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ACTIVE CUBE
CANopen
Communication module CM-CAN
Frequency inverter 230 V / 400 V
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Contents
1 General Information about the Documentation .......................................................... 8
1.1 This document ......................................................................................................... 9
1.2 Warranty and liability .............................................................................................. 9
1.3 Obligation .............................................................................................................. 10
1.4 Copyright ............................................................................................................... 10
1.5 Storage .................................................................................................................. 10
2 General safety instructions and information on use .................................................... 11
2.1 Terminology ........................................................................................................... 11
2.2 Designated use ...................................................................................................... 12
2.3 Misuse .................................................................................................................... 12
2.3.1 Explosion protection ............................................................................................... 12
2.4 Residual risks ......................................................................................................... 13
2.5 Safety and warning signs at frequency inverter ................................................... 13
2.6 Warning information and symbols used in the user manual ................................. 14
2.6.1 Hazard classes ....................................................................................................... 14
2.6.2 Hazard symbols ..................................................................................................... 14
2.6.3 Prohibition signs .................................................................................................... 14
2.6.4 Personal safety equipment ...................................................................................... 14
2.6.5 Recycling .............................................................................................................. 14
2.6.6 Grounding symbol .................................................................................................. 15
2.6.7 ESD symbol ........................................................................................................... 15
2.6.8 Information signs .................................................................................................. 15
2.7 Directives and guidelines to be adhered to by the operator ................................. 16
2.8 Operator's general plant documentation .............................................................. 16
2.9 Operator's/operating staff's responsibilities ........................................................ 16
2.9.1 Selection and qualification of staff ........................................................................... 16
2.9.2 General work safety ............................................................................................... 16
2.10 Organizational measures .................................................................................... 17
2.10.1 General ................................................................................................................. 17
2.10.2 Use in combination with third-party products ........................................................... 17
2.10.3 Transport and Storage ........................................................................................... 17
2.10.4 Handling and installation ........................................................................................ 17
2.10.5 Electrical connections ............................................................................................. 17
2.10.5.1 The five safety rules ........................................................................................ 18
2.10.6 Safe operation ....................................................................................................... 18
2.10.7 Maintenance and service/troubleshooting................................................................. 19
2.10.8 Final decommissioning ........................................................................................... 19
3 Introduction ................................................................................................................. 20
3.1 Supported Configurations ...................................................................................... 22
4 First Commissioning ..................................................................................................... 23
5 Installation/Disassembly of the communication module ............................................ 24
5.1 Installation ............................................................................................................ 24
5.2 Disassembly ........................................................................................................... 25
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6 Connector pin assignment/bus termination/line ........................................................ 26
7 Baud rate setting/line lengths ..................................................................................... 27
8 Setting the node number ............................................................................................. 27
9 Assigning the CANopen interface ................................................................................. 28
10 Operational behavior on bus failure ............................................................................ 29
11 CANopen Overview ...................................................................................................... 30
11.1 Communication Objects ..................................................................................... 30
11.2 Application Objects ............................................................................................ 30
11.3 SDO Function ...................................................................................................... 31
11.3.1 Read Access .......................................................................................................... 32
11.3.2 Write Access ......................................................................................................... 32
11.3.3 Error code table ..................................................................................................... 33
11.3.4 Segmented Transfer .............................................................................................. 34
11.3.4.1 Reading „Segmented Transfer“ ......................................................................... 34
11.3.4.2 Writing Segmented Transfer ............................................................................. 35
11.4 PDO Function ...................................................................................................... 37
11.5 Emergency Function ........................................................................................... 37
11.6 SYNC ................................................................................................................... 38
11.7 NMT Functions .................................................................................................... 39
11.7.1 NMT state machine ................................................................................................ 39
11.7.2 Boot-Up message .................................................................................................. 40
11.7.3 NMT commands ..................................................................................................... 40
11.8 Guarding ............................................................................................................. 41
11.9 Heartbeat ............................................................................................................ 42
11.10 OS Synchronization ............................................................................................ 42
11.11 Fault Reset .......................................................................................................... 44
12 Objects ......................................................................................................................... 45
12.1 Objects tabular overview ................................................................................... 45
12.1.1 Communication objects .......................................................................................... 45
12.1.2 Manufacturer objects ............................................................................................. 48
12.1.3 Device profile objects ............................................................................................. 50
12.2 Communication Objects (0x1nnn) ..................................................................... 55
12.2.1 0x1000/0 Device Type............................................................................................ 55
12.2.2 0x1001/0 Error Register ......................................................................................... 56
12.2.3 0x1005/0 COB-ID SYNC Message ............................................................................ 57
12.2.4 0x1006/0 Communication Cycle Period .................................................................... 57
12.2.5 0x1007/0 Synchronous window length ..................................................................... 59
12.2.6 0x1008/0 Manufacturer Device Name ...................................................................... 59
12.2.7 0x1009/0 Manufacturer Hardware Version ............................................................... 59
12.2.8 0x100A/0 Manufacturer Software Version ................................................................ 60
12.2.9 0x100C/0 Guard Time ............................................................................................ 60
12.2.10 0x100D/0 Lifetime Factor .................................................................................... 60
12.2.11 0x1010/n Store Parameters ................................................................................. 61
12.2.12 0x1011/n Restore default Parameters ................................................................... 62
12.2.13 0x1014/0 COB-ID Emergency Message ................................................................. 63
12.2.14 0x1016/n Consumer Heartbeat Time .................................................................... 64
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12.2.15 0x1017/0 Producer Heartbeat Time ...................................................................... 64
12.2.16 0x1018/n Identity Object .................................................................................... 65
12.2.17 0x1029/n Error Behavior ..................................................................................... 65
12.2.18 0x1200/n SDO Server Parameter ......................................................................... 66
12.2.19 0x1400/n, 0x1401/n, 0x1402/n RxPDO Communication Parameters ........................ 66
12.2.20 0x1600/n, 0x1601/n, 0x1602 RxPDO Mapping Parameters ..................................... 68
12.2.21 0x1800/n, 0x1801/n, 0x1802/n TxPDO Communication Parameters ........................ 70
12.2.22 0x1A00/n, 0x1A01/n, 0x1A02/n TxPDO Mapping Parameters .................................. 73
12.3 Manufacturer objects (0x2nnn) – Parameter access ......................................... 75
12.3.1 Handling of data sets/cyclic writing of the parameters ............................................... 75
12.3.1.1 SDO examples (expedited transfer only) ............................................................ 76
12.3.1.2 Examples of writing parameters ........................................................................ 77
12.3.1.3 Examples of reading parameters ....................................................................... 78
12.3.1.4 Example to Write parameters via Segmented Transfer ........................................ 79
12.3.1.5 Examples to Read parameters via Segmented Transfer ....................................... 81
12.3.2 Handling of index parameters/cyclic writing ............................................................. 83
12.3.2.1 Example Writing an index parameter ................................................................ 84
12.3.2.2 Example Reading an index parameter ............................................................... 84
12.4 Manufacturer objects (0x3000 … 0x5FFF) ......................................................... 85
12.4.1 0x3000/0 SYNC Jitter ............................................................................................. 85
12.4.2 0x3001/0 Digital In actual value .............................................................................. 86
12.4.3 0x3002/0 Digital Out actual value ............................................................................ 86
12.4.4 0x3003/0 Digital Out set values .............................................................................. 87
12.4.5 0x3004/0 Boolean Mux ........................................................................................... 88
12.4.6 0x3005/0 Boolean DeMux ....................................................................................... 89
12.4.7 0x3006/0 Percentage set value ............................................................................... 90
12.4.8 0x3007/0 Percentage actual value 1 ........................................................................ 91
12.4.9 0x3008/0 Percentage actual value 2 ........................................................................ 92
12.4.10 0x3011/0 Actual value Word 1 ............................................................................. 93
12.4.11 0x3012/0 Actual value Word 2 ............................................................................. 94
12.4.12 0x3021/0 Actual value Long 1.............................................................................. 95
12.4.13 0x3022/0 Actual value Long 2.............................................................................. 96
12.4.14 0x3111/0 Ref. Value word 1 ................................................................................ 97
12.4.15 0x3112/0 Ref. Value word 2 ................................................................................ 98
12.4.16 0x3121/0 Ref. Value long 1 ................................................................................. 99
12.4.17 0x3122/0 Ref. Value long 2 ............................................................................... 100
12.4.18 0x5F10/0 Gear factor ........................................................................................ 101
12.4.19 0x5F11/n…0x5F14/n Phasing 1…4 ..................................................................... 102
12.4.20 0x5F15/0 In Gear Threshold .............................................................................. 105
12.4.21 0x5F16/0 In Gear Time ..................................................................................... 106
12.4.22 0x5F17/n Position Controller .............................................................................. 106
12.4.23 0x5FF0/0 Active motion block ............................................................................ 108
12.4.24 0x5FF1/0 Motion block to resume ...................................................................... 110
12.5 Device Profile Objects (0x6nnn) ...................................................................... 111
12.5.1 0x6007/0 Abort Connection option code ................................................................ 111
12.5.2 0x603F/0 Error code ............................................................................................ 114
12.5.3 0x6040/0 Control word ......................................................................................... 115
12.5.4 0x6041/0 Status word .......................................................................................... 116
12.5.5 0x6042/0 Target velocity [rpm] ............................................................................. 117
12.5.6 0x6043/0 Target velocity demand ......................................................................... 118
12.5.7 0x6044/0 Control effort ........................................................................................ 118
12.5.8 0x6046/n Velocity min max amount....................................................................... 119
12.5.9 0x6048/n Velocity acceleration .............................................................................. 121
12.5.10 0x6049/n Velocity deceleration .......................................................................... 122
12.5.11 0x604A/n Velocity quick stop ............................................................................. 123
12.5.12 0x6060/0 Modes of operation ............................................................................ 124
12.5.13 0x6061/0 Modes of operation display ................................................................. 125
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12.5.14 0x6064/0 Position actual value .......................................................................... 125
12.5.15 0x6065/0 Following error window ...................................................................... 126
12.5.16 0x6066/0 Following error time out ..................................................................... 127
12.5.17 0x6067/0 Position window ................................................................................. 128
12.5.18 0x6068/0 Position window time ......................................................................... 129
12.5.19 0x606C/0 Velocity actual value [u/s] .................................................................. 129
12.5.20 0x606D/0 Velocity Window ................................................................................ 130
12.5.21 0x606E/0 Velocity Window Time ........................................................................ 131
12.5.22 0x606F/0 Velocity Threshold .............................................................................. 132
12.5.23 0x6070/0 Velocity Threshold Time ..................................................................... 133
12.5.24 0x6071/0 Target Torque ................................................................................... 134
12.5.25 0x6077/0 Torque actual value ........................................................................... 134
12.5.26 0x6078/0 Current actual value ........................................................................... 135
12.5.27 0x6079/0 DClink circuit voltage .......................................................................... 135
12.5.28 0x607A/0 Target position .................................................................................. 136
12.5.29 0x607C/0 Home offset ...................................................................................... 137
12.5.30 0x6081/0 Profile velocity [u/s] ........................................................................... 138
12.5.31 0x6083/0 Profile acceleration ............................................................................. 139
12.5.32 0x6084/0 Profile deceleration ............................................................................ 140
12.5.33 0x6085/0 Quick stop deceleration ...................................................................... 141
12.5.34 0x6086/0 Motion profile type ............................................................................. 142
12.5.35 0x6091/n Gear ratio.......................................................................................... 143
12.5.36 0x6092/n Feed constant .................................................................................... 145
12.5.37 0x6098/0 Homing method ................................................................................. 146
12.5.38 0x6099/n Homing speeds .................................................................................. 148
12.5.39 0x609A/0 Homing acceleration .......................................................................... 149
12.5.40 0x60C1/1 Interpolation data record .................................................................... 150
12.5.41 0x60F4/0 Following error actual value ................................................................ 151
12.5.42 0x60F8/0 Max Slippage [u/s] ............................................................................. 152
12.5.43 0x60FF/0 Target Velocity .................................................................................. 153
13 Motion Control Interface (MCI) ................................................................................. 154
13.1 Object and parameter dependencies ............................................................... 155
13.2 Reference system ............................................................................................. 159
13.3 Homing ............................................................................................................. 160
13.3.1 Start position after homing ................................................................................... 160
13.3.2 Flying homing ...................................................................................................... 160
13.4 Position Controller ............................................................................................ 160
13.5 Move away from Hardware limit switches ....................................................... 161
13.6 Motion Control Interface for Experts ............................................................... 162
13.7 Motion Control Override ................................................................................... 163
14 Inverter Control ......................................................................................................... 164
14.1 Control via digital inputs/remote digital inputs ............................................... 165
14.1.1 Device State machine ........................................................................................... 167
14.2 Control via state machine ................................................................................. 168
14.2.1 Statemachine diagram ......................................................................................... 170
14.3 Non motion control configurations .................................................................. 173
14.3.1 Behavior in quick stop .......................................................................................... 173
14.3.2 Behavior in transition 5 (Disable operation) ............................................................ 174
14.3.3 Reference value / actual value .............................................................................. 175
14.3.4 Example Sequence ............................................................................................... 176
14.4 Motion control configurations .......................................................................... 177
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14.4.1 Velocity mode [rpm] ............................................................................................ 178
14.4.1.1 Example Sequence ........................................................................................ 181
14.4.2 Profile Velocity mode [u/s] ................................................................................... 183
14.4.2.1 Example Sequence ........................................................................................ 186
14.4.3 Profile position mode ........................................................................................... 187
14.4.3.1 Example Sequence ........................................................................................ 193
14.4.4 Interpolated position mode ................................................................................... 195
14.4.4.1 Example Sequence ........................................................................................ 199
14.4.5 Homing mode ...................................................................................................... 200
14.4.5.1 Example Sequence ........................................................................................ 202
14.4.6 Table travel record ............................................................................................... 203
14.4.6.1 Example Sequence ........................................................................................ 210
14.4.7 Move away from Limit switches ............................................................................. 211
14.4.7.1 Example Sequence ........................................................................................ 214
14.4.8 Electronic Gear: Slave .......................................................................................... 215
14.4.8.1 Example Sequence ........................................................................................ 222
15 Parameter list ............................................................................................................. 224
15.1 Actual values .................................................................................................... 224
15.2 Parameters ....................................................................................................... 224
16 Annex ......................................................................................................................... 227
16.1 Control Word overview ..................................................................................... 227
16.2 Status Word overview ...................................................................................... 228
16.3 Warning messages ........................................................................................... 229
16.4 Warning Messages Application ......................................................................... 230
16.5 Fault messages ................................................................................................. 231
16.6 Conversions ...................................................................................................... 232
16.6.1 Speed [rpm] to Frequency [Hz] ............................................................................. 232
16.6.2 Frequency [Hz] to Speed [rpm] ............................................................................. 232
16.6.3 Speed in user units [u/s] to Frequency [Hz] ........................................................... 232
16.6.4 Frequency [Hz] to Speed in user units [u/s] ........................................................... 232
16.6.5 Speed in user units [u/s] to Speed [rpm] ............................................................... 232
16.6.6 Speed [rpm] to Speed in user units [u/s] ............................................................... 232
16.7 Object support in the Software versions and EDS files .................................... 233
17 Motion-control-interface for Profibus connection ..................................................... 236
Index ................................................................................................................................ 237
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1 General Information about the Documentation
For better clarity, the documentation of the frequency inverter is structured according to the customer-specific requirements.
This documentation was written in German language. The German documentation is the original one.
Other language versions are translated.
Quick Start Guide
The “Quick Start Guide” describes the basic steps required for mechanical and electrical installation of
the frequency inverter. The guided commissioning supports you in the selection of necessary parameters and the configuration of the software of the frequency inverter.
User manual
The user manual documents the complete functionality of the frequency inverter. The parameters
required for special purposes, for adjustment to the application and the numerous additional functions
are described in detail.
Separate user manuals are supplied for optional components for the frequency inverter. These manuals complement the operating instructions and the “Quick Start Guide” for the frequency inverter.
Application manual
The application manual complements the documentation to ensure goal-directed installation and
commissioning of the frequency inverter. Information on various topics in connection with the use of
the frequency inverter are described in context with the specific application.
Installation instructions
The installation manual describes the installation and use of devices, complementing the “Quick Start
Guide” and the user manual.
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WARNING
Compliance with the documentation is required to ensure safe operation of the frequency inverter. BONFIGLIOLI VECTRON GmbH shall not be held liable for any damage
caused by any non-compliance with the documentation.
In case any problems occur which are not covered by the documentation sufficiently,
1.1 This document
The present user manual of the CM-CAN communicatio n module complements the user manual and
the “Quick Start Guide” for the frequency inverters of the ACU 201 and ACU 401 device series.
The user manual contains important information on the installation and use of the CANopen
®
communication module CM-CAN in its s pecified application range. Compliance with this user manual contributes to avoiding risks, minimizing repair cost and downtimes and increasing the reliability and service
live of the frequency inverter.
For this reason, make sure you read the user manual carefully.
please contact the manufacturer.
1.2 Warranty and liability
BONFIGLIOLI VECTRON GmbH would like to point out that the contents of this user manual do not
form part of any previous or existing agreement, assurance or legal relationship. Neither are they
intended to supplement or replace such agreements, assurances or legal relationships. Any obligations
of the manufacturer shall solely be based on the relevant purchase agreement which also includes the
complete and solely valid warranty stipulations. These contractual warranty provisions are neither
extended nor limited by the specifications contained in this documentation.
The manufacturer reserves the right to correct or amend the specifications, product information and
omissions in these operating instructions without notice. The manufacturer shall not be liable for any
damage, injuries or costs which may be caused by the aforementioned reasons.
In addition to that, BONFIGLIOLI VECTRON GmbH excludes any warranty/liability claims for any personal and/or material damage if such damage is due to one or more of the following causes:
• inappropriate use of the frequency inverter,
• non-compliance with the instructions, warnings and prohibitions contained in the documentation,
• unauthorized modifications of the solar inverter,
• insufficient monitoring of parts of the machine/plant which are subject to wear,
• repair work at the machine/plant not carried out properly or in time,
• catastrophes by external impact and Force Majeure.
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1.3 Obligation
This user manual must be read before commissioning and complied with. Anybody entrusted with
tasks in connection with the
• transport,
• assembly,
• installation of the frequency inverter and
• operation of the frequency inverter
must have read and understood the user manual and, in particular, the safety instructions in order to
prevent personal and material losses.
1.4 Copyright
In accordance with applicable law against unfair competition, this user manual is a certificate. Any
copyrights relating to it shall remain with
BONFIGLIOLI VECTRON GmbH
Europark Fichtenhain B6
47807 Krefeld
Germany
These user manual is intended for the operator of the frequency inverter. Any disclosure or copying of
this document, exploitation and communication of its contents (as hardcopy or electronically) shall be
forbidden, unless permitted expressly.
Any non-compliance will constitute an offense against the copyright law dated 09 September 1965,
the law against unfair competition and the Civil Code and may result in claims for damages. All rights
relating to patent, utility model or design registration reserved.
1.5 Storage
The documentation form an integral part of the frequency inverter. It must be stored such that it is
accessible to operating staff at all times. In case the frequency inverter is sold to other users, this user
manual must also be handed over.
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2 General safety instructions and information on use
The chapter "General safety instructions and information on use" contains general safety instructions
for the Operator and the Operating Staff. At the beginning of certain main chapters, some safety instructions are included which apply to all work described in the relevant chapter. Special work-specific
safety instructions are provided before each safety-relevant work step.
2.1 Terminology
According to the documentation, different activities must be performed by certain persons with certain
qualifications.
The groups of persons with the required qualification are defined as follows:
Operator
This is the entrepreneur/company who/which operates the frequency inverter and uses it as per the
specifications or has it operated by qualified and instructed staff.
Operating staff
The term Operating Staff covers persons instructed by the Operator of the frequency inverter and
assigned the task of operating the frequency inverter.
Qualified staff
The term Qualified Staff covers staff who is assigned special tasks by the Operator of the frequency
inverter, e.g. installation, maintenance and service/repair and troubleshooting. Based on their qualification and/or know-how, qualified staff must be capable of identifying defects and assessing functions.
Qualified electrician
The term Qualified Electrician covers qualified and trained staff who has special technical know-how
and experience with electrical installations. In addition, Qualified Electricians must be familiar with the
applicable standards and regulations, they must be able to assess the assigned tasks properly and
identify and eliminate potential hazards.
