CANopen Communications Module CB16. Operating Instructions. Operating Instructions for. CANopen Communications Module

Transcription

1 CANopen Communications Module CB16 Operating Instructions for CANopen Communications Module for Siemens MICROMASTER Vector / MIDIMASTER Vector (6SE32 ) General Purpose Inverters. Operating Instructions

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3 English CONTENTS List of Contents WARNING AND CAUTION NOTES 5 FOREWORD 6 1. GENERAL 6 2. INFORMATION SOURCES 6 3. OVERVIEW Product Description and Features Application on a CANopen network INSTALLATION Connecting the Bus Cable Terminals Bus Cabling EMC Measures Shielding Equipotential Bonding Cable Installation Inverter Installation CAN Bus Termination DEVICE MOUNTING STEP BY STEP PROCEDURE FOR SETTING UP THE CB Before starting Getting Started Procedure Running an Inverter with CAN for the First Time Test CAN communication Using SDO messages: Using PDO messages: Running an Inverter with CAN following Power Failure CONTROLWORD 6040h STATUSWORD 6041h Speed PARAMETER INFORMATION Local / Remote Control System Parameters CAN communication related parameters in the drive CANopen Parameter Set Fault codes Process Data Objects (PDO) for CB Service Data Objects (SDO) for CB Inverter Parameter Access via CANopen CB16 Performance Times Network Management Services Layer Management Services Distribution Control Services Synchronisation Messages Emergency Messages Explanation of CAN Parameters Additional Inverter Parameters

4 English CONTENTS List of Contents 8. REFERENCE : CANOPEN OBJECTS Supported CANopen Objects Emergency messages EXAMPLES OF CANOPEN MESSAGES 26 List of Figures Figure 4-1: CB16 CANbus Connections... 8 Figure 5-1: CB16 Front Panel Mounting Figure 6-1: CB16 Getting Started Procedure Figure 7-1: Standard CANopen Boot - up List of Tables Table 4-1 : CB16 CANbus Transmission Rates and Cabling... 9 Table 6-1 : CB16 CANbus Pre - start Checks Table 6-2 : CB16 Control word Table 6-3 : CB16 Status word Table 7-1 : CB16 CANopen Parameter Set Table 7-2 : Process Data Object (PDO) for CB Table 7-3 : CB16 CANbus Baudrate

5 English WARNINGS AND CAUTIONS WARNING AND CAUTION NOTES WARNING Hazardous voltages are present in this electrical equipment during operation. Non-observance of the safety instructions can result in severe personal injury or death. Only qualified personnel should work on or around this equipment after becoming thoroughly familiar with all warnings, safety notices and maintenance procedures contained herein. The successful and safe operation of this equipment is dependent on proper handling, installation, operation and maintenance. Definitions -Qualified Person For the purposes of this manual and product labels, a qualified person is one who is familiar with the installation, construction, operation and maintenance of this equipment and with the hazards involved. In addition, the person must be: (1) Trained and authorised to energise, de-energise, clear, ground and tag circuits and equipment in accordance with established safety practices. (2) Trained in the proper care and use of protective equipment in accordance with established safety practices. (3) Trained in rendering first aid. -DANGER For the purposes of this manual and product labels, DANGER indicates that loss of life, severe personal injury or substantial property damage WILL result if proper precautions are not taken. -WARNING For the purposes of this manual and product labels, WARNING indicates that loss of life, severe personal injury or substantial property damage CAN result if proper precautions are not taken. -CAUTION For the purposes of this manual and product labels, CAUTION indicates that minor personal injury or property damage CAN result if proper precautions are not taken. -Note For the purposes of this manual, and product labels, Notes merely call attention to information that is especially significant in understanding and operating the drive. 5

6 English FOREWORD FOREWORD 1. GENERAL The purpose of this document is to describe the functionality and the use of the CANopen Communication Module (CB16) for the MICROMASTER Vector / MIDIMASTER Vector (6SE32 products). The information is intended for the end-user as operating manual and as a technical reference manual. IMPORTANT It is asssumed that the user of this manual has a prior knowledge of CANopen standards and terminology. A list of the relevant standards documents are detailed in Section 2. Technical Data, selection and ordering data (order numbers), accessories & availability are subject to change without prior notice. 2. INFORMATION SOURCES As reference material the following documents can be used: 1. CAN Controller Area Network (CAN) for high speed communication ISO-DIS Can Physical Layer DS 102 Version 2.0 dated 20 April 1994 (CiA) 3. CAL-based Communication Profile for industrial systems. DS 301 Version 3.0 dated October (CiA) 4. Device Profile for Drives and Motion Control DS402 Version 1.0 dated May (CiA) 5. MICROMASTER / MIDIMASTER Vector Operating instructions Ref.: 6SE3286-4AB66 (Release 04/08/99). 6

