Lenze 931K User Manual
KHB 13.0002−EN
.Ckò
Ä.Ckòä
Communication Manual
Servo Drives 930
931E/K
CANopen
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1 About this documentation 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Document history 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Conventions used 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Notes used 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Product description 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Product features 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Technical data 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Communication data 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Electrical installation 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Wiring according to EMC 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Electrical connections of CANopen 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Connection of CAN bus slave 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Connection of CAN bus master 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 CANopen communication 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 About CANopen 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Structure of the CAN data telegram 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2 Identifier 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.3 Node address (node ID) 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.4 User data 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Parameter data transfer (SDO transfer) 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Telegram structure 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Reading parameters (example) 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Writing parameters (example) 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Process data transfer (PDO transfer) 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Telegram structure 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Available process data objects 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Objects for PDO parameterisation 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.4 Description of the objects 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.5 Example of a process data telegram 37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.6 Activation of the PDOs 38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Sync telegram 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.1 Telegram structure 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.2 Synchronisation of the process data 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.3 Description of the objects 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Network management (NMT) 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.1 Communication phases of the CAN network (NMT) 41 . . . . . . . . . . . . . . . .
5.5.2 Telegram structure 42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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5.6 Emergency telegram 44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Telegram structure 44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Description of the objects 46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 Heartbeat telegram 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.1 Telegram structure 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.2 Description of the objects 49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8 Boot−up telegram 50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.1 Telegram structure 50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9 Node guarding telegram 51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.1 Overview 51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.2 Telegram structure 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.3 Description of the objects 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 Commissioning 56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Activation of CANopen 56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Speed control 57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Parameterising of a process data object (TPDO and RPDO) 57 . . . . . . . . . . .
6.2.2 Parameterising of the motor and the current controller 60 . . . . . . . . . . . . .
6.2.3 Parameterising of the speed control 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.4 Running through the state machine 62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Position control 64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Parameter setting 69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1 Parameterising of the homing run 64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.2 Running through the state machine 66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Loading and saving of parameter sets 69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.1 Overview 69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.2 Description of the objects 71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Conversion factors (factor group) 72 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.1 Overview 72 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.2 Description of the objects 74 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Power stage parameters 76 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Overview 76 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Description of the objects 76 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4 Current controller and motor adaptation 78 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.1 Overview 78 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.2 Description of the objects 79 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5 Speed controller 81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.1 Overview 81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.2 Description of the objects 81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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7.6 Position controller (position control function) 82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.6.1 Overview 82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.6.2 Description of the objects 84 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.7 Analog inputs 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.7.1 Overview 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.8 Digital inputs and outputs 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.8.1 Overview 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.8.2 Description of the objects 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.9 Limit switches 88 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.9.1 Overview 88 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.9.2 Description of the objects 88 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.10 Device information 89 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.10.1 Description of the objects 89 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Device control 90 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 State diagram 90 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1 Overview 90 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2 State diagram of the drive controller 91 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.3 States of the drive controller 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.4 State transitions of the drive controller 94 . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.5 Control word 95 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.6 Controller state 98 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.7 Status word 99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 Operating modes 101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Setting of the operating mode 101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.1 Overview 101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2 Description of the objects 101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Speed control 103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1 Overview 103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2 Description of the objects 105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Homing 106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Overview 106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.2 Description of the objects 107 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.3 Control of the homing run 108 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4 Positioning 109 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1 Overview 109 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2 Description of the objects 110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.3 Functional description 111 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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9.5 Synchronous position selection 113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1 Overview 113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.2 Description of the objects 114 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.3 Functional description 115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6 Torque control 119 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.1 Overview 119 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.2 Description of the objects 120 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 Appendix 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Index table 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 Index 145 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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1 About this documentation
Contents
This documentation only contains descriptions for the CAN bus system and
CANopen−specific functions for servo inverters of the 931 series.
) Note!
This documentation completes the mounting instructions coming with the
931 servo inverter and the corresponding hardware manual.
The mounting instructions and the hardware manual contain safety
instructions which must be observed!
ƒ The features of the CAN bus system and CANopen−specific functions for servo
inverters of the 931 series are described in detail.
ƒ Typical applications are illustrated by use of examples.
About this documentation 1
ƒ Furthermore, this documentation contains:
– the most important technical data for CAN communication;
– information on the installation and commissioning of the CAN network;
– information on the CAN data transfer, CAN monitoring functions,
communication−relevant parameters, and different operating modes.
