Select motor type Must be modified if drive is in Drive Setting [5]. P060 Set P060 to (exit oard configuration or Drive Setting), see Chapter Assign other parameters via CAN bus Parameter assignments, see Subsection SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES

17 0.00 Communication / CC CANopen Communication oard P05 (enable parameterization)) Parameter P05 (see also "Parameter List" in converter operating guide) must be set to an uneven number (e.g.,, 7 etc.). This parameter defines the sources (e.g. PMU, CC, etc.) from which parameters may be modified. The CC requires this enable setting to be able to execute SDO tasks. Example: P05 = : Parameterization enable for CC only = : Parameterization enable for CC+PMU = 7: Parameterization enable for CC+PMU+SST (OP) The parameter modification enable must be set via the CC (P05 =, etc.) before any other parameter settings can be altered via SDO tasks from the CAN bus master. P060 (menu selection) P60 = Select "oard configuration" function P60 = 5 Select "oard configuration and drive setting" function SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-7

18 Communication / CC CANopen Communication oard 0.00 P7 (R_PDO parameter ) Parameter for R_PDO The settings for Receive_PDO can be made with this parameter. PDO communication is deactivated when the parameter is set to 0 (default setting). Once the C parameters have been input, the CC checks the input against the table. If it detects a parameterization error, it activates error F80 when the system exits state "oard configuration" or state 5 "Drive setting". The error value for the parameterization error is then stored in r7. (see Subsection ). Once you have acknowledged the error, the system returns to the "Hardware configuration" state where you can correct the faulty parameter assignment. The parameter comprises 8 bits for PDO number and eight bits for transmission type. Transmission type PDO No PDOs -6 can be set in this parameter according to the device selected in parameter P79 from the list of Receive PDOs (Subsection 8.5..). Not all PDOs can be selected in every set device. Impermissible selections are identified in the list. The transmission type is specified in the following table: Transmission type PDO transmission cyclic Acyclic synchr. asynchr. RTR only 0 X X -0 X X -5 reserved 5 X X 5 X X 5 X 55 X Example: Receive PDO must be received cyclically after every Sync object. The PDO number must be converted to a hexadecimal value and entered in byte 0. The transmission type is entered as a hexadecimal value in byte of P7. The C parameters acknowledge only decimal values. For this reason, the word, consisting of a high part (transmission type) and a low part (PDO No.) must be converted to a decimal number. High byte (transmission type) Low byte (PDO number) Decimal value Hex value 7 Param. value 79 (7 hex) 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES

19 0.00 Communication / CC CANopen Communication oard P7 (R_PDO parameter ) Parameter for R_PDO The settings for Receive_PDO can be made with this parameter. PDO communication for PDO is deactivated when the parameter is set to 0 (default setting). Once the C parameters have been input, the CC checks the input against the table. If it detects a parameterization error, it activates error F80 when the system exits state "oard configuration" or state 5 "Drive setting". The error value for the parameterization error is then stored in r7. (see Subsection ). Once you have acknowledged the error, the system returns to the "oard configuration" state where you can correct the faulty parameter assignment. The parameter comprises 8 bits for PDO number and eight bits for transmission type. Transmission type PDO No PDOs -7 can be set in this parameter according to the device selected in parameter P79 from the list of Receive PDOs (Subsection 8.5..). Not all PDOs can be selected in every set device. Impermissible selections are identified in the list. The transmission type is specified in the following table: Transmission PDO transmission type cyclic Acyclic synchr. asynchr. RTR only 0 X X -0 X X -5 Reserved 5 X X 5 X 5 X 55 X Receive PDO 8 must be received asynchronously. The PDO number must be converted to a hexadecimal value and entered in byte 0. The transmission type is entered as a hexadecimal value in byte. The C parameters acknowledge only decimal values. For this reason, the word, consisting of a high part (transmission type) and a low part (PDO No.) must be converted to a decimal number. High byte (transmission type) Low byte (PDO number) Decimal value 55 8 Hex value FF C Param. value 6508 (FFC hex) SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-9

