Lenze 931M, 931W User Manual

KHB 13.0003-EN

.4&ö

Ä.4&öä

L-force Drives

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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Contents i

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

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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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

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.

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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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

X4.1

CAN_H

CAN_GND

CAN_SHLD

CAN_L

X4.2

CAN_H

CAN_L

CAN_GND

CAN_SHLD

120

CAN_SHLD CAN-GND

CAN_H CAN_L

120

Fig. 1 Basic wiring of CANopen with Sub-D connector to the master

Node 1 - master (e.g. PLC)

Node 2 - slave (e.g. 931M/W controller)

Node n - slave, n = max. 128

 Stop!

Connect a 120 Ω terminating resistor to the first and last bus device.

CAN_H

CAN_GND

CAN_SHLD

CAN_L

CAN_H

CAN_GND

CAN_L

CAN_SHLD

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

Tab. 1 CAN Sub-D socket

1 — Reserved

2 CAN_L CAN_LOW (low is dominant)

3 CAN_GND CAN_Ground

4 — Reserved

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

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 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

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

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

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

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

Reading direction of the error code

F0 F1 F2 F3

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 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.

According to DS301, data is returned in case of faulty access to store_parameters / restore_parameters.

May be due to wrong operating mode or if the number of objects to be mapped is written when PDO is activated.

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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

Subindex = 0 z Subindex = 0

Data 1 = 00

11 bits 4bits User data

Identifier

601

Data

length

Command

code

low byte

Index

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

Subindex

Data 1 Data 2 Data 3 Data 4

– – –

Telegram from the drive controller

Value Info

Identifier = Basic identifier + node address

=580+1=581

Data length = 05

Command code = 43

Index = 6060

Subindex = 0 z Subindex = 0

Data 1 = 03

11 bits 4bits User data

Identifier

581

Data

length

Command

code

Index

low byte

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

Subindex

(speed).

Data 1 Data 2 Data 3 Data 4

– – –

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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

Subindex = 0 z Subindex = 0

Data 1 = 03

11 bits 4bits User data

Identifier

601

Data

length

Command

code

low byte

Index

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

Index

high byte

Subindex

Data 1 Data 2 Data 3 Data 4

(speed).

– – –

Telegram from the drive controller (acknowledgement for faultless execution)

Value Info

Identifier = Basic identifier + node address

=580+1=581

Data length = 05

Command code = 60

Index = 6060

Subindex = 0 z Subindex = 0

Data 1 = 00

11 bits 4bits User data

Identifier

581

Data

length

Command

code

Index

low byte

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

Subindex

Data 1 Data 2 Data 3 Data 4

– – –

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

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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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

5.3.3 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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CANopen communication

Process data transfer (PDO transfer) Objects for PDO parameterisation

1. Transmit PDO

Index Name Possible settings

Lenze Selection Description

1800

Transmit PDO1 communication parameters

0 number_of_entries

1 COB-ID_used_by_

PDO

2 transmission_type FF

80000181

3 inhibit_time 0

4 CMS_priority_

group_tpdo1

5 event_timer 0

Characteristics

{1h} 05

REC UINT8 RO —

Maximally supported subindices.

80000181

{1h} 800001FF

Six subindices are supported.

— UINT32 RW —

Identifier of transmit PDO1,

+ node address).

(180

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.

0 PDO active

1 PDO inactive

0 {1} F0h,FEh,FF

—

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

Index Name Possible settings

Lenze Selection Description

1A00

Transmit PDO1

mapping parameters

0 number_of_

mapped_objects

1 first_mapped_

object

2 second_mapped_

object

...

4 fourth_mapped_

object

60410010

Characteristics

{1h} 04

{1h}

REC UINT32 RW —

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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CANopen communication

Process data transfer (PDO transfer) Objects for PDO parameterisation

2. Transmit PDO

Index Name Possible settings

Lenze Selection Description

1801

Transmit PDO2 communication parameters

0 number_of_entries

1 COB-ID_used_by_

PDO

2 transmission_type FF

80000281

3 inhibit_time 0

4 CMS_priority_

group_tpdo2

5 event_timer 0

Characteristics

{1h} 05

REC UINT8 RO —

Maximally supported

subindices.

80000281

{1h} 800002FF

Six subindices are supported.

— UINT32 RW —

Identifier of transmit PDO2,

+ node address).

(280

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.

0 PDO active

1 PDO inactive

0 {1} F0h,FEh,FF

—

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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CANopen communication

Process data transfer (PDO transfer)

Objects for PDO parameterisation

Index Name Possible settings

Lenze Selection Description

1A01

Transmit PDO2

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

Characteristics

{1h} 04

{1h}

REC UINT32 RW —

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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CANopen communication

Process data transfer (PDO transfer) Objects for PDO parameterisation

3. Transmit PDO

Index Name Possible settings

Lenze Selection Description

1802

Transmit PDO3 communication parameters

0 number_of_entries

1 COB-ID_used_by_

PDO

2 transmission_type FF

80000381

3 inhibit_time 0

4 CMS_priority_

group_tpdo3

5 event_timer 0

Characteristics

{1h} 05

REC UINT8 RO —

Maximally supported

subindices.

80000381

{1h} 800003FF

Six subindices are supported.

— UINT32 RW —

Identifier of transmit PDO3,

+ node address).

(380

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.

0 PDO active

1 PDO inactive

0 {1} F0h,FEh,FF

—

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

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