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.

2



KHB 13.0003-EN 2.0

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............................................

KHB 13.0003-EN 2.0

 3

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......................................

4

KHB 13.0003-EN 2.0

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......................................

KHB 13.0003-EN 2.0

 5

Contentsi

10 Appendix 118................................................................

10.1 Index table 118..........................................................

11 Index 153....................................................................

6

KHB 13.0003-EN 2.0

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.

KHB 13.0003-EN 2.0

 7

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.

8

KHB 13.0003-EN 2.0

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)

KHB 13.0003-EN 2.0



9

2

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.

10



KHB 13.0003-EN 2.0

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

KHB 13.0003-EN 2.0



11

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)

12



KHB 13.0003-EN 2.0

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

2

KHB 13.0003-EN 2.0



13

4

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

14



KHB 13.0003-EN 2.0

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.

KHB 13.0003-EN 2.0



15

5

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

16



KHB 13.0003-EN 2.0

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.

KHB 13.0003-EN 2.0



17

5

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

18



KHB 13.0003-EN 2.0

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)

KHB 13.0003-EN 2.0



19

5

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.

20



KHB 13.0003-EN 2.0

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)

KHB 13.0003-EN 2.0



21

5

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

– – –

22



KHB 13.0003-EN 2.0

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



23

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)

24



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.

KHB 13.0003-EN 2.0



25

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.

26



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.

KHB 13.0003-EN 2.0



27

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.

28



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.

KHB 13.0003-EN 2.0



29

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.

30



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

1A02

Transmit PDO3

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

60640020

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.

KHB 13.0003-EN 2.0



31

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
parameters

0 number_of_entries

1 COB-ID_used_by_

PDO

2 transmission_type FF

80000201

h

h

Characteristics

00

h

02

h

80000201

Bit No. Value

0-10 X 11-bit identifier

11 - 28 0

29 0

30 0 Set to zero.

31

0 {1} F0h,FEh,FF

0 Function is deactivated.

n = 1 ... F0 When a value n is entered,

n=FE Cyclic transmission mode.

n=FF Event-controlled

h

0 PDO active

1 PDO inactive

{1h} 02

{1h} 800002FF

REC UINT8 RO —

h

Maximally supported

subindices.

Three subindices are

supported.

— UINT32 RW —

h

Identifier of receive PDO1

+ node address)

(200

h

For processing, bit 31 must

be set (parameterisation of

mapping).

The extended identifier

(bit 29) is not supported.

Every bit in this range must

be set to ”0”.

UINT8 RW —

—

h

Setting the transmission

mode.

the PDO is accepted every

n-th sync.

transmission mode.

32



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

1600

Receive PDO1

h

mapping
parameters

0 number_of_

mapped_objects

1 first_mapped_

object

2 second_mapped_

object

...

4 fourth_mapped_

object

60400010

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.

KHB 13.0003-EN 2.0



33

5

CANopen communication

Process data transfer (PDO transfer)
Objects for PDO parameterisation

2. Receive PDO

Index Name Possible settings

Lenze Selection Description

1401

Receive PDO2

h

communication
parameters

0 number_of_entries

1 COB-ID_used_by_

PDO

2 transmission_type FF

80000301

h

h

Characteristics

00

h

02

h

80000301

Bit No. Value

0-10 X 11-bit identifier

11 - 28 0

29 0

30 0 Set to zero.

31

0 {1} F0h,FEh,FF

0 Function is deactivated.

n = 1 ... F0 When a value n is entered,

n=FE Cyclic transmission mode.

n=FF Event-controlled

h

0 PDO active

1 PDO inactive

{1h} 02

{1h} 800003FF

REC UINT8 RO —

h

Maximally supported

subindices.

Three subindices are

supported.

— UINT32 RW —

h

Identifier of receive PDO2

+ node address)

(300

h

For processing, bit 31 must

be set (parameterisation of

mapping).

The extended identifier

(bit 29) is not supported.

Every bit in this range must

be set to ”0”.

UINT8 RW —

—

h

Setting the transmission

mode.

the PDO is accepted every

n-th sync.

transmission mode.

34



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

1601

Receive 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

60400010

60600008

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.

KHB 13.0003-EN 2.0



35

5

CANopen communication

Process data transfer (PDO transfer)
Objects for PDO parameterisation

3. Receive PDO

Index Name Possible settings

Lenze Selection Description

1402

Receive PDO3

h

communication
parameters

0 number_of_entries

1 COB-ID_used_by_

PDO

2 transmission_type FF

80000401

h

h

Characteristics

00

h

02

h

80000401

Bit No. Value

0-10 X 11-bit identifier

11 - 28 0

29 0

30 0 Set to zero.