20 Communication / CC CANopen Communication oard 0.00 P7 (R_PDO parameter ) Parameter for R_PDO The settings for Receive_PDO can be made with this parameter. PDO communication for R_PDO is deactivated when the parameter is set to 0 (default setting). Once the C parameters have been input, the CC checks the input against the table. If it detects a parameterization error, it activates error F80 when the system exits state "oard configuration" or state 5 "Drive setting". The error value for the parameterization error is then stored in r7. (see Subsection ). Once you have acknowledged the error, the system returns to the "oard configuration" state where you can correct the faulty parameter assignment. The settings are the same as in parameter P7. P7 (R_PDO parameter ) Parameter for R_PDO The settings for Receive_PDO can be made with this parameter. PDO communication for R_PDO is deactivated when the parameter is set to 0 (default setting). Once the C parameters have been input, the CC checks the input against the table. If it detects a parameterization error, it activates error F80 when the system exits state "oard configuration" or state 5 "Drive setting". The error value for the parameterization error is then stored in r7. (see Subsection ). Once you have acknowledged the error, the system returns to the "oard configuration" state where you can correct the faulty parameter assignment. The settings are the same as in parameter P7. 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES

21 0.00 Communication / CC CANopen Communication oard P75 (T_PDO parameter ) Parameter for T_PDO The settings for Transmit_PDO can be made with this parameter. When the parameter is set to 0 (default setting), PDO communication is deactivated. Once the C parameters have been input, the CC checks the input against the table. If it detects a parameterization error, it activates error F80 when the system exits state "oard configuration" or state 5 "Drive setting". The error value for the parameterization error is then stored in r7. (see Subsection ). Once you have acknowledged the error, the system returns to the "oard configuration" state where you can correct the faulty parameter assignment. The parameter comprises 8 bits for PDO number and eight bits for transmission type. Transmission type PDO No PDOs - can be set in this parameter according to the device selected in parameter P79 from the list of Transmit PDOs (Subsection 8.5..). Not all PDOs can be selected in every set device. Impermissible selections are identified in the list. The transmission type is specified in the following table: Transmission type PDO transmission cyclic Acyclic synchr. asynchr. RTR only 0 X X -0 X X -5 reserved 5 X X 5 X X 5 X 55 X Example: Receive PDO must be transmitted cyclically after every Sync object. The PDO number must be converted to a hexadecimal value and entered in byte 0. The transmission type is entered as a hexadecimal value in byte in P75. The C parameters acknowledge only decimal values. For this reason, the word, consisting of a high part (transmission type) and a low part (PDO No.) must be converted to a decimal number. High byte (transmission type) Low byte (PDO number) Decimal value Hex value Param. Value 57 (0 hex) SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-

22 Communication / CC CANopen Communication oard 0.00 P76 (T_PDO parameter ) Parameter for T_PDO The settings for Transmit_PDO can be made with this parameter. When the parameter is set to 0 (default setting), PDO communication is deactivated for PDO. Once the C parameters have been input, the CC checks the input against the table. If it detects a parameterization error, it activates error F80 when the system exits state "oard configuration" or state 5 "Drive setting". The error value for the parameterization error is then stored in r7. (see Subsection ). Once you have acknowledged the error, the system returns to the "oard configuration" state where you can correct the faulty parameter assignment. The parameter comprises 8 bits for PDO number and eight bits for transmission type. Transmission type PDO No PDOs -6 can be set in this parameter according to the device selected in parameter P79 from the list of Transmit PDOs (Subsection 8.5..). Not all PDOs can be selected in every set device. Impermissible selections are identified in the list. The transmission type is specified in the following table: Transmission PDO transmission type cyclic Acyclic synchr. asynchr. RTR only 0 X X -0 X X -5 Reserved 5 X X 5 X 5 X 55 X Example: Receive PDO 8 must be received asynchronously. The PDO number must be converted to a hexadecimal value and entered in byte 0. The transmission type is entered as a hexadecimal value in byte in P75. The C parameters acknowledge only decimal values. For this reason, the word, consisting of a high part (transmission type) and a low part (PDO No.) must be converted to a decimal number. High byte (transmission type) Low byte (PDO number) Decimal value 55 8 Hex value FF C Param. Value 6508 (FFC hex) 6SE7087-6QX70 (Version AD) Siemens AG 8.5- Compendium Motion Control SIMOVERT MASTERDRIVES