Instructed person
The term Instructed Person covers staff who was instructed and trained about/in the assigned tasks
and the potential hazards that might result from inappropriate behavior. In addition, instructed persons must have been instructed in the required protection provisions, protective measures, the applicable directives, accident prevention regulations as well as the operating conditions and verified their
qualification.
Expert
The term Expert covers qualified and trained staff who has special technical know-how and experience
relating to frequency inverter. Experts must be familiar with the applicable government work safety
directives, accident prevention regulations, guidelines and generally accepted rules of technology in
order to assess the operationally safe condition of the frequency inverter.
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2.2 Designated use
The frequency inverter is designed according to the state of the art and recognized safety regulations.
The frequency inverters are electrical drive components intended for installation in industrial plants or
machines. Commissioning and start of operation is not allowed until it has been verified that the machine meets the requirements of the EC Machinery Directive 2006/42/EC and DIN EN 60204-1.
The frequency inverters meet the requirements of the low voltage directive 2006/95/EEC and DIN
EN 61800-5-1. CE-labeling is based on these standards. Responsibility for compliance with the EMC
Directive 2004/108/EC lies with the operator. Frequency inverters are only available at specialized
dealers and are exclusively intended for commercial use as per EN 61000-3-2.
No capacitive loads may be connected to the frequency inverter.
The technical data, connection specifications and information on ambient conditions are indicated on
the rating plate and in the documentation and must be complied with in any case.
2.3 Misuse
Any use other than that described in "Designated use" shall not be permissible and shall be considered as misuse.
For example, the machine/plant must not be operated
• by uninstructed staff,
• while it is not in perfect condition,
• without protection enclosure (e.g. covers),
• without safety equipment or with safety equipment deactivated.
The manufacturer shall not be held liable for any damage resulting from such misuse. The sole risk
shall be borne by the operator.
2.3.1 Explosion protection
The frequency inverter is an IP 20 protection class device. For this reason, use of the device in explosive atmospheres is not permitted.
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2.4 Residual risks
Residual risks are special hazards involved in handling of the frequency inverter which cannot be eliminated despite the safety-compliant design of the device. Residual risks are not obviously identifiable
and can be a potential source of injury or health hazard.
Typical residual hazards include:
Electrical hazard
Danger of contact with energized components due to a defect, opened covers or enclosures or im-
proper working on electrical equipment.
Danger of contact with energized components inside of the frequency inverter if no external disconnection device was installed by the operator.
Electrostatic charging
Touching electronic components bears the risk of electrostatic discharges.
Thermal hazards
Risk of accidents by hot machine/plant surfaces, e.g. heat sink, transformer, fuse or sine filter.
Charged capacitors in DC link
The DC link may have dangerous voltage levels even up to three minutes after shutdown.
Danger of equipment falling down/over, e.g. during transport
Center of gravity is not the middle of the electric cabinet modules.
2.5 Safety and warning signs at frequency inverter
• Comply with all safety instructions and d anger inform ation provided on the frequency inverter.
• Safety information and warnings on the frequency inverter must not be removed.
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risk of death or serious injury if not
risk of death or serious injury if
Symbol
Meaning
Symbol
Meaning
Symbol
Meaning
Symbol
Meaning
2.6 Warning information and symbols used in the user manual
2.6.1 Hazard classes
The following hazard identifications and symbols are used to mark particularly important information:
DANGER
Identification of immediate threat holding a high
avoided.
WARNING
Identification of immediate threat holding a medium
not avoided.
CAUTION
Identification of immediate threat holding a low risk of minor or moderate physical injury if not avoided.
NOTE
Identification of a threat holding a risk of material damage if not avoided.
2.6.2 Hazard symbols
General hazard
Electrical voltage
2.6.3 Prohibition signs
No switching; it is forbidden to switch
the machine/plant, assembly on
Suspended load
Hot surfaces
2.6.4 Personal safety equipment
Wear body protection
2.6.5 Recycling
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Symbol
Meaning
Recycling, to avoid waste, collect all
Symbol
Meaning
Symbol
Meaning
ESD: Electrostatic Discharge (can
Symbol
Meaning
materials for reuse
2.6.6 Grounding symbol
Ground connection
2.6.7 ESD symbol
damage components and assemblies)
2.6.8 Information signs
Tips and information making using the
frequency inverter easier.
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2.7 Directives and guidelines to be adhered to by the operator
The operator must follow the following directives and regulations:
• Ensure that the applicable workplace-related accident prevention regulations as well as other ap-
plicable national regulation are accessible to the staff.
• An authorized person must ensure, before using the frequency inverter, that the device is used in
compliance with its designated use and that all safety requirements are met.
• Additionally, comply with the applicable laws, regulations and directives of the country in which
the frequency inverter is used.
• Any additional guidelines and directives that may be required additionally shall be defined by
the operator of the machine/plant considering the operating environment.
2.8 Operator's general plant documentation
• In addition to the user manual, the operator should issue separate internal operating instructions
for the frequency inverter. The user manual of the frequency inverter must be included in the user
manual of the whole plant.
2.9 Operator's/operating staff's responsibilities
2.9.1 Selection and qualification of staff
• Any work on the frequency inverter may only be carried out by qualified technical staff. The staff
must not be under the influence of any drugs. Note the minimum age required by law. Define the
staff's responsibility in connection with all work on the frequency inverter clearly.
• Work on the electrical components may only be performed by a qualified electrician according to
the applicable rules of electrical engineering.
• The operating staff must be trained for the relevant work to be performed.
2.9.2 General work safety
• In addition to the user manual of the machine/plant, any applicable legal or other regulations
relating to accident prevention and environmental protection must be complied with. The staff
must be instructed accordingly.
Such regulations and/or requirements may include, for example, handling of hazardous media and
materials or provision/use of personal protective equipment.
• In addition to this user manual, issue any additional directives that may be required to meet spe-
cific operating requirements, including supervision and reporting requirements, e.g. directives relating to work organization, workflow and employed staff.
• Unless approved of expressly by the manufacturer, do not modify the frequency inverter in any
way, including addition of attachments or retrofits.
• Only use the frequency inverter if the rated connection and setup values specified by the manu-
facturer are met.
• Provide appropriate tools as may be required for performing all work on the frequency inverter
properly.
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2.10 Organizational measures
2.10.1 General
• Train your staff in the handling and use of the frequency inverter and the machine/plant as well
as the risks involved.
• Use of any individual parts or components of the frequency inverter in other parts of the opera-
tor's machine/plant is prohibited.
• Optional comp onents for the frequency inverter must be used in accordance with their designated
use and in compliance with the relevant documentation.
2.10.2 Use in combination with t h ir d-party products
• Please note that BONFIGLIOLI VECTRON GmbH will not accept any responsibility for compatibility
with third-party products (e.g. motors, cables or filters).
• In order to enable optimum system compatibility, BONFIGLIOLI VECTRON GmbH office compo-
nents facilitating commissioning and providing optimum synchronization of the machine/plant
parts in operation.
• If you use the frequency inverter in combination with third-party products, you do this at your
own risk.
2.10.3 Transport and Storage
• The frequency inverters must be transported and stored in an appropriate way. During transport
and storage the devices must remain in their original packaging.
• The units may only be stored in dry rooms which are protected against dust and moisture and are
exposed to little temperature deviations only. The requirements of DIN EN 60721-3-1 for storage,
DIN EN 60721-3-2 for transport and labeling on the packaging must be met.
• The duration of storage without connection to the permissible nominal voltage may not exceed
one year.
2.10.4 Handling and installation
• Do not commission any damaged or des troyed compo nents.
• Prevent any mechanical overloading of the frequency inverter. Do not bend any components and
never change the isolation distances.
• Do not touch any electronic construction elements and contacts. The frequency inverter is
equipped with components which are sensitive to electrostatic energy and can be damaged if
handled improperly. Any use of damaged or destroyed components will endanger the machine/plant safety and shall be considered as a non-compliance with the applicable standards.
• Only install the frequency inverter in a suitable operating environment. The frequency inverter is
exclusively designed for installation in industrial environments.
• If seals are removed from the case, this can result in the warranty becoming null and void.
2.10.5 Electrical connectio ns
• The five safety rules must b e complied with.
• Never touch live terminals. The DC link may have dangerous voltage levels even up to three
minutes after shutdown.
• When perform ing any work on/with the frequency inverter, always comply with the applicable
national and international regulations/laws on work on electrical equipment/plants of the country
when the frequency inverter is used.
• The cables connected to the frequency inverters may not be subjec ted to high-voltage insulation
tests unless appropriate circuitry measures are taken before.
• Only connect the frequency inverter to suitable supply mains.
04/13 CM-CAN ACU 17
Page 18
2.10.5.1 The five safety rules
When working on/in electrical plants, always follow the five safety rules:
1. Isolate
2. Secure to prevent restarting
3. Check isolation
4. Earth and short-circuit,
5. Cover or shield neighboring live parts.
2.10.6 Safe operation
• During operation of the frequency inverter, always comply with the applicable national and inter-
national regulations/laws on work on electrical equipment/plants.
• Before commissioning and the start of the operation, make sure to fix all covers and check the
terminals. Check the additional monitoring and protective devices according to the applicable national and international safety directives.
• During operation, never open the machine/plant
• Do not connect/disconnect any components/equipment during operation.
• The machine/plant holds high voltage levels during operation, is equipp ed with rotating parts
(fan) and has hot surfaces. Any unauthorized removal of covers, improper use, wrong installation
or operation may result in serious injuries or material damage.
• Some components, e.g. the heat sink or brake resistor, may be hot even some time after the ma-
chine/plant was shut down. Don't touch any surfaces directly after shutdown. Wear safety gloves
where necessary.
• The frequency inverter may hold dangerous voltage levels until the capacitor in the DC link is dis-
charged. Wait for at least 3 minutes after shutdown before starting electrical or mechanical work
on the frequency inverter. Even after this waiting time, make sure that the equipment is deenergized in accordance with the safety rules before starting the work.
• In order to avoid accidents or damage, only qualified staff and electricians may carry out the work
such as installation, commissioning or setup.
• In the case of a defect of terminals and/or cables, immediately disconnect the frequency inverter
from mains supply.
• Persons not familiar with the operation of frequency inverters must not have access to the fre-
quency inverter. Do not bypass nor decommission any protective facilities.
• The frequency inverter may be connected to power supply every 60 s. This must b e c onsidered
when operating a mains contactor in jog operation mode. For commissioning or after an emergency stop, a non-recurrent, direct restart is permissible.
• After a failure and restoration of the power supply, the motor may start unexpectedly if the Auto
Start function is activated.
If staff is endangered, a restart of the motor must be prevented by means of external circuitry.
• Before commissioning and the start of the operation, make sure to fix all covers and check the
terminals. Check the additional monitoring and protective devices according to EN 60204 and applicable the safety directives (e.g. Working Machines Act or Accident Prevention Directives).
18 CM-CAN ACU 04/13
Page 19
Electric scrap, electronic components, lubricants and other utility materials must be
2.10.7 Maintenance and service/troubleshooting
• Visually inspect the frequency inverter when carrying out the required maintenance work and
inspections at the machine/plant.
• Perform the maintenance work and inspections prescribed for the machine carefully, including the
specifications on parts/equipment replacement.
• Work on the electrical components may only be performed by a qualified electrician according to
the applicable rules of electrical engineering. Only use original spare parts.
• Unauthorized opening and im p roper interventions in the machine/plant can lead to personal injury
or material damage. Repairs on the frequency inverters may only be carried out by the manufacturer or persons authorized by the manufacturer. Check protective equipment regularly.
• Before performing any maintenance work, the machine/plant must be disconnected from mains
supply and secured against restarting. The five safety rules must be complied with.
2.10.8 Final decommissioning
Unless separate return or disposal agreements were made, recycle the disassembled frequency inverter components:
• Scrap metal materials
• Recycle plastic elements
• Sort and dispose of other component materials
treated as special waste and may only be disposed of by specialized companies.
In any case, comply with any applicable national disposal regulations as regards environmentally compatible disposal of the frequency inverter. For more details, contact
the competent local authorities.
04/13 CM-CAN ACU 19
Page 20
This document describes the features of the CANopen® communication for frequency
r-
“Move away from Limit Switch” mode and “Electronic Gear: Slave” mode is supported
−
−
−
, depending
of the selection of the CANopen® interface.
Please refer to chapter 16.7 “Object support in the Software versions and EDS files”
Possible combinations
The frequency inverter must be extended by either the CANopen® communication
module is enclosed with the frequency inverter as a separate
m-
p-
tion refer to the corresponding manual.
CM-CAN offers decoupled drivers, while EM modules have coupled drivers.
CAN module is used
These instructions are not to be understood as fundamental information on CANo-
. They presuppose underlying knowledge of the methods and mode of effect of
PC with the VPlus control software requires an optional KP232 interface adapter.
In this document, connecting the hardware, relevant parameters and the available
objects are shown.
CANopen
System bus
ACU
EM
CM
System bus
ACU
EM
CANopen
ACU
CM
CANopen
ACU
EM
1
2 3
4
3 Introduction
inverters of the ACU series.
The CANopen® communication (like described in this manual) requires software ve
sion 5.1.2 or higher.
“Profile velocity” mode is supported with software version 5.2.0 or higher.
with software version 5.3.0 or higher.
CANopen® communication is available with modules:
Communication module CM-CAN
Expansion module EM-SYS
Expansion module EM with CAN terminals on board like EM-IO-01
The expansion modules can be used with either System bus or CANopen
for detailed information about the supported objects and required EDS files.
®
module CM-CAN or a fitting EM module for the CAN connection.
The CM-CAN CANopen®
component and must be fitted by the user. This is described in detail in the "Asse
bly" chapter. For the assembly of the EM modules and System bus protocol descri
NOTE
BONFIGLIOLI VECTRON recommends using the CM-CAN module, especially in environments with critical EMC behavior.
For reasons of better readability, in the following chapters CMrepresentative for all modules able to establish CANopen® communication.
®
pen
CAN open on the part of the user.
In some chapters, as an alternative to the KP500 control unit, the setting and displaying of values is described with the help of the VPlus control software. Operation of a
20 CM-CAN ACU 04/13
Page 21
The available objects are sub-divided according to:
Communication objects
(0x1nnn)
to DS301 V4.01
Manufacturer objects
(0x2nnn)
Standardized objects
(0x6nnn)
to DS402 V1.1
The functions and objects are described as far as necessary in these instructions. For
reference is made are DS102, DS301 and DS402, which are
available from:
CiA, CAN in AUTOMATION
D-91058 Erlangen
Fax: +49 9131 69086-79
cy inverters parameters from a controller. There is no access control via the control
level as in the case of the KP500 manual control unit or the VPlus PC software.
rameters, the functions of which are not known to the user, can result
Handling
For the operation with a PLC in most cases an EDS file in required. You
CANopen® and CiA® are registere d community trademarks of CAN in Automation e.V..
Hexadecimal values are marked in the following by a preceding “0x”.
further information, reference is made here to the Draft Standards of the CiA®.
The standards to which
Am Weichselgarten 26
Tel.: +49 9131 69086-0
NOTE
With the CM-EtherCAT communication module, it is possible to access ALL frequen-
Changing pa
in unintended movements and material and/or personal losses as well as inoperativeness of the frequency inverter.
NOTE
If data is written cyclically comply with the instructions in chapter 12.3.1 “
of data sets/cyclic writing”.
can find this EDS file on the product documentation CD.
04/13 CM-CAN ACU 21
Page 22
3.1 Supported Configurations
ACTIVE CUBE inverters support different types of control and reference values:
• Standard (without Positioning functions)
• Positioning via contacts (or remote contacts)
• Positioning via Motion Control Interface (MCI) via field bus
Motion control configurations are set when parameter
use the full functionality of the Motion Control Interface Parameter
via State machine” must be set.
The inverter's behavior with respect to
operation display
is different in the two different types of configuration.
control word | status word
Standard:
Necessary settings: C
onfiguration 30 ≠ x40.
Local/Remote 412 = (Remote) contacts
The control (Start, Stop, Frequency change over, etc.) is carried out typically via:
o Digital contacts
o Remote contacts via Field bus
Reference values result from the select configuration. Typical are:
o Reference speed / Reference frequency:
Analogue input
Fixed values from parameters
0x6042 target velocity
o Percentage reference value for technology controller or Torque control
Analogue input
Fixed values from parameters
Please refer to chapter 14.3 “Non motion control configurations“ for the control without Positioning
functionality.
Positioning via contacts (or remote contacts):
Necessary settings: C
onfiguration 30 = x40.
Local/Remote 412 = (Remote) contacts
The control (Start, Stop, Target position change over, etc.) is carried out typically via:
o Digital contacts
o Remote contacts via Field bus
Reference values result from the selected configuration. Typical are:
o Reference speed / Reference frequency
o Reference target position
Please refer also to the application manual “Positioning”.
MCI (Motion Control Interface – Positioning via Field bus):
Necessary settings: C
onfiguration 30 = x40.
Local/Remote 412 = 1 - Statemachine
The control (Start, Stop, mode change over, etc.) is carried out via 0x6040
Reference values result from the selected 0x6060
Typical are:
o Reference speed via 0x6042 target velocity
o Target position 0x607A target position.
The usage of the Motion Control Interface is described in this manual in chapter 14.4 “Motion control
configurations”.
configuration 30 = x40 (in example 240). To
Local/Remote 412 = “1-Control
and
modes of operation /modes of
Modes of Operation
Control word
.
.
22 CM-CAN ACU 04/13
Page 23
For the first commissioning you should acquaint yourself with the following steps and
− Installation of the Module
Chapter
5.1 − Check and set Terminating resistor
Chapter
6 − Setting of the Baudrate
Chapter
7 − Setting of the node Address
Chapter
8
− Select the device control Local/Remote 412
Chapter
14
− Commission the device function via PLC
o Reaction of the PLC to the Boot-Up message
or Guarding-Request/Response
Chapter
11.7.2,
11.8
o PDO Mapping
Chapter
12.2.19,
12.2.22
o Fault reaction
Chapter
10,
12.5.1
Fault reset
Chapter
11.11
o SDO access
Chapter
11.3,
12.3
− Setting Reference value:
o Speed setting in speed controlled configura-
tion x10, x11, x15, x16, x30, x60
Chapter
14.3
o Reference value in Positioning configuration
x40
Chapter
13 and 14.4
Velocity Mode
Chapter
14.4.1
Profile Velocity Mode
Chapter
14.4.2
Profile Position Mode
Chapter
14.4.3
Interpolated Position Mode
Chapter
14.4.4
Homing Mode
Chapter
14.4.5
Table Travel record Mode
Chapter
14.4.6
Change of Mode
Chapter
12.5.12
− Diagnosis:
Chapter
16
15
4 First Commissioning
the described functions:
12.2.20,
12.2.21,
12.2.17,
04/13 CM-CAN ACU 23
Page 24
The communication module CM-CAN is pre-assembled in a case. Additionally, a PE
spring is enclosed for PE connection (shield).
Danger of desytroying the frequency inverter and/or the communication
nents may be damaged.
Work steps:
• Disconnect the frequency inverter from the mains voltage and protect it against
•
u-
nication module is now accessible.
1
2
1
1
1
1
1
1
1
1
1
3
2
2
2
2
2
2
2
2
2
Slot A
S
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
l
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
o
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
t
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
B
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
S lo t A
• Mount the supplied PE spring (5) using the M4 screw (6) in the unit. The spring
•
•
of the module to the
PE spring (5).
5
6
(M4)
8
7
(M2)
• In the upper cover (1), break out the pre-punched cutout (3) for the plug X310
• Mount the two covers (1) and (2).
5 Installation/Disassembly of the communication module
5.1 Installation
Caution!
module
• The frequency inverter must be disconnected from the power supply before
installation of the communication module. Assembly under voltage is not
Remove covers (1) and (2) of t he frequency inverter. Slot B (4) for the comm
permissible.
• Do not touch the PCB visible on the back of the module, otherwise compo-
being energized unintentionally.
must be aligned centrally.
Insert the communication module in slot B (4) until it engages audibly.
Fix the communication module by screwing the M2 screw (7)
(8).
24 CM-CAN ACU 04/13
Page 25
• Disconnect the frequency inverter from mains voltage and protect it against being
• Remove covers (1) and (2) of the frequency inverter.