The theoretical connections are only explained as far as required for understanding the
CAN communication for servo inverters of the 931 series.
All trade names listed in this manual are trademarks of their respective owners.
Validity information
The information given in this documentation is valid for servo inverters of the 931 series.
Target group
This documentation addresses to all persons designing, installing, commissioning, and
setting the servo inverters of the 931 series.
I Tip!
Documentation and software updates for further Lenze products can be found
on the Internet in the "Services & Downloads" area under
http://www.Lenze.com
KHB 13.0002−EN 4.1
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About this documentation
Document history
1.1 Document history
Material number Version Description
– 1.0 LKA First edition
– 1.1 LKA Revision
13190599 2.0 11/2006 TD34 Complete revision
13344512 3.0 04/2010 TD34 Extended by the 931K servo inverter, chapter "Node
13347463 4.0 08/2010 TD09 Complete revision
.Ckò 4.1 03/2012 TD09 Extended table − index 1018
Your opinion is important to us!
These instructions were created to the best of our knowledge and belief to give you the
best possible support for handling our product.
If you have suggestions for improvement, please e−mail us to:
feedback−docu@Lenze.de
guarding telegram" has been added, general revision
h
Thank you for your support.
Your Lenze documentation team
1.2 Conventions used
This documentation uses the following conventions to distinguish between different
types of information:
Type of information Identification Examples/notes
Spelling of numbers
Decimal separator
Text
Program name » « PC software
Icons
Page reference ^ Reference to another page with additional
Point In general, the decimal point is used.
For instance: 1234.56
For example: »Engineer«, »Global Drive
Control« (GDC)
information
For instance: ^ 16 = see page 16
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Notes used
1
1.3 Notes used
The following pictographs and signal words are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:
} Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph and signal word Meaning
{ Danger!
} Danger!
( Stop!
Danger of personal injury through dangerous electrical voltage.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of personal injury through a general source of danger.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of property damage.
Reference to a possible danger that may result in property
damage if the corresponding measures are not taken.
Application notes
Pictograph and signal word Meaning
) Note!
I Tip!
,
Important note to ensure troublefree operation
Useful tip for simple handling
Reference to another documentation
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Product description
Product features
2 Product description
2.1 Product features
CAN bus features:
ƒ Full compatibility according to CANopen DS301, V4.02.
ƒ Support of NMT slave "Heartbeat" function (DS301 V4.02).
ƒ Number of parameterisable server SDO channels:
– max. 2 channels with 1 ... 8 bytes
ƒ Number of parameterisable PDO channels:
– max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (can be set)
– max. 2 receive PDOs (RPDOs) with 1 ... 8 bytes (can be set)
ƒ All PDO channels have the same functions.
ƒ Data reception monitoring of RPDOs
ƒ Adjustable error response to ...
– physical CAN errors (frame, bit, ACK errors)
– bus stop, bus working
– absent PDOs
ƒ Bus status diagnostics
ƒ Emergency telegram generation
ƒ Sync telegram generation and response to sync telegrams:
– Send/receive data
– Synchronisation of internal time base
ƒ Abort codes
10
l
KHB 13.0002−EN 4.1
3 Technical data
3.1 Communication data
Communication
Field Values
Communication profile DS 301, DSP 402
Communication medium RS232
Network topology Without repeater: line / with repeaters: line or tree
CAN node Slave
Baud rate (in kbps) 125, 250, 500
Max. cable length per bus segment 1000 m (depending on baud rate and cable type)
Bus connection RJ45 (931E), M12 (931K)
Technical data
Communication data
3
KHB 13.0002−EN 4.1
l
11
4
Electrical installation
Wiring according to EMC
4 Electrical installation
4.1 Wiring according to EMC
General notes l The electromagnetic compatibility of the drive depends on the type of installation and the care taken.
Assembly l Electrical contacting of the mounting plate:
Shielding l If possible, only use braided cables.
Earthing l Electrical contacting of the mounting plate:
Especially observe:
– Assembly
– Shielding
– Earthing
l In the case of differing installations, the evaluation of the conformity to the EMC Directive requires the
system to be checked for compliance with the EMC limit values. This applies, for instance, to:
– Use of unshielded cables
l The user is responsible for compliance with the EMC Directive.