31

0 {1} F0h,FEh,FF

0 Function is deactivated.

n = 1 ... F0 When a value n is entered,

n=FE Cyclic transmission mode.

n=FF Event-controlled

h

0 PDO active

1 PDO inactive

{1h} 02

{1h} 800004FF

REC UINT8 RO —

h

Maximally supported

subindices.

Three subindices are

supported.

— UINT32 RW —

h

Identifier of receive PDO3

+ node address)

(400

h

For processing, bit 31 must

be set (parameterisation of

mapping).

The extended identifier

(bit 29) is not supported.

Every bit in this range must

be set to ”0”.

UINT8 RW —

—

h

Setting the transmission

mode.

the PDO is accepted every

n-th sync.

transmission mode.

36



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

1602

Receive PDO3

h

mapping
parameters

0 number_of_

mapped_objects

1 first_mapped_

object

2 second_mapped_

object

3 third_mapped_

object

4 fourth_mapped_

object

60400010

607A0020

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.

KHB 13.0003-EN 2.0



37

5

CANopen communication

Process data transfer (PDO transfer)
Objects for PDO parameterisation

4. Receive PDO

Index Name Possible settings

Lenze Selection Description

1403

Receive PDO4

h

communication
parameters

0 number_of_entries

1 COB-ID_used_by_

PDO

2 transmission_type FF

80000501

h

h

Characteristics

00

h

02

h

80000501

Bit No. Value

0-10 X 11-bit identifier

11 - 28 0

29 0

30 0 Set to zero.

31

0 {1} F0h,FEh,FF

0 Function is deactivated.

n = 1 ... F0 When a value n is entered,

n=FE Cyclic transmission mode.

n=FF Event-controlled

h

0 PDO active

1 PDO inactive

{1h} 02

{1h} 800004FF

REC UINT8 RO —

h

Maximally supported

subindices.

Three subindices are

supported.

— UINT32 RW —

h

Identifier of receive PDO4

+ node address)

(500

h

For processing, bit 31 must

be set (parameterisation of

mapping).

The extended identifier

(bit 29) is not supported.

Every bit in this range must

be set to ”0”.

UINT8 RW —

—

h

Setting the transmission

mode.

the PDO is accepted every

n-th sync.

transmission mode.

38



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

1603

Receive PDO4

h

mapping
parameters

0 number_of_

mapped_objects

1 first_mapped_

object

2 second_mapped_

object

3 third_mapped_

object

4 fourth_mapped_

object

60400010

60FF0020

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.

KHB 13.0003-EN 2.0



39

5

CANopen communication

Process data transfer (PDO transfer)
Description of the objects

5.3.4 Description of the objects

Identifier of the PDO (COB_ID_used_by_PDO)

Enter the identifier to be used to transmit or receive the PDO in the object
COB_ID-used_by_PDO. Ifbit 31 is set, the PDO isdeactivated. This is the default setting for
all PDOs.

The COB ID can only be changed if the PDO is deactivated, i.e. if bit 31 is set. For changing
the COB ID, you therefore have to keep to the following sequence:

ƒ Read out the COB ID

ƒ Write the read COB ID + 80000000

ƒ Write the new COB ID + 80000000

ƒ Write the new COB ID, the PDO is active again.

h

h

Transmission mode (transmission_type and inhibit_time)

For each PDO, the event leading to a message being sent (transmit PDO) or evaluated
(receive PDO) can be defined:

Value Meaning Permitted for

00h-F0

FE

h

FF

h

Sync telegram

h

The numerical value indicates how many sync telegrams are ignored between two
transmissions before the PDO is

- sent (TPDO) or

-evaluated(RPDO).

Cyclic

The TPDO is cyclically updated and sent by the controller. The time interval is
determined by the event_time object.
RPDOs, however, are only evaluated immediately after the receipt.

Event-controlled with cyclic overlay

The TPDO is sent, if, at least 1 bit of the PDO data has changed or if the time of the
event_timer object is over. When 0 ms is selected, the timer is deactivated and a
PDO is only sent when a new event occurs.
inhibit_time can be u sed to determine the minimum time interval in 100 μssteps
between the transmission of two PDOs.

TPDO
RPDO

TPDO
(RPDO)

TPDO

40

The use of all other values is not permitted.

Number of objects to be transferred (number_of_mapped_objects)

This object indicates how many objects are to be mapped intothe corresponding PDO. The
following restrictions have to be taken into account:

ƒ It is not possible to map more than 4 objects per PDO

ƒ A PDO can have a maximum of 64 bits (8 bytes).



KHB 13.0003-EN 2.0

CANopen communication

Process data transfer (PDO transfer)

Description of the objects

Objects to be transferred (first_mapped_object ... fourth_mapped_object)

For every object to be contained in the PDO, the drive controller must know the
corresponding i ndex, subindex and length. The specified length must be identical to the
length specified in the object dictionary. It is not possible to map parts of an object.