23 0.00 Communication / CC CANopen Communication oard P77 (T_PDO parameter ) Parameter for T_PDO The settings for Transmit_PDO can be made with this parameter. When the parameter is set to 0 (default setting), PDO communication is deactivated for PDO. Once the C parameters have been input, the CC checks the input against the table. If it detects a parameterization error, it activates error F80 when the system exits state "oard configuration" or state 5 "Drive setting". The error value for the parameterization error is then stored in r7. (see Subsection ). Once you have acknowledged the error, the system returns to the "oard configuration" state where you can correct the faulty parameter assignment. The settings are the same as in parameter P76. P78 (T_PDO parameter ) Parameter for T_PDO The settings for Transmit_PDO can be made with this parameter. When the parameter is set to 0 (default setting), PDO communication is deactivated for PDO. Once the C parameters have been input, the CC checks the input against the table. If it detects a parameterization error, it activates error F80 when the system exits state "oard configuration" or state 5 "Drive setting". The error value for the parameterization error is then stored in r7. (see Subsection ). Once you have acknowledged the error, the system returns to the "oard configuration" state where you can correct the faulty parameter assignment. The settings are the same as in parameter P76. SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-

24 Communication / CC CANopen Communication oard 0.00 P79 (C parameter 9) Device on CAN bus and reaction to life guarding event The device in which the CC is inserted is identified to the CC by this parameter. It also defines the reaction of the device and the CAN node. When the parameter is set to 0 (default), the general CANopen device is selected on the CAN bus. Drive reaction to a life guarding event (device behavior, object 6007h) us node reaction to a life guarding event (communication behavior, object 09h Ind ) oard (device identifier) Definition of device in which the CC is inserted (device identifier): The device in which the CC is inserted is specified in bits 0-7. The values must be taken from the table below and entered in the low word of the parameter in hexadecimal code. This parameter must be set before PDOs are mapped in parameters P7-P78 to ensure that the CC accesses the correct mapping table. oard code Device Display in object 008h Device name 0 General CANopen device CANA 07 SIMOREG DC MASTER SG (not selectable) MASTERDRIVES VC (CUVC) MDVV 09 MASTERDRIVES MC MDMC 9 MASTERDRIVES MC F0 MCF0 09 MASTERDRIVES MC Compakt Plus 9 MASTERDRIVES MC Compakt Plus F0 MDMP MPF0 Reaction to life guarding event (communication error behavior) The reaction of the bus node to a life guarding event must be entered in bits 8-. inary value for P79 bits Pre-operational No state change Stopped Reaction to a communication error 0 0 Reserved / not permissible Drive reaction to a life guarding event (device error behavior) If life guarding is activated, you can configure the drive reaction to this type of event. The following table lists the options that must be entered in bits -5. 6SE7087-6QX70 (Version AD) Siemens AG 8.5- Compendium Motion Control SIMOVERT MASTERDRIVES

25 0.00 Communication / CC CANopen Communication oard P79 (C parameter 9) inary value for P79 bits -5 Response to life guarding event Remains in current state Shutdown to ready to start Change to Not Ready to Switch On 0 0 Quick stop to Not Ready to Switch On Reserved / Not permissible If a life guarding event occurs, the converter reacts as configured in P79. An emergency message with error code 80 Life Guard Error is also transmitted. If P79 is parameterized illegally, error F080 is displayed when the system exits state "oard configuration" or 5 "Drive setting". Once you have acknowledged the error, the system returns to the "oard configuration" or "Drive setting" state where you can correct the faulty parameter assignment. Example: A MASTERDRIVES with technology option F0 must be configured as a CANopen slave. In response to a life guarding event, the drive must decelerate with OFF and the bus node must not change its status. The hexadecimal value must be converted to a decimal value and entered in the parameter. it -5 (device behavior) it 8- (communication behavior) it 0-7 (device identifier) Decimal value 9 Hex value C Param. value 55 (C hex) SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-5