9
7
• Loosen the M2 screw (7) on the communication module
•
by unlocking the locking hooks
on the right and left hand side of the module from the case of the frequency
for
To do this, carefully insert the screwdriver in the gap between the case of the
ok inwards in the
. As soon as the right hand side is unlocked, pull
Hold the module on the right hand side while unlocking the locking hook on
Pull the module out of the slot by gently pulling on the right and left hand side
alternately.
• Disassemble the PE spring (5).
• Mount the two covers (1) and (2).
5.2 Disassembly
energized unintentionally.
Unplug the communication module from Slot B (4)
(9)
inverter using a small screwdriver.
The looking hooks (9) are loca ted at the place where the looking hooks (10)
the upper cover (1) project from the case of the frequency inverter.
•
module and the frequency inverter and push the locking ho
direction of the arrow ()
the module out a bit on the right hand side and hold it.
•
the left hand side in the same way ().
•
04/13 CM-CAN ACU 25
Page 26
The CAN connection is physically designed according to the ISO 11898 standards
(CAN High-Speed).
S1
X310
The X310 (9-pole Sub-D) bus plug has been
designed according to DS102 Version 2.0 (Bus
Details can be seen from the following table on
The bus termination necessary on a phase in the
i-
on the communication
The factory setting for the bus termination is OFF.
As an alternative, this is also possible via corresponding switching in the bus connection plugs.
CAN high (P in 7)
120 Ω
CAN low (P in 2)
data line
data line
Make absolutely sure that only one of the two possibilities for the bus termination is
first and last subscriber.
communication is not possible. The CAN
Bus plug X310
Pin
Name
Function
Housing
Shield
connected with PE
1 CAN_L
CAN Low bus interface,
max. current 60 mA
2 CAN_L
CAN Low bus interface,
max. current 60 mA
3 CAN_GND
Earth/GND
4 n.c.
not used
5 n.c.
not used
6 CAN_GND
Earth/GND
7 CAN_H
CAN High bus interface,
max. current 60 mA
8 CAN_H
CAN-High Bus-interface,
max. current 60 mA
9 -
Do NOT connect.
The drilled and shielded line is to be used for the bus line. The shield is to be implemented as a harness shield (not a film shield).
6 Connector pin assignment/bus termination/line
node, option A).
the occupancy of the bus plug.
physically first and last subscriber can be act
vated via DIP switch S1
module.
NOTE
used and the bus termination is only switched on with the
Otherwise, operation of the CANopen®
Controller State is displayed via actual value parameter CAN-State 1291.
short-circuit resistant and function-insulated,
short-circuit resistant and function-insulated,
short-circuit resistant and function-insulated,
short-circuit resistant and function-insulated,
NOTE
26 CM-CAN ACU 04/13
Connect the line screen with PE at both ends.
Page 27
The transmission speed of the CANopen® communication module CM-CAN can be set
via the parameter CAN Baud rate 385.
Parameter
Setting
No.
Description
Min.
Max.
Fact. sett.
385
CAN Baud rate
1 8 6
The transmission rate is a function of a variety of application-specific parameters. The
line length of the communication network limits the transmission speed due to the
signal propagation time of the CANopen® protocols.
CANopen® interface
Operation mode
Function
max. Line length
1 -
10 kBaud
Transmission rate 10 kBaud
5000 meter
2 -
20 kBaud
Transmission rate 20 kBaud
2500 meter
3 -
50 kBaud
Transmission rate 50 kBaud
1000 meter
4 -
100 kBaud
Transmission rate 100 kBaud
500 meter
5 -
125 kBaud
Transmission rate 125 kBaud
500 meter
6 -
250 kBaud
Transmission rate 250 kBaud
250 meter
7 -
500 kBaud
Transmission rate 500 kBaud
100 meter
8 -
1000 kBaud
Transmission rate 1000 kBaud
25 meter
Changing the baud rate causes a restart of the CANopen® system (NOT a reset of
The CANopen® protocol supports a maximum of 127 nodes in a communication net-
, which may only exist once in the
parameter
CAN Node Number 387.
Parameter
Setting
No.
Description
Min.
Max.
Fact. sett.
387
CAN Node Number
-1
127
-1
The factory setting CAN Node Number 387 = -1 means that the CANopen® inter-
The value Can Node number 387 = 0 is not allowed and cannot be set.
Changing the node number causes a restart of the CANopen® system (NOT a reset
7 Baud rate setting/line lengths
the inverter).
8 Setting the node number
work. Each frequency inverter is assigned a node ID
system, for its unambiguous identification. The node number is set with
face has been deactivated.
of the inverter).
04/13 CM-CAN ACU 27
Page 28
Normally a CANopen® connection is set up using the CM-CAN module. As an alterna-
-
r-
is set to
CAN Node Number
CAN Interface 276
Operation mode
Function
1 -
CM-CAN
CM-CAN is used for the CANopen® connection. Factory setting.
2 -
EM-xxx
EM-xxx is used for the CANopen® connection
The setting of CAN interface 276 = 2 is only possible when an EM-module with
first displays the
1. The same
= 2 is set, a parallel Systembus operation is not possible. In
this case the parameter Node-ID 900 cannot be changed deviating from “-1”.
9 Assigning the CANopen interface
tive for special applications, the CANopen® connection can be switched to an EM
module with a CAN driver connection via parameter CAN-Interface 276. The inte
face can only be changed when parameter Node-Id 900 of the system bus
value -1 and
CAN system bus is installed.
Even if only an EM-module with CAN system bus is installed, 276
value "1 – CM-CAN" which must then be changed to "2 – EM-xxx" in order to activate the EM-module for the CANopen
If CAN interface 276 = 2 is set, the transmission speed is set with CAN Baud rate
385.
Baud Rate 903 (System bus) is deactivated by setting 900 = -
applies to all other parameters which have a function when using the system bus.
If CAN interface 276
387 is set to -1.
®
connection.
28 CM-CAN ACU 04/13
Page 29
The operational behavior if the CANopen® system fails due to BusOff, guarding,
heartbeat, SYNC error, RxPDO length error or NMT state change (leaving NMT state
Bus
0
Abort Connection option code”.
CAN Error Behavior 388
Function
0 -
No Reaction
Operating point is maintained
Device state machine changes immediately to state
“fault” (factory setting)
Device state machine processes command ‘
disable volt-
age
’ and changes to state “switch on disabled”
Device state machine processes command ‘
quick stop
’
and changes to state “switch on disabled”
Device state machine processes command ‘
disable oper-
stopped
Device state machine processes command ‘
quick stop
’
and changes to state “fault” after the drive is stopped
The parameter settings CAN Error Behavior 388 = 2 … 5 are evaluated depending
corresponds to the device profile object
The error and warning behavior of the frequency inverter can be parameterized in
g-
es”.
The disconnection of a connector or another contact loss can only be detected safely via set up timeout monitoring.
10 Operational beha vior on bus failure
operational) can be parameterized. The required behavior is set with parameter
Error Behavior 388. or via Object 0x6007 abort connection option code.
For the description of the inverter's functional behavior, see chapter 12.5.1 “
1 - Error
2 - Switch-off
3 - Quick-Stop
0x6007/
4 - Ramp-Stop + Error
ation
’ and changes to state “fault” after the drive is
5 - Quick-Stop + Error
NOTE
of parameter Local/Remote 412. This is described in detail in chapter 12.5.1
“0x6007/0 Abort Connection option code”.
Parameter CAN Error Behavior 388
0x6007 abort connection option code.
various ways. Occurring errors are described in detail in chapter 16.5 “Fault messa
NOTE
04/13 CM-CAN ACU 29
Page 30
CANopen® is used in a wide range of applications and is an es pecially favoured com-
based standard
DS402 “drives and motion control” describes and defines the necessary objects and
functions for motion control systems.
The CANopen® standard DS301 describes the basic communication functions in principle. This chapter will give a short overview of the different functions based on
c-
tions can be found in the respective literature (e. g. “Controller Area Network” by
®
(www.can-cia.org).
Every CANopen® device contains an object dictionary with all supported objects. The
i-
-
index 0xnn (8 bit).
The different functions defined by CANopen® (NMT, SDO, SYNC, PDO, Emergency)
“Predefined
Connection Set”. By default every function uses an identifier calculated as the base
number plus node-ID (node–ID set by parameter CAN node number 387.
The communication objects are located in the index range 0x1nnn. They describe the
device. Some of the communication objects
i-
s-
sages.
The application objects are divided into two groups again. The index range 0x2000 –
r specific objects and the index range 0x6nnn is
reserved for device profile specific objects. Device profile specific objects 0x6nnn are
defined by DS402 drives and motion control. They are used for controlling the device
application (start/stop, speed, motion control functions).
11 CANopen Overview
munication system for motion control applications. The CANopen®
DS301. Detailed information on the CAN physical layer and CANopen® DS301 fun
Prof. Dr.-Ing. K. Etschberger) and standards published by CAN-in-Automation CiA
objects can be divided into the two main groups – communication objects and appl
cation objects. The objects are addressed by their index 0xnnnn (16 bit) and sub
use fixed identifier ranges. These identifier ranges are defined by the
11.1 Communication Objects
communication behavior of a CANopen®
comprise device information
(e. g. manufacturer’s vendor-id or inverter serial number). With the help of commun
cation objects the application objects for device control are mapped to the PDO me
11.2 Application Objects
0x5FFF is reserved for manufacture
30 CM-CAN ACU 04/13
Page 31
The SDO (Service Data Objects) messages are used for reading and writing the ob-
ss-
g-
mented domain transfer.
In chapter 12.3 “Manufacturer objects (0x2nnn)” the necessary messages for read-
u-
bytes of data
index
number.
The inverter supports one server SDO. This server SDO is accessed by the client SDO
on the PLC side. An SDO message always has a COB-ID followed by 8 data bytes.
COB-ID 0 1 2 3 4 5 6 7
COB-ID
command
(cs)
index
sub-
data
data
data
data
nn
LSB
MSB
Default Identifiers (COB-ID):
RxSDO 0x580 (=1408) + Node-ID
Depending on the transfer direction and the amount of data bytes, different command
specifiers are used.
The error codes of failed SDO accesses are listed in chapter 11.3.3.
11.3 SDO Function
jects located in the object dictionary. Objects with up to four bytes of data are tran
ferred with an expedited SDO transfer that uses one request and one response me
sage. Access to objects with more than four bytes of data is accomplished by a se
ing/writing objects with expedited transfer are described in detail. Access to comm
nication, manufacturer and device profile specific objects with up to four
is accomplished in the same way. The only difference is in the index and sub-
SDO-message:
specifier
TxSDO 0x600 (=1536) + Node-ID
index
04/13 CM-CAN ACU 31
Page 32
Client Server, Upload Request
COB-ID
0 1 2 3 4 5 6
7
0x600 + Node-ID
cs
index
sub- index
data
data
data
data
0x40
LSB
MSB 00
00
00
00
Server Client, Upload Response
COB-ID
0 1 2 3 4 5 6
7
0x580 + Node-ID
cs
index
sub- index
data
data
data
data
0x4x
LSB
MSB
data01
data02
data03
data04
The amount of valid data bytes is coded in the response of the command specifier.
Amount of data bytes
1 2 3
4
Command specifier (cs)
0x4F
0x4B
0x47
0x43
Examples for SDO parameter read access are described in chapter 12.3.1.3 “Examples
of reading parameters”.
Client Server, Download Request
COB-ID
0 1 2 3 4 5 6
7
0x600 + Node-ID
cs
index
sub- index
data
data
data
data
0x2x
LSB
MSB
data01
data02
data03
data04
Server Client, Download Response
COB-ID
0 1 2 3 4 5 6
7
0x580 + Node-ID
cs
index
sub- index
data
data
data
data
0x60
LSB
MSB 00
00
00
00
The amount of valid data bytes must be coded in the request of the command specifier. Amount of data bytes
1 2 3 4
Command specifier
0x2F
0x2B
0x27
0x23
Using Write accesses for parameters (objects 0x2nnn = index), the sub-index is
“Handling of data sets/cyclic writing”.
Examples for SDO parameter write access are described in chapter 12.3.1.2
“Examples of writing parameters”.
11.3.1 Read Access
11.3.2 Write Access
NOTE
used to define the Write access into EEPROM or RAM. Please refer to chapter 12.3.1
32 CM-CAN ACU 04/13
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If an error occurs in reading or writing, the server SDO of the frequency inverter re-
the index/subindex and
appropriate error code.
Server Client
Abort SDO Transfer
COB-ID
0 1 2 3 4 5 6
7
0x580 + Node-ID
cs
index
sub- index
abort code low
abort code
high
0x80
LSB
MSB
LSB
MSB
LSB
MSB
00
Error codes
Abort code
Abort code
Description to CANopen®
Product-specific alloca-
0x0504
0x0000
SDO protocol timed out
SDO access Time Out
0x0601
0x0000
Unsupported access to an
object
- Parameter cannot be
written or read
0x0602
0x0000
Object does not exist
- Parameter does not exist
0x0604
0x0047
General internal incompatibility in the device
- Data sets differ
0x0606
0x0000
Access failed due to a
harware error
- EEPROM Error
(Read/write/checksum)
0x0607
0x0010
Data type does not match
- Parameter has a different
data type
0x0607
0x0012
Data type does not match
gram too big
Parameter has a different
not correct.
0x0607
0x0013
Data type does not match
gram too small
Parameter has a different
not correct.
0x0609
0x0011
Subindex does not exist
- Data set does not exist
0x0609
0x0030
Value range of parameter
exceeded
- Parameter value too large
or too small
0x0609
0x0031
Value of parameter written
too high.
- Parameter value too large
0x0609
0x0032
Value of parameter written
too low.
- Parameter value too small
0x0800
0x0020
Data cannot be transmitted
or saved
- Invalid value for operation
0x0800
0x0021
Data cannot be transferred
because of local control
- parameter cannot be
written in operation
11.3.3 Error code table
plies with the SDO abort message. This message contains
high
low
or length of Service tele-
or length of Service tele-
tion
data type or telegram length
data type or telegram length
04/13 CM-CAN ACU 33
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For data lengths > 4 Bytes the so called Segmented Transfer is used – the expedited
e-
are send until the amount of data
. The sequences of the Segmented Transfer are
e-
gram. A “Continue” Bit marks the last telegram.
When Reading a regular Read access via command specifier 0x40 is executed. The
g-
c-
0x70 until all data bytes were transmitted. In the last segment the
command specifier (bits 1…3) contains the amount of not used data bytes in that last
The resulting request and response telegrams are shown in the following sequence.
The Command Specifier have the following setup:
Initiate Upload Command Specifier:
Request:
Bit
7 6 5 4 3 2 1
0
ccs 0 0 0 0
0
Response:
Bit
7 6 5 4 3 2 1 0 scs 0 n e s
Segment Upload Command Specifier:
Request:
Bit
7 6 5 4 3 2 1
0
ccs t 0 0 0
0
Response:
Bit
7 6 5 4 3 2 1 0 scs t n
c
Abbreviation
Description
Values
ccs
Client command Specifier
2 = Initiate upload request
3 = Upload segment request
scs
Server command Specifier
2 = Initiate upload response
0 = Upload segment response
n Only valid if e =1 AND s = 1,
If valid: Amount of data bytes, that con-
e Transfer type
0 = Normal (Segmented) Transfer
11.3.1)
s Size indicator
0 = Data frame size is displayed
1 = Data frame size is not displayed
t Toggle bit, toggled with each
Segment change
0 = First and odd segments
1 = Second and even segments
c Continue bit, marks following
segments
0 = Further segments follow.
1 = This was the last segment.
11.3.4 Segmented Transfer
Transfer only supports lengths up to 4 Bytes.
In the first “Initiate” Telegram the overall amount of used data of the following s
quence telegrams is defined.
In the following telegrams 7 data byes per telegram
bytes to be transmitted was reached
separated by a toggle bit in the command specifier for the request and the reply tel
11.3.4.1 Reading „Segmented Transfer“
response contains the command specifier 0x41 that marks the requirement of Se
mented Transfer for this object. The following requests alternate with command spe
ifiers 0x60 and
segment.
in all other cases n = 0.
tain no useful data
1 = Expedited Transfer (see chapter
34 CM-CAN ACU 04/13
Page 35
The following sequence of telegrams results:
Initiate SDO Upload
COB-ID
0 1 2 3 4 5 6
7
Request
Client
0x600 +
Node
cs
Index
Subidx
Daten
0x40
LSB
MSB 00
00
00
00
Response
Server
Client
0x580 +
Node
cs
Index
Subidx
Daten
0x41
LSB
MSB
LSB … …
MSB
Segment Upload, first and odd segments
COB-ID
0 1 2 3 4 5 6
7
Request
Client
0x600 +
Node
cs
Daten
0x60
00
00
00
00
00
00
00
Response
Server
Client
0x580 +
Node
cs
Daten
0x00
LSB … … … … … MSB
Segment Upload, second and even segments
COB-ID
0 1 2 3 4 5 6
7
Request
Client
Server
0x600 +
Node
cs
Daten
0x70
00
00
00
00
00
00
00
Response
Server
Client
0x580 +
Node
cs
Daten
0x10
LSB … … … … … MSB
Segment Upload, last segment
COB-ID
0 1 2 3 4 5 6
7
Request
Client
0x600 +
Node
cs
Daten
0x60
0x70
Response
Server
Client
0x580 +
Node-ID
cs
Daten
0xnn
LSB … … … … … MSB
The first telegram to write is executed via Command Specifier 0x21. The amount of
tted in the following segment transfers. The following segments are controlled via
Command Specifier 0x00 and 0x10 in toggling order until all data were transmitted.
contains in the Command specifier (Bit 1…3) the amount of not
An example is described in chapter 12.3.1.4.
Server
-ID
-ID
Server
-ID
-ID
-ID
-ID
Server
-ID
oder
00 00 00 00 00 00 00
11.3.4.2 Writing Segmented Transfer
entered data bytes in the data area defines the amount of data bytes to be transmi
The last segment
used data bytes in the last telegram.
The resulting request and response telegrams are shown in the following sequence.
04/13 CM-CAN ACU 35
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The Command Specifier have the following setup:
Initiate Download Command Specifier:
Request:
Bit
7 6 5 4 3 2 1 0 ccs 0 n e s
Response:
Bit
7 6 5 4 3 2 1 0 scs
0
Download SDO Segment Command Specifier:
Request:
Bit
7 6 5 4 3 2 1 0 ccs t n
c
Response:
Bit
7 6 5 4 3 2 1
0
scs t 0 0 0
0
Abbreviation
Description
Values
ccs
Client command Specifier
1 = Initiate download request
0 = Download sequence request
scs
Server command Specifier
3 = Initiate download request
1 = Download sequence response
n Only valid if e =1 AND s = 1,
If valid: Amount of data bytes, that con-
e Transfer type
0 = Normal Transfer
chapter 11.3.2)
s Size indicator
0 = Data frame size is displayed
1 = Data frame size is not displayed
t Toggle bit, toggled with each
Segment change
0 = First and odd segments
1 = Second and even segments
c Continue bit, marks following
segments
0 = Further segments follow.
1 = This was the last segment.
Initiate SDO Upload
COB-ID
0 1 2 3 4 5 6
7
Request
Client
Server
0x600 +
Node-ID
cs
Index
Subidx
Daten
0x21
LSB
MSB
LSB … …
MSB
Response
Server
Client
0x580 +
Node
cs
Index
Subidx
Daten
0x41
LSB
MSB 00
00
00
00
Segment Upload, first and odd segments
COB-ID
0 1 2 3 4 5 6
7
Request
Client
0x600 +
Node
cs
Daten
0x00
00
00
00
00
00
00
00
Response
Server
Client
0x580 +
Node
cs
Daten
0x20
00
00
00
00
00
00
00
Segment Upload, second and even segments
COB-ID
0 1 2 3 4 5 6
7
Request
Client
0x600 +
Node
cs
Daten
0x10
00
00
00
00
00
00
00
Response
Server
Client
0x580 +
Node-ID
cs
Daten
0x30
00
00
00
00
00
00
00
in all other cases n = 0.
tain no useful data
1 = Expedited Transfer (see
-ID
Server
-ID
Server
36 CM-CAN ACU 04/13
-ID
-ID
Page 37
Segment Upload, last segment
COB-ID
0 1 2 3 4 5 6
7
Request
Client
0x600 +
Node
cs
Daten
0xnn
00
00
00
00
00
00
00
Response
Server
Client
0x580 +
Node
cs
Daten
0x10
0x20
LSB … … … … … MSB
The PDO (Process Data Objects) messages are messages with up to eight bytes of
PDO’s with the help
of communication objects (communication/mapping parameter). Active Cube inverters
support 3 RxPDO’s (PLC inverter) and 3 TxPDO’s (inverter PLC).