The mapping information has the following format:

Index Subindex Length

16 bits 8bits 8bits

ƒ Index: Main index of the object to be mapped (hex)

ƒ Subindex: Subindex of the object to be mapped (hex)

ƒ Length: Length of object - 8, 16 or 32 bits (hex)

In order to simplify the mapping, the following procedure is given:

1. The number o f the mapped objects is set to 0.

2. The first_mapped_object ... fourth_mapped_object parameters can be written (the
total length of all objects is not relevant at this time).

5

3. The number of the mapped objects is set to a value between 1 ... 4. The length of all
these objects must not exceed 64 bits.

KHB 13.0003-EN 2.0



41

5

CANopen communication

Process data transfer (PDO transfer)
Example of a process data telegram

5.3.5 Example of a process data telegram

The following objects are to be transferred together in a PDO:

ƒ Status word, index 6041_00

ƒ Modes_of_operation_display, index 6061_00

The first transmit PDO (TPDO 1) is to be used. 187

h

(operating mode)

h

is to be used as PDO identifier.

h

1. Delete the number of objects.

Description Name Value

To enable the change of the object mapping, the number of
objects has to be set to zero.

number_of_mapped_objects 0

2. Parameterise the objects which are to be mapped.

Description Name Value

The objects listed above have to be composed to form a 32-bit
value each:

Index = 6041h, subindex = 00h,length=10h(UINT16) first_mapped_object 60410010

Index = 6061h, subindex = 00h,length=08h(INT8) second_mapped_object 60610008

3. Parameterise the number of o bjects.

Description Name Value

The PDO has to contain 2 objects number_of_mapped_objects 2

h

4. Parameterise the transmission mode.

Description Name Value

The PDO is to be sent when data is changed. transmission_type FF

The PDO is to be sent not more often than every 10 ms
(100 × 100 μs).

inhibit_time 64

h

h

h

h

5. Parameterise the identifier.

Description Name Value

The PDO has to be sent with the identifier 187h.IfthePDOis
active, it first has to be deactivated.

Read out the identifier: cob_id_used_by_pdo 00000181

Set bit 31 (deactivate PDO): cob_id_used_by_pdo 80000181

Write new identifier: cob_id_used_by_pdo 80000187

Activate PDO by deleting bit 31: cob_id_used_by_pdo 00000187

 Note!

The parameterisation of the PDO can only be changed if the network state
(NMT) is not operational.

h

h

h

h

42



KHB 13.0003-EN 2.0

5.3.6 Activation of the PDOs

The following criteria must be met to enable the drive controller to send or receive PDOs:

ƒ The number_of_mapped_objects object must be non-zero.

ƒ Bit 31 of the cob_id_used_for_pdos object must be deleted.

ƒ The communication state of the controller must be operational (see chapter 5.5,

network management).

The following criterion must be met to enable the parameterisation of PDOs:

ƒ Thecommunicationstateofthedrivecontrollermustnotbeoperational.

CANopen communication

Process data transfer (PDO transfer)

Activation of the PDOs

5

KHB 13.0003-EN 2.0



43

5

CANopen communication

Sync telegram
Telegram structure

5.4 Sync telegram

It is possible to synchronise several controllers of a plant with each other. For this, the
master usually periodically sends synchronisation messages. All controllers connected
receive these messages and use them for PDO processing.

5.4.1 Telegram structure

11 bits 4bits

Identifier

Data

length

The identifier on which the drive controller receives the sync telegram is permanently set
to 080

. The data length is 0.

h

5.4.2 Synchronisation of the process data

The sync telegram is the trigger point for data acceptance in the drive controller and it
starts the sending process of the drive controller. Cyclic process data processing requires
an appropriate generation of the sync telegram.



PDO1-TX PDO1-RX

1.

Fig. 3 Synchronisation of cyclic process data by means of a sync telegram (without consideration of

asynchronous data)

c

Sync telegram

2. 3. 4.

epm-t111

Transmission sequence

1. After the sync telegram has been received, the cyclic process data are send from the
drive controllers to the master. The data is read by the master as process input data.

2. When the sending process is completed, the process output data (of the master) is
received by the drive controllers.

3. The data is accepted by the drive controllers with the next sync telegram.

4. All other telegrams (e.g. for parameters or event-controlled process data) are
accepted asynchronously by the drive controllers after the transmission has been
completed.

44



KHB 13.0003-EN 2.0

5.4.3 Description of the objects

CANopen communication

Sync telegram

Description of the objects

5

Index Name Possible settings

Lenze Selection Description

1005h0COB-ID_sync_

message

1006h0 communication_

cycle_period

1007h0 synchronous_

window_length

00000080

0

0

h

Characteristics

00000080

Bit No. Value

0-10 X 11-bit identifier.