– If the following measures are observed, you can assume that no EMC problems will occur during operation
and that the EMC Directive / EMC law is met.
– If devices are operated close to the system which do not meet the CE requirements regarding the noise
immunity according to EN 61000−4−2, these devices may be electromagnetically impaired by the drive.
– Mounting plates with conductive surface (galvanised or stainless steel) enable a permanent contact.
– Painted plates are not suitable for an EMC−compliant installation.
l If you use several mounting plates:
– Contact the mounting plates to each other over a large area (e.g. with copper strips).
l Route signal cables separately from mains cables.
l Route the cables as close as possible to the reference potential. Freely suspended cables act like aerials.
l The overlap rate of the shield should be higher than 80%.
l Always use metal or metallised connectors for the serial data cable coupling. Connect the shield of the data
cable to the connector shell.
l Use metal cable clamps to attach the shield braid.
l Connect the shield to the shield bus in the control cabinet.
l Connect the shields of analog control cables at one end.
– Mounting plates with conductive surface (galvanised or stainless steel) enable a permanent contact.
– Painted plates are not suitable for an EMC−compliant installation.
l If you use several mounting plates:
– Contact the mounting plates to each other over a large area (e.g. with copper strips).
l Route signal cables separately from mains cables.
l Route the cables as close as possible to the reference potential. Freely suspended cables act like aerials.
12
l
KHB 13.0002−EN 4.1
Electrical installation
Electrical connections of CANopen
4
4.2 Electrical connections of CANopen
A
1
120
6
1
2
9
7
8
5
3
4
CAN-GND
CAN-HIGH
CAN-LOW
Fig. 1 Basic wiring of CANopen with Sub−D connector to the master
Node 1 − master (e.g. PLC)
A
1
Node 2 − slave (e.g. drive controller 931E)
A
2
A
Node n − slave, n = max. 127
n
120
W
PES
A
2
X4.1 X4.1X4.2 X4.2
CG CGCG CGHI HIHI HI
LO LOLO LO
PES
PES
PES
A
n
W
120
931e_420
Specification of the transmission cable
Please observe our recommendations for signal cables.
Bus cable specification
Cable resistance 135 − 165 W/km, (f = 3 − 20 MHz)
Capacitance per unit length £ 30 nF/km
Loop resistance < 110 W/km
Wire diameter > 0.64 mm
Wire cross−section > 0.34 mm
2
Wires double twisted, insulated and shielded
ƒ Connection of the bus terminating resistors:
– One resistor of 120 W each at the first and last bus node
ƒ Communication protocol
– CANopen (CAL−based communication profile DS 301/DSP 402)
ƒ Bus extension:
– 40 m for max. data transfer rate of 1 Mbps
– Up to 1 km for reduced data transfer speed
ƒ Signal level according to ISO 11898
ƒ Up to 128 bus nodes possible
KHB 13.0002−EN 4.1
l
13
4
Electrical installation
Connection of CAN bus slave
4.3 Connection of CAN bus slave
Features
ƒ Parameter selection
ƒ Data exchange between drive controllers
ƒ Connection of operator and input devices
ƒ Connection of higher−level controls
ƒ Baud rates of 125, 250, 500 kBaud
( Stop!
An external 120 W terminating resistor is required to terminate the bus system.
Connection plan for RJ45 socket (931E)
X4.1 / X4.2
931E−001.iso
Fig. 2 Connection of CAN bus (X4.1, X4.2)
Pin no. Meaning Comment
1 CAN−HIGH CAN−HIGH (high is dominant)
2 CAN−LOW CAN−LOW (low is dominant)
3 CAN−GND CAN ground
4 Reserved
5 Reserved
6 CAN−SHLD CAN shield (hardware version 1.1 and higher)
7 CAN−GND CAN ground
8 Reserved
14
l
KHB 13.0002−EN 4.1
Connection plan for M12 socket (931K)
X4.1 / X4.2
Input contact
pattern
Output contact
pattern
Pin Signal Explanation
1 CAN_SHLD CAN_Shield
2 Reserved
3 CAN_GND CAN_Ground
4 CAN_H CAN_HIGH (high is dominant)
5 CAN_L CAN_LOW (low is dominant)
4.4 Connection of CAN bus master
The below table shows the assignment of a 9−pin Sub−D socket such as provided by most
CAN masters for the connection of field devices.