26 Communication / CC CANopen Communication oard 0.00 P70 (C parameter 0) aud rate of slave on CAN bus This parameter sets the baud rate of the slave on the CAN bus according to the following table: If the baud rate is outside the valid range, error F080 is displayed when the system exits state "oard configuration". Once you have acknowledged the error, the system returns to the "oard configuration" state where you can correct the faulty parameter assignment. Internal defaults for bus timing as a function of baud rate: Parameter value aud rate [kbit/s] aud rate RP SJW TSEG TSEG Hex value 0 kbit (P70 = 0) 9 5 FA7 0 kbit (P70 = ) 9 5 F9 50 kbit (P70 = ) 7 5 F87 00 kbit (P70 = ) 5 F8 5 kbit (P70 = ) C 50 kbit (P70 = 5) C 500 kbit (P70 = 6) 0 C0 800 kbit (P70 = 7) Mit (P70 = 8) 0 0 P7 (C parameter ) Special CAN bus settings Index i00: This parameter can be set to switch between CAN layers =0 and 7= (CANopen). P98. (CC bus address) The node address of the device on the CAN bus is set in this parameter. The default setting is, thereby providing the MASTERDRIVES with a valid bus address. It can be addressed directly under node ID. NOTE After the basic parameters have been set as specified in the flowchart at the beginning of this section, other parameters can be set via the CAN bus. 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES

27 0.00 Communication / CC CANopen Communication oard NMT state The drive switches automatically to the "Initialization" status when voltage is connected to the control board. It switches to "Preoperational" after initialization. In the "Pre-operational" state, the drive can be configured by means of SDOs and commissioned. It cannot receive or transmit PDOs in this state. The drive is switched to the "Operational" state with NMT message "Start Remote Node". The drive is fully functional in this state. In the "Stopped" state, the drive cannot be operated via the bus. It can only be switched out of this state again by NMT message "Enter preoperational state" (SDO only) or "Start_Remote_Node" (PDO and SDO. Power On or Hardware Reset () Initialization () () Pre-Operational () (7) () (5) (0) Stopped () () (8) () Operational (6) (9) Fig State diagram of a device () The drive automatically switches to the initialization state at Power ON () Initialisation finished enter PRE-OPERATIONAL automatically (), (6) Start_Remote_Node indication (), (7) Enter_PRE-OPERATIONAL_State indication (5), (8) Stop_Remote_Node indication (9), (0), () Reset_Node indication (), (), () Reset_Communication indication SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-7

28 Communication / CC CANopen Communication oard 0.00 Reset Application Initialization (5) Reset Communication (6) Initializing () () () power on or (0) () hardware reset () (9) Fig Structure of the initialization state () Initialization finished enter PRE-OPERATIONAL automatically (), (), () Reset_Communication indication (9), (0), () Reset_Node indication (5) Application Reset performed (6) Communication Reset performed The pulses on the drive are disabled by an NMT command Reset Application. This causes the motor to coast to a standstill. The CC then ceases to operate the heartbeat counter, causing activation of error F8. This is acknowledged by the CC and the drive is then reinitialized. The re-initialization operation sets all objects specific to the manufacturer and device to the value following "Voltage On". The drive then switches to the Reset Communication state. All communication objects are reset to the default value. After initialization, the drive returns to the pre-operational state again (does not apply to general CANopen device). INITIALIZING PRE-OPERATIONAL OPERATIONAL STOPPED PDO X SDO X X Synchronization Object X Emergency Object X X oot-up Object X Network Management Object X X X 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES

29 0.00 Communication / CC CANopen Communication oard Relation between PDO/PZD and SDO/PKW In the CANopen profile, every object can be read or written with an SDO task. This applies in the case of MASTERDRIVES only if the correct interconnections have been made. The last two columns in the table of objects specify the transmission options and the associated parameters or connectors. MASTERDRIVES recognizes two transmission modes in connection with PROFIUS, i.e. the PKW (parameter identifier value) task and PZD (process data). A PKW task can be used to read or write MASTERDRIVES parameters. This type of task consists of a parameter number, a task identifier and a value. PZD such as setpoints and actual values are updated cyclically with Profibus. Process data are 'wired' directly from the C board to the target parameter via a dual port RAM channel. For this reason, they do not require addressing. PZD values cannot be written by means of a PKW task nor are PZD capable of accessing parameters. A CANopen SDO task is directly comparable to a PKW task. PDOs correspond to PZD in the PROFIUS. All objects can be transmitted per SDO with CANOpen. Fixed setpoints are used as a means of writing process data in MASTERDRIVES via an SDO task. The connectors of the fixed setpoints must be wired to the corresponding setpoint parameters. SDO tasks Example SDO tasks are sent via identifiers 600h + NodeID (Client>Server) and 580h + NodeID (Server>Client). If you want to send a DSP 0 object as simply an SDO from the CANopen master when it corresponds to a process data in MASTERDRIVES and has not been mapped into a PDO, then it is not transmitted as normal via the dual port RAM, but diverted via a fixed setpoint. When the SDO is addressed via the parameter channel of the CC, the setpoint is set to the possibly re-normalized value which is stored in the SDO (see table of objects, Parameters / Connectors column). The outgoing connector for the fixed setpoint must be "wired" up to the MASTERDRIVES location to which the setpoint must be applied. The object 60FFh target_velocity may only be transmitted as an SDO via the bus. To do this, proceed as follows: Find the fixed setpoint (U08) to which the SDO of the object writes in the table of objects. Then take the connector (KK08) belonging to the fixed setpoint and connect it up to parameter P (Src Ctrl Setp). All objects that cannot be transferred as PDOs according to the table are MASTERDRIVES parameters that can only be transmitted as SDOs. SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-9

30 Communication / CC CANopen Communication oard 0.00 Parameters are stored on the CC for DSP 0 objects which supply actual values. These are read out in the case of an SDO read task. Nothing needs to be "wired up" for these. If an object is transferred as a PDO as a result of the predefined mapping table, the value converted or processed for the MC may emerge at the connector number of the dual port RAM specified in the table. This connector must in turn be "wired" to the right location in MASTERDRIVES. If an object is mapped to a PDO and thereby transferred via the dual port RAM, then it can also be written by means of an SDO task. CAUTION All parameter values modified by means of profile-specific objects are saved only to the RAM in MASTERDRIVES. If the control board of the MASTERDRIVES system is disconnected from the supply voltage, the values from the EEPROM are stored in the parameters and in the relevant objects when the supply is connected again. The R_PDO values are all set to zero. To restore the object values as they were before the supply was disconnected, the objects must be written with their PDO or SDO tasks. SDO aborts Some objects are linked to parameters in the MASTERDRIVES. The CC uses a parameter task to read or write them. However, some parameters can be written only when the converter is in particular states. If you want write an object that is linked to a parameter that can only be written in the "ready to start" state during operation via the CAN bus, an SDO abort is returned in response to the SDO task. The different SDO aborts are described in the following table. 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES

31 0.00 Communication / CC CANopen Communication oard Abort name Abortcode Reason (PKW error values) Description SERVICE_ERR 0x Response identifier (7) Task cannot be executed (with error number) Error number (7) Task cannot be executed in current operating status UNSUP_ACC 0x SDO access to a free object that is not mapped to a PDO Write access to objects that are read only or read access to objects that are write only With parameter tasks Response identifier (7) Task cannot be executed (with error number) Error number () Parameter value cannot be modified Currently issued task cannot be executed in active converter state. The free object does not exist in the object directory until it has been mapped to a PDO. If the parameter is a visualization parameter (6) Setting not permitted (resetting only) (7) Descriptive element cannot be modified asically impossible for MASTERDRIVES (5) Text array does not exist (0) Channel width too small (06) Task not implemented Specific to MASTERDRIVES: For PKW short channels only (07) Text cannot be modified VAL_RANGE_EXC 0x Response identifier (7) Task cannot be executed (with error number) Error number () Lower or upper value limit exceeded Parameter limits exceeded SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-