11 - 28 0

29 0

30

31 X As you choose

0 No synchronisation message

0 Function is deactivated.

h

0 Controller does not generate

1 Controller generates sync

{1h} 80000080

{1 μs}

{1 μs}

VAR UINT32 RW —

h

The identifier of the
synchronisation object is 80
Determining whether the
controller is to receive or
send synchronisation
messages.

The extended identifier
(bit 29) is not supported.
Every bit in this range must
be set to ”0”.

sync telegrams.

telegrams.

VAR UINT32 RO —

Setting the cycle time of
synchronisation messages.

sending.

VAR UINT32 RO —

Setting the time slot in
which the sync telegrams are
sent.

h.

KHB 13.0003-EN 2.0



45

5

CANopen communication

Network management (NMT)
Communication phases of the CAN network (NMT)

5.5 Network management (NMT)

Via the network management, the master can carry out state changes for the entire CAN
network. For this purpose, the identifier with the highest priority (000

5.5.1 Communication phases of the CAN network (NMT)

Regarding communication, the drive distinguishes between the following states:

State Explanation

”Initialisation” Initialisation starts when the controller is switched on. In this phase, the

”Pre-operational”

(before being ready for
operation)

”Operational”

(ready for operation)

”Stopped” Only network management telegrams can be received.

controller does not take part in the bus data transfer.
It is also possible in every NMT state to restart the entire initialisation or parts
of it by transferring special telegrams (see ”State transitions”). In this case, all
parameters already set are overwritten with their standard values.
After initialisation has been completed, the controller is automatically set to the
state ”pre-operational”.

The controller can receive parameter data.
Process data is ignored.

The controller can receive parameter data and process data.

) is reserved.

h

46



KHB 13.0003-EN 2.0

5.5.2 Telegram structure

11 bits 4bits User data (2 bytes)

Identifier

Via theNMT, commands can be sent to oneor all drive controllers. Each command consists
of two bytes. The first byte contains the command code (command specifier, CS) and the
second byte contains the node address (node ID, NI) of the addressed drive controller. Via
the node address zero, all nodesof the network can beaddressed simultaneously.It is thus,
for instance, possible to reset all drive controllers simultaneously. The drive controllers do
not acknowledge the NMT commands. The successful execution can only be inferred
indirectly e.g. from the switch-on message after a reset.

The NMT states ofthe CANopen nodes are definedin a state diagram. Viathe CS byte in the
NMT message state changes can be initiated. These changes are mainly orientated
towards the target state.

Data

length

CANopen communication

Network management (NMT)

Telegram structure

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

CS NI

5

In theNI parameter, thenode address ofthe drive controllerhas to be specified. If all nodes
of the network are to be addressed (broadcast), the parameter must be set to zero.

 Note!

Communication via process data is only possible with a state change to
“operational”!

Example:

For changing the state of all nodes on the bus from ”pre-operational” to
“operational” via the CAN master, the following identifier and user data must
be set in the telegram:

ƒ Identifier: 00 (broadcast telegram)
ƒ User data: 0100 (hex)

KHB 13.0003-EN 2.0



47

5

CANopen communication

Network management (NMT)
Telegram structure

State transitions

(1)

Initialisation

(2)

(14)

Pre-Operational

(7)

(4)

(13)

(3)

(12)

Operational

(5)

(6)

Stopped

(8)

Fig. 4 Network management state t ransitions

(11)

(10)

(9)

E82ZAFU004

State

transition

(1) - Initialisation

(2) - Pre-operational

From this moment on, the master changes the states for the entire network. A target address, which is part of the command, specifies the
receiver/s.

(3), (6) 01 xx Operational

(4), (7) 80 xx Pre-operational

(5), (8) 02 xx Stopped Only network management telegrams can be received.

(9)

(10)

(11)

(12)

(13)

(14)

Command

xx = 00

(hex)

82 xx

81 xx

hex

Network state after

change

Initialisation

Effect on process and parameter data after state change

At power-on the initialisation is started automatically.
During the initialisation, the drive controller does not take part in the data
transfer.
After the initialisation is completed, a boot-up message with an own
identifier is sent from the drive controller to the master and the drive
controller automatically changes to the pre-operational state.

In this phase, the master decides how the drive controller/s is/are to
participate in the communication.

Network management telegrams, sync, emergency, process data (PDO)
and parameter data (SDO) are active (corresponds to “start remote node”)
Optional:
Event-controlled and time-controlled process data (PDO) are sent once in
thecaseofachange.

Network management telegrams, sync, emergency and parameter data
(SDO) are active (corresponds to “enter pre-operational state“)

Initialisation of all parameters in the communication module with the
stored values (corresponds to “reset node”)

Initialisation of communication-relevant parameters (CIA DS 301) in the
communication module with the stored values (corresponds to “reset
communication”)

With this assignment, all devices connected are addressed by the telegram. The
state can be changed for all devices at the same time.

xx = node ID If a node address is specified, only the state of the addressed device will be

changed.

