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931M
User Manual
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Lenze 931M, 931W User Manual

KHB 13.0003-EN
.4&ö
Ä.4&öä
Communication Manual
Servo Drives 930
931M/W
CANopen
This documentation is valid for 931M/W servo inverters.

Document history

Material No. Version Description
.4&ö 2.0 02/2007 TD11 First edition
0Fig.0Tab. 0
Tip!
Current documentation and software updates concerning Lenze products can be found on the Internet in the ”Services & Downloads” area under
http://www.Lenze.com
Important note:
Software is provided to the user ”as is”. All risks regarding the quality of the software and any results obtained from its use remain with the u ser. The user should take appropriate security precautions against possible maloperation. We do not accept any responsibility for direct or indirect damage caused, e.g. loss of profit, loss of orders or adverse commercial effects of any kind. All trade names listed in this documentation are trademarks of their respective owners.
© 2007 Lenze GmbH & Co KG Kleinantriebe, Hans-Lenze-Straße 1, D-32699 Extertal No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze GmbH & Co KG Kleinantriebe. All information given in this documentation has been selected carefully and complies with the hardware and software described. Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur. Necessary corrections will be included in subsequent editions.
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Contents i

1Preface 7..................................................................
1.1 Introduction 7.........................................................
1.2 About this Communication Manual 8.....................................
2 Safety instructions 9.........................................................
2.1 Persons responsible for safety 9..........................................
2.2 General safety instructions 10.............................................
2.3 Definition of notes used 11...............................................
3 Technical data 12............................................................
3.1 Communication data 12.................................................
4 Electrical installation 13.......................................................
4.1 CAN bus wiring 13......................................................
4.2 Connection of CAN bus slave 14...........................................
4.3 Connection of CAN bus master 14.........................................
5 CANopen communication 15...................................................
5.1 About CANopen 15......................................................
5.1.1 Structure of the CAN data telegram 15..............................
5.1.2 Identifier 16....................................................
5.1.3 Node address (node ID) 16........................................
5.1.4 User data 17....................................................
5.2 Parameter data transfer (SDO transfer) 18..................................
5.2.1 Telegram structure 18............................................
5.2.2 Reading parameters (example) 22..................................
5.2.3 Writing parameters (example) 23..................................
5.3 Process data transfer (PDO transfer) 24.....................................
5.3.1 Telegram structure 25............................................
5.3.2 Available process data objects 25..................................
5.3.3 Objects for PDO parameterisation 25...............................
5.3.4 Description of the objects 40......................................
5.3.5 Example of a process data telegram 42.............................
5.3.6 Activation of the PDOs 43.........................................
5.4 Sync telegram 44........................................................
5.4.1 Telegram structure 44............................................
5.4.2 Synchronisation of the process data 44.............................
5.4.3 Description of the objects 45......................................
5.5 Network management (NMT) 46..........................................
5.5.1 Communication phases of the CAN network (NMT) 46................
5.5.2 Telegram structure 47............................................
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Contentsi
5.6 Emergency telegram 49..................................................
5.6.1 Telegram structure 49............................................
5.6.2 Description of the objects 51......................................
5.7 Heartbeat telegram 53...................................................
5.7.1 Telegram structure 53............................................
5.7.2 Description of the objects 55......................................
5.8 Boot-up telegram 56.....................................................
5.8.1 Telegram structure 56............................................
5.9 Node Guarding 57.......................................................
5.9.1 Description of the objects 58......................................
6 Commissioning 59...........................................................
6.1 Activation of CANopen 59................................................
6.2 Speed control 60........................................................
6.2.1 Parameterising of a process data object (TPDO and RPDO) 60...........
6.2.2 Parameterising of the speed control 63.............................
6.2.3 Running through the state machine 64.............................
6.3 Position control 66......................................................
6.3.1 Parameterising of the homing run 66...............................
6.3.2 Running through the state machine 68.............................
7 Parameter setting 71.........................................................
7.1 Loading and saving of parameter sets 71...................................
7.1.1 Overview 71....................................................
7.1.2 Description of the objects 73......................................
7.2 Conversion factors (factor group) 74.......................................
7.2.1 Overview 74....................................................
7.2.2 Description of the objects 74......................................
7.3 Power stage parameters 75...............................................
7.3.1 Overview 75....................................................
7.3.2 Description of the objects 75......................................
7.4 Motor adaptation 76....................................................
7.4.1 Overview 76....................................................
7.4.2 Description of the objects 77......................................
7.5 Speed controller 78......................................................
7.5.1 Overview 78....................................................
7.5.2 Description of the objects 79......................................
7.6 Position controller (position control function) 80.............................
7.6.1 Overview 80....................................................
7.6.2 Description of the objects 81......................................
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7.7 Digital inputs and outputs 85.............................................
7.7.1 Overview 85....................................................
7.7.2 Description of the objects 85......................................
7.8 Device information 88...................................................
7.8.1 Description of the objects 88......................................
7.9 Manufacturer-specific information parameters 90...........................
7.9.1 Overview 90....................................................
7.9.2 Description of the objects 90......................................
7.10 Manufacturer-specific driving records 92...................................
7.10.1 Overview 92....................................................
7.10.2 Description of the objects 92......................................
8 Device control 95............................................................
8.1 State diagram 95........................................................
8.1.1 Overview 95....................................................
8.1.2 State diagram of the drive controller 96.............................
8.1.3 States of the drive controller 98....................................
8.1.4 State transitions of the drive controller 99...........................
8.1.5 Control word 100.................................................
8.1.6 Controller state 103...............................................
8.1.7 Status word 104..................................................
9 Operating modes 106..........................................................
9.1 Setting of the operating mode 106..........................................
9.1.1 Overview 106....................................................
9.1.2 Description of the objects 106......................................
9.2 Speed control 108........................................................
9.2.1 Overview 108....................................................
9.2.2 Description of the objects 108......................................
9.3 Homing 109.............................................................
9.3.1 Overview 109....................................................
9.3.2 Description of the objects 110......................................
9.3.3 Control of the homing run 111......................................
9.4 Positioning 112..........................................................
9.4.1 Overview 112....................................................
9.4.2 Description of the objects 113......................................
9.4.3 Functional description 114.........................................
9.5 Torque control 116.......................................................
9.5.1 Overview 116....................................................
9.5.2 Description of the objects 117......................................
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Contentsi
10 Appendix 118................................................................
10.1 Index table 118..........................................................
11 Index 153....................................................................
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1Preface