Process data objects are directly linked to application functions of the inverter.
Byte
0
1 2 3 4 5 6 7 data
data
data
data
data
data
data
data
The number of data bytes is 1 … 8 and depends on the mapped objects. The byte
alignment is in Intel format.
Byte 0 1 2 3 4 5 16 bit object
32 bit object
LSB
MSB
LSB … …
MSB
Default Identifiers:
Decimal
RxPDO3 1024 + Node-ID
Hexadecimal
0x400 + Node-ID
In the event of a communication error or an error inside the inverter, the inverter
sends an emergency message. This emergency message includes the relevant error
information. After error acknowledgement (fault reset), an emergency message is
sent with all data bytes set to zero.
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
0x80 (=128)+
Node-ID
EEC
EEC
ER MEC
MEC
EEC: Emergency Error Code according to DS301
MEC: Manufacturer Error Code
The Manufacturer Error Code corresponds to the inverter Fault codes that are demessages”.
Additional information is described in chapter 12.2.13 “0x1014/0 COB-ID Emergency
Message”.
Server
11.4 PDO Function
process data. The process data objects are mapped to the Rx/Tx-
PDO-message:
-ID
-ID
oder
TxPDO1 384 + Node-ID
RxPDO1 512 + Node-ID
TxPDO2 640 + Node-ID
RxPDO2 798 + Node-ID
TxPDO3 896 + Node-ID
11.5 Emergency Function
ER: Emergency Register Code according to DS301
scribed in the Operating Instructions and in this documentation in chapter 16.5 “Fault
0x180 + Node-ID
0x200 + Node-ID
0x280 + Node-ID
0x300 + Node-ID
0x380 + Node-ID
04/13 CM-CAN ACU 37
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The SYNC message has two meanings.
The SYNC message is necessary for Rx/TxPDO with transmission type synchronous.
The SYNC message synchronizes the different devices to communicate with data from
of all
pa-
Additionally the SYNC mechanism can be used to synchronize the operating systems
of different drives. This is useful when the electronic gear is used to enhance the
e-
one byte data which is ignored.
COB-ID
Byte 0
0x80 (=128)
SYNC
11.6 SYNC
the same (defined) time. As soon as the SYNC telegram is rec eived, the data
devices are “frozen” and then exchanged during the following data telegrams.
The RxPDO telegrams are collected until a SYNC telegram is received. With the rece
tion of the SYNC telegram the data are transferred internally to the application p
rameters.
TxPDOs defined as synchronous send the actual application data on SYNC reception.
(OS)
performance of the application. The synchronization of the operating systems is d
scribed in chapter 11.10.
The SYNC message is a message with no data or with
The default Identifer = 0x80 (=128).
38 CM-CAN ACU 04/13
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The NMT (Network management) functions describe the NMT state machine and
state machine is controlled by NMT commands.
u-
Node-State
A change of NMT-State may also be triggered by a communication (Bus-off, Guarding, etc.). The behavior of the NMT state machine in such a case is described in
Chapter 12.2.17 “0x1029/n Error Behavior”.
transition
NMT command
(1)
At power on NMT state Initialisation is entered autonomously
(2)
NMT state Initialisation finished NMT state Pre-Operational entered automatically, device sends Boot-Up message
(3)
Start Remote Node
(4), (7)
Enter Pre-Operational
(5), (8)
Stop Remote Node
(6)
Start Remote Node
(9), (10), (11)
Reset Node. Communication objects 0x1nnn and application objects 0x6nnn are reset.
(12), (13), (14)
Reset Communication. Communication objects 0x1nnn are reset.
In state transition (2) Initialisation Pre-Operational the device sends the Boot-Up
message.
11.7 NMT Functions
NMT error control functions. The NMT
The error control functions guarding and heartbeat are set up by associated comm
nication objects and controlled by special protocols.
The NMT-State is displayed via the actual value parameter
1290.
11.7.1 NMT state machine
04/13 CM-CAN ACU 39
Page 40
Identifier
Byte 0
0x700 (=1792) + Node-ID
0
The Boot-Up message is sent automatically when the device is powered on or reset
This helps the PLC recognizing to switch on a device (i.e. after a
power failure and recovery) reliable during operation without Nodeguarding.
If the inverter is switched on after the PLC, the PLC can use this boot-up message
up message signals the PLC, that the inverter is
Using a NMT telegram “Reset Node” or “Reset
Up
message.
Please refer also to chapter 11.8 “Guarding”.
Byte 0
Byte 1
Identifier
Command Specifier
Node-ID
0
cs
id
id = 0 command addressed to all devices
0x82 (=130) Reset Communication
NMT states and active communication objects:
Pre-Operational
Operational
Stopped
PDO X
SDO X X
SYNC X X
Emergency X X
Node control + NMT
error control *
X X X
* NMT commands + Guarding/Heartbeat function
11.7.2 Boot-Up message
(i.e. fault reset).
to begin the initialization. The bootready for the PLC to communicate.
Communication” forces a Reset of the node communication and results in a Boot-
11.7.3 NMT commands
id = 1…0x7F (=127) command addressed to device with Node-ID = id
cs: 1 Start Remote Node
2 Stop Remote Node
0x80 (=128) Enter Pre-Operational
0x81 (=129) Reset Node
40 CM-CAN ACU 04/13
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Guarding response:
The inverter responds to every guarding request of the PLC. This is used by some
PLCs when powering on to search for available devices. This response is done always
Lifetime
Factor.
Guarding activation:
Lifetime
Lifetime
on reception of the first
guarding request.
Guarding fault behavior:
If the inverter does not receive a guarding request within the specified guarding time
a guarding event is triggered. The inverter's reaction to this guarding event is defined
by objects 0x6007
abort connection option code
and 0x1029
error behavior
.
Guarding sequence:
guarding request with
ID (no data bytes). This remote frame is answered
a
toggle bit and the NMT state of the inverter.
PLC:
Identifier
0x700 (=1792)+ Node-ID RTR
Inverter:
Byte 0
Identifier
NMT state + toggle bit
0x700 + Node-ID
7 6 5 4 3 2 1
0
t
NMT state
t:
Toggle bit toggled on each transmission (first transmission t = 0)
NMT state:
0
Boot-Up
4
Stopped
5
Operational
0x7F (=127)
Pre-Operational
11.8 Guarding
independent of the settings of objects 0x100C/0
The Guarding is set whenever objects 0x100C/0
Factor
are both unequal to zero. The resulting guarding time is
Factor
. Guarding is activated after setting the objects and
Guard Time
Guard Time
and 0x100D/0
and 0x100D/0
Guard Time
x
The PLC sends via a RTR (Remote Transmission Request) a
Identifier 0x700 (= 1792) + Nodeby the inverter with the same Identifier and one data byte. The data byte contains
04/13 CM-CAN ACU 41
Page 42
The heartbeat uses the producer/consumer method. The inverter as heartbeat con-
also send the
heartbeat message (as heartbeat producer). The heartbeat contains the NMT state
of the producer.
The heartbeat consumer function is set by object 0x1016/n
Consumer Heartbeat
Monitoring of the heartbeat message(s) starts
within the specified
error behavior
.
The heartbeat producer function is set by object 0x1017
Producer Heartbeat Time
.
is set unequal to zero the inverter sends
a heartbeat message periodically.
Heartbeat message:
Byte 0
Identifier
NMT state
0x700 (=1792) + Node-ID
7 6 5 4 3 2 1
0
r
NMT state
r:
reserved (always 0)
NMT state:
0
Boot-Up
4
Stopped
5
Operational
127
Pre-Operational
The operating System (OS) of the frequency inverter can be synchronized to the
PLC or other devices. The synchronization of the OS enhances the performance of
deviations of the
CPUs between master and slave devices, so that calculations are done at the same
time. Note, that only small deviations of the CPU clock frequencies between devices
without Systembus, the synchronization can be switched on
with Systembus, the synchronization can be
Synchronization can be
done with Systembus SYNC telegrams or Systembus RxPDO telegrams.
Note: When synchronizing the OS via CANopen®, the master has to support the
synchronization mechanisms of CANopen®.
11.9 Heartbeat
sumer can monitor up to three heartbeat producers. The inverter can
Time
. After setting the object the
with reception of the first heartbeat message.
If the inverter does not receive a producer heartbeat message
consumer heartbeat time, a heartbeat event is triggered. The reaction to this heartbeat event is defined by objects
0x6007
abort connection option code
and 0x1029
If object 0x1017
Producer Heartbeat Time
11.10 OS Synchronization
the complete plant. Synchronization is used to eliminate phase
(i.e. different CPU Quartz cock frequencies) of ± 1 ‰ can be compensated. The
synchronization time must be natural number as multiplier from 1 ms.
Synchronization via CANopen:
When using CANopen®
and off. Synchronization can be done with CANopen® SYNC telegrams.
Synchronization via Systembus:
When using CANopen® simultaneously
set to either CANopen, Systembus or it can be switched off.
42 CM-CAN ACU 04/13
Page 43
OS_SyncSource 1452
Operation mode
Function
0 -
Auto
The synchronization source is selected automatically by the
inverter.
1 -
CANopen
The OS is synchronized via CANopen. Factory setting.
2 -
Systembus
The OS is synchronized via Systembus.
99 -
off
The OS is not synchronized with other devices.
Operation mode Auto: The selection is done via this decision table:
CANopen active
Systembus active
Synchronization
Yes
Yes
Yes
No No
Yes
Synchronization via Systembus
No
No
No Synchronization activated.
The CANopen “active status for synchronization” is recognized by the parameter setting 387 CAN Node Number >0 and a running synchronous PDO.
The Systembus “active status for synchronization” is recognized by the parameter
has to be set
to SYNC or an RxPDO.
The parameter 1451
CANopen OS Synctime can be used to shift the point of the
tor, shifting
the
CANopen OS Synctime
can result in a better behavior.
1453 OS SyncSource Act shows the active Synchronization source
Parameter
Setting
No.
Description
Min.
Max.
Fact. sett.
1451
CANopen OS Synctime
700 us
900 us
800 us
Please refer to objects 0x1005 COB-ID SYNC object, 0x1006 Communication cycle
period and 0x1007 Synchronous window length for CANopen Synchronization.
For the VPlus Scope Function the following sources are available for diagnosis:
Operation mode
Function
B: Sync. OS <-> Sysbus Ok
1 = Synchronization OS to Systembus OK,
0 = Synchronization OS to Systembus not OK
SysBus SYNC time [us]
Shows the Synchronization cycle. Should show
ing master.
SysBus SYNC position 1ms
Task [us]
Shows the Synchronization time inside 1 ms.
Should remain constant with small fluctuations.
B: Sync. OS <-> CANopen Ok
1 = Synchronization OS to CANopen OK,
0 = Synchronization OS to CANopen not OK
CANopen SYNC time [us]
Shows the Synchronization cycle. Should show
the set SYNC time of object 0x1006.
CANopen SYNC position 1ms
Task [us]
Shows the Synchronization time inside 1 ms.
Should remain constant with small fluctuations.
Synchronization via CANopen
setting 900 Systembus Node ID >0. Also parameter 1180 Synchronization
synchronization inside of 1 ms. When you experience noises from a mo
731 -
852-
the set SYNC time or TxPDO time of the send-
853
854-
848-
849-
04/13 CM-CAN ACU 43
Page 44
Depending on the settings and the operating status of the device a fault reset can be
−
−
−
Some faults might re-occur after a fault reset. In these cases a certain action might
11.11 Fault Reset
done like described:
When using control via parameter Local/Remote 412 = Statemachine:
Set bit 7 in 0x6040 Control word = 0x0080.
Via the Stop key of the operator panel
A reset via the STOP key can only be executed, if Parameter Local/Remote 412 allows the control via keypad
via parameter Error Acknowledgement 103 which is assigned a logic signal or a
digital input
A reset via a digital input can only be executed, if Parameter Local/Remote 412 al-
lows that control or if a physical input with the suffix (Hardware) is selected.
be necessary (in example move away from a limit switch in the non-locked direction).
44 CM-CAN ACU 04/13
Page 45
The available objects are marked via Index/Subindex and are to be addressed via this
identification. This chapter describes all available objects.
The objects are displayed in the next tables. The following definitions apply:
Access type
Read only
The PLC is only allowed to read the data from the ACU.
Read/write
The PLC is granted full access (read and write) to the ACU data.
Data type
Unsigned32
32 Bit value:
0…232-1
0…0xFFFF FFFF
Unsigned16
16 Bit value:
0…216-1
0…0x FFFF
(0…65535)
Unsigned8
8 Bit value:
0…28-1
0…0xFF
(0…255)
Integer32
Signed 32 Bit value:
-231…231-1
0x8000 0000…0x7FFF FFFF
Integer16
Signed 16 Bit value:
215…215-1
0x8000…0x7FFF
(-32768…32767)
Integer8
Signed 8 Bit value: -
27…27-1
0x80…0x7F
(-128…127)
Visible String
String up to 99 characters long. Transmission via Segmented Transfer.
PDO mapping
No
This object cannot be used for PDO exchange, only SDO is applicable.
Tx
This object can be transmitted as PDO from ACU.
Rx
This object can be transmitted as PDO to ACU.
“Highest Sub-index supported” displays the highest Sub-index that is supported by
Index
SubIndex
Name
SDO Access
Data type
PDO-mapping
0x1000
0
Device type
Read only
Unsigned32
No
0x1001
0
Error register
Read only
Unsigned8
No
0x1005
0
COB-ID SYNC object
Read/write
Unsigned32
No
0x1006
0
Communication cycle period
Read/write
Unsigned32
No
0x1007
0
Synchronous window length
Read/write
Unsigned32
No
0x1008
0
Manufacturer device name
Read only
Visible string
No
0x1009
0
Manufacturer hardware
version
Read only
Visible string
No
0x100A
0
Manufacturer software
version
Read only
Visible string
No
0x100C
0
Guard time
Read/write
Unsigned16
No
0x100D
0
Life time factor
Read/write
Unsigned8
No
0x1010
Store parameters
0
Highest sub-index supported
Read only
Unsigned8
No
1
Save all parameters
Read/write
Unsigned32
No
2
Save communication parameters
Read/write
Unsigned32
No
3
Save application parameters
Read/write
Unsigned32
No
12 Objects
12.1 Objects tabular overview
this object.
12.1.1 Communication obj e ct s
04/13 CM-CAN ACU 45
Page 46
Index
SubIndex
Name
SDO Access
Data type
PDO-mapping
0x1011
Restore default parameters
0
Highest sub-index supported
Read only
Unsigned8
No
1
Restore all default parameters
Read/write
Unsigned32
No
2
Restore communication
default parameters
Read/write
Unsigned32
No
3
Restore application default
parameters
Read/write
Unsigned32
No
0x1014
0
COB-ID emergency object
Read/write
Unsigned32
No
0x1016
Consumer heartbeat time
0
Highest sub-index supported
Read only
Unsigned8
No
1
Consumer heartbeat time 1
Read/write
Unsigned32
No
2
Consumer heartbeat time 2
Read/write
Unsigned32
No
3
Consumer heartbeat time 3
Read/write
Unsigned32
No
0x1017
0
Producer heartbeat time
Read/write
Unsigned16
No
0x1018
Identity object
0
Highest sub-index supported
Read only
Unsigned8
No
1
Vendor ID
Read only
Unsigned32
No
2
Product code
Read only
Unsigned32
No
3
Revision number
Read only
Unsigned32
No
4
Serial number
Read only
Unsigned32
No
0x1029
0
Error behavior
Read only
Unsigned8
No
1
Communication error
Read/write
Unsigned8
No
0x1200
0
Server SDO parameter
Read only
Unsigned8
1
COB-ID Rx
Read only
Unsigned32
No
2
COB-ID Tx
Read only
Unsigned32
No
0x1400
RxPDO1 communication
0
Highest sub-index supported
Read only
Unsigned8
No
1
COB-ID
Read/write
Unsigned32
No
2
Transmission type
Read/write
Unsigned8
No
3
Inhibit time
Unsigned16
No
4
- - -
No
5
Event time
Read/write
Unsigned16
No
0x1401
RxPDO2 communication
0
Highest sub-index supported
Read only
Unsigned8
No
1
COB-ID
Read/write
Unsigned32
No
2
Transmission type
Read/write
Unsigned8
No
3
Inhibit time
Unsigned16
No
4
- - -
No
5
Event time
Read/write
Unsigned16
No
0x1402
RxPDO3 communication
0
Highest sub-index supported
Read only
Unsigned8
No
1
COB-ID
Read/write
Unsigned32
No
2
Transmission type
Read/write
Unsigned8
No
3
Inhibit time
Unsigned16
No
4
- - -
No
5
Event time
Read/write
Unsigned16
No
0x1600
RxPDO1 mapping parameter
0
No. of mapped objects
Read/write
Unsigned8
No
1
1. mapped obj.
Read/write
Unsigned32
No
2
2. mapped obj.
Read/write
Unsigned32
No
3
3. mapped obj.
Read/write
Unsigned32
No
4
4. mapped obj.
Read/write
Unsigned32
No
5
5. mapped obj.
Read/write
Unsigned32
No
6
6. mapped obj.
Read/write
Unsigned32
No
7
7. mapped obj.
Read/write
Unsigned32
No
8
8. mapped obj.
Read/write
Unsigned32
No
parameter
parameter
parameter
46 CM-CAN ACU 04/13
Page 47
0x1601
RxPDO2 mapping parameter
0
No. of mapped objects
Read/write
Unsigned8
No
1
1. mapped obj.
Read/write
Unsigned32
No
2
2. mapped obj.
Read/write
Unsigned32
No
3
3. mapped obj.
Read/write
Unsigned32
No
4
4. mapped obj.
Read/write
Unsigned32
No
5
5. mapped obj.
Read/write
Unsigned32
No
6
6. mapped obj.
Read/write
Unsigned32
No
7
7. mapped obj.
Read/write
Unsigned32
No
8
8. mapped obj.
Read/write
Unsigned32
No
0x1602
RxPDO3 mapping parameter
0
No. of mapped objects
Read/write
Unsigned8
No
1
1. mapped obj.
Read/write
Unsigned32
No
2
2. mapped obj.
Read/write
Unsigned32
No
3
3. mapped obj.
Read/write
Unsigned32
No
4
4. mapped obj.
Read/write
Unsigned32
No
5
5. mapped obj.
Read/write
Unsigned32
No
6
6. mapped obj.
Read/write
Unsigned32
No
7
7. mapped obj.
Read/write
Unsigned32
No
8
8. mapped obj.
Read/write
Unsigned32
No
0x1800
TxPDO1 communication
0
Highest sub-index supported
Read only
Unsigned8
No
1
COB-ID
Read/write
Unsigned32
No
2
Transmission type
Read/write
Unsigned8
No
3
Inhibit time
Unsigned16
No
4
- - -
No
5
Event time
Read/write
Unsigned16
No
0x1801
TxPDO1 communication
0
Highest sub-index supported
Read only
Unsigned8
No
1
COB-ID
Read/write
Unsigned32
No
2
Transmission type
Read/write
Unsigned8
No
3
Inhibit time
Unsigned16
No
4
- - -
No
5
Event time
Read/write
Unsigned16
No
0x1802
TxPDO1 communication
0
Highest sub-index supported
Read only
Unsigned8
No
1
COB-ID
Read/write
Unsigned32
No
2
Transmission type
Read/write
Unsigned8
No
3
Inhibit time
Unsigned16
No
4
- - -
No
5
Event time
Read/write
Unsigned16
No
0x1A00
TxPDO1 mapping parameter
0
No. of mapped objects
Read/write
Unsigned8
No
1
1. mapped obj.
Read/write
Unsigned32
No
2
2. mapped obj.
Read/write
Unsigned32
No
3
3. mapped obj.
Read/write
Unsigned32
No
4
4. mapped obj.
Read/write
Unsigned32
No
5
5. mapped obj.
Read/write
Unsigned32
No
6
6. mapped obj.
Read/write
Unsigned32
No
7
7. mapped obj.
Read/write
Unsigned32
No
8
8. mapped obj.
Read/write
Unsigned32
No
0x1A01
TxPDO2 mapping parameter
0
No. of mapped objects
Read/write
Unsigned8
No
1
1. mapped obj.