Electrical installation
Connection of CAN bus master
4
Connection of the CAN bus to a 9−pin Sub−D socket
View Pin Signal Explanation
1
2
3
4
5
Tab. 1 CAN Sub−D socket
1 Reserved
6
2 CAN−LOW CAN−LOW (low is dominant)
7
3 CAN−GND CAN ground
8
4 Reserved
9
5 (CAN−SHLD) Optional CAN shield
6 (GND) Optional ground
7 CAN−HIGH CAN−HIGH (high is dominant)
8 Reserved
9 (CAN−V+) Optional external CAN voltage supply
KHB 13.0002−EN 4.1
l
15
5
CANopen communication
About CANopen
Structure of the CAN data telegram
5 CANopen communication
5.1 About CANopen
The CANopen protocol is a standardised layer 7 protocol for the CAN bus. This layer is based
on the CAN application layer (CAL), which has been developed as a universal protocol.
In practice, however, it became clear that applications with CAL were too complex for the
user. CANopen is a uniform, easy−to−use structure which has been developed to provide a
connection for CAN devices from different manufacturers.
5.1.1 Structure of the CAN data telegram
Control field CRC delimit. ACK delimit.
Start RTR bit
CRC sequence ACK slot End
Fig. 3 Basic structure of the CAN telegram
5.1.2 Identifier
The principle of the CAN communication is based on a message−oriented data exchange
between one sender and many receivers. All nodes can send and receive
quasi−simultaneously.
The identifier in the CAN telegram − also called COB ID (communication object identifier) −
is used to control which node is to receive a sent message. In addition to the addressing,
the identifier contains information on the priority of the message and on the type of the
user data.
With the exception of the network management and the sync telegram, the identifier
contains the node address of the drive:
Identifier Data
1 bit 11 bits 1 bit 2 bits 4 bits
) Note!
To the user, only the identifier, the data length and the user data are relevant.
All other data of the CAN telegram is automatically processed by the system.
length
User data (0 ... 8 bytes)
l Network management
l Process data
l Parameter data
15 bits 1 bit 1 bit 1 bit 7 bits
16
Identifier (COB ID) = basic identifier + adjustable node address (node ID)
The identifier assignment is specified in the CANopen protocol.
The ex works default setting of the basic identifier is:
l
KHB 13.0002−EN 4.1
CANopen communication
About CANopen
Identifier
5
Object
NMT 0
Sync 80
Emergency X 80
PDO1
(process data channel 1)
PDO2
(process data channel 2)
SDO1
(parameter data channel 1)
Heartbeat/boot−up X 700
5.1.3 Node address (node ID)
Each node of the CAN network must be assigned with a node address (also called node ID)
within the valid address range for unambiguous identification.
ƒ A node address may not be assigned more than once within a network.
TPDO1
RPDO1
TPDO2
RPDO2
Direction Basic identifier
From the drive To the drive Hex
X 180
X 200
X 280
X 300
X 580
X 600
KHB 13.0002−EN 4.1
l
17
5
5.1.4 User data
CANopen communication
About CANopen
User data
The master and the drive controller communicate with each other by exchanging data
telegrams via the CAN bus.
The user data range of the CAN telegram contains network management data, parameter
data or process data:
ƒ Network management data (NMT data)
Network service: E.g. all CAN nodes can be addressed at the same time.
ƒ Process data (PDO, process data objects)
– Process data is transferred via the process data channel.
– Process data can be used to control the drive controller.
– The master can directly access the process data. The data is, for instance, directly
assigned to the I/O area of the master. It is necessary that the control and the drive
controller can exchange data within a very short time interval. For this purpose,
small amounts of data can be transferred cyclically.
– Process data is not stored in the drive controller.
– Process data is transferred between the master and the drive controllers to ensure
a continuous exchange of current input and output data.
– Examples for process data are, for instance, setpoints and actual values.
ƒ Parameter data (SDO, service data objects)
– Parameters are set, for instance, for the initial system set−up during
commissioning or when the material is changed on a production machine.
– Parameter data is transferred by means of so−called SDOs via the parameter data
channel. The transfer is acknowledged by the receiver, i.e. the sender gets a
feedback about the transfer being successful or not.
– The parameter data channel enables the access to all CANopen indexes.
– Parameter changes are automatically stored in the drive controller.
– In general, the transfer of parameters is not time−critical.
– Examples for parameter data are, for instance, operating parameters, diagnostic
information and motor data.