7 English OVERVIEW 3. OVERVIEW 3.1. Product Description and Features The CANopen module is a device that allows control and parameterisation of an inverter on a CANopen network or fieldbus. The module is suitable for use with the MICROMASTER Vector and MIDIMASTER Vector 6SE32 product range. Features Retains the ability to access the internal parameter set of the inverter. Allows high speed cyclical and acyclical communication over a CANopen network. Ability to control up to 100 inverters using the CANopen protocol. Provides open communication conforming to all relevant aspects of DS301 version 3.0 and DS402 version 1.0 as defined by the CAN in Automation Group (CiA). It may be used with any other CANopen compliant peripheral on the bus. Easy to install. Easy to configure with CANopen network configuration tools (Electronic Datasheet included). Output frequency (and hence motor speed) can be controlled by one of five methods: (1) Digital frequency setpoint. (2) Analogue setpoint (voltage or current input). (3) Motor potentiometer. (4) Fixed frequency. (5) Remote data transmission via the CANopen network. IMPORTANT The RS485 serial link is not available while the CB16 is connected to the inverter Application on a CANopen network CANopen is defined as a draft standard in DS102 and DS301. The CB16 is a Class 2 CANopen Slave and meets the requirements of DS402. Data communication with the CB16 conforms to the specifications in the DS402 `Device Profile for Drives and Motion Control' guideline. This defines the user data structure through which the drives can be accessed. The user data structure is subdivided into two areas that can be transmitted in each message frame: Process Data Objects (PDO) PDOs are used for communicating the speed and drive status. PDOs are designed for real-time message processing. Two PDOs are mandatory according to DS402. In addition to these two, there are three additional PDOs implemented in the CB16. Service Data Objects (SDO) SDOs are used for communicating drive parameters that are not implemented as PDO, for reading out faults or information on the attributes of a parameter, such as minimum/maximum limits, etc. For more Parameter information, see chapter 7 of this document. 7

8 English INSTALLATION 4. INSTALLATION WARNING Incorrect operation of the serial bus system can lead to an inverter being switched on Commissioning work must only be carried out by personnel who are qualified in installing systems. Additionally, the guidelines associated with the installation of the inverter itself followed (see section 2 of the inverter's ) Fix the CB16 to the front of the inverter by mating the D-type connectors together and then securing in position by pressing the module onto the inverter. The CB16 is powered directly from the inverter and therefore needs no additional external supply. SAFETY NOTE The inverter must be switched off before the CB16 is either connected or disconnected Connecting the Bus Cable Terminals The CAN connection must be made using the D-type plug on the front of the CB16. Connections to this plug are as follows: Pin 2 CAN Low connection Pin 7 CAN High connection Additionally, the cable shield should be connected to the shell of the D-type connector, which is connected to protective earth via the CB16 and inverter. The connector must be screwed securely to the CB16 to ensure both mechanical strength and earth continuity. CANHigh CANLow Shield Figure 4-1: CB16 CANbus Connections Notes 1. As the network nodes must be 'daisy-chained' together (except for the stations at either end of the bus), there must be two cables into the D-type connector - one from the previous station and one to the next station. 2. Typical D Type Bus Connectors : ERbic CAN connector Type No.: Typical Bus Cable: JobarcoFlex CKY Max temp 70dec.C, 2x2 STP This bus topology means that a station may be disconnected from the bus or powered down while still connected without affecting bus operation. 8