48



KHB 13.0003-EN 2.0

5.6 Emergency telegram

The controller monitors the functioning of its main components, e. g. voltage supply and
power stage. In addition, the motor (temperature, phase-angle encoder) and the limit
switches are checked continuously. Incorrect parameter settings can also lead to error
messages (division by zero, etc.).

5.6.1 Telegram structure

CANopen communication

Emergency telegram

Telegram structure

5

11 bits 4bits Error code 1001

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Identifier

Data

length

E0 E1 R0 00 00 00 00 00

h

The drive controller sends an emergency telegram if an error occurs. The identifier of this
message is composed of the identifier 80

and the node address of the drive controller

h

concerned.

The emergency telegram consists of eight bytes. The first and second byte contain the
error_code. In the third byte there is an additional error code (object 1001

). The fourth to

h

eighth byte are always set to zero.

The following error codes may appear:

Error cause Display 2nd byte 1st byte 3rd byte 4th ... 8th

E1 E0 R0

Stack overflow E01 0 61 80 00 ... 00

DC-bus undervoltage E02 0 32 20 00 ... 00

Motor overtemperature E03 0 43 10 00 ... 00

Power electronics overtemperature E04 0 42 10 00 ... 00

DC-bus overtemperature E04 1 42 80 00 ... 00

Failure of internal voltage 1 E05 0 51 14 00 ... 00

Failure of internal voltage 2 E05 1 51 15 00 ... 00

Driver supply failure E05 2 51 16 00 ... 00

Digital I/O undervoltage E05 3 54 10 00 ... 00

Digital I/O overcurrent E05 4 54 10 00 ... 00

Short circuit in power stage E06 0 21 10 00 ... 00

Overvoltage E07 0 32 10 00 ... 00

Resolver phase-angle encoder error E08 0 73 80 00 ... 00

Incremental encoder track signal (Z0) error E08 2 73 82 00 ... 00

Incremental encoder track signal (Z1) error E08 3 73 83 00 ... 00

Digital incremental encoder track signal error E08 4 73 84 00 ... 00

Incremental encoder track signal Hall encoder signal
error

Homing: Start error E11 0 8A 80 00 ... 00

Homing error E11 1 8A 81 00 ... 00

Homing: Zero-pulse error E11 2 8A 82 00 ... 00

CAN bus: Double node number E12 0 81 80 00 ... 00

CAN communication error: BUS OFF E12 1 81 20 00 ... 00

CAN communication error during sending E12 2 81 81 00 ... 00

E08 5 73 85 00 ... 00

byte

KHB 13.0003-EN 2.0



49

5

CANopen communication

Emergency telegram
Telegram structure

3rd byte1st byte2nd byteDisplayError cause

R0E0E1

CAN communication error during receiving E12 3 81 82 00 ... 00

Division by 0 E15 0 61 85 00 ... 00

Overrange (overflow/underflow) E15 1 61 86 00 ... 00

Faulty program execution E16 0 61 81 00 ... 00

Interrupt E16 1 61 82 00 ... 00

Initialisation error E16 2 61 87 00 ... 00

Unexpected status E16 3 61 83 00 ... 00

Following error limit value exceeded E17 0 86 11 00 ... 00

Error 1 current measurement U E21 1 52 80 00 ... 00

Error 1 current measurement V E21 1 52 81 00 ... 00

Error 2 current measurement U E21 2 52 82 00 ... 00

Error 2 current measurement V E21 3 52 83 00 ... 00

Invalid controller type E25 0 60 80 00 ... 00

Controller type is not supported E25 1 60 81 00 ... 00

User parameter set is not available E26 0 55 80 00 ... 00

Checksum error E26 1 55 81 00 ... 00

Flash: Error during writing E26 2 55 82 00 ... 00

Flash: Error during deleting E26 3 55 83 00 ... 00

Flash: Internal flash error E26 4 55 84 00 ... 00

Calibration data not available E26 5 55 85 00 ... 00

Following error warning threshold E27 0 86 11 00 ... 00

Internal conversion error E30 0 63 80 00 ... 00

I2T–motor E31 0 23 12 00 ... 00

I2T – servo controller E31 1 23 11 00 ... 00

I2T–PFC E31 2 23 13 00 ... 00

I2T– brakeresistor E31 3 23 14 00 ... 00

DC-bus charge time exceeded E32 0 32 80 00 ... 00

Undervoltage for active PFC E32 1 32 81 00 ... 00

Brake chopper overload E32 5 32 82 00 ... 00

DC-bus discharge time exceeded E32 6 32 83 00 ... 00

Following error - encoder emulation E33 0 8A 83 00 ... 00

Synchronisation error (synchronisation) E34 0 87 80 00 ... 00

Synchronisation error (synchronisation failure) E34 1 87 81 00 ... 00

Parameter has been limited E36 0 63 20 00 ... 00

Software limit switch reached E40 0 86 12 00 ... 00

Positioning: Drive stops because following positioning
is not available

Positioning: Drive stops because reversal of direction of
rotation is not permitted