18
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KHB 13.0002−EN 4.1
CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
5
5.2 Parameter data transfer (SDO transfer)
5.2.1 Telegram structure
The telegram for parameter data has the following structure:
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
ƒ The following subchapters explain in detail the different parts of the telegram.
Data
length
Command
code
Index
low byte
high byte
Identifier
11 bits 4 bits User data (up to 8 bytes)
Identifier
Data
length
Command
code
Index
low byte
high byte
With the exception of the network management and the sync telegram, the identifier
contains the node address of the drive:
Identifier (COB ID) = basic identifier + adjustable node address (node ID)
The identifier assignment is specified in the CANopen protocol.
Index
Index
Subindex
Subindex
Data 1 Data 2 Data 3 Data 4
Error code
Data 1 Data 2 Data 3 Data 4
The ex works default setting of the basic identifier is:
Object
SDO (parameter data channel)
From the drive To the drive Hex
Direction Basic identifier
X 580
X 600
KHB 13.0002−EN 4.1
l
19
5
CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
Command code
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1 Data 2 Data 3 Data 4
Error code
The command code contains the services for writing and reading parameters and the
information on the length of the user data.
Structure of the command code:
Bit 7
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
MSB
Write command code
Write command / write request 0 0 1 0 x x 1 1
Response to write command / write
response
Read command code CS 0 Length e s
Read command / read request 0 1 0 0 x x 0 0
Response to read command / read
response
Error command code CS 0 Length e s
Error response 1 0 0 0 0 0 0 0
CS 0 Length e s
0 1 1 0 x x 0 0
0 1 0 0 x x 1 1
LSB
Comment
CS: command
specifier
User data length
is coded in bits 2
and 3:
l 00 = 4 bytes
l 01 = 3 bytes
l 10 = 2 bytes
l 11 = 1 byte
The command code specifies whether a value is to be read or written. The command code
also determines the data length (1 byte, 2 bytes, 4 bytes).
Write command code
Write command / write request
(Send parameters to the drive)
Response to write command / write response
(Response of the drive controller to the write request
(acknowledgement))
Read command code
Read command / read request
(Request to read a parameter from the drive controller)
Response to read command / read response
(Response to the read request with the actual value)
Error command code
Error response
(The drive controller signals a communication error)
4−byte data
(5th ... 8th
byte)
hex hex hex
23 2B 2F
60 60 60
40 40 40
43 4B 4F
80 80 80
2−byte data
(5th and 6th
byte)
1−byte data
(5th byte)
20
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KHB 13.0002−EN 4.1
CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
Index low byte / index high byte
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
The object to be addressed is contained in bytes 2 and 3 of the telegram.
ƒ The value for the index is split up into low byte and high byte and entered in the
left−justified Intel format.
Subindex
11 bits 4 bits User data (up to 8 bytes)
Identifier
ƒ If an object (e.g. controller parameter) consists of several sub−objects, the
Data
length
sub−objects are addressed via subindexes. The number of the corresponding
subindex is entered in byte 4 of the telegram. (See following tables for sub−objects).
Command
code
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command
code
Index
low byte
Index
low byte
Index
high byte
Index
high byte
Subindex
Subindex
Data 1 Data 2 Data 3 Data 4
Data 1 Data 2 Data 3 Data 4
5
ƒ If an object has no sub−objects, the value "0" is entered in byte 4 of the telegram.
(See following sub−object tables).
Data (data1...data4)
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1 Data 2 Data 3 Data 4
For the data of the parameter up to 4 bytes (data 1 ... data 4) are available.
The data is represented in the left−justified Intel format with data 1 as the LSB and data 4
as the MSB.
KHB 13.0002−EN 4.1
l
21
5
CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
Error code (F0 ... F3)
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
ƒ Byte 1:
Code 80
ƒ Bytes 2, 3 and 4:
Data
length
in the command code byte indicates that an error has occurred.
h
Command
code
Index
low byte
Index
high byte
Subindex
F0 F1 F2 F3
Error code
These bytes contain the index (bytes 2 and 3) and the subindex (byte 4) at which an
error occurred.
ƒ Bytes 5 to 8:
The data bytes 5 to 8 contain the error code. The error code is represented opposite
to the direction of reading.