9 English INSTALLATION Bus Cabling The maximum allowed cable length depends on the configuration of the network. Cable and connection quality and the type of transceiver circuit that is used on the different network nodes restrict the length. The following table can be used as a guideline for maximum allowed cable length. CAN Bitrate Max. Cable length 1Mbit/s 40m. 500 kbit/s 100m. 250 kbit/s 250m. 125 kbit/s * 500m. 50 kbit/s 1200m. 20 kbit/s 1200m. 10 kbit/s ** 1200m. * Most Commonly Used Bus Speed -recommended ** CIA Recommended Bus Speed (drive default) Table 4-1 : CB16 CANbus Transmission Rates and Cabling 4.2. EMC Measures The following measures are required for interference-free operation of a CAN network Shielding The conductors of the bus cables must be twisted together, shielded and installed separately from the power cables with a minimum clearance of 200 mm. The shield for the bus cable should be connected to protective earth at both ends. For the CB16, this is achieved using the P-clip provided with the module as shown in the enclosed instruction sheet. Bus and power cable crossings should be installed at an angle of 90º Equipotential Bonding If the cable shields are earthed at different sections of the system then equipotential bonding cables can be used to reduce current flow in the screen between the network nodes. The following equipotential cables are recommended: 16 mm 2 Cu for equipotential bonding conductors up to 200 m in length 25 mm 2 Cu for equipotential bonding conductors over 200 m in length Use a large contact surface connection between the equipotential bonding conductors and the protective ground conductor Cable Installation Observe the following rules when installing cables: Bus cables (signal cables) may not be installed directly adjacent to power cables. Signal cables (and equipotential bonding cables) should be connected across the shortest possible path. Power cables and signal cables must be installed in separate cable runs. Shields should have large contact surface connections Inverter Installation Refer to section 1.2 of the Inverter Operating Instruction Manual. A good EMC earth connection is very important for MICROMASTERs as no earthing takes place via the plastic case. 9

10 English INSTALLATION 4.3. CAN Bus Termination For interference-free operation of the CAN network, the bus cable must be terminated at both ends with bus terminating resistors. The bus cable from the first CAN node to the last device in the network should be treated as a single bus cable, so that the CAN network should be terminated twice. Note Ensure that you only connect the bus terminator to the first network station and the last network station. 10

11 English DEVICE MOUNTING 5. DEVICE MOUNTING The CB16 is mounted on the front panel of the MM3V Inverter (Frame Size A). MICROMASTER Inverter I O Jog P CB16 Module Front Panel Mounted Female 9-pin D - Type Connector Figure 5-1: CB16 Front Panel Mounting 11

12 English SETTING UP THE CB16 6. STEP BY STEP PROCEDURE FOR SETTING UP THE CB Before starting Please make the following pre-requisite checks: Item Pre-Requisite Expected result 1 The Inverter is of type MICROMASTER Vector / MIDIMASTER Vector Order Number: 6SE Inverter Software version (Check Param.922= xx.yy) For 6SE32 : V Issue no. of the CB16 (at the backside) It should be issue B or later Please determine the following CANopen settings Item CANopen Settings Proposal 1 What is the selected CANopen Bus speed? 125k most commonly used 2 What is the preferred module (node) ID number? No. 1 suggested 3 Is more than one module to be configured? Ensure ID no. s are different Table 6-1 : CB16 CANbus Pre - start Checks 6.2. Getting Started Procedure Assumptions In the following procedure steps it is assumed that a) all parameters, start/stop control and motor speed will be accessible via CAN. b) speed and start stop control is set by PDO s. c) The module identifier = 1. Note : Module ID is the same as Node ID (CANopen Terminology) Connect power to the drive Reset parameters back to factory default values P944 = 1 Set CAN speed on 125k P906 =5 Enable access to all parameters P009 = 3 Set Receive PDO timer to 120 ms P909 = 120 Connect motor and set motor parameters (see Inverter manual) Give access to CANparameters Parameter P080 P085 P99 = 2 Set CAN Module ID no. = 1 P918 = 1 Transmit a PDO after a change of content (speed or status) P966 = 1 Activate a receive PDO to default value [identifier 769] Activate a transmit PDO to default value [identifier 641] P903 = 1 P904 =1 Figure 6-1: CB16 Getting Started Procedure Activate CAN module (to go on the CANbus) Allow drive control and speed via CAN Allow parameter access via CAN P960 = 1 P928 = 1 P927 = 1 12