Positioning: Impermissible reversal of direction of
rotation after stop

Incorrect transmission protocol length — 82 10 00 ... 00

Error no longer occurs — 00 00 00 ... 00

E42 0 86 80 00 ... 00

E42 1 86 81 00 ... 00

E42 2 86 82 00 ... 00

4th ... 8th

byte

50



KHB 13.0003-EN 2.0

5.6.2 Description of the objects

CANopen communication

Emergency telegram

Description of the objects

5

Index Name Possible settings

Lenze Selection Description

1001h0 error_register

1003

Pre_defined_error_

h

field

0 number_of_errors

1 standard_error_

field_0

...

4 standard_error_

field_3

Characteristics

VAR UINT8 RO MAP

Here, you can read the value
of the error_register
contained in the emergency

telegram.
Bit No. Meaning

0 generic error An error has occurred which

1 current

2 voltage

3 temperature

4 communication error Communication error (CAN

5 device profile-specific

6 reserved

7 manufacturer-specific Manufacturer-specific error.

00

h

00

h

Bit 31 ... 24 23 ... 16 15 ... 8 7 ... 0

00 00 23 00 Motor deenergised due to

00 00 32 10 DC-bus voltage > 400 V

00 00 32 20 DC-bus voltage < 180 V

00 00 33 20 20V>brakevoltage>28V

00 00 42 10 Power stage

00 00 43 10 Motor overtemperature

00 00 63 20 Driving program, system

00 00 71 21 Drive inhibited

00 00 90 00 Quick stop

00 00 FF 00 Homing

{1h} FF

is not specified in detail

(flag is set with every error

message).

overrun).

h

UINT8 RW —

Reading the number of error

messages saved.

Deleting the history buffer

by writing the value 00

After an error, the error

must be acknowledged to

activate the power stage.

— UINT32 RO —

Reading the last error

message.

overcurrent

overtemperature

parameters

— UINT32 RO —

Reading the error message.

.

h

KHB 13.0003-EN 2.0



51

5

CANopen communication

Emergency telegram
Description of the objects

1014h0 COB-ID_emergency_

message

1015h0 inhibit_time_emcy 0

Possible settingsNameIndex

00000081

Characteristics

DescriptionSelectionLenze

00000000

h

Bit No. Value

0-10 X 11-bit identifier

11 - 28 0

29 0

30 0 Reserved

31

0 {1 μs} 65535

h

0 Emergency object exists / is

1 Emergency object does not

{1h} 00000081

VAR UINT32 RW —

h

Identifier emergency object,

080

The extended identifier

(bit 29) is not supported.

Every bit in this range must

be set to ”0”.

used

exist / is not used

VAR UINT16 RW —

Setting the inhibit time of

the emergency object. The

time must be a multiple of

100 μs.

+ node address

h

52



KHB 13.0003-EN 2.0

5.7 Heartbeat telegram

The heartbeat telegramin implementedto monitor the communication between the drive
controller and the master. For this purpose, the controller cyclically sends messages to the
master. The master can check the cyclic transmission of these messages and initiate
corresponding measures if they are missing. The heartbeat telegram is sent with the
identifier 700
stateofthedrivecontroller.Thedatalengthis1.

In addition to the monitoring by the master, the bus system canbe monitored by the drive
controller. For this purpose, the drive controller monitors the acknowledgement of the
heartbeat telegram. The absence of acknowledgements indicates that there is no other
active drive c ontroller on the bus system or that the bus system is damaged by a cable
break.

The following response, which can be a warning, a quick stop or the immediate
disconnection of the power stage, can be defined in the error management.

(1792d) + node address. It only contains 1 byte of user data and the NMT

h

CANopen communication

Heartbeat telegram

Telegram structure

5

5.7.1 Telegram structure

11 bits 4bits User data (1 byte)

Identifier

Data

length

 Note!

If the heartbeat telegram is not acknowledged when the heartbeat method is
used, an error can occur (depending on the error management setting).

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

N

KHB 13.0003-EN 2.0



53

5

CANopen communication

Heartbeat telegram
Telegram structure

Heartbeat

COB-ID = 1792 + Node-ID

Producer

request

Heartbeat
Producer

Time

request

Fig. 5 Heartbeat telegram

r Reserved
s State of the Heartbeat Producer

Heartbeat consumer

Heartbeat

0

r

0

r

1

s

6…0

7

1

s

6…0

7

Consumer

indication

indication

indication

indication

indication

indication

indication

indication

Heartbeat Event

Heartbeat
Consumer

Time

Heartbeat
Consumer

Time

epm-t134

The consumers monitor if the heartbeat message is received within the ”heartbeat
consumer” time. The time must be longer than the corresponding ”heartbeat producer”
time.