Read/write
Unsigned32
No
2
2. mapped obj.
Read/write
Unsigned32
No
3
3. mapped obj.
Read/write
Unsigned32
No
4
4. mapped obj.
Read/write
Unsigned32
No
5
5. mapped obj.
Read/write
Unsigned32
No
6
6. mapped obj.
Read/write
Unsigned32
No
7
7. mapped obj.
Read/write
Unsigned32
No
8
8. mapped obj.
Read/write
Unsigned32
No
parameter
parameter
parameter
04/13 CM-CAN ACU 47
Page 48
0x1A02
TxPDO3 mapping parameter
0
No. of mapped objects
Read/write
Unsigned8
No
1
1. mapped obj.
Read/write
Unsigned32
No
2
2. mapped obj.
Read/write
Unsigned32
No
3
3. mapped obj.
Read/write
Unsigned32
No
4
4. mapped obj.
Read/write
Unsigned32
No
5
5. mapped obj.
Read/write
Unsigned32
No
6
6. mapped obj.
Read/write
Unsigned32
No
7
7. mapped obj.
Read/write
Unsigned32
No
8
8. mapped obj.
Read/write
Unsigned32
No
Index
Sub-
Designation
SDO Ac-
Data type
PDO-
ping
Factory
Min…Max
Belonging.
Manufacturer specific
Read/write access by SDO transfer only
Please refer to chapter
12.3.1 „Handling of data sets/cyclic writing of the parameters“ and 11.3.2 „Write
0x3000
0
Sync Jitter
Read/write
Unsigned16
Nein
0x3001
0
Digital In actual values
Read only
Unsigned16
Tx - -
-
0x3002
0
Digital Out actual
values
Read only
Unsigned16
Tx - -
-
0x3003
0
Digital Out set values
Read/write
Unsigned16
Rx 0 0…0x1F
0x3004
0
Boolean Mux
Read only
Unsigned16
Tx - -
-
0x3005
0
Boolean Demux
Read/write
Unsigned16
Rx 0 0…0xFFFF
-
0x3006
0
Percentage set value
Read/write
Unsigned16
Rx 0 0x8AD0…
0x7530
-
0x3007
0
Percentage actual
value 1
Read only
Unsigned16
Tx - -
-
0x3008
0
Percentage actual
value 2
Read only
Unsigned16
Tx - -
-
0x3011
0
Act. value Word 1
Read only
Unsigned16
Rx - -
-
0x3012
0
Act. value Word 2
Read only
Unsigned16
Rx - -
-
0x3021
0
Act. value Long 1
Read only
Unsigned32
Rx - -
-
0x3022
0
Act. value Long 2
Read only
Unsigned32
Rx - -
-
0x3111
0
Ref. value Word 1
Read/write
Unsigned16
Tx 0 0…0xFFFF
-
0x3112
0
Ref. value Word 2
Read/write
Unsigned16
Tx 0 0…0xFFFF
-
0x3121
0
Ref. value Long 1
Read/write
Unsigned32
Tx 0 0…
0xFFFF.FFFF
-
0x3122
0
Ref. value Long 2
Read/write
Unsigned32
Tx 0 0…
0xFFFF.FFFF
-
0x5F10
Gear factor g)
0
Highest sub-index
supported
Read only
Unsigned8
No - -
-
1
Numerator
Read/write
Integer16
Rx 1 1…0x7FFF
p.1123
2
Denominator
Read/write
Unsigned16
Rx 1 1…0xFFFF
p.1124
3
Resync on Change
Read/write
Integer16
No 1 0…1
p.1142
0x5F11
Phasing 1 g)
0
Highest sub-index
supported
Read only
Unsigned8
No - -
-
1
Offset
Read/write
Integer32
No
0x0001.0000
0x8000.0000
0x7FFF.FFFF
p.1125 DS1
2
Speed
Read/write
Unsigned32
No
0x0005.0000
1…
0x7FFF.FFFF
p.1126 DS1
3
Acceleration
Read/write
Unsigned32
No
0x0005.0000
1…
0x7FFF.FFFF
p.1127 DS1
12.1.2 Manufacturer obj ects
0x2nnn
index
0, 1, … 9
cess
Access”
map-
Direct access to inverter parameters
setting
Param.
48 CM-CAN ACU 04/13
…
Page 49
Index
Sub-
Designation
SDO Ac-
Data type
PDO-
ping
Factory
Min…Max
Belonging.
0x5F12
Phasing 2 g)
0
Highest sub-index
supported
Read only
Unsigned8
No - -
-
1
Offset
Read/write
Integer32
No
0x0001.0000
0x8000.0000
0x7FFF.FFFF
p.1125 DS2
2
Speed
Read/write
Unsigned32
No
0x0005.0000
1…
0x7FFF.FFFF
p.1126 DS2
3
Acceleration
Read/write
Unsigned32
No
0x0005.0000
1…
0x7FFF.FFFF
p.1127 DS2
0x5F13
Phasing 3 g)
0
Highest sub-index
supported
Read only
Unsigned8
No - -
-
1
Offset
Read/write
Integer32
No
0x0001.0000
0x8000.0000
0x7FFF.FFFF
p.1125 DS3
2
Speed
Read/write
Unsigned32
No
0x0005.0000
1…
0x7FFF.FFFF
p.1126 DS3
3
Acceleration
Read/write
Unsigned32
No
0x0005.0000
1…
0x7FFF.FFFF
p.1127 DS3
0x5F14
Phasing 4 g)
0
Highest sub-index
supported
Read only
Unsigned8
No - -
-
1
Offset
Read/write
Integer32
No
0x0001.0000
0x8000.0000
0x7FFF.FFFF
p.1125 DS4
2
Speed
Read/write
Unsigned32
No
0x0005.0000
1…
0x7FFF.FFFF
p.1126 DS4
3
Acceleration
Read/write
Unsigned32
No
0x0005.0000
1…
0x7FFF.FFFF
p.1127 DS4
0x5F15
0
In Gear Threshold
Read/write
Unsigned32
No 0 0…
0x7FFF.FFFF
p.1168
0x5F16
0
In Gear Time
Read/write
Unsigned16
No
10
1…0xFFFF
p.1169
0x5F17
Position Controller
v) u) h) i) p) t) g)
0
Highest sub-index
supported
Read only
Unsigned8
No - -
-
1
Time Constant [ms]
Read/write
Integer32
No
10,00
1,00…300,00
p.1104
2
Limitation
Read/write
Unsigned32
No
327680
0…
0x7FFF.FFFF
p.1118
0x5FF0
0
Active motion block
t)
Read only
Unsigned8
Tx - -
-
0x5FF1
0
Motion block to resume t)
Read only
Unsigned8
Tx - -
-
index
cess
map-
setting
Param.
…
…
…
v) Velocity Mode only: This Object is only used in Velocity mode [rpm].
u) Profile Velocity Mode only: This Object is only used in Profile Velocity mode [u/s].
h) Homing Mode only: This Object is only used in Homing mode.
i) Interpolated Position Mode only: This Object is only used in Interpolated Position mode.
p) Profile Position Mode only: This Object is only used in Profile Position mode.
g) Electronic gear: slave Mode only: This Object is only used in Electronisc Gear mode.
t) Table travel record mode only: This Object is only used in Table travel record mode.
04/13 CM-CAN ACU 49
Page 50
Index
Sub-
Designation
SDO Ac-
Data type
PDO-
ping
Factory
Min…Max
Belong-
Param.
Abort connection
option code
-32768…
32767
Target velocity demand
Highest sub-index
supported
Velocity acceleration
Highest sub-index
supported
Velocity deceleration
Highest sub-index
supported
Highest sub-index
supported
Modes of operation
display
0x8000.0000
0x7FFF.FFFF
12.1.3 Device profile obje cts
index
0x6007 0
0x603F 0 Error code Read only Unsigned16 No - - -
0x6040 0 Control word Read/write Unsigned16 Rx - - p.410
0x6041 0 Status word Read/only Unsigned16 Tx - - p.411
0x6042 0 Target veloci ty v) Read/write Interger16 Rx 0
0x6043 0
0x6044 0 Control effort Read only Integer16 Tx - - -
0x6046 Velocity min max
0
1 Velocity min amount Read/write Unsigned32 No 0 0…32767 p.418
2 Velocity max amount Read/write Unsigned32 No 32767 0…32767 p.419
0x6048
0
1 Delta speed Read/write Unsigned32 No 150 1…32767 p.420 &
2 Delta time Read/write Unsigned16 No 1 1…65535 p.422
0x6049
0
1 Delta speed Read/write Unsigned32 No 150 1…32767 p.421 &
2 Delta time Read/write Unsigned16 No 1 1…65535 p.423
0x604A
0
1 Delta speed Read/write Unsigned32 No 150 1…32767 p.424 &
2 Delta time Read/write Unsigned16 No 1 1…65535 p.425
0x6060 0 Modes of operation Write only Integer8 Rx 2 -3…7 -
0x6061 0
v)
v)
Velocity quick stop v)
cess
Read/write Integer16 No 1 -2…3 p.388
Read only Integer16 Tx - - -
Read only Unsigned8 No - - -
Read only Unsigned8 No
Read only Unsigned8 No - - -
Read only Unsigned8 No - - -
Read only Integer8 Tx 2 - -
map-
setting
- - -
ing.
-
0x6064 0 Position actual value Read only Integer32 Tx -
…
p.1108
50 CM-CAN ACU 04/13
Page 51
Index
Sub-
Designation
SDO Ac-
Data type
PDO-
ping
Factory
Min…Max
Belong-
Param.
Following error window
0…
0xFFFF.FFFF
Following error time
out
0…
0xFFFF.FFFF
Velocity Actual value
Velocity Window
Time u)
Velocity Threshold
Time u)
0x8000.0000
0x7FFF.FFFF
0x8000.0000
0x7FFF.FFFF
1…
0x7FFF.FFFF
Profile acceleration
1…
0x7FFF.FFFF
Profile deceleration
1…
0x7FFF.FFFF
Quick stop deceleration
1…
0x7FFF.FFFF
Highest sub-index
supported
(Driving) Shaft revolutions
Highest sub-index
supported
1…
0x7FFF.FFFF
(Driving) Shaft revolutions
Highest sub-index
supported
Speed during search
for switch
1…
0x7FFF.FFFF
Speed during search
for zero
1…
0x7FFF.FFFF
index
0x6065 0
0x6066 0
0x6067 0 Position window Read/write Unsigned32 No 0xFFFF.FFFF
cess
Read/write Unsigned32 No 0xFFFF.FFFF
map-
setting
ing.
p.1105
Read/write Unsigned16 No 10 0…65535 p.1119
p.1165
0x6068 0 Position window time Read/write Unsigned16 No 10 0…65535 p.1166
0x606C 0
u)
Read Integer32 Tx
-
0x606D 0 Velocity Windo w u) Read/write Unsigned16 No 1000 0…65535 p.1276
0x606E 0
0x606F 0 Velocity Threshold
0x6070 0
0x6071 0 Target torque Read/write Integer16 Rx
0x6077 0 Torque actual value Read only Integer16 Tx
0x6078 0 Current actual value Read only Integer16 Tx
0x6079 0 DClink circuit voltage Read only Integer32 Tx
0x607A 0 Target position p) Read/write Integer32 Rx 0
0x607C 0 Home offset h) Read/write Integer32 No 0
Read/write Unsigned16 No 0 0…65535 p.1277
u)
Read/write Unsigned16 No 100 0…65535 p.1278
Read/write Unsigned16 No 0 0…65535 p.1279
p.224
p.214
p.222
…
…
p.1202
p.1131
-
0x6081 0 Profile velocity p) i) u) Read/write Unsigned32 Rx 0x0005.0000
0x6083 0
0x6084 0
0x6085 0
p) i) u)
p) i) u)
h) i) p) t) u)
Read/write Unsigned32 Rx 0x0005.0000
Read/write Unsigned32 Rx 0x0005.0000
Read/write Unsigned32 No 0x000A.0000
p.1179
0x6086 0 Motion profile type u) Read/write Integer16 No 3 0…3 0x6091 Gear ratio
0
Read only Unsigned8 No - - 1 Motor revolutions Read/write Unsigned32 No 1 1…65535 p.1116
2
Read/write Unsigned32 No 1 1…65535 p.1117
0x6092 Feed constant
0
1 Feed Read/write Unsigned32 No 0x0001.0000
2
Read only Unsigned8 No - - -
p.1115
Read/write Unsigned32 No 1 1
0x6098 0 Homing method h) Read/write Integer8 No 0 0…35 p.1130
0x6099 Homing speeds
0
1
2
h) l)
Read only Unsigned8 No - - -
Read/write Unsigned32 No 0x0005.0000
Read/write Unsigned32 No 0x0002.0000
p.1132
p.1133
04/13 CM-CAN ACU 51
Page 52
Index
Sub-
Designation
SDO Ac-
Data type
PDO-
ping
Factory
Min…Max
Belong-
Param.
Homing acceleration
1…
0x7FFF.FFFF
Interpolation data
record i)
Highest sub-index
supported
0x8000.0000
0x7FFF.FFFF
Following error actual
value
0x60FF
0
Target velocity u)
Read/write
Integer32
Rx
The notations of CANopen® objec ts and parameters can be different (refer to the
Some of the above listed CANopen® objects have corresponding inverter parame-
objects has
volatile memory of the inverter. After the next power on
object values are restored again and overwrite the
en and saved and
index
0x609A 0
0x60C1
0
1
0x60F4 0
0x60F8 0 Max Slippage u) Read/write Integer32 No 0
h)
Interpolation data
record 1
cess
Read/write Unsigned32 No 0x0005.0000
Read only Unsigned8 No - - -
Read/write Integer32 Rx 0
Read only Integer32 Tx
map-
setting
ing.
p.1134
…
p.1109
p. 1275
v) Velocity Mode only: This Object is only used in Velocity mode [rpm].
u) Profile Velocity Mode only: This Object is only used in Profile Velocity mode [u/s].
h) Homing Mode only: This Object is only used in Homing mode.
i) Interpolated Position Mode only: This Object is only used in Interpolated Position mode.
p) Profile Position Mode only: This Object is only used in Profile Position mode.
t) Table travel record mode only: This Object is only used in Table travel record mode.
The Modes “Homing”, “Interpolated Position”, “Profile Position”, “Profile Velocity” and “Table travel
record” require a configuration capable of Positioning. Check chapter 14.4 “Motion control configurations” for details.
corresponding object description).
Note
ters.
These objects are handled in a special way. If one of these CANopen®
been written by SDO followed by a “save” command (see object 0x1010), the written value is stored to nonof the inverter these CANopen®
inverter parameter values.
Be careful when using this method. If a CANopen® object was writt
then the corresponding inverter parameter was set by e. g. VPlus, the next power on
cycle overwrites the value set by VPlus with the value stored by the “save” command.
52 CM-CAN ACU 04/13
Page 53
Effect of the “save” command (Object 0x1010)
(sequences of writing parameters and objects, examples)
Sequence
1) P 419 = 48 Hz 3) P 419 = 48 Hz2) Power OFF & ON
VPlus
KP500
VPlus
KP500
1) P 419 = 48 Hz 4) P 419 = 48 Hz3) Power OFF & ON
VPlus
KP500
2) P 419 = 38 Hz
CANopen
0x6046 = 1140 rpm
VPlus
KP500
1) P 419 = 48 Hz
VPlus
KP500
1) P 419 = 48 Hz
VPlus
KP500
5) P 419 = 38 Hz4) Power OFF & ON
VPlus
KP500
3) Save 1140 rpm
CANopen
0x1010 = "save"
2) P 419 = 38 Hz
CANopen
0x6046 = 1140 rpm
6) P 419 = 38 Hz
5) Power OFF & ON
VPlus
KP500
3) Save 1140 rpm
CANopen
0x1010 = "save"
2) P 419 = 38 Hz
CANopen
0x6046 = 1140 rpm
4) P 419 = 48 Hz
VPlus
KP500
A
B
C
D
04/13 CM-CAN ACU 53
Page 54
A Value of a parameter is set via KP500 or VPlus. No “save” command.
1)
Setting of Maximum Frequency 419 = 48 Hz at KP500 or in VPlus.
2)
Power OFF and ON.
3)
The value of KP500/VPlus is active (48 Hz).
B No “save” command. The value of the CANopen® object is overwritten.
1)
Setting of Maximum Frequency 419 = 48 Hz at KP500 or in VPlus.
2)
Setting of CANopen® object 0x6046 = 1140 rpm* (equivalent to 38 Hz).
3)
Power OFF and ON.
4)
Parameter value of KP500/VPlus overwrites the value of the CANopen®
object. The value of KP500/VPlus is active (48 Hz).
C “Save” command. The value of the CANopen® object is stored.
1)
Setting of Maximum Frequency 419 = 48 Hz at KP500 or in VPlus.
2)
Setting of CANopen® object 0x6046 = 1140 rpm* (equivalent to 38 Hz).
3)
“Save” command via CANopen® object 0x1010.
4)
Power OFF and ON.
5)
The value of CANopen® object 0x6046 is active (38 Hz).
D “Save” command. The value of the CANopen® object is stored – even if the
corresponding parameter value has been changed after the “save” command.
1)
Setting of Maximum Frequency 419 = 48 Hz at KP500 or in VPlus.
2)
Setting of CANopen® object 0x6046 = 1140 rpm* (equivalent to 38 Hz).
3)
“Save” command via CANopen® object 0x1010.
4)
Setting of Maximum Frequency 419 = 48 Hz at KP500 or in VPlus.
5)
Power OFF and ON.
6)
Value of CANopen® object 0x6046 overwrites the parameter value. The
value of CANopen® object 0x6046 is active (38 Hz).
*
Internal conversion to a frequency value taking into account the No. of Pole Pairs 373.
In this example the number of pole pairs is two (four-pole machine).
There a re inverter parameters calculated from CANopen® objects which require the
no. of pole pairs for calculating the corresponding value for inverter parameters (e.
g. deceleration or acceleration parameters). These calculations always use the no.
encies are avoided.
All CANopen® DS402 objects with corresponding inverter parameters are pointed out
in this manual.
NOTE
of pole pairs from data set 1. If the no. of pole pairs is different in the data sets, the
result of this operation will not be clear for the user. To avoid confusion it is recommended to write the inverter parameters via the SDO channel using the
(manufacturer) objects and not to use the CANopen® objects. This way, inconsist-
54 CM-CAN ACU 04/13
0x2nnn
Page 55
The communication objects 0x1nnn contain all parameters for the communication.
For easier usage, the objects are summarized by a table in each paragraph. This table
Orange color
= Read Only object
Green color
= Read and Write object
Blue color
= Write only object
Used abbreviations:
Access:
Def.-Val:
Access type
Write only
Mapping
Default value of object
The examples show some typical data telegrams, that can be watched or used with a
r-
The headings are displayed in the format
Index/Subindex Objectname
.
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1000
0
Device Type
Unsigned 32
ro
No
0
The device identification is carried out during the start of the network. The infor-
o-
pen® standards.
Object 0x1000/0
Additional Information
Mode Bits
Type
31
24
23
16
15
0
The "Drives and Motion Control" standard device profile used by the frequency inverter is portrayed as device profile number 402. The additional information specifies the
device functionality of the frequency inverter.
Device Profile Number
= 402
drives and motion control
Type
= 42
servo drive
Mode bits
= 0
unused
12.2 Communication Objects (0x1nnn)
is marked additional by color.
r/w:
ro:
wo:
Read/Write
Read only
Map:
CAN analysis tool. The order of the examples consider the standard CANopen® Fo
mat: Lowest Byte left, Highest Byte right.
12.2.1 0x1000/0 Device Type
mation on the device type and the functionality (type) are prescribed by the CAN
04/13 CM-CAN ACU 55
Device Profile Number
Page 56
Up to Firmware 5.2.0 (including) “Type” depends on the setting of parameter Con-
) sets type = 42 “servo
Firmware 5.3.0 always sets type = 42 “servo drive”.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
00 10
00
00 00 00 00
Reply
581
43
00 10
00
92 01 42 00
CB: Control byte SI: Sub Index All values in hex a decimal without leading 0 x
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1001
0
Error Register
Unsigned 8
ro
No
0
Object 0x1001/0 is the error register for internal errors of the frequency inverter. The
m-
can be evaluated
0x603F/0 Error
code”.