13 English SETTING UP THE CB16 Notes: Changing parameters via keypad is only possible after putting back P927 = 0. If CAN related parameters are changed, the changes will only be effective after the CAN module is (re)activated - ie P960 has to be changed from 0 to 1. As a simple check for communication between the CB16 and the inverter, disconnect the CB16 from the front of the inverter within a few seconds, the error message F031 should be displayed Running an Inverter with CAN for the First Time When the Inverter and CB16 are being set up for the first time, there are some standard initialisation messages which are sent to the CB16, which are detailed below: Test CAN communication a) Send a test SDO message The operation of the CB16 module can be checked by sending the following SDO test message. If the CB16 has already been initialised, the response message shown will be returned onto the bus, showing that the CB16 is available for SDO communication: Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark Test Message: Read Parameter Value 60x hex* D Receive SDO Test message : Response : 58x hex * D ???? Transmit SDO Response message * x relates to the respective CB16 Node address Using SDO messages: The following SDO messages are transmitted onto the CANopen bus. These messages provide the following commands: Procedure to Ramp up the inverter: a) Initialise b) Start c) Set the Speed Setpoint of the Inverter d) Stop Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark Write Parameter Value 60x hex * E 0C Control (6040) = 0C7E hex Initialise /Stop 60x hex * F 0C Control (6040) = 0C7F hex Start 60x hex * Speed Reference (6042) = 123 hex (RPM) 60x hex * E 0C Control (6040) = 0C7E hex Initialise /Stop (1537 dec) * x relates to the respective CB16 Node address. Notes: For CANopen, words are given in Motorola format. Ie the Most Significant Byte is on right of the Least Significant Byte.) For explanation and decoding of the CONTROL- and STATUS- WORDs, refer to Sections 6.5 / 6.6 below For transmit SDO, the CAN message identifier is always based on the node ID. : Message ID = 600 hex + P918 ( node id) For the reply SDO, the following message identifier is received: Message ID = 580 hex + P918 ( node id) 13

14 English SETTING UP THE CB Using PDO messages: NOTE PDO messages can only be used when the CANopen module has entered the Operational state. To enter this state the Network Management (NMT) messages Enter Pre-operational State and Start Node must be sent. a) Send NMT Messages If the procedure described in section part b) above has been followed, it will not be necessary to send the following NMT messages, as the CB16 will already be in Operational state. Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark write Node ID Value RESET Node Enter Pre-operational State Start Node b) Send PDO Messages The following PDO messages are transmitted onto the CANopen bus. These messages provide the following commands: Procedure to Ramp up the inverter: a) Initialise b) Start & Speed Reference c) Stop Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark 30x hex * 2 7E 0C Control (6040) = 0C7E hex Initialise / Stop 30x hex * 4 7F 0C Control (6040) = 0C7F hex Start Speed Ref. (6042) = 0123 hex (RPM) 2 7E 0C Control (6040) = 0C7E hex Initialise / Stop 30x hex * (769 dec) * x relates to the respective CB16 Node address. Notes: For CANopen, words are given in Motorola format. Ie the Most Significant Byte is on right of the Least Significant Byte.) For explanation and decoding of the CONTROL- and STATUS- WORDs, refer to Sections 6.5/6.6 below 14

15 English SETTING UP THE CB Running an Inverter with CAN following Power Failure The procedures for running the Inverter following a power failure are similar to those described in section 6.3 above for running an inverter for the first time. In order to ensure correct functioning of the CB16, the step-by step procedure shown below should be followed: a) Wait for the CANbus to re-establish itself Following power up, wait ca. 30 seconds for the CAN network to re-initialise b) Re-initialise the CB16 to Operational State Send the NMT messages: Enter Pre-operative State & Start Remote Node see section c) Send PDO message Initialise / Stop Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark 30x hex * 2 7E 0C Initialise / Stop * x = Node ID is the unique CANbus module address d) Send PDO message Start Drive & Speed Reference Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark 30x hex * 4 7F 0C???? Control (6040) = 0C7F hex (ON) Speed Ref. (6042) =???? hex (RPM) * x = Node ID is the unique CANbus module address e) Send PDO message Initialise / Stop Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark 30x hex * 2 7E 0C Initialise / Stop * x = Node ID is the unique CANbus module address 15