1.1 Introduction

The competitive situation in the mechanical and system engineering sector requires new means to optimise the production costs. This is why modular machine and system engineering is becoming increasingly more important, since individual solutions can now be set up easily and cost-effectively from a single modular system.
Lenze fieldbus systems in industrial applications
For an optimal communication between the single modules of a system, fieldbus systems are increasingly used for process automation. Lenze offers the following communication modules for the standard fieldbus systems:
ƒ PROFIBUS-DP
ƒ CANopen
Preface
Introduction
1
Decision support
The decision for a fieldbus system depends on many different factors. The following overviews will help you to find the solution for your application.
PROFIBUS-DP
For bigger machines with bus lengths of more than 100 metres, INTERBUS or PROFIBUS-DP (PROFIBUS-Decentralised Periphery) are frequently used. The PROFIBUS-DP is always used together with a master control (PLC) – here the PROFIBUS master transmits e.g. the setpoints to the single PROFIBUS stations (e. g. Lenze controllers).
Whenusing thedata transferrateof 1.5Mbps typical for thePROFIBUS-DP,the sensorsand actuators receive the p rocess data. Due to the data transmission mode and the telegram overhead, a bus cycle timeresults at 1.5 Mbps, which is sufficient tocontrol e. g.conveyors. If, for technical reasons, the process data must be transmitted faster to the sensors and actuators, the PROFIBUS can also be operated with a data transmission rate of maximally 12 Mbps.
CANopen
CANopen is a communication protocol specified to the CiA (CAN in Automation) user group. Lenze can provide communication modules for controls with CANopen masters. These modules are compatible with the specification DS 301 V4.01.
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1
Preface
About this Communication Manual