Object 0x1001/0
7 6 5 4 3 2 1 0 Bit
0
1
2
3
4
5
6
7
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
01 10
00
00 00 00 00
Reply
581
4F
01 10
00
00 01 41 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal withou t leading 0x
figuration 30.
A motion control configuration (Configuration 30=x40
drive”.
Other configurations set type = 41 “frequency converter”.
12.2.2 0x1001/0 Error Register
status error-free (0x1001/0 = 0) or error exists (0x1001/0 ≠ 0) is displayed.
Detailed information about the current device fault can be checked VPlus with para
eter Actual Error 259 and 260 via CANopen (see chapter 16.5 “Fault messages”).
Also the emergency message contains additional information, which
by the PLC (see chapters 11.5 “Emergency Function” and 12.5.2 “
General error
Current
Voltage
Temperature
Communication error
Device profile-dependent error
Reserved
Manufacturer-dependent error
56 CM-CAN ACU 04/13
Page 57
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1005
0
COB-ID SYNC Message
Unsigned 32
r/w
No
0
Object 0x1005
COB-ID SYNC message
defines the identifier for the SYNC message as
t-
ed).
Object 0x1005/0
Bit 31
Bit 30
Bit 29
Bit 11 ... 28
Bit 0 … 10
X gen
frame 0 11 bit CAN-ID
Bit 31:
X = don't care
Bit 30:
0 = SYNC message not generated
1
= SYNC message generated
Bit 29:
0
= 11 bit ID
1
= 29 bit ID NOT ALLOWED
Bit 0 … 10:
11 bit CAN-ID
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
05 10
00
00 00 00 00
Reply
581
43
05 10
00
80 00 00 00
Write Access
601
23
05 10
00
81 00 00 00
Reply
581
60
05 10
00
00 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without lead in g 0x
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1006
0
Communication Cycle Period
Unsigned 32
r/w
No
0
The
communication cycle period
is the time distance between two consecutive SYNC
oo-
Values smaller than 20000 (20 ms) are allowed.
The synchronization of the inverter to an external clock has to be met under the con-
ctivated. The definitions of the TxPDO / RxPDO objects can be changed via objects
0x1400 / 0x1800.
12.2.3 0x1005/0 COB-ID SYNC Message
well as whether the CANopen® device generates the SYNC.
The default value of this object is 128 (identifier = 128, SYNC message not genera
12.2.4 0x1006/0 Communication Cycle Period
messages. The SYNC message is used by the inverter for synchronisation of the m
tion control system to the SYNC message. This is especially important for the interp
lated position mode.
The value for
dition, that at least one RxPDO or TxPDO is defined as synchronous object and is a
communication cycle period
is given in multiples of micro seconds.
04/13 CM-CAN ACU 57
Page 58
The inverter can only process the SYNC mechanism in multiples of milliseconds. For
are
is NOT set (0x1006/0 = 0), the inverter measures
the time distance between the SYNC messages over the first 11 messages. Please
inverter. The time must not change after
the measurement.
The time distance between two consecutive SYNC messages is monitored.
is set to a value other than zero,
then a communication error event is triggered whenever the time defined by
After SYNC telegram “A”, SYNC telegram “B” has to be received latest after the set
toring function is not active.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
06 10
00
00 00 00 00
Reply
581
43
06 10
00
00 00 00 00
Write Access
601
23
06 10
00
A0 0F 00 00
Reply
581
60
06 10
00
00 00 00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
this reason the allowed values for object 0x1006/0
multiples of milliseconds.
communication cycle period
E.g.: 0x1006/0 = 4000 = 4 ms
If the
communication cycle period
note, that the monitoring function is deactivated for setting “0”. The measurement is
solely for internal uses of the frequency
If object 0x1006/0
communication cycle period
0x1006/0 is exceeded by more than 50%.
SYNC time + 50 %.
If object 0x1006/0
communication cycle period
is not set (= zero), then this moni-
58 CM-CAN ACU 04/13
Page 59
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1007
0
Synchronous window length
Unsigned 32
r/w
No
See Text
Synchronous window length
is the time span after a SYNC message in which the in-
verter is supposed to update its data from receive PDOs and to send transmit PDOs. If
these actions is not possible in the specified time an emergency message is
If object 0x1007/0
synchronous window length
is not set (= zero), then this moni-
To avoid unnecessary bus load, the emergency message is sent once only. The next
and a new
violation of
synchronous window length
.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
07 10
00
00 00 00 00
Reply
581
43
07 10
00
00 00 00 00
Write Access
601
23
07 10
00
D0 07 00 00
Reply
581
60
07 10
00
00 00 00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1008
0
Manufacturer Device name
Visible string
ro
No
See Text
The device name is displayed as a sequence of ASCII characters.
Example : "ACTIVE CUBE"
The object 0x1008/0 supports the segmented SDO transfer. Check for descriptions
and examples chapter 11.3.4.1 and 12.3.1.5.
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1009
0
Manufacturer Hardware version
Visible string
ro
No
See Text
The device version is displayed as a sequence of ASCII characters.
Example : "ACU 400 512 344"
The object 0x1009/0 supports the segmented SDO transfer. Check for descriptions
and examples chapter 11.3.4.1 and 12.3.1.5.
12.2.5 0x1007/0 Synchronous w in dow length
either of
sent and all remaining synchronous PDOs are discarded until the next SYNC message.
The value for
synchronous window length
E.g.: 0x1007/0 = 2000 = 2 ms
toring function is not active.
emergency message concerning this problem will be sent after the successful processing of all synchronous PDOs within the
is given in multiples of micro seconds.
synchronous window length
12.2.6 0x1008/0 Manufacturer Device Name
12.2.7 0x1009/0 Manufacturer Hardware Version
04/13 CM-CAN ACU 59
Page 60
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x100A
0
Manufacturer Software version
Visible string
ro
No
See Text
The software version is displayed as a sequence of ASCII characters.
Example : "5.3.0"
The object 0x100A/0 supports the segmented SDO transfer. Check for descriptions
and examples chapter 11.3.4.1 and 12.3.1.5.
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x100C
0
Guard time
Unsigned 16
r/w
No
0
The response monitoring time is calculated by the multiplication of the objects g
uard
time
i-
t-
ting of object 0x6007
abort connection option code
.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
0C 10
00
00 00
Reply
581
4B
0C 10
00
00 00
Write Access
601
2B
0C 10
00
D0 07
Reply
581
60
0C 10
00
00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x100D
0
Lifetime factor
Unsigned 8
r/w
No
0
The object "Lifetime Factor" is the multiplier for
guard time. Lifetime factor
= 0 deac-
tivates the guarding function.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
0D 10
00
00
Reply
581
4F
0D 10
00
00
Write Access
601
2F
0D 10
00
05
Reply
581
60
0D 10
00
00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.2.8 0x100A/0 Manufact u r er Software Version
12.2.9 0x100C/0 Guard Time
and
lifetime factor
second.
Guard time
If the response monitoring time is exceeded, the node reacts as defined by the se
. Object 0x100C/0 defines the
= 0 deactivates the guarding function.
guard time
in units of one mill
12.2.10 0x100D/0 Lifetime Factor
60 CM-CAN ACU 04/13
Page 61
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1010
0
Highest sub-index supported
Unsigned8
ro
No
3 1 Store all parameters
Unsigned32
r/w
No
See text
2 Store communication parameters
Unsigned32
r/w
No
See text
3 Store application parameters
Unsigned32
r/w
No
See text
With object 0x1010/n parameter/object settings can be stored to non-volatile
memory. This object supports 3 sub-indexes with different functions.
volatile
Specification of write “save” command
LSB
MSB
“s”
“a”
“v”
“e”
0x73
0x61
0x76
0x65
Writing a value other than "save" results in an SDO abort. The store command is not
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
10 10
01
00 00 00 00
Reply
581
43
10 10
01
01 00 00 00
Write Access
601
23
10 10
01
73 61 76 65
Reply
581
60
10 10
01
00 00 00 00
CB: Control byte SI: Sub Index All values in hexade c im al without leading 0x
12.2.11 0x1010/n Store Parameters
Writing “save” to 0x1010/3 stores all application parameters (0x6nnn) to nonmemory.
processed.
04/13 CM-CAN ACU 61
Page 62
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1011
0
Highest sub-index supported
Unsigned8
ro
No
3 1 Restore all parameters
Unsigned32
r/w
No
See text
2 Restore communication parame-
ters
Unsigned32
r/w
No
See text
3 Restore application parameters
Unsigned32
r/w
No
See text
With object 0x1011/n parameters/objects can be set to their default values. This object supports 3 sub-indexes with different functions.
Writing “load” to 0x1011/3 restores all application parameters (0x6nnn).
Specification of write “load” command
LSB
MSB
“l”
“o”
“a”
“d”
0x6C
0x6F
0x61
0x64
Writing a value other than "load" results in an SDO abort. The restore defaults com-
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
11 10
01
00 00 00 00
Reply
581
43
11 10
01
01 00 00 00
Write Access
601
23
11 10
01
6C 6F 61 64
Reply
581
60
11 10
01
00 00 00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.2.12 0x1011/n Restore default Parameters
mand is not processed.
62 CM-CAN ACU 04/13
Page 63
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1014
0
COB-ID Emergency Message
Unsigned32
r/w
No
See text
The identifier and thus the definition of the priority for the emergency message can
The default value of the identifier is 128 + Node ID (valid).
Object 0x1014/0
Bit 31
Bit 30
Bit 29
Bit 11 ... 28
Bit 0 … 10
valid
0
frame 0 11 bit CAN-ID
Bit 31:
0 = EMCY existent / valid
1
= EMCY non-existent / not valid
Bit 29:
0
= 11 Bit ID
1
= 29 Bit ID NOT ALLOWED
Bit 0 … 10:
11 bit CAN-ID
The emergency message is transmitted with the emergency message COB-ID and
comprises eight bytes. This object is generated in individual cases and the fault
to
zero. The contents are coded according to the following table:
Emergency Message
Byte
Contents
0
Low-byte error code
(0x603F)
1
High-byte error code
(0x603F)
2
Error register
(0x1001)
3 0
4 0 5 0
6 Low-byte, internal error code
7 High-byte, internal error code
Bytes 0, 1 and 2 h ave a fixed definition within the emergency object. Bytes 6 and 7
are used product-specifically on the basis of the specification.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
14 10
00
00 00 00 00
Reply
581
43
14 10
00
81 00 00 00
Write Access
601
23
14 10
00
81 00 00 00
Reply
581
60
14 10
00
00 00 00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.2.13 0x1014/0 COB-ID Emergency Message
be set with object 0x1014/0.
acknowledgement signaled by an emergency message with the data contents equal
04/13 CM-CAN ACU 63
Page 64
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1016
0
Highest sub-index supported
Unsigned8
ro
No
3
1 Consumer Heartbeat Time 1
Unsigned32
r/w
No
See text
2 Consumer Heartbeat Time 2
Unsigned32
r/w
No
See text
3 Consumer Heartbeat Time 3
Unsigned32
r/w
No
See text
Up to three heartbeat producers can be monitored with object 0x1016/n (controlled
i-
Node ID
i-
of the heartbeat producer
reacts as defined by
the setting of object 0x6007
abort connection option code
.
Value of the consumer heartbeat time
Bit 24 to Bit 31
Bit 16 to Bit 23
Bits 0 to Bit 15
not used
Node ID
Heartbeat Time
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
16 10
01
00 00 00 00
Reply
581
43
16 10
01
02 00 00 00
Write Access
601
23
16 10
01
20 00 03 00
Reply
581
60
16 10
01
00 00 00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1017
0
Producer Heartbeat Time
Unsigned16
r/w
No
0 ms
The time for the transmission of a heartbeat object is set with object 0x1017/0. The
setting “Producer Heartbeat Time” = 0 means that no heartbeat object is transmitted.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
17 10
00
00 00
Reply
581
4B
17 10
00
00 00
Write Access
601
23
17 10
00
20 00
Reply
581
60
17 10
00
00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.2.14 0x1016/n Consumer Heartbeat Time
via sub-indexes n = 1 ... 3). Setting "Consumer Heartbeat Time" = 0 means no mon
toring.
identifies the device to be monitored. The
mum time in milliseconds between two heartbeat messages
to be monitored. If this time is exceeded, the monitoring node
Heartbeat Time
states the max
12.2.15 0x1017/0 Producer Heartbeat Time
64 CM-CAN ACU 04/13
Page 65
The identity object provides information on the device manufacturer as well as the
device itself.
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1018
0
Highest sub-index supported
Unsigned8
ro
No
4
1 Vendor ID
Unsigned32
ro
No
See text
2 Product code
Unsigned32
ro
No
See text
3 Revision number
Unsigned32
ro
No
See text
4 Serial number
Unsigned32
ro
No
See text
The vendor ID "0xD5" identifies the manufacturer Bonfiglioli Vectron GmbH. This
a-
Product code:
displays the inverter’s type code.
Revision number:
displays the inverter’s EtherCAT®/CANopen® system revision.
Serial number:
displays the inverter’s serial number.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
18 10
01
00 00 00 00
Reply
581
43
18 10
01
05 00 00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1029
0
Highest sub-index supported
Unsigned8
ro
No
1 1 Communication error
Unsigned8
r/w
No
0
The Error Behavior object defines the behavior of the NMT state machine in the event
of a communication error (BusOff, Guarding, Heartbeat, SYNC, RxPDO-length).
Value
Function
0 Change to NMT state Pre-Operational (default)
1 No change of NMT state
2 Change to NMT state Stopped
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
29 10
01
00 00 00 00
Reply
581
43
29 10
01
05 00 00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.2.16 0x1018/n Identity Object
vendor ID has been assigned by the CANopen® users' organization “CAN in Autom
tion” (CiA®) in Erlangen/Germany (
www.can-cia.org
).
12.2.17 0x1029/n Error Behavior
(only if currently in NMT state Operational)
04/13 CM-CAN ACU 65
Page 66
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1200
0
Highest sub-index supported
Unsigned8
ro
No
2
1
COB-ID client server (Rx)
Unsigned32
ro
No
See text
2
COB-ID server client (Tx)
Unsigned32
ro
No
See text
Object 0x1200 defines the SDO server parameters. The values are read-only and pre
COB-ID server client (Tx) = 1408 + node address
Object 0x1200/1, 2
Bit 31
Bit 30
Bit 29
Bit 11 ... 28
Bit 0 … 10
valid
0
frame 0 11 bit CAN-ID
Bit 31:
0 = SDO existent / valid
Bit 29:
0
= 11 Bit ID
Bit 0 … 10:
11 bit CAN-ID
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
00 12
02
00 00 00 00
Reply
581
43
00 12
02
81 05 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1400
0x1402
0
Highest sub-index supported
Unsigned8
ro
No
2
1
COB ID
Unsigned32
rw
No
See text
2
Transmission type
Unsigned8
rw
No
See text
3
Inhibit time
Unsigned16
rw
No
See text
4
- - - - - 5 Event time
Unsigned16
rw
No
See text
RxPDO Communication parameters:
0x1400/n RxPDO1
COB-ID Default value: 0x200 (=512) +Node ID
0x1401/n RxPDO2
COB-ID Default value: 0x300 (=768) +Node ID
0x1402/n RxPDO3
COB-ID Default value: 0x400 (=1024) +Node ID
These communication parameters define the COB-ID and transmission type used by
are used for RxPDOs. The default setting for
ID depends on the Node ID and can be changed. The default value for
transmission type is 255 (event driven) and can also be changed (see table).
12.2.18 0x1200/n SDO Server Parameter
defined according to the device node address.
COB-ID client server (Rx) = 1536 + node address
12.2.19 0x1400/n, 0x1401/n, 0x1402/n RxPDO Communication Parameters
0x1401
the RxPDOs. Only sub-index 1,2 and 5
the used COB-
66 CM-CAN ACU 04/13
Page 67
Object 0x1400/0x1401/0x1402 COB-ID
Bit 31
Bit 30
Bit 29
Bit 11 ... 28
Bit 0 … 10
valid
0
frame 0 11 bit CAN-ID
Bit 31:
0 = PDO existent/valid
1
= PDO non-existent/not valid
Bit 29:
0
= 11 Bit ID
1
= 29 Bit ID NOT ALLOWED
Bit 0 … 10:
11 bit CAN-ID
RxPDO1 factory setting = valid
RxPDO2/3 factory setting = not valid
Object 0x1400/0x1401/0x1402 transmission type
value
meaning
description
0 synchronous
Update RxPDO data on each SYNC
1 … 240
synchronous
Update RxPDO data on each SYNC
241 … 251
reserved
Value not allowed
252
synchronous/RTR
Value not allowed
253
asynchronous/RTR
Value not allowed
254
asynchronous
Event driven (manufacturer specific)
255
asynchronous
Event driven (profile specific) default value
Values 254 & 255 are handled identically. Update RxPDO data on each Rx.
Inhibit time:
without function. Values can be entered, but are without
further function.
Event time:
202C Fault RxPDO3
Example*:
COB ID
CB
Index
SI
Data
Read Request
601
40
00 14
02
00
Reply
581
4F
00 14
02
FF
Read Request
601
40
00 14
01
00
Reply
581
4F
00 14
01
01 02 00 00
Write Access
601
23
00 14
01
01 02 00 80
Reply *
581
60
00 14
01
00 00 00 00
Write Access
601
2F
00 14
02
05
Reply *
581
60
00 14
02
00
Write Access
601
23
00 14
01
01 02 00 00
Reply *
581
60
00 14
01
00 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
Note, that Object 1400/1 Highest has to be deactivated first for the correct Write
access for Object 1400/2.
The inhibit time for RxPDO is
The event time is used as monitoring function for RxPDO’s. If during the set time no
RxPDO is received, one of the following faults is triggered:
202A Fault RxPDO1
202B Fault RxPDO2
*
04/13 CM-CAN ACU 67
Page 68
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1600
0x1602
0
Number of mapped objects
Unsigned8
rw
No
2
1 1st mapped obj.
Unsigned32
rw
No
See text
2 2nd mapped obj.
Unsigned8
rw
No
See text
3 3rd mapped obj.
Unsigned8
rw
No
See text
4 4th mapped obj.
Unsigned8
rw
No
See text
5 5th mapped obj.
Unsigned8
rw
No
See text
6 6th mapped obj.
Unsigned8
rw
No
See text
7 7th mapped obj.
Unsigned8
rw
No
See text
8 8th mapped obj.
Unsigned8
rw
No
See text
RxPDO Mapping parameters:
0x1600/n RxPDO1
0x1601/n RxPDO2
0x1602/n RxPDO3
0x1600/0 = 0 = no objects mapped
Mapping entry:
MSB
LSB
Object index
Subindex
Length (no. of bits)
High byte
Low byte
si
ll
mapped object in
mapped
Refer to chapter 12.1 for a tabular overview of all objects and their corresponding
data types.
Default mapping
RxPDO1
0x1600/0
0x1600/1
0x1600/2
0x1600/3…8
2 0x6040
Control word
0x6042
target velocity
0x00000000
RxPDO2
0x1601/0
0
No mapping
RxPDO3
0x1602/0
0
No mapping
12.2.20 0x1600/n, 0x1601/n, 0x1602 RxPDO Mapping Parameters
0x1601
0x1600/0 = 1 … 8 = 1 … 8 objects mapped
Examples:
Mapping of 0x6040/0
Control word
(unsigned16 = 10
RxPDO1:
0x1600/1 = 0x60400010
Mapping of 0x60C1/1
interpolation data record 1
object in RxPDO1:
0x1600/2 = 0x60C10120
) to 1st
hex
(integer32 = 20
) to 2nd
hex
68 CM-CAN ACU 04/13
Page 69
Example*:
COB ID
CB
Index
SI
Data
Read Request
601
40
00 16
01
00 00 00 00
Reply
581
43
00 16
01
10 00 40 60
Write Access
601
2F
00 16
00
00
Reply *
581
60
00 16
00
00 00
CB: Control byte SI: Sub Index All values in hexade c im al without leading 0x
Note, that Object 1400/1 Highest bit ha s to be deactivated first for the correct Write
access for Object 1600/n. See also the Mapping sequence described in the following.
Mapping Sequence
The mapping sequence requires five steps:
Step 1:
Set PDO to “not valid” (0x1400, Subindex 1, Bit 31 = 1)
Step 2:
Set sub index 0 to 0 (deactivate current mapping, 0x1600, Sub index 0
= 0)
Step 3:
Set sub index 1 … n to the new objects (0x1600, Subindex 1..n = new
object)
Step 4:
Set sub index 0 to the number of mapped objects (activate new mapping,
0x1600, Subindex 0 = n)
Step 5:
Set PDO valid (0x1400, Subindex 1, Bit 31 = 0)
TxPDO 0x1600 is used exemplary above. The same procedure applies to 0x1601 and
or
0x1402.