16 English SETTING UP THE CB CONTROLWORD 6040h The CONTROLWORD used to start and stop the drive. It is a bit oriented word, The following table provides the meaning for each bit and common commands for controlling the inverter: Bit Name Initialise / Stop & Reset Fault Start Initialise / Stop 0CFE hex 0C7F hex 0C7E hex 0 Switch ON O Disable Voltage(OFF2) Quick Stop(OFF3) Enable operation Ramp disable o/p Ramp stop Ramp zero i/p Reset Fault Reserved (0) Reserved (0) Reserved (1) direction right direction left manufacturer specific (0) manufacturer specific (0) manufacturer specific (0) Table 6-2 : CB16 Control word 6.6. STATUSWORD 6041h The STATUSWORD gives information about the internal state of the drive. It is bit oriented and is readonly. The following table provides the meaning for each bit and common inverter states. Bit Name Drive off Ramping up to speed At setpoint speed 0B31 hex 0B37 hex 0F37 hex 0 Ready to Switch ON Switched ON Operation Enabled Fault No OFF No OFF Switch On Disabled Warning (Always 1) Remote Control Speed Reached Direction Right Direction Left Reserved Manufacturer Specific Manufacturer Specific Table 6-3 : CB16 Status word 16

17 English SETTING UP THE CB Speed The Speed (setpoint) reference (6042) gives the setpoint of the drive. The Actual speed (6044) gives the speed of the motor. Both parameters are given in RPM and available via SDO. Note: The CANBUS protocol defines speed references in RPM, whereas the MICROMASTER takes a frequency reference in Hertz. The reference in Hertz is calculated as follows: Frequency Reference = Speed reference transmitted value (decimal) x Parameter 094 Where: Parameter 082 is the motor nameplate RPM Parameter 082 Parameter 094 is the system setpoint frequency (Hz) The value entered represents 100%. Example: For: Motor nameplate RPM = 1350 P094 = 50 Hz Speed Ref. transmitted value = 1012 RPM (= 3F4 hex) Then: Frequency Reference = 37.5 Hz If P094 = 25Hz, then Frequency would be 18.7Hz IMPORTANT NOTE Due to the 2 s complement method use to calculate the frequency reference in the USS protocol, speed reference transmitted value/p82 must not exceed 199%. 200% or more will cause reverse rotation! 17

18 English PARAMETER INFORMATION 7. PARAMETER INFORMATION The following CANopen parameters are applicable to the MICROMASTER Vector (6SE32 ) product range with SW Version 2.04 or higher. The user can determine the inverter SW Version number using Parameter Local / Remote Control For Local Control, the inverter will operate a motor in an identical manner to that described in the operating instructions for the inverter. SAFETY NOTE An on/off switch must always be fitted to allow the motor to be switched on and off locally. For Remote Control, using CB16 modules, multiple inverters can be controlled over the CAN network 7.2. System Parameters The basic parameter set used by the CB16 is identical to that used for the inverter. However, some parameters cannot be accessed because either they are not required or they have been replaced by CANopen parameters CAN communication related parameters in the drive The CAN Module specific parameters will be stored in the EEPROM of the Inverter. These parameters can be altered by the end-user in the same way as other drive parameters. 18