Example:
The representation of the error code 06 04 00 41
in bytes 5 to 8
h
Reading direction of the error code
41 00 04 06
5th byte 6th byte 7th byte 8th byte
Low word High word
Low byte High byte Low byte High byte
The below table lists the meanings of the error codes:
Error code Explanation
F3 F2 F1 F0
06 01 00 00 Access to object is not supported
06 01 00 01 Attempt to read a write−only object
06 01 00 02 Attempt to write to a read−only object
06 02 00 00 Object does not exist in the object directory
06 04 00 41 Object cannot be mapped to the PDO
06 04 00 42 The number and length of objects to be mapped would exceed PDO length.
06 07 00 10 Data type does not match, length of service parameter does not match
06 07 00 12 Data type does not match, length of service parameter is too large
06 07 00 13 Data type does not match, length of service parameter is too small
06 09 00 11 Subindex does not exist
06 09 00 30 Value range of parameter exceeded
06 09 00 31 Parameter values too large
06 09 00 32 Parameter values too small
08 00 00 20 Data cannot be transferred/saved to the application.
08 00 00 21 Data cannot be transferred/saved to the application due to local control.
08 00 00 22 Data cannot be transferred/saved to the application due to current device state.
22
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KHB 13.0002−EN 4.1
CANopen communication
Parameter data transfer (SDO transfer)
Reading parameters (example)
5
5.2.2 Reading parameters (example)
Problem
The numerator setting (object 6093_01) of the drive controller with node address 1 is to
be read via the parameter channel.
Telegram to the drive controller
Value Info
Identifier = Basic identifier + node address
= 600 + 1 = 601
h
Data length = 08
Command code = 40
Index = 6093
h
h
Subindex = 1 l Subindex = 1 (numerator)
Data 1
Data 2
Data 3
Data 4
Data 1 ... 4
= 00
h
= 00
h
= 00
h
= 00
h
= 00 00 00 00
h
11 bits 4 bits User data
Identifier
601
h
Data
length
08
h
Command
code
40
h
Index
low byte
Telegram from the drive controller
93
h
l Basic identifier for parameter channel = 600
l Node address = 1
l Read request" command (request to read a
parameter)
l Index of the position_factor
l Read request only
Index
high byte
60
h
Subindex
01
Data 1 Data 2 Data 3 Data 4
h
00
h
00
h
h
00
h
00
h
Value Info
Identifier = Basic identifier + node address
= 580 + 1 = 581
h
l Basic identifier for parameter channel = 580
l Node address = 1
Data length = 08
Command code = 43
h
Index = 6093
h
l Read response" command (response to the read
request with the actual value)
l Index of the position_factor
Subindex = 1 l Subindex = 1 (numerator)
Data 1
Data 2
Data 3
Data 4
Data 1 ... 4
= C0
h
= 4B
h
= 03
h
= 00
h
= C0 4B 03 00
l Assumption: The set numerator value is 00 03 4B C0
(216000d).
h
11 bits 4 bits User data
Identifier
581
h
Data
length
08
h
Command
code
43
h
Index
low byte
93
h
Index
high byte
60
h
Subindex
01
h
Data 1 Data 2 Data 3 Data 4
C0
h
4B
h
h
h
03
h
00
h
KHB 13.0002−EN 4.1
l
23
5
CANopen communication
Parameter data transfer (SDO transfer)
Writing parameters (example)
5.2.3 Writing parameters (example)
Problem
The numerator (object 6093_01) of the drive controller with node address 1 is to be set to
216000 via the SDO (parameter data channel).
Telegram to the drive controller
Value Info
Identifier = Basic identifier + node address
= 600 + 1 = 601
Data length = 08
Command code = 23
Index = 6093
h
h
Subindex = 1 l Subindex = 1 (numerator)
Data 1
Data 2
Data 3
Data 4
Data 1 ... 4
= C0
h
= 4B
h
= 03
h
= 00
h
= C0 4B 03 00
11 bits 4 bits User data
Identifier
601
h
Data
length
08
Command
h
code
23
h
h
low byte
h
Index
93
h
l Basic identifier for parameter channel = 600
l Node address = 1
l Write request" command (send parameter to the
drive)
l Index of the position_factor
l Assumption: The numerator value to be set is to be
Index
high byte
60
h
00 03 4B C0
Subindex
01
(216000d).