Heartbeat producer

The drive controller transmits a state telegram on the fieldbus and can thus be monitored
by other bus devices.

The settings are made under index 1017

ƒ The producer heartbeat is automatically started if a time > 0 is entered under index

1017

ƒ When the cycle time has expired, the drive controller transmits the state telegram

and the drive controller changes to the operational state.

h

.

h

on the fieldbus.

ƒ A reset changes the state to operational.

Device state (bits 1 ... 6) of the heartbeat producer:

Command (hex) State

00 Boot-up

05 Operational

04 Stopped

7F Pre-operational

54



KHB 13.0003-EN 2.0

5.7.2 Description of the objects

CANopen communication

Heartbeat telegram

Description of the objects

5

Index Name Possible settings

Lenze Selection Description

1016

1017h0 producer_

Consumer_

h

heartbeat_time

0 number_of_entries

1 consumer_

heartbeat_time

heartbeat_time

0

Characteristics

01

h

01

h

0 {1 ms} 65535

Bit No.

0-15 Heartbeat time

16 - 23 Node address of the

24 - 31 Reserved, value 0.

0 {1 ms} 65536

0 Function is deactivated.

{1h} 7F

VAR UINT8 RO —

h

Maximally supported
subindices.

1 subindex is supported.

VAR UINT32 RW —

Setting the time in which the
controller expects a message
from the master. The time
must be longer than the
corresponding index
producer_heartbeat_time.
”0” means that the function
is deactivated.

controller.

VAR UINT16 RW —

Time between two heartbeat
telegrams.
If the controller starts with a
time unequal zero, the
boot-up telegram is the first
heartbeat.

KHB 13.0003-EN 2.0



55

5

CANopen communication

Heartbeat telegram
Boot-up telegram

5.8 Boot-up telegram

After the supply voltage has been switched on or after a reset, the drive controller sends
the boot-up telegram indicating that the initialisation phase is completed. The controller
then is in the NMT state pre-operational.

5.8.1 Telegram structure

11 bits 4bits User data (1 byte)

Identifier

Data

length

The structure of the boot-up telegram is almost identical to the structure of the heartbeat
telegram.

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

0

The boot-up telegram is also sent with the identifier 700

+ node address. The data length

h

is 1.

The only difference is that a zero is sent instead of the NMT state. For boot-up telegrams,
too, the sending device expects – depending on the error management setting – the
receipt of the telegram to be acknowledged by the other bus devices.

56



KHB 13.0003-EN 2.0

5.9 Node Guarding

CANopen communication

Node Guarding

5

NMT-Master

request

confirm

Node

Guard

time

Node

Time

Life

Node Guarding Event Life Guarding Event

Fig. 6 Node guarding telegram

1)

Controller
s Controller status
t Toggle bit

request

confirm

indication

COB-ID = 700 + Node-ID

Remote transmit request

0

t

1

s

6…0

7

COB-ID = 700 + Node-ID

Remote transmit request

0

t

1

s

6…0

7

NMT-Slave

indication

response

indication

response

indication

1)

931m_051

Description

The node guarding telegram monitors the connection between master and slave.

Under index 100C

”Guard time”, you can enter a time, under index 100Dh”Life time

h

factor”, you can enter a factor. The multiplication of both indices results in the monitoring
time within which the master must send a node guarding telegram to the slave. If one of
the two indices is set to zero, the monitoring time is also zero, and thus deactivated. The
slave sends a telegram with its current status to the master.

With event-controlled process data transfer, node guarding ensures the cyclic monitoring
of the controller.

ƒ The master starts node guarding by sending the node guarding telegram.

ƒ Unless the slave (controller) receives a telegram within the monitoring time, the

node guarding event is activated. The controller switches to the status set under
6007

.

h

ƒ A reset is carried out by a status change to Operational.

KHB 13.0003-EN 2.0



57

5

CANopen communication

Node Guarding
Description of the objects

5.9.1 Description of the objects

Index Name Possible settings

Lenze Selection Description

100Ch0 guard_time 0

100Dh0 life_time_factor 0

6007h0 abort_connection_

option_code

0

Characteristics

0 {1 ms} 65535

0 Function is deactivated.

0 {1} 255

0 Function is deactivated.

0 {1} 3

0 No action

1 Malfunction: Control word = 0

2 Device control command: Disable

voltage

3 Device control command: Quick stop

VAR UINT16 RW —

Setting the cyclic monitoring
time in which the master
queries the status of the
slaves.