19 English PARAMETER INFORMATION CANopen Parameter Set This Parameter set is activated when Inverter Parameter P99 is set to 2 (for CANopen). Further explanation of these parameters are given in section of this document. Parameter Function Range [Default] P900 reserved P901 Receive PDO CONTROLWORD [0] receive P902 Transmit PDO 1 STATUSWORD transmit P903 Receive PDO 2 CONTROLWORD and vl_target_velocity receive P904 Transmit PDO 2 STATUSWORD and vl_control_effort transmit P905 Receive PDO 3 Controlword and vl_target_velocity receive [0] [0] [0] [0] Description / Notes The PDO number assigned to the control word. 1 = Recommended value. The PDO is then 200 hex + P918 (512 dec + P918) The PDO is as set in P901, allows values in the range F hex The PDO is as set in P901, allows values in the range F hex Other values PDO not activated The PDO number assigned to the status word. 1 = Recommended value. The PDO is then 180 hex + P918 (384 dec + P918) The PDO is as set in P902, allows values in the range 181-1FF hex The PDO is as set in P902, allows values in the range 281-2FF hex Other values PDO not activated The PDO number assigned to the control word with speed reference. 1 = Recommended value. The PDO is then 300 hex + P918 (768 dec + P918) The PDO is as set in P903, allows values in the range F hex The PDO is as set in P903, allows values in the range F hex Other values PDO not activated The PDO number assigned to the status word with actual speed value. 1 = Recommended value. The PDO is then 280 hex + P918 (640 dec + P918) The PDO is as set in P904, allows values in the range 181-1FF hex The PDO is as set in P904, allows values in the range 281-2FF hex Other values PDO not activated The PDO number assigned to the control word with speed reference The PDO is as set in P905, allows values in the range F hex The PDO is as set in P905, allows values in the range F hex Other values PDO not activated P906 CAN Bitrate 0-8 [7] See table on Page 22 P907 Synchronisation 0 7 0= no messages are synchronised. Determines if Receive [0] 1= Receive PDO 1 is synchronised PDOs are synchronised 2= Receive PDO 2 is synchronised are not. Synchronised 3= Receive PDO 1 and 2 are synchronised PDOs will be processed 4= Receive PDO 3 is synchronised after a SYNC message 5= Receive PDO 1 and 3 are synchronised is received. (Aka: cyclic 6= Receive PDO 2 and 3 are synchronised operation). 7= Receive PDO 1, 2 and 3 are synchronised P908 Reserved P909 Receive PDO Timer [0] Time in ms after which a PZD will be resent when no PDO is received. NOTE: Recommended Time : 120ms P918 CAN Node ID [1] CAN Module Address NOTE : To be different for each Inverter P927 Local /Remote = Local parameter control P928 parameter control Local /Remote state control [0] 0 3 [0] 1 = Remote parameter control 0 = Full local control 1 = Full remote control 2 = Partial local control (remote control of frequency) 3 = Partial remote control (local control of frequency) 19

20 English PARAMETER INFORMATION Parameter Function Range [Default] Description / Notes P960 CAN Active Protocol 0-3 [0] 0= Disable CAN communication 1= CANopen 2-3= for future use P964 CAN Special Bitrate B [0] Use supplied Windows program P965 CAN Special Bitrate B [0] Use supplied Windows program P966 Interval time for = only on request, automatic sending [0] 1 = whenever PZD changed (recommended) PDO (ms) 2 = whenever USS message received P969 Drive behaviour for CAN Bus Idle or CAN Bus Off 0-1 [0] Table 7-1 : CB16 CANopen Parameter Set other values = interval time (ms) 0= Stop unconditional, give error F030 1= Set drive to fixed frequency (8) as defined in P Fault codes With the use of the CB16 module the following error-codes can occur on the drive. F030 F031 F032 F033 CANbus communication has timed out. PZD interface has timed out. Irretrievable error in CAN Bus Module. Too many defective CAN messages have been received. When an error occurs, the reaction of the drive is identical to that for any fault condition, i.e. the drive trips, reports the fault which is also stored in the fault buffer P930 and waits for acknowledgement of the fault. This with the exception for a F030 condition, which can be self-acknowledging (see P969) Process Data Objects (PDO) for CB16 PDOs are designed for real-time message processing. They are used for communicating the speed and drive status. The CB16 module has 5 fixed PDOs. PDO Object Name Object Comments Parameter Index Receive 1 CONTROLWORD 6040 h Controls the statemachine P901 Transmit 1 STATUSWORD 6041 h Gives status P902 Receive 2 CONTROLWORD 6040 h Controls the statemachine and P903 and vl_target_velocity 6042 h Speed reference Transmit 2 STATUSWORD and 6041h Gives status and P904 vl_control_effort 6044h actual speed Receive 3 CONTROLWORD and vl_target_velocity 6040 h 6042 h Controls the statemachine and speed reference P905 Table 7-2 : Process Data Object (PDO) for CB16 Upon receipt of the PDO messages, they are immediately processed. Using P907 (Synchronisation), the Receive PDOs can be defined as Synchronised PDOs. The processing of these PDOs is delayed until a SYNC message is received. PDO channels 2 and 3 contain the same information. Using P966 (Interval time for automatic sending PDO), the user can define whether Transmit PDOs are sent periodically, on request (RTR) or automatically after the PDO changes (event driven). Note: In general the best performance is obtained if P966 is set to 1. 20