Example (Node ID = 1):
COB ID
Control byte
Index
Subindex
Data
Data
LSB MSB
Subindex
LSB …
… MSB
Step 1:
601
23
00 14
01
01 02
00 80
Response
581
60
00 14
01
00 00
00 00
Step 2:
601
2F
00 16
00
00
Response
581
60
00 16
00
00
Step 3.1:
601
23
00 16
01
10 00
42 60
Response
581
60
00 16
01
00 00
00 00
Step 3.2
601
23
00 16
02
10 00
40 60
Response
581
60
00 16
02
00 00
00 00
Step 3.3
601
23
00 16
03
08 00
60 60
Response
581
60
00 16
03
00 00
00 00
Step 4:
601
2F
00 16
00
03
Response
581
60
00 16
00
00
Step 5:
601
23
00 14
01
01 02
00 00
Response
581
60
00 14
01
00 00
00 00
*
0x1602. In these cases, 0x1400 has to be substituted accordingly with 0x1401
04/13 CM-CAN ACU 69
Page 70
Resulting mapping
Target velocity
(0x6042)
Control word
(0x6040)
Modes of operation
(0x6060)
00 00
00 00
00
This example shows the necessary telegrams with the according responses of the
he mapping is only stored in RAM and therefore are lost after a power restart. To
store the mapping into EEPROM (power-fail safe) refer to chapter 12.2.11.
The number of mappable objects depends on the object’s length.
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1800
0x1802
0
Highest sub-index supported
Unsigned8
ro
No
5
1
COB ID
Unsigned32
rw
No
See text
2
Transmission type
Unsigned8
rw
No
255 3 Inhibit time
Unsigned16
rw
No
See text
4
- - - - -
5
Event time
Unsigned16
rw
No
See text
TxPDO Communication parameters:
0x1800/n TxPDO1
COB-ID Default value: 0x180 (=384) +Node ID
0x1801/n TxPDO2
COB-ID Default value: 0x280 (=640) +Node ID
0x1802/n TxPDO3
COB-ID Default value: 0x380 (=896) +Node ID
These communication parameters define the COB-ID and transmission type used by
ID depends on the Node ID and can be
value for the transmission type is 255 (event driven) and can
Object 0x1800/0x1801//1802 COB-ID
Bit 31
Bit 30
Bit 29
Bit 11 ... 28
Bit 0 … 10
valid
0
frame 0 11 bit CAN-ID
Bit 31:
0 = PDO existent / valid
1
= PDO non-existent / not valid
Bit 29:
0
= 11 Bit ID
1
= 29 Bit ID NOT ALLOWED
Bit 0 … 10:
11 bit CAN-ID
TxPDO1 factory setting = valid
TxPDO2/3 factory setting = not valid
device.
T
The maximum number of bytes that can be mapped is 8.
12.2.21 0x1800/n, 0x1801/n, 0x1802/n TxPDO Communication Parameters
0x1801
the TxPDOs. The default setting for the COBchanged. The default
also be changed (see table).
70 CM-CAN ACU 04/13
Page 71
Object 0x1800/0x1801/0x1802 transmission type
value
meaning
description
0 Synchronous
Update TxPDO data and send on SYNC only when
data has changed
1 … 240
Synchronous
Update TxPDO data and send on each “n” SYNC
241 … 251
Reserved
Value not allowed
252
synchronous/RTR
Update TxPDO data on SYNC and send on following
RTR 253
asynchronous/RTR
Update TxPDO data and send on RTR
254
asynchronous
Event driven (manufacturer specific)
255
asynchronous
Event driven (profile specific) default value
Values 254 + 255 are handled identically. Send TxPDO on data change or event time.
Inhibit time: The inhibit time is the minimum time distance between two consecu-
During the inhibit time, the TxPDO is not send
time has elapsed. The value range is 0…65535.
The inhibit time is set in hundreds of microseconds, e. g. a value of 300 is
300 *100 us = 30 ms.
The device internal time resolution for the inhibit time is in milliseconds, the last digit
Values less than 10 are interpreted as 0.
Event time: The event time is the time distance between two consecutive TxPDOs
The event time is set in milliseconds, e.g. a value of 2000 = 2000 ms.
tive TxPDOs for asynchronous TxPDOs.
again. Therefore a value change occurring in this time is send earliest after the inhibit
is always converted to “0”. An inhibit time value = 37 is truncated to 30 [3.7 ms 3
ms].
whenever the TxPDO data has not changed (cycle time). If the inhibit time is set to
zero the TxPDO is only sent on a change of the TxPDO’s data. The value range is
0…65535.
04/13 CM-CAN ACU 71
Page 72
Example Event time & Inhibt time:
The actual speed value is transferred via TxPDO. The value is updated after the inhibit
A, the value remains constant. During this time, the value is
smitted via TxPDO. The value changes again frequently and is only updated after the
inhibit time has elapsed
Sub index 4:
index 4 is included for compatibility reasons. An SDO read/write access to sub
index 4 results in an SDO abort.
Example*:
COB ID
CB
Index
SI
Data
Read Request
601
40
00 18
02
00
Reply
581
4F
00 18
02
FF
Read Request
601
40
00 18
01
00
Reply
581
4F
00 18
01
81 01 00 00
Write Access
601
23
00 18
01
81 01 00 80
Reply *
581
60
00 18
01
00 00 00 00
Write Access
601
2F
00 18
02
05
Reply *
581
60
00 18
02
00
Write Access
601
23
00 18
01
81 01 00 00
Reply *
581
60
00 18
01
00 00 00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
Note, that Object 1800/1 highest bit has to be deactivated first for the correct Write
access for Object 1800/2.
time has elapsed. At time
updated after the Event time has elapsed. At time B, the value changes and is tran
Sub-
*
72 CM-CAN ACU 04/13
Page 73
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x1A00
0x1A02
0
Number of mapped objects
Unsigned8
rw
No
2
1
1st mapped obj.
Unsigned32
rw
No
See text
2
2nd mapped obj.
Unsigned32
rw
No
See text
3
3rd mapped obj.
Unsigned32
rw
No
See text
4
4th mapped obj.
Unsigned32
rw
No
See text
5
5th mapped obj.
Unsigned32
rw
No
See text
6
6th mapped obj.
Unsigned32
rw
No
See text
7
7th mapped obj.
Unsigned32
rw
No
See text
8
8th mapped obj.
Unsigned32
rw
No
See text
TxPDO Mapping parameters:
0x1A00/n TxPDO1
0x1A01/n TxPDO2
0x1A02/n TxPDO3
0x1A00/0 = 0 = no object mapped
Mapping entry:
MSB
LSB
Object index
Subindex
Length (no. of bits)
High byte
Low byte
si
ll
mapping object in
Default mapping
TxPDO1
0x1A00/0
0x1A00/1
0x1A00/2
0x1A00/3…8
2 0x6041
Status word
0x6044
control effort
0x00000000
TxPDO2
0x1A01/0
0
No mapping
TxPDO3
0x1A02/0
0
No mapping
The number of mappable objects depends on the object’s length.
12.2.22 0x1A00/n, 0x1A01/n, 0x1A02/n TxPDO Mapping Parameters
0x1A01
0x1A00/0 = 1 … 8 = 1 … 8 objects mapped
Examples:
Mapping of 0x6041/0
Status word
(unsigned16) to 1st mapping object inTxPDO1:
0x1A00/1 = 0x60410010
Mapping of 0x6064/0
position actual value
TxPDO1:
0x1A00/2 = 0x60640020
(integer32) to 2nd
The maximum number of bytes that can be mapped is 8.
04/13 CM-CAN ACU 73
Page 74
Example*:
COB ID
CB
Index
SI
Data
Read Request
601
40
00 1A
01
00 00 00 00
Reply
581
43
00 1A
01
10 00 41 60
Write Access
601
2F
00 1A
00
00
Reply *
581
60
00 1A
00
00
CB: Control byte SI: Sub Ind e x All values in hexadecimal withou t leading 0x
Note, that Object 1400/1 Highest has to be deactivated first for the correct Write
access for Object 1600/n. See also the Mapping sequence described in the following.
Mapping Sequence
The mapping sequence requires five steps:
Step 1:
Set PDO to “not valid” (0x1800, subindex 1, Bit 31 = 1)
Step 2:
Set subindex 0 to 0 (deactivate current mapping, 0x1A00, subindex 0
= 0)
Step 3:
Set subindex 1 … n to the new objects (0x1A00, subindex 1..n = new
object)
Step 4:
Set subindex 0 to the number of mapped objects (activate new mapping,
0x1A00, subindex 0 = n)
Step 5:
Set PDO valid (0x1800, subindex 1, Bit 31 = 0)
TxPDO 0x1A00 is used exemplary above. The same procedure applies to 0x1A01 and
or
0x1802.
Example (Node ID = 1):
COB ID
Control
byte
Index
Sub index
Data
Data
LSB MSB
Sub index
LSB …
… MSB
Step 1:
601
23
00 18
01
84 01
00 80
Response
581
60
00 18
01
00 00
00 00
Step 2:
601
2F
00 1A
00
00 00
Response
581
60
00 1A
00
00 00
Step 3.1:
601
23
00 1A
01
10 00
44 60
Response
581
60
00 1A
01
00 00
00 00
Step 3.2
601
23
00 1A
02
10 00
41 60
Response
581
60
00 1A
02
00 00
00 00
Step 3.3
601
23
00 1A
03
10 00
01 30
Response
581
60
00 1A
03
00 00
00 00
Step 3.4
601
23
00 1A
04
10 00
02 30
Response
581
60
00 1A
04
00 00
00 00
Step 4:
601
2F
00 1A
00
04 00
Response
581
60
00 1A
00
00 00
Step 5:
601
23
00 18
01
84 01
00 00
Response
581
60
00 1A
00
00 00
00 00
Resulting mapping
Control effort
(0x6044)
Status word
(0x6041)
Digital In actual
values (0x3001)
Digital In actual
values (0x3002)
00 00
00 00
00
00
*
0x1A02. In these cases, 0x1800 has to be substituted accordingly with 0x1801
74 CM-CAN ACU 04/13
Page 75
For direct write/read access to inverter parameters via the SDO channel, a parameter
index are used as follows for
accessing the inverter parameters:
Index
=
Parameter number + 0x2000
Sub-index
=
required data set (0, 1 ... 4, 5, 6 ... 9)
The mapping of numeric data is always in integer or long data type. Values which
(e.g. value 17.35 is transmitted as 1735)
Access to the parameter values is carried out on the basis of the parameter number
There are parameters which only have one value (data set
0), as well as parameters which have four values (data sets 1...4). The latter are used
for the data set change-over of a parameter.
If parameters with four data values are set via data set = 0, all four dat a sets are set
to the same transmitted value. A read access with data set = 0 to such parameters is
only successful if all four data sets are set to the same value. If this is not the case an
error is reported.
NOTE
entered automatically into the EEPROM on the controller. If values
are to be written cyclically, there must be no entry into the EEPROM, as it only has a
limited number of admissible writing cycles (about 1 million cycles). If the number of
To avoid this, cyclically written data can be entered exclusively into the RAM without a
writing cycle taking place on the EEPROM. The data are volatile, i.e., they are lost on
This mechanism is activated by the target data set being increased by five in the
specification of the data set.
Writing to a virtual data set in the RAM
Parameter
EEPROM
RAM
Data set 0
0
5
Data set 1
1
6
Data set 2
2
7
Data set 3
3
8
Data set 4
4
9
12.3 Manufacturer objects (0x2nnn) – Parameter access
is addressed via index and sub-index. Index and sub-
contain decimal places are extended accordingly:
12.3.1 Handling of data sets/cyclic writing of the parameters
and the required data set.
The values are
admissible writing cycles is exceeded, the EEPROM is destroyed.
power-off and have to be written again after power-on.
04/13 CM-CAN ACU 75
Page 76
Writing parameters:
Client Server
SDO Download (expedited)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
LSB
MSB
0xnn
0x2B
uint/int
LSB
MSB
--
--
0x23
long
LSB
...
...
MSB
Server Client
Download Response writing process free of errors
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x60
LSB
MSB
0xnn
-
Server Client
Abort SDO Transfer writing process with error
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x80
LSB
MSB
0xnn
Error code
If an error occurs during the writing process, the corresponding error code is given in
Bytes 4 … 7.
Reading parameters:
Client Server
SDO Upload (expedited)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x40
LSB
MSB
0xnn
-
Server Client
Upload Response reading process without errors
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
LSB
MSB
0xnn
LSB
MSB
0x4B
uint/int
LSB
MSB
--
--
0x43
long
LSB
...
...
MSB
Server Client
Abort SDO Transfer reading process faulty
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x80
LSB
MSB
0xnn
Error code
If an error occurs during the reading process, the corresponding error code is given in
Bytes 4 … 7. Check chapter11.3.3 for the error code list for SDO abort.
12.3.1.1 SDO examples (expedited transfer only)
76 CM-CAN ACU 04/13
Page 77
Example 1
Write parameter Rated Speed 372 (type: uint) in data set 2 with the parameter value
2980.
Index = 372 + 0x2000 = 0x2174, value = 2980 = 0x0BA4
Client Server
SDO Download (expedited)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x601
0x2B
0x74
0x21
0x02
0xA4
0x0B
--
--
Example 2
Writing parameter Warning Limit Heat Sink Temp. 407 (type: int) in data set 0 with
the parameter value -15.
Index = 407 + 0x2000 = 0x2197, value = -15 = 0xFFF1
Client Server
SDO Download (expedited)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x601
0x2B
0x97
0x21
0x00
0xF1
0xFF
--
--
Example 3
Writing parameter Fixed frequency 1 480 (type: long) in data set 1 with the parameter value 100.00 Hz.
Index = 480 + 0x2000 = 0x21E0, value = 10000 = 0x00002710
Client Server
SDO Download (expedited)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x601
0x23
0xE0
0x21
0x01
0x10
0x27
0x00
0x00
Example 4
Writing parameter Fixed Frequency 1 480 (type: long) in data set 3 with the para meter value -50.00 Hz.
Index = 480 + 0x2000 = 0x21E0, value = -5000 = 0xFFFFEC78
Client Server
SDO Download (expedited)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x601
0x23
0xE0
0x21
0x03
0x78
0xEC
0xFF
0xFF
If an error occurs during the writing process, the corresponding error code is given in
Bytes 4 … 7. Check chapter 11.3.3 for the error code list for SDO abort.
Using Write accesses for parameters (objects 0x2nnn = index), the sub-index is used
12.3.1
“Handling of data sets/cyclic writing”.
12.3.1.2 Examples of writing parameters
to define the Write access into EEPROM or RAM. Please refer to chapter
04/13 CM-CAN ACU 77
Page 78
Example 1
Read parameter Rated speed 372 (type: uint) in data set 2 with the current parame-
ter value 1460.
Index = 372 + 0x2000 = 0x2174, value = 1460 = 0x05B4
Client Server
SDO Upload (expedited)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x601
0x40
0x74
0x21
0x02
--
--
--
--
Server Client
Upload Response
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x581
0x4B
0x74
0x21
0x02
0xB4
0x05
--
--
Example 2
Read parameter Warning Limit Heat Sink Temp. 407 (type: int) in data set 0 with the
current parameter value -5.
Index = 407 + 0x2000 = 0x2197, value = -5 = 0xFFFB
Client Server
SDO Upload (expedited)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x601
0x40
0x97
0x21
0x00
--
--
--
--
Server Client
Upload Response
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x581
0x4B
0x97
0x21
0x00
0xFB
0xFF
--
--
Example 3
Read parameter Fixed Frequency 1 480 (type: long) in data set 1 with the current
parameter value 75.00 Hz.
Index = 480 + 0x2000 = 0x21E0, value = 7500 = 0x00001D4C
Client Server
SDO Upload (expedited)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x601
0x40
0xE0
0x21
0x01
--
--
--
--
Server Client
Upload Response
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x581
0x43
0xE0
0x21
0x01
0x4C
0x1D
0x00
0x00
12.3.1.3 Examples of reading parameters
78 CM-CAN ACU 04/13
Page 79
Example 4
Reading parameter Fixed Frequency 1 480 (type: lo ng) in data set 3 with the current
parameter value -10.00 Hz.
Index = 480 + 0x2000 = 0x21E0, value = -1000 = 0xFFFFFC18
Client Server
SDO Upload (expedited)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x601
0x40
0xE0
0x21
0x03
--
--
--
--
Server Client
Upload Response
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x581
0x43
0xE0
0x21
0x03
0x18
0xFC
0xFF
0xFF
If an error occurs during the reading process, the corresponding error code is given in
Bytes 4 … 7. Check chapter 11.3.3 for the error code list for SDO abort.
Write Parameter User Name 029 (T ype String), in data set 0 with the parameter value “Bonfiglioli Vectron CANopen” (= 27 characters = 0x1B characters).
Index = 29 + 0x2000 = 0x201D
ASCII
B o n f i g l
Hexadecimal
0x42
0x6F
0x6E
0x66
0x69
0x67
0x6C
ASCII
i o l i (blank)
V
e
Hexadecimal
0x69
0x6F
0x6C
0x69
0x20
0x56
0x65
ASCII
c t r o n
(blank)
C
Hexadecimal
0x63
0x74
0x72
0x6F
0x6E
0x20
0x43
ASCII
A N o p e n
Hexadecimal
0x41
0x4E
0x6F
0x70
0x65
0x6E
Initiate Sequence
Client Server
SDO Initiate Download Request (segmented)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Sub-index
Daten
0x601
0x21
0x1D
0x20
0x00
1B
00
00
00
Server Client
Initiate Download Response (response: 9 bytes to be send)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Sub-index
Daten
0x581
0x60
0x1D
0x20
0x00
0x00
0x00
0x00
0x00
12.3.1.4 Example to Write parameters via Segmented Transfer
04/13 CM-CAN ACU 79
Page 80
1st Segment
Server Client
Upload Segment Request (bytes 1…7)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x601
0x00
0x42
0x6F
0x6E
0x66
0x69
0x67
0x6C
Server Client
Upload Segment Response (bytes 1…7)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x581
0x20
0x00
0x00
0x00
0x09
0x00
0x00
0x00
2nd Segment
Server Client
Upload Segment Request (bytes 8…14)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x601
0x10
0x69
0x6F
0x6C
0x69
0x20
0x56
0x65
Server Client
Upload Segment Response (bytes 8…14)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x581
0x30
0x00
0x00
0x00
0x00
0x00
0x00
0x00
3rd Segment
Server Client
Upload Segment Request (bytes 15…21)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x601
0x00
0x63
0x74
0x72
0x6F
0x6E
0x20
0x43
Server Client
Upload Segment Response (bytes 15…21)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x581
0x20
0x00
0x00
0x00
0x00
0x00
0x00
0x00
4th Segment
Server Client
Upload Segment Request (bytes 22…28)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x601
0x13
0x41
0x4E
0x6F
0x70
0x65
0x6E
0x00
Server Client
Upload Segment Response (bytes 22…28)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x581
0x30
0x00
0x00
0x00
0x00
0x00
0x00
0x00
80 CM-CAN ACU 04/13
Page 81
Example 1
Read Parameter Inverter So ftware Version 012 (Type String), in data set 0 with the
actual parameter value “5.2.0 STO”.
Index = 12 + 0x2000 = 0x200C, Value = “5.2.0 STO”
ASCII
5 . 2 . 0
(blank)
S T O
Hexadecimal
0x35
0x2E
0x32
0x2E
0x30
0x20
0x53
0x54
0x4F
Initiate Sequence
Client Server
SDO Initiate Download Request (segmented)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x601
0x40
0x0C
0x20
0x00
--
--
--
--
Server Client
Initiate Download Response (response: 9 bytes to be send)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Subindex
Data
0x581
0x41
0x0C
0x21
0x00
0x09
0x00
0x00
0x00
1st Segment
Server Client
Upload Segment Request (bytes 1…7)
0 1 2 3 4 5 6 7
COB ID
Control byte
Data
0x601
0x60
0x00
0x00
0x00
0x09
0x00
0x00
0x00
Server Client
Upload Segment Response (bytes 1…7)
0 1 2 3 4 5 6 7
COB ID
Control byte
Data
0x581
0x00
0x35
0x2E
0x32
0x2E
0x30
0x20
0x53
2nd Segment
Server Client
Upload Segment Request (bytes 8…9)
0 1 2 3 4 5 6 7
COB ID
Control byte
Data
0x601
0x70
0x00
0x00
0x00
0x09
0x00
0x00
0x00
Server Client
Upload Segment Response (bytes 8…9)
0 1 2 3 4 5 6 7
COB ID
Control byte
Data
0x581
0x1B
0x54
0x4F
0x00
0x09
0x00
0x00
0x00
12.3.1.5 Examples to Read parameters via Segmented Transfer
04/13 CM-CAN ACU 81
Page 82
Example 2
Reading of Parameter User name 029 (Type String), in data set 0 with the actual
parameter value “CANopen device”.