h
Data 1 Data 2 Data 3 Data 4
h
C0
h
4B
h
03
h
h
00
h
Telegram from the drive controller (acknowledgement for faultless execution)
Value Info
Identifier = Basic identifier + node address
= 580 + 1 = 581
h
Data length = 08
Command code = 60
Index = 6093
h
h
Subindex = 1 l Subindex = 1 (numerator)
Data 1 ... 4 = 00 00 00 00
h
11 bits 4 bits User data
Identifier
581
h
Data
length
08
h
Command
code
60
h
Index
low byte
93
h
l Basic identifier for parameter channel = 580
l Node address = 1
l Write response" command (acknowledgement from
the drive controller)
l Index of the position_factor
l Acknowledgement only
Index
high byte
60
h
Subindex
01
Data 1 Data 2 Data 3 Data 4
h
00
h
00
h
00
h
h
00
h
24
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KHB 13.0002−EN 4.1
CANopen communication
Process data transfer (PDO transfer)
Telegram structure
5
5.3 Process data transfer (PDO transfer)
Process data objects (PDOs) can be used, for instance, for the fast event−controlled transfer
of data. The PDO transfers one or several parameters specified in advance. Unlike with an
SDO, the transfer of a PDO is not acknowledged. After the PDO activation, all receivers
must therefore always be able to process any arriving PDOs. This usually means a
considerable software load on the master. However, this disadvantage is compensated by
the advantage that the master does not need to cyclically poll the parameters transferred
by a PDO, which results in a significant reduction of the CAN bus load.
Example:
The master wants to know when the drive controller has completed the positioning from
A to B.
When SDOs are used for this purpose, the master continuously (e.g. every millisecond) has
to poll the status word object, i.e. the load on the bus is high.
When a PDO is used, right from the start of the application the drive controller is
parameterised in such a way that it transmits a PDO containing the status word object as
soon as the status word object changes.
Instead of polling continuously, the master automatically receives a corresponding
message as soon as the event has occurred.
The following types of process data telegram are distinguished
ƒ Process data telegrams to the drive controller: Receive PDO (RPDOx)
ƒ Process data telegrams from the drive controller: Transmit PDO (TPDOx)
5.3.1 Telegram structure
The telegram for process data has the following structure:
11 bits 4 bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
Data 0 Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7
5.3.2 Available process data objects
The drive controller is provided with two transmit and two receive PDOs.
Almost all objects of the object directory can be entered in (mapped to) the PDOs, i.e. the
PDO contains for instance the actual speed value or actual position value as data. The drive
controller must know in advance which data is to be transferred because the PDO only
contains user data and no information about the type of the parameter.
In this way almost all kinds of data telegrams can be defined. The settings required are
described in the following chapters.
KHB 13.0002−EN 4.1
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5
CANopen communication
Process data transfer (PDO transfer)
Objects for PDO parameterisation
5.3.3 Objects for PDO parameterisation
Two transmit PDOs (TPDO) and two receive PDOs (RPDO) are available in the drive
controller. The different objects of the PDOs are identical.
1. Transmit PDO
Index Name Possible settings
Lenze Selection Description
1800
Transmit PDO1
h
Communication
Parameter
0 number_of_entries
1 COB−ID_used_by_
PDO
00000181
h
2 transmission_type 255
3 inhibit_time 0
Characteristics
00
h
03
h
00000181
Bit no. Value
0 − 10 x 11−bit identifier
11 − 28 0
29 0
30 1 RTR of this PDO is not
31
0 {1} 240, 254, 255
0 Function is switched off
n = 1 ... 240 By entering a value n, this
n = 254, 255 Event−controlled
0 {0.1 ms} 65535
h
0 PDO is active
1 PDO is inactive
{1h} 04
{1h} 000001FF
REC UINT8 RO
h
Maximum number of
supported subindexes.
3 subindexes are supported.
UINT32 RW
h
Identifier of transmit PDO1,
+ node address).
(180
h
For processing, bits 30 and
31 must be set
(parameterisation of
mapping).
The extended identifier
(bit 29) is not supported.
Each bit of this range must
be "0".
permitted (unadjustable).
UINT8 RW
Setting of the transmission
mode
PDO is accepted with every
n−th sync.
transmission mode
UINT16 RW
Setting of the minimum
delay time between two
PDOs. The time can only be
changed if the PDO is not
active (subindex 1, bit 31 = 1)
26
l
KHB 13.0002−EN 4.1
Index Name Possible settings
Lenze Selection Description
1A00
Transmit PDO1
h
Mapping Parameter
0 number_of_
mapped_objects
1 first_mapped_
object
2 second_mapped_
object
...