21 English PARAMETER INFORMATION Service Data Objects (SDO) for CB16 SDOs are used for reading and changing parameters of the inverter. SDOs have a lower priority than PDOs and are processed as non real-time messages. For the CB16, two SDOs are implemented; one Receive SDO and one Transmit SDO. Receive SDO The Receive SDO identifier is: 600h + node ID ( P918) Transmit SDO The Transmit SDO identifier is: 580h + node ID ( P918) Inverter Parameter Access via CANopen In order to have access to the inverter parameters, manufacturer specific object indexes are specified in the range 2000h 2FFFh. All inverter parameters (Pxxx) are available as 2000 (hex) +Pxxx. Example: Fmin is Parameter 12, (P012) and is available on 2000 (hex) + 12 (dec) = 200C (hex). Parameter Operators: Receive DSO: 22 = WRITE Transmit SDO: 42 = Value transmitted 40 = READ 80 = Value Changed Refer to examples in Section 9 of this document CB16 Performance Times PDO Reaction Time In synchronous mode the reaction/handling time of the module guaranteed to be less then 5ms and constant at a sync message interval of 50ms to 1000ms. In non-synchronous mode, the reaction/handling time is less then 5ms and constant as long as the PDO message interval is between 50ms and 1000ms. SDO Response Time The response time for parameter modifications over the CAN Bus link is less than 100ms. This response time is defined as the time between a CAN message requesting a parameter change being received by the module and the reply CAN message informing of the change being sent back from the module. During this time new SDO's should not be transmitted to the module. Cycle Time The minimum cycle time is defined as the shortest allowed time interval between 2 messages sent to the module. This time is 5ms Network Management Services The CB16 communications module is a NMT class 0 slave, and therefore no network management facilities are available. Node guarding is implemented Layer Management Services The CB16 communications module is a LMT class 0 slave, and therefore no LMT services are implemented. The standard boot-up is supported as shown in figure 1 below. 21

22 English PARAMETER INFORMATION Power on Initialisation Reset Communication Initialisation ready, automatic to Pre- Operational state Reset Node Pre- Operational Stop Remote Node Enter Pre- Operational State Enter Pre- Operational State Start Remote Node Start Remote Node Prepared Stop Remote Node Operational Figure 7-1: Standard CANopen Boot - up Distribution Control Services The CB16 communications module is a DBT class 0 slave i.e.. the node ID is set by a drive parameter. Default identifier distribution is used Synchronisation Messages Support for synchronisation messages is implemented to enable a synchronised operation of multiple drives or other network nodes. SYNC messages are only supported by the receive PDOs Transmit PDOs, as well as SDOs, are not synchronised. The use of time stamps is not supported by the CB16 module Emergency Messages Emergency messages are supported. All mandatory error codes are implemented. 22

23 English PARAMETER INFORMATION Explanation of CAN Parameters P099 Activate Option Module With this parameter the Drive is told that an option module is installed. Range: 0-2 (Default: 0) 0 = no option module 1 = CB15 Profibus option module 2 = CB16 CANopen option module P099 should be set to 2 in order to enable operation of the module and have access to the CAN related parameters. P906 Bitrate Range 0 8 (Default: 8) This parameter is used to set the CAN bus baudrate. The following values are valid: Par. CAN Bitrate value 0 acc. to P694/ Mbit/s 2 not recommend kbit/s kbit/s kbit/s * 6 50 kbit/s 7 20 kbit/s 8 10 kbit/s Table 7-3 : CB16 CANbus Baudrate * Most Commonly Used Bus Speed recommended. The Bus speed must be commonly set for all CANopen devices on the Bus. 23

24 English PARAMETER INFORMATION P960 Protocol Type Selects the CANbus protocol. Range 0 3 (Default: 0) 0 = CAN communication disabled. 1 = CANopen communication enabled. 2 = CANopen master communication enabled (future). 3 = DeviceNet communication enabled (future). When this parameter is changed while the module is active, the module will reinitialise. Selecting 0 will disable CAN communication. Note: P960 cannot be changed via CAN! P964 Special CAN Bitrate 1 Range If P906 (CAN Bitrate) = 0, P964 will be copied into CAN Timing register 0 (BTR 0) P965 Special CAN Bitrate 2 Range If P906 (CAN Bitrate) = 0, P965 will be copied into CAN Timing register 1 (BTR 1) P966 PZD Send Interval time Range (Default: 0) The rate in ms at which PDO is transmitted. 0 = Values sent only after a remote request 1 = Values sent whenever the PZD changes or after a remote request. (This is most commonly used.) 2 = Values sent whenever an USS message received from the drive = Values sent after the preset time (in ms) or after a remote request Additional Inverter Parameters The following parameters are handled by the inverter. The CAN Module does not interact with these parameters. P091 USS Slave address The USS slave address should be 0 (default). If it is not set to 0, a communication error will follow. P092 USS baudrate The initial baudrate of the inverter must be set to 9600, i.e. P092 = 6. 24