Index = 29 + 0x2000 = 0x201D, Wert = “CANopen device”
ASCII
C A N o p e n
Hexadecimal
0x43
0x41
0x4E
0x6F
0x70
0x65
6E
ASCII
(blank)
d e v i c
e
Hexadecimal
0x20
0x64
0x65
0x76
0x69
0x63
0x65
Initiate Sequence
Client Server
SDO Initiate Download Request (segmented)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Sub-index
Daten
0x601
0x40
0x0C
0x20
0x00
0x00
0x00
0x00
0x00
Server Client
Initiate Download Response (response: 9 bytes to be send)
0 1 2 3 4 5 6 7
COB ID
Control byte
Index
Sub-index
Daten
0x581
0x41
0x0C
0x21
0x00
0x09
0x00
0x00
0x00
1st Segment
Server Client
Upload Segment Request (bytes 1…7)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x601
0x60
0x00
0x00
0x00
0x00
0x00
0x00
0x00
Server Client
Upload Segment Response (bytes 1…7)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x581
0x00
0x43
0x41
0x4E
0x6F
0x70
0x65
6E
2nd Segment
Server Client
Upload Segment Request (bytes 8…14)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x601
0x70
0x00
0x00
0x00
0x09
0x00
0x00
0x00
Server Client
Upload Segment Response (bytes 8…14)
0 1 2 3 4 5 6 7
COB ID
Control byte
Daten
0x581
0x11
0x20
0x64
0x65
0x76
0x69
0x63
0x65
82 CM-CAN ACU 04/13
Page 83
Index Parameters are used for different ACU functionalities.
d-
dressing of the individual index is done via an index access parameter separated by
The selection to write into EEPROM or RAM is done via the index
access parameter.
Function
Parameter
Index range
Index access
Write
and Read
Write
Positioning
1202 Target Position / Distance
Int.-Event 2: Next Motion Block
PLC Function
1343 FT-instruction
FT-commentary
Multiplexer
1252 Mux Input
01);
1…16
171);
18…33
1250 Write
1251 Read
CANopen Mulitplexer
1422 CANopen Mux Input
01);
1…16
171);
18…33
1420 Write
1421 Read
1) If the index access parameter is set = 0, all indexes are accessed to write into
EEPROM. Selection 17 and 33 respectively, write all indexes into RAM.
12.3.2 Handling of index parameters/cyclic writing
Instead of the 4 data sets 16 or 32 indexes are used with these parameters. The a
the functionality.
parameter
EEPROM
RAM
1203 Speed
1204
Acceleration
1205
Ramp Rise time
1206
Deceleration
1207
Ramp Fall time
1208
Motion mode
1209 Touch-Probe-Window
1210 Touch-Probe-Error:Next Motion Block
1211 No. of Repetitions
1212 Delay
1213
Delay: Next Motion Block
1214 Event 1
1215 Event1: Next Motion Block
1216 Event 2
01);
1…32
331);
34…65
1200 Write
1201 Read
1217 Event2: Next Motion Block
1218 Digital Signal 1
1219 Digital Signal 2
1247 Digital Signal 1
1248 Digital Signal 2
1260 Interrupt-Event 1
1261 Int.-Event 1: Eval.-Mode
1262 Int.-Event 1: Next Motion Block
1263 Interrupt- Event 2
1264 Int.-Event 2: Eval.-Mode
1265
(Function table)
1344 FT-input 1
1345 FT-input 2
1346 FT-input 3
1347 FT-input 4
1348 FT-Parameter 1
01);
1…32
1349 FT-Parameter 2
1350 FT-target output 1
1351 FT- target output 2
1352
04/13 CM-CAN ACU 83
331);
34…65
1341 Write
1342 Read
Page 84
The values are entered automatically into the EEPROM on the controller. If values
are to be written cyclically, there must be no entry into the EEPROM, as it only has a
limited number of admissible writing cycles (about 1 million cycles). If the number of
To avoid this, cyclically written data can be entered exclusively into the RAM without a
le taking place on the EEPROM. The data are volatile, i.e., they are lost on
power-off and have to be written again after power-on.
Typically an index parameter is written during commissioning or regularly at simple
positioning applications.
Writing Parameter 1202 Target Position / Distance (Typ long), in Index 1 into RAM
(index 34 for write access) with Parameter value 30000.
Index = 1200 + 0x2000 = 0x24B0, Value (int) = 34 = 0x0022
Index = 1202 + 0x2000 = 0x24B2, Value (long) = 30000 = 0x0000 7530
COB ID
CB
Index
Sub-index
Data
Write Request P. 1200 to Index 34
0x601
0x2B
0xB0 0x24
0x05
0x22 0x00
Response
0x581
0x60
0xB0 0x24
0x05
0x00 0x00
Write Request P. 1202 to 30000 u
0x601
0x23
0xB2 0x24
0x00
0x30 0x75 0x00 0x00
Response
0x581
0x60
0xB2 0x24
0x00
0x00 0x00 0x00 0x00
If several parameter of an index should be changed, it is sufficient to set the index
To read an index parameter, first the index access parameter has to be set to the
corresponding index. After that, the parameter can be read out.
Reading Parameter 1202 Target Position / Distance (Typ long), in Index 1 with Parameter value 123000.
Index = 1201 + 0x2000 = 0x24B1, Value (int) = 1 = 0x0001
Index = 1202 + 0x2000 = 0x24B2, Value (long) = 123000 = 0x0001 E078
COB ID
CB
Index
Sub-index
Data
Write Request P. 1201 to Index 1
0x601
0x2B
0xB1 0x24
0x05
0x01 0x00
Response
0x581
0x60
0xB1 0x24
0x05
0x00 0x00
Read Request P. 1202
0x601
0x40
0xB2 0x24
0x00
0x00 0x00 0x00 0x00
Response
0x581
0x43
0xB2 0x24
0x00
0x78 0xE0 0x01 0x00
If several parameter of an index should be read, it is sufficient to set the index access
NOTE
admissible writing cycles is exceeded, the EEPROM is destroyed.
writing cyc
12.3.2.1 Example Writing an index parameter
access parameter 1200 once at the beginning.
12.3.2.2 Example Reading an index parameter
parameter 1201 once at the beginning.
84 CM-CAN ACU 04/13
Page 85
In addition to the device profile objects the following manufacturer specific objects
are implemented.
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3000
0
SYNC Jitter
Unsigned16
rw
No
See Text
DS301 does not include an object for monitoring the jittering of the SYNC message.
SYNC
communication cycle period
SYNC Jitter
a-
l-
or the
s-
time is active. The jitter monitoring is independent of how the communication cycle
period is determined (either set with object 0x1006/0 or by measuring).
Last SYNC “A”
Expected SYNC “B”
SYNC jitter
SYNC jitter
Internal limit
Internal limit
12.4 Manufacturer objects (0x3000 … 0x5FFF)
12.4.1 0x3000/0 SYNC Jitter
ACTIVE CUBE inverters monitor SYNC message jittering with object 0x3000/0
Jitter
(given in multiples of micro seconds).
If the SYNC message is received outside the time defined by:
0x1006/0
a communication error event is triggered.
The value for object 0x3000/0
SYNC Jitter
bility for time accuracy. The value range is 0 … 17.000 (μs) and is in addition interna
ly restricted to 50% of the
communication cycle period
measured value).
+/- 0x3000/0
depends on the CANopen® mast er's cap
(object 0x1006/0
If object 0x3000/0
SYNC Jitter
is set to 0, there is no monitoring of the SYNC me
sage time.
If object 0x3000/0
SYNC Jitter
is set to ≠ 0 then monitoring of the SYNC message
04/13 CM-CAN ACU 85
Page 86
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
00 30
00
00 00
Reply
581
4B
00 30
00
00 00
Write Access
601
2B
00 30
00
10 00
Reply
581
60
00 30
00
00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
Object 0x3000
SYNC Jitter
is located in the application object area and is saved by
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3001
0
Digital In actual value
Unsigned16
ro
Tx
Object 0x3001
Digital In actual value
displays the current state of the digital inputs
e-
scribed in parameter Digital Inputs 250.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
01 30
00
00 00
Reply
581
4B
01 30
00
06 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3002
0
Digital Out actual value
Unsigned16
ro
Tx
Object 0x3002
Digital Out actual value
displays the current state of the up to 4 - de-
digital outputs and of the multifunctional output 1 (if
in Operation mode 550 – digital) as described in parameter Digital Outputs 254.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
02 30
00
00 00
Reply
581
4B
02 30
00
03 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
objects 0x1010/3
save application objects
and 0x1010/1
12.4.2 0x3001/0 Digital In a ct u a l value
and of the multifunctional input 1 (if in
12.4.3 0x3002/0 Digital Out actu al value
save all objects
Operation mode
.
452-digital input) as d
pending on optional hardware -
86 CM-CAN ACU 04/13
Page 87
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3003
0
Digital Out set values
Unsigned8
rw
Rx
0
Via object 0x3003 there are 5 digital sources available for use with parameters, which
require digital values.
Object 0x3003
Bit
Source no.
Source name
Operation mode
Digital output
0
810
Obj 0x3003 Digout 1
90/190
1
811
Obj 0x3003 Digout 2
91/191
2
812
Obj 0x3003 Digout 3
92/192
3
813
Obj 0x3003 Digout 4
93/193
4
814
Obj 0x3003 Digout 5
94/194
The value of object 0x3003 is limited from 0 to 31.
No.
Object
Min.
Max.
0x3003/0
Digital Out set values
0
31 (= 0x1F)
Digital outputs use these sources as operation mode 90 … 94
Obj 0x3003 DigOut
(see e.g.
bits to the
outputs is arbitrary.
Example:
Function
Parameter no.
Choice list (excerpt)
Op. Mode Digi-
532
0 -
OFF
1 -
Ready or Standby Signal
2 -
Run Signal
…
43 -
External Fan
90 -
Obj 0x3003 Digout 1
91 -
Obj 0x3003 Digout 2
92 -
Obj 0x3003 Digout 3
93 -
Obj 0x3003 Digout 4
94 -
Obj 0x3003 Digout 5
…
143 -
inv. External Fan
190 -
inv. Obj 0x3003 Digout 1
191 -
inv. Obj 0x3003 Digout 2
192 -
inv. Obj 0x3003 Digout 3
193 -
inv. Obj 0x3003 Digout 4
194 -
inv. Obj 0x3003 Digout 5
…
The sources can be chosen directly by the selection of 810…814
Obj 0x3003 DigOut
l-
ean inputs.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
03 30
00
00
Reply
581
4F
03 30
00
03
Write Access
601
2F
03 30
00
10
Reply
581
60
03 30
00
00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
12.4.4 0x3003/0 Digital Out se t values
1 … 5
respectively inverted as 190 ... 194
parameter Op. Mode Digital Output 1 530
tal Output 3
inv. Obj 0x3003 DigOut 1 … 5
).
The mapping of this object
1 … 5
from the parameters choice list. This can be used e.g. for direct setting of Boo
04/13 CM-CAN ACU 87
Page 88
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3004
0
Boolean Mux
Unsigned16
ro
Tx
Via object 0x3004 up to 16 boolean values can be transferred from the ACU to a PLC
in a compressed manner. Each bit in 16 bit object 0x3004 displays the actual value of
the connected boolean source.
Bit number 0 … 15 corresponds with index number 1 … 16!
The sources for the 16 bits can be chosen from a choice list via the index parameter
are the associated write
parameters/cyclic writing”.
Default value is 7 – Off.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
04 30
00
00 00
Reply
581
4B
04 30
00
03 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.4.5 0x3004/0 Boolean Mux
CANopen® Mux Input. 1422. Parameters 1420 and 1421
and read parameters which you have to set prior to writing/reading parameter 1422.
By using VTable this process is easier and more clearly laid out.
For writing and reading index parameters refer to chapter12.3.2 “
Handling of index
88 CM-CAN ACU 04/13
Page 89
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3005
0
Boolean DeMux
Unsigned16
rw
Rx
0
Via object 0x3005 up to 16 boolean values can be written in a compressed manner.
selection of
832 … 847
Obj 0x3005 Demux Out 1…16
from a parameters choice list.
Obj. 0x3005
Bit no.
Source No.
Source name
0
832
Obj. 0x3005 Demux Out 1
1
833
Obj. 0x3005 Demux Out 2
2
834
Obj. 0x3005 Demux Out 3
3
835
Obj. 0x3005 Demux Out 4
4
836
Obj. 0x3005 Demux Out 5
5
837
Obj. 0x3005 Demux Out 6
6
838
Obj. 0x3005 Demux Out 7
7
839
Obj. 0x3005 Demux Out 8
8
840
Obj. 0x3005 Demux Out 9
9
841
Obj. 0x3005 Demux Out 10
10
842
Obj. 0x3005 Demux Out 11
11
843
Obj. 0x3005 Demux Out 12
12
844
Obj. 0x3005 Demux Out 13
13
845
Obj. 0x3005 Demux Out 14
14
846
Obj. 0x3005 Demux Out 15
15
847
Obj. 0x3005 Demux Out 16
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
05 30
00
00 00
Reply
581
4B
05 30
00
05 00
Write Access
601
2B
05 30
00
20 00
Reply
581
60
05 30
00
00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.4.6 0x3005/0 Boolean DeMu x
These values are available as sources which can be chosen by the
04/13 CM-CAN ACU 89
Page 90
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3006
0
Percentage set value
Unsigned16
rw
Rx
0
Via object 0x3006 it is possible to write to a percentage source like parameter S. Ref-
c-
tion of “815 - Obj 0x3006 Reference Percentage” from a parameters choice list.
The value of object 0x3006 is limited to -30000 to 30000 (corresponds to percentage
values -300.00 %...300.00 %).
No.
Object
Min.
Max.
0x3006/0
Percentage set value
-30000
(= 0x8AD0)
30000
(= 0x7530)
Example: Technology controller parameter S. Reference Value 056.
The percentage value is scaled as percent * 100 (e.g. 5678 represents 56.78%).
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
06 30
00
00 00
Reply
581
4B
06 30
00
05 00
Write Access
601
2B
06 30
00
20 00
Reply
581
60
06 30
00
00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.4.7 0x3006/0 Percentage set value
erence Value
056.
The value of object 0x3006 is available as source which can be chosen by the sele
90 CM-CAN ACU 04/13
Page 91
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3007
0
Percentage actual value 1
Unsigned16
ro
Tx
Object 0x3007 displays the value of a percentage source which is selectable via pa-
Default source is 52 – Analog Input MFI1A.
The percentage value is scaled as percent * 100 (e.g. 5678 represents 56.78%).
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
07 30
00
00 00
Reply
581
4B
07 30
00
8F 13
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.4.8 0x3007/0 Percentage actual value 1
rameter CANopen
®
Percentage Actual Value Source 1423.
04/13 CM-CAN ACU 91
Page 92
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3008
0
Percentage actual value 2
Unsigned16
ro
Tx
Object 0x3008 displays the value of a percentage source which is selectable via pa-
Default source is 52 – Analog Input MFI1A.
The percentage value is scaled as percent * 100 (e.g. 5678 represents 56.78%).
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
08 30
00
00 00
Reply
581
4B
08 30
00
8F 13
CB: Control byte SI: Sub Ind e x All values in hexadecimal withou t leading 0x
12.4.9 0x3008/0 Percentage actual value 2
rameter CANopen
®
Percentage Actual Value Source 2 1414.
92 CM-CAN ACU 04/13
Page 93
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3011
0
Actual value Word 1
Unsigned16
ro
Tx
Object 0x3011 displays the value of a word source which is selectable via parameter
Default source is 52 – Analog Input MFI1A.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
11 30
00
00 00
Reply
581
4B
11 30
00
8F 13
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.4.10 0x3011/0 Actual value Word 1
CANopen Actual. Value Word 1 1415.
04/13 CM-CAN ACU 93
Page 94
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3012
0
Actual value Word 2
Unsigned16
ro
Tx
Object 0x3012 displays the value of a word source which is selectable via parameter
Default source is 52 – Analog Input MFI1A.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
12 30
00
00 00
Reply
581
4B
12 30
00
8F 13
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.4.11 0x3012/0 Actual value Word 2
CANopen® Actual Value Word 2 1416.
94 CM-CAN ACU 04/13
Page 95
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3021
0
Actual value Long 1
Unsigned32
ro
Tx
Object 0x3021 displays the value of a Long source which is selectable via parameter
Default source is 9 – Zero.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
21 30
00
00 00 00 00
Reply
581
43
21 30
00
8F 13 00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.4.12 0x3021/0 Actual value Long 1
CANopen® Actual Value Long 1 1417.
04/13 CM-CAN ACU 95
Page 96
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3022
0
Actual value Long 2
Unsigned32
ro
Tx
Object 0x3022 displays the value of a Long source which is selectable via parameter
Default source is 9 – Zero.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
22 30
00
00 00 00 00
Reply
581
4B
22 30
00
8F 13 00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.4.13 0x3022/0 Actual value Long 2
CANopen® Actual Value Long 2 1418.
96 CM-CAN ACU 04/13
Page 97
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3111
0
Ref. Value word 1
Unsigned16
rw
Rx
0
Via object 0x3111 it is possible to write to a Word source like parameter TxPDO1
c-
tion of “762 - CANopen 0x3111 Ref. Value” from a parameters choice list.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
11 31
00
00 00
Reply
581
4B
11 31
00
05 00
Write Access
601
2B
11 31
00
20 00
Reply
581
60
11 31
00
00 00
CB: Control byte SI: Sub Ind e x All values in hexadecimal without leading 0x
12.4.14 0x3111/0 Ref. Value word 1
Word 1 950 of the Systembus.
The value of object 0x3111 is available as source which can be chosen by the sele
04/13 CM-CAN ACU 97
Page 98
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3112
0
Ref. Value word 2
Unsigned16
rw
Rx
0
Via object 0x3112 it is possible to write to a Word source like parameter TxPDO1
c-
tion of “763 - CANopen 0x3112 Ref. Value” from a parameters choice list.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
12 31
00
00 00
Reply
581
4B
12 31
00
05 00
Write Access
601
2B
12 31
00
20 00
Reply
581
60
12 31
00
00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
12.4.15 0x3112/0 Ref. Value word 2
Word 1 950 of the Systembus.
The value of object 0x3112 is available as source which can be chosen by the sele
98 CM-CAN ACU 04/13
Page 99
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3121
0
Ref. Value long 1
Unsigned32
rw
Rx
0
Via object 0x3121 it is possible to write to a Word source like parameter TxPDO1
c-
tion of “764 - CANopen 0x3121 Ref. Value” from a parameters choice list.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
21 31
00
00 00 00 00
Reply
581
43
21 31
00
05 00 00 00
Write Access
601
23
21 31
00
20 00 00 00
Reply
581
60
21 31
00
00 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
12.4.16 0x3121/0 Ref. Value long 1
Long 1 954 of the Systembus.
The value of object 0x3121 is available as source which can be chosen by the sele
04/13 CM-CAN ACU 99
Page 100
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x3122
0
Ref. Value long 2
Unsigned32
rw
Rx
0
Via object 0x3122 it is possible to write to a Word source like parameter TxPDO1
c-
tion of “765 - CANopen 0x3122 Ref. Value” from a parameters choice list.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
22 31
00
00 00 00 00
Reply
581
43
22 31
00
05 00 00 00
Write Access
601
23
22 31
00
20 00 00 00
Reply
581
60
22 31
00
00 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
12.4.17 0x3122/0 Ref. Value long 2
Long 1 954 of the Systembus.
The value of object 0x3122 is available as source which can be chosen by the sele
100 CM-CAN ACU 04/13
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