1.2 About this Communication Manual

Target group
This manual is directed at all persons who carry out the dimensioning, installation, commissioning and settings of the 931 series drive controllers.
Together with the catalogue, it provides the project planning basis for the manufacturer of plants and machinery.
Contents
The CAN manual supplements the software manual and mounting instructions which are included in the scope of supply:
ƒ The features and functions are described in detail.
ƒ It provides detailed information on the possible applications.
ƒ Parameter setting is explained with the help of examples.
ƒ In case of doubt, the supplied mounting instructions are always valid.
How to find information
ƒ The table of contents and the index help you to find all information about a certain
topic.
ƒ Descriptions and data on other Lenze products can be found in the corresponding
catalogues, operating instructions and manuals.
ƒ You can request Lenze documents from your responsible Lenze sales partner or
download it as a PDF file from the Internet.
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2 Safety instructions

2.1 Persons responsible for safety

Operator
An operator is any natural or legal person who uses the drive system or on behalf of whom the drive system is used.
Theoperatororhissafetyofficerisobliged
ƒ to ensure the compliance with all relevant regulations, instructions and legislation.
ƒ to ensure that only qualified personnel work on and with the drive system.
ƒ to ensure that the personnel have the Operating Instructions available for all work.
ƒ to ensure that all unqualified personnel are prohibited from working on and with
the drive system.
Safety instructions
Persons responsible for safety
2
Qualified personnel
Qualified personnel are persons who -due totheir education,experience, instructions, and knowledge about relevant standards and regulations, rules for the prevention of accidents, and operating conditions - are authorised by the person responsible for the safety of the plant to perform the required actions andwho are able torecognise potential hazards. (Definition for skilled personnel to VDE 105 or IEC 364)
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Safety instructions
General safety instructions

2.2 General safety instructions

ƒ These safety instructions are not claimed to be complete. In case of questions and
problems, please contact your Lenze representative.
ƒ At the time of delivery, the drive controller meets the state of the art and basically
ensures safe operation.
ƒ The information given in this manual refers to the specified hardware and software
versions of the modules.
ƒ The drive controller is a source of danger if
– unqualified personnel work with and on the drive controller. – the drive controller is used inappropriately.
ƒ The procedural notes and circuit details given in this manual are suggestions and
their transferability to the respective application has to be checked.
ƒ Ensure by appropriate measures that there is no risk of injury or death to persons or
risk of damage to property in the event of a drive controller failure.
ƒ Operate the drive system only when it is in a proper state.
ƒ Retrofittings, modifications or redesigns of the drive controller are basically
prohibited. Lenze must be contacted in all cases.
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2.3 Definition of 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!
Safety instructions
Definition of notes used
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.
2
Application notes
Pictograph and signal word Meaning
Note! Tip!
Important note to ensure troublefree operation
Useful tip for simple handling
Reference to another documentation
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3
Technical data
Communication data

3 Technical data

3.1 Communication data

Communication
Communication profile DS 301, DSP 402
Network topology without repeater: line / with repeaters: line or tree
CAN devices Slave
Number of CAN devices 128
Baud rate (in kbits/s) 10, 20, 50, 100, 125, 250, 500, 800, 1000
Max. cable length per bus segment
Bus connection M12
1200 m (depending on baud rate and cable type)
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4 Electrical installation