4 fourth_mapped_
object
60410010
h
00
01
CANopen communication
5
Process data transfer (PDO transfer)
Objects for PDO parameterisation
Characteristics
h
h
{1h} 04
{1h}
REC UINT32 RW
h
Maximum number of
supported subindexes
1 subindex is supported
UINT32 RW
Entry of the COB ID of the
first mapped object
UINT32 RW
Entry of the COB ID of the
second mapped object
UINT32 RW
Entry of the COB ID of the
fourth mapped object
KHB 13.0002−EN 4.1
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5
CANopen communication
Process data transfer (PDO transfer)
Objects for PDO parameterisation
2. Transmit PDO
Index Name Possible settings
Lenze Selection Description
1801
Transmit PDO2
h
Communication
Parameter
0 number_of_entries
1 COB−ID_used_by_
PDO
00000281
2 transmission_type 255
3 inhibit_time 0
Characteristics
00
h
03
h
00000281
h
Bit no. Value
0 − 10 x 11−bit identifier
11 − 28 0
29 0
30
31
0 {1} 240, 254, 255
0 Function is switched off
n = 1 ... 240 By entering a value n, this
n = 254, 255 Event−controlled
0 {0.1 ms} 65535
h
0 RTR of this PDO is permitted
1 RTR of this PDO is not
0 PDO is active
1 PDO is inactive
{1h} 04
{1h} 000002FF
REC UINT8 RO
h
Maximum number of
supported subindexes
3 subindexes are supported.
UINT32 RW
h
Identifier of transmit PDO2,
(280
+ node address).
h
For processing, bits 30 and
31 must be set
(parameterisation of
mapping).
The extended identifier
(bit 29) is not supported.
Each bit of this range must
be "0".
(Lenze)
permitted (unadjustable)
UINT8 RW
Setting of the transmission
mode
PDO is accepted with every
n−th sync.
transmission mode
UINT16 RW
Setting of the minimum
delay time between two
PDOs. The time can only be
changed if the PDO is not
active (subindex 1, bit 31 = 1)
28
l
KHB 13.0002−EN 4.1
Index Name Possible settings
Lenze Selection Description
1A01
Transmit PDO2
h
Mapping Parameter
0 number_of_
mapped_objects
1 first_mapped_
object
2 second_mapped_
object
3 third_mapped_
object
4 fourth_mapped_
object
60410010
60610008
h
h
00
02
CANopen communication
5
Process data transfer (PDO transfer)
Objects for PDO parameterisation
Characteristics
h
h
{1h} 04
{1h}
{1h}
REC UINT32 RW
h
Maximum number of
supported subindexes.
2 subindexes are supported.
UINT32 RW
Entry of the COB ID of the
first mapped object.
UINT32 RW
Entry of the COB ID of the
second mapped object.
UINT32 RW
Not supported.
UINT32 RW
Not supported.
KHB 13.0002−EN 4.1
l
29
5
CANopen communication
Process data transfer (PDO transfer)
Objects for PDO parameterisation
1. Receive PDO
Index Name Possible settings
Lenze Selection Description
1400
Receive PDO1
h
Communication
Parameter
0 number_of_entries
1 COB−ID_used_by_
PDO
00000201
2 transmission_type 255
Characteristics
00
h
02
h
00000201
h
Bit no. Value
0 − 10 x 11−bit identifier
11 − 28 0
29 0
30
31
0 {1} 240, 254, 255
0 Function is switched off
n = 1 ... 240 By entering a value n, this
n = 254, 255 Event−controlled
h
0 RTR of this PDO is permitted
1 RTR of this PDO is not
0 PDO is active
1 PDO is inactive
{1h} 04
{1h} 000002FF
REC UINT8 RO
h
Maximum number of
supported subindexes
2 subindexes are supported.
UINT32 RW
h
Identifier of receive PDO1
(200
+ node address)
h
For processing, bits 30 and
31 must be set
(parameterisation of
mapping).
The extended identifier
(bit 29) is not supported.
Each bit of this range must
be "0".
(Lenze)
RTR = remote transmission
request
permitted (unadjustable)
UINT8 RW
Setting of the transmission
mode
PDO is accepted with every
n−th sync.
transmission mode, PDO is
accepted immediately
30
l
KHB 13.0002−EN 4.1
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