25 English REFERENCE CANopen OBJECTS 8. REFERENCE : CANOPEN OBJECTS 8.1. Supported CANopen Objects Object Description Drive Description Relation Index Parameter 1000h device type 1001h error register 1002h manufacturer status register 1003h pre-defined error field 1004h number o PDOs supported 1005h COB-ID SYNC-message 80h 1006h communication cycle period h synchronous window length h manufacturer device name CB h manufacturer hardware version 100Ah manufacturer software version 603F h error_code 6040 h controlword PZD 6041 h statusword PZD 6042 h vl_target_velocity RPM HSW = Obj.6042h * 4000h / P082 Obj.6042h = HSW * P082 / 4000h 6043 h vl_velocity_demand RPM 6043h = HIW * P082 / 4000h 6044 h vl_control_effort RPM 6044h = P h vl_velocity_min_max_amount Array of min vvalue max value 6048 h vl_velocity_acceleration Array of delta speed and delta time 6049 h vl_velocity_deceleration Array of delta speed and delta time 8.2. Emergency messages min and max value P002 (16bits) fixed P003 (16bits) fixed The following error codes are supported: Drive Fault Code Description EmergencyError Code 001 OverVoltage Overcurrent Overload FF Overheating of motor inverter overtemperature USS time out Undervoltage Init. fault FF internal interface fault FF Program fault Failure to start on the fly FF Parameter Fault P Parameter Fault P012/P Dig input Parameter Fault FF FF FF FF Automatic calibration failure FF P006=1 while P201= Parameter Fault P211/P CAN bus Communication has timed out none 31 PZD interface has timed out Irretrievable error in CAN Bus Module Too many defective CAN messages have been received none 6046h:minValue = (P082 / P081) * P h:maxValue = (P082 / P081) * P h :delta_speed = P013* 100* P082/ P h : delta_time = P h : delta_speed = P013* 100* P082/ P h : delta_time = P003 25

26 English EXAMPLES OF CANopen MESSAGES 9. EXAMPLES OF CANOPEN MESSAGES NOTE: The following examples are all applicable to Slave Address No. 1. Example 1: Receive PDO 1 Receive PDO 1 (P901) enables real-time write access to the CONTROLWORD Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark Control word 2 7E 0C Control (6040) = 0C7E hex Initialise /Stop 201 hex (513 dec) For CONTROLWORD decoding, refer to Section 6.5 of this document. Example 2: Receive PDO 2 Receive PDO 2 (P903) enables a real-time write access to both the CONTROLWORD and Speed reference Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark Control word Speed Ref. 301 hex (769 dec) 4 7F 0C Control (6040) = 0C7F hex Start Speed Ref. (6042): = 0525 hex (RPM) For CONTROLWORD decoding, refer to Section 6.5 of this document. Example 3: Transmit PDO 2 Transmit PDO 2 (P904) enables real-time read access to STATUSWORD and Actual Speed. Length D0 D1 D2 D3 D4 D5 D6 D7 Remark Message ID 281 hex (641 dec) Status word Actual Speed F Status (6041) = 0F37 hex At speed Speed Ref. (6044): = 0525 hex (RPM) For STATUS WORD decoding, refer to Section 6.6 of this document. Example 4: SDO Set P13 to 50Hz (Parameter 13 Max. Motor Frequency) Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark Write Parameter Value 601 hex D F4 01 Write Parameter 13 to 500 (50Hz) Byte Swapping: 20 0D hex = P13 dec 01 F4 hex = 500 dec Example 5: SDO Read P723 (Digital Input Status) Length D0 D1 D2 D3 D4 D5 D6 D7 Remark Message ID Read Parameter Value 601 hex 8 40 D SDO message : Ask for P723 Response : 581 hex 8 42 D Value of P723 =3 i.e. DIN1 and DIN2 are high Byte Swapping: 22 D3 hex = P723 dec 26