4.1 CAN bus wiring

Electrical installation
CAN bus wiring
4
X4.1
CAN_H
CAN_GND
CAN_SHLD
A
2
CAN_L
X4.2
CAN_H
CAN_L
CAN_GND
CAN_SHLD
A
1
120
6
1
2
9
7
8
5
3
4
CAN_SHLD CAN-GND
CAN_H CAN_L
120
W
Fig. 1 Basic wiring of CANopen with Sub-D connector to the master
Node 1 - master (e.g. PLC)
A
1
A
Node 2 - slave (e.g. 931M/W controller)
2
A
Node n - slave, n = max. 128
n
Stop!
Connect a 120 Ω terminating resistor to the first and last bus device.
CAN_H
CAN_GND
CAN_SHLD
A
CAN_L
n
CAN_H
CAN_GND
CAN_L
CAN_SHLD
W
120
931m_050
If the last bus device is a 931M/W controller, use the »fluxx« software to activate the terminating resistor.
Specification of the transmission cable
Please observe our recommendations for signal cables.
Bus cable specification
Cable resistance 135 - 165 Ω/km,(f=3-20MHz) Capacitance per unit length ≤ 30 nF/km Loop resistance < 110 Ω/km Wire diameter >0.64mm Wire cross-section >0.34mm Wires double twisted, insulated and shielded
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Electrical installation
Connection of CAN bus slave

4.2 Connection of CAN bus slave

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)

4.3 Connection of CAN bus master

Below, youcan find the assignment of a 9-pole Sub-Dsocket used by most CAN masters for the connection of fieldbus devices.
CAN bus connection to a 9-pole Sub-D socket
View Pin Signal Explanation
1
2
3
4
5
Tab. 1 CAN Sub-D socket
1 — Reserved
6
2 CAN_L 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_H CAN_HIGH (high is dominant)
8 — Reserved
9 (CAN_V+) Optional external voltage supply of CAN
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5 CANopen communication

5.1 About CANopen

The CANopen protocol isa standardisedlayer 7protocol forthe CAN bus. This layeris 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
CANopen communication
About CANopen
Structure of the CAN data telegram
CRC sequence ACK slot End
5
Identifier Data
length
1bit 11 bits 1bit 2bits 4bits 15bits 1bit 1bit 1bit 7bits
Fig. 2 Basic structure of the CAN telegram
User data (0 ... 8 bytes)
z Network management z Process data z Parameter data
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.
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CANopen communication
About CANopen Identifier
5.1.2 Identifier
The principle of the CAN communication is based on a message-oriented data exchange between a 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.
Except for the network management and the sync telegram, the identifier contains the node address of the controller:
Identifier (COB-ID) = basic identifier + adjustable node address (node ID)
The identifier assignment is specified in the CANopen protocol.
The basic identifier ex works is preset to the following values:
Object
SDO (parameter data channel)
PDO1 (process data channel 1)
PDO2 (process data channel 2)
PDO3 (process data channel 3)
RPDO4 X 500 SYNC 080 Emergency X 080 Heartbeat/boot-up X 700 NMT 000
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 TPDO3 RPDO3
Direction Basic identifier
from the drive to the drive hex
X
X 600
X 180
X 200
X 280
X 300
X 380
X 400
580
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5.1.4 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 C AN 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 influenced 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.
CANopen communication
About CANopen
User data
5
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. – In general, the transfer of parameters is not time-critical. – Examples for parameter data are, for instance, operating parameters, diagnostic
information and motor data.
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CANopen communication
Parameter data transfer (SDO transfer) Telegram structure

5.2 Parameter data transfer (SDO transfer)

5.2.1 Telegram structure
The telegram for parameter data has the following structure:
11 bits 4bits 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 4bits 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:
Index
Index
Subindex
Subindex
Data 1 Data 2 Data 3 Data 4
Error code
Data 1 Data 2 Data 3 Data 4
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:
Object
SDO (parameter data channel)
From the drive To the drive Hex
Direction Basic identifier
X 580
X 600
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CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
Command code
11 bits 4bits 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
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
Data 1 Data 2 Data 3 Data 4
Error code
LSB
Comment
CS: command specifier User data length is coded in bits 2 and 3:
z 00=4bytes z 01=3bytes z 10=2bytes z 11=1byte
5
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 t he 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)
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CANopen communication
Parameter data transfer (SDO transfer) Telegram structure
Index low byte / index high byte
11 bits 4bits 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
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 4bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
ƒ If an object (e.g. controller parameter) consists of several sub-objects, the
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1 Data 2 Data 3 Data 4
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).
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 (data 1 ... data 4)
11 bits 4bits 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.
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CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
Error code (F0 ... F3)
11 bits 4bits 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
h
Command
code
Index
low byte
Index
high byte
Subindex
in the command code byte indicates that an error has occurred.
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
F0 F1 F2 F3
Error code
5
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 numbers:
Error code Explanation
F3 F2 F1 F0
06 01 00 00 Object access not supported
06 01 00 01 Read access to object which can only be written
06 01 00 02 Write access to object which can only be read
06 02 00 00 Object addressed not listed in object directory
06 04 00 41 Object must not be mapped to PDO
06 04 00 42 Number and length of objects to be transferred exceed PDO length.
06 07 00 10 Protocol error: Unsuitable service parameter length
06 07 00 12 Protocol error: Service parameter length too long
06 07 00 13 Protocol error: Service parameter length not long enough
06 09 00 11 Subindex not available
06 09 00 30 Data exceed object value range
06 09 00 31 Data too high for object
06 09 00 32 Data too low for object
08 00 00 20 Data cannot be transferred / stored.
08 00 00 21 Data cannot be transferred / stored due to local control
08 00 00 22 Data cannot be transferred / stored due to current controller status.
1)
According to DS301, data is returned in case of faulty access to store_parameters / restore_parameters.
2)
May be due to wrong operating mode or if the number of objects to be mapped is written when PDO is activated.
1)
2)
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CANopen communication
Parameter data transfer (SDO transfer) Reading parameters (example)
5.2.2 Reading parameters (example)
Problem
The operating mode (object 6060_00) of the 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 Data length = 05
Command code = 40
Index = 6060
h
h
Subindex = 0 z Subindex = 0
Data 1 = 00
h
11 bits 4bits User data
Identifier
601
h
Data
length
05
Command
h
code
40
h
low byte
h
Index
60
h
z Basic identifier for parameter channel = 600 z Node address = 1
z “Read request” command (request to read a
parameter)
z Operating mode index
z Read request only
Index
high byte
60
h
Subindex
00
Data 1 Data 2 Data 3 Data 4
h
00
h
h
– – –
Telegram from the drive controller
Value Info
Identifier = Basic identifier + node address
=580+1=581
h
Data length = 05
Command code = 43
Index = 6060
h
h
Subindex = 0 z Subindex = 0
Data 1 = 03
h
11 bits 4bits User data
Identifier
581
h
Data
length
05
h
Command
code
43
h
Index
low byte
60
h
z Basic identifier for parameter channel = 580 z Node address = 1
z “Read response” command (response to the read
request with the actual value)
z Operating mode index
z Assumption: The operating mode is set to 03
Index
high byte
60
h
Subindex
00
h
h
(speed).
h
Data 1 Data 2 Data 3 Data 4
03
h
– – –
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5.2.3 Writing parameters (example)
Problem
The operating mode (object 6060_00) of the controller with node address 1 is to be set to 03 (speed) via the SDO (parameter data channel).
Telegram to the drive controller
Value Info
Identifier = Basic identifier + node address
=600+1=601 Data length = 05
Command code = 23
Index = 6060
h
h
Subindex = 0 z Subindex = 0
Data 1 = 03
h
11 bits 4bits User data
Identifier
601
h
Data
length
05
Command
h
code
23
h
low byte
h
Index
60
CANopen communication
Parameter data transfer (SDO transfer)
Writing parameters (example)
z Basic identifier for parameter channel = 600 z Node address = 1
z “Write request” command (send parameter to the
drive)
z Operating mode index
z Assumption: The operating mode is set to 03
h
Index
high byte
60
h
Subindex
00
Data 1 Data 2 Data 3 Data 4
h
03
h
h
(speed).
h
– – –
5
Telegram from the drive controller (acknowledgement for faultless execution)
Value Info
Identifier = Basic identifier + node address
=580+1=581
h
Data length = 05
Command code = 60
Index = 6060
h
h
Subindex = 0 z Subindex = 0
Data 1 = 00
h
11 bits 4bits User data
Identifier
581
h
Data
length
05
h
Command
code
60
h
Index
low byte
60
h
z Basic identifier for parameter channel = 580 z Node address = 1
z “Write response” command (acknowledgement from
the drive controller)
z Operating mode index
z Acknowledgement only
Index
high byte
60
h
Subindex
00
Data 1 Data 2 Data 3 Data 4
h
00
h
– – –
h
KHB 13.0003-EN 2.0
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5

5.3 Process data transfer (PDO transfer)

CANopen communication
Process data transfer (PDO transfer)
Process data objects (PDOs)can beused, forinstance, forthe fastevent-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 AtoB.
When SDOs areused 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)
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KHB 13.0003-EN 2.0
5.3.1 Telegram structure
The telegram for process data has the following structure:
11 bits 4bits 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 equipped with three transmit and four receive PDOs.
Almost all objects of the object directory can be entered in (mapped to) the PDOs, i.e. the PDO containsfor instance theactual speed value or actual positionvalue 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.
CANopen communication
Process data transfer (PDO transfer)
Telegram structure
5
5.3.3 Objects for PDO parameterisation
Three transmit PDOs (TPDO) and four receive PDOs (RPDO) are available in the controller. The objects of the PDOs are identical.
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5
CANopen communication
Process data transfer (PDO transfer) Objects for PDO parameterisation
1. Transmit PDO
Index Name Possible settings
Lenze Selection Description
1800
h
Transmit PDO1 communication parameters
0 number_of_entries
1 COB-ID_used_by_
PDO
2 transmission_type FF
80000181
h
h
3 inhibit_time 0
4 CMS_priority_
0
group_tpdo1
5 event_timer 0
Characteristics
00
h
{1h} 05
REC UINT8 RO —
h
Maximally supported subindices.
05
h
80000181
h
{1h} 800001FF
Six subindices are supported.
— UINT32 RW —
h
Identifier of transmit PDO1,
+ node address).
(180
h
For processing, bit 31 must be set (parameterisation of
mapping). Bit No. Value
0-10 X 11-bit identifier
11 - 28 0
The extended identifier
(bit 29) is not supported. 29 0
Every bit in this range must
be set to ”0”.
30 0 Set to zero.
31
0 PDO active
1 PDO inactive
0 {1} F0h,FEh,FF
h
—
UINT8 RW —
Setting the transmission
mode.
0 Function is deactivated.
n = 1 ... F0 When a value n is entered,
the PDO is accepted every
n-th sync.
n=FE Cyclic transmission mode.
n=FF Event-controlled
transmission mode.
0 {100 μs} 65535 —
UINT16 RW —
Setting the minimum delay
time between two PDOs. The
time can only be changed
when the PDO is not active
(subindex 1, bit 31 = 1). 0 {1} 255 —
0 {1 ms} 65535 —
UINT8 RW —
UINT16 RW —
Setting the maximum delay
time between two PDOs.
0 Function is deactivated.
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KHB 13.0003-EN 2.0
CANopen communication
Process data transfer (PDO transfer)
Objects for PDO parameterisation
5
Index Name Possible settings
Lenze Selection Description
1A00
Transmit PDO1
h
mapping parameters
0 number_of_
mapped_objects
1 first_mapped_
object
2 second_mapped_
object
...
4 fourth_mapped_
object
60410010
h
00
04
Characteristics
h
h
{1h} 04
{1h}
REC UINT32 RW —
h
Maximally supported
subindices.
Five subindices are
supported.
— UINT32 RW —
COB-ID entry of first mapped
object.
— UINT32 RW —
COB-ID entry of second
mapped object.
— UINT32 RW —
COB-ID entry of fourth
mapped object.
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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
h
Transmit PDO2 communication parameters
0 number_of_entries
1 COB-ID_used_by_
PDO
2 transmission_type FF
80000281
h
h
3 inhibit_time 0
4 CMS_priority_
0
group_tpdo2
5 event_timer 0
Characteristics
00
h
{1h} 05
REC UINT8 RO —
h
Maximally supported
subindices.
05
h
80000281
h
{1h} 800002FF
Six subindices are supported.
— UINT32 RW —
h
Identifier of transmit PDO2,
+ node address).
(280
h
For processing, bit 31 must
be set (parameterisation of
mapping). Bit No. Value
0-10 X 11-bit identifier
11 - 28 0
The extended identifier
(bit 29) is not supported. 29 0
Every bit in this range must
be set to ”0”.
30 0 Set to zero.
31
0 PDO active
1 PDO inactive
0 {1} F0h,FEh,FF
h
—
UINT8 RW —
Setting the transmission
mode.
0 Function is deactivated.
n = 1 ... F0 When a value n is entered,
the PDO is accepted every
n-th sync.
n=FE Cyclic transmission mode.
n=FF Event-controlled
transmission mode.
0 {100 μs} 65535 —
UINT16 RW —
Setting the minimum delay
time between two PDOs. The
time can only be changed
when the PDO is not active
(subindex 1, bit 31 = 1). 0 {1} 255 —
0 {1 ms} 65535 —
UINT8 RW —
UINT16 RW —
Setting the maximum delay
time between two PDOs.
0 Function is deactivated.
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KHB 13.0003-EN 2.0
CANopen communication
Process data transfer (PDO transfer)
Objects for PDO parameterisation
5
Index Name Possible settings
Lenze Selection Description
1A01
Transmit PDO2
h
mapping parameters
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
04
Characteristics
h
h
{1h} 04
{1h}
{1h}
REC UINT32 RW —
h
Maximally supported
subindices.
Five subindices are
supported.
— UINT32 RW —
COB-ID entry of first mapped
object.
— UINT32 RW —
COB-ID entry of second
mapped object.
— UINT32 RW —
COB-ID entry of third
mapped object.
— UINT32 RW —
COB-ID entry of fourth
mapped object.
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5
CANopen communication
Process data transfer (PDO transfer) Objects for PDO parameterisation
3. Transmit PDO
Index Name Possible settings
Lenze Selection Description
1802
h
Transmit PDO3 communication parameters
0 number_of_entries
1 COB-ID_used_by_
PDO
2 transmission_type FF
80000381
h
h
3 inhibit_time 0
4 CMS_priority_
0
group_tpdo3
5 event_timer 0
Characteristics
00
h
{1h} 05
REC UINT8 RO —
h
Maximally supported
subindices.
05
h
80000381
h
{1h} 800003FF
Six subindices are supported.
— UINT32 RW —
h
Identifier of transmit PDO3,
+ node address).
(380
h
For processing, bit 31 must
be set (parameterisation of
mapping). Bit No. Value
0-10 X 11-bit identifier
11 - 28 0
The extended identifier
(bit 29) is not supported. 29 0
Every bit in this range must
be set to ”0”.
30 0 Set to zero.
31
0 PDO active
1 PDO inactive
0 {1} F0h,FEh,FF
h
—
UINT8 RW —
Setting the transmission
mode.
0 Function is deactivated.
n = 1 ... F0 When a value n is entered,
the PDO is accepted every
n-th sync.
n=FE Cyclic transmission mode.
n=FF Event-controlled
transmission mode.
0 {100 μs} 65535 —
UINT16 RW —
Setting the minimum delay
time between two PDOs. The
time can only be changed
when the PDO is not active
(subindex 1, bit 31 = 1). 0 {1} 255 —
0 {1 ms} 65535 —
UINT8 RW —
UINT16 RW —
Setting the maximum delay
time between two PDOs.
0 Function is deactivated.
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