VAR UINT8 RW —

The maximum time between
two queries of the master
results from the product of
guard_time and
life_time_factor.

VAR INT16 RW MAP

Determining the event to be
activated when the master
fails.

58



KHB 13.0003-EN 2.0

6 Commissioning

6.1 Activation of CANopen

The controllers are default set to CAN bus communication.

Commissioning

Activation of CANopen

6

931m_100

In the CAN Bus field, three parameters must be set:

ƒ Node ID

For an unambiguous identification in the network, a node address must be assigned to
eachnode.Each node address may onlybeassignedonce in thenetwork.Thenodeaddress
is used to address the device.

ƒ Baud rate

This parameter determines the baud rate in kBaud or kbits/s that is used on the CAN bus.
Please observe that high baud rates require a low maximum cable length.

ƒ Bus terminator

If thecontroller is the lastnode ina bus system,the terminating resistormust beactivated.

When the physical connection to the master has been established, programming can be
started.

 Note!

The controllers can either be parameterised and controlled via the serial
interface using the »fluxx« software or via the CAN bus.

In case of a CAN bus parameterisation and operation, the »fluxx« software
may be maximally operated in the operating mode ”Online Level 1”. If a higher
operating mode is selected, the »fluxx« software will have the parameter
change rights. In this case, the operating status cannot be changed via the
CAN.

KHB 13.0003-EN 2.0

 59

6

6.2 Speed control

6.2.1 Parameterising of a process data object (TPDO and RPDO)

Commissioning

Speed control
Parameterising of a process data object (TPDO and RPDO)

The purpose of this example is to show how a speed control can be commissioned via the
CAN bus.

1. Use/activation of the transmit PDO1 (transmission of actual speed and status word)
and of the receive PDO1 (setpoint speed)

2. Control of the network management

3. Parameterisation of the motor, current and speed controller

4. Definition of the operating mode (speed control)

5. Selection of a speed setp oint

6. Commissioning of the speed controller via the state machine

This exampleshows the adaptation a nd activation of a transmitPDO (TPDO) and a receive
PDO (RPDO). The TPDO transfers the actual speed and the status word. Via the RPDO a
higher-level control specifies the speed setpoint.

The following table lists and explains the different SDO accesses for parameterising the
TPDO. When the network state is ’operational’, the PDO is set to the identifier 181
actual speed and the status word are transferred with a cycle time of 10 ms.

.The

h

60

KHB 13.0003-EN 2.0

Commissioning

Speed control

Parameterising of a process data object (TPDO and RPDO)

6

No. Description Identifier Control

1 Network management (NMT)

For parameterising the PDO, the
network management is set to
Pre-operational (80

2 Deactivating the TPDO

The PDO is deactivated by
setting bit 31.

3 Deleting the number of objects

For changing the object
mapping, the number of objects
(number_of_mapped_objects)
must be set to zero.

4 Parameterising the first object

to be mapped

Here, the index of the object to
be mapped 1A00_01
mapped_object) and the length
of the corresponding variable
type must be indicated. The first
object to be mapped is the
actual speed (index 606C_00
withalengthof32bits(20

5 Parameterising the second

object to be mapped

The second object to be mapped
(second_mapped_object) is the
status word (index 6041_00
withalengthof16bits(10

6 Defining the number of objects

In this example, 2 mapped
objects (actual speed and status
word) are to be transmitted
(number_of_mapped_objects).

7 Parameterising the transmission

mode

The PDO transmission is
event-controlled and depends
on the transmission cycle time,
i.e. maximally every 10 ms.
(Entry FF
type).

8 Defining the transmission cycle

time

The transmission cycle time
(inhibit_time) is to be set to 10
ms (100 × 100 μs).

9 Activating the TPDO

The TPDO is activated by
resetting bit 31.

10 Network management (NMT)

For parameterising the PDO, the
network management is set to
Operational (01

in the transmission_

h

Tab. 2 Example parameterisation of a transmit PDO

).

h

(first_

h

h

).

h

)

h

).

h

).

h

00 2 80 00 00 00 00 00 00 00

601 8 23 00 18 01 81 01 00 80

601 5 2F 00 1A 00 00 00 00 00

601 8 23 00 1A 01 20 00 6C 60

)

601 8 23 00 1A 02 10 00 41 60

601 5 2F 00 1A 00 02 00 00 00

601 5 2F 00 18 02 FF 00 00 00

601 6 2B 00 18 03 64 00 00 00

601 8 23 00 18 01 81 01 00 00

00 2 01 00 00 00 00 00 00 00

field

Data

length

Command

code

Index Subindex Data 1 Data 2 Data 3 Data 4

Low

High

byte

byte

KHB 13.0003-EN 2.0

 61

6

Commissioning

Speed control
Parameterising of a process data object (TPDO and RPDO)

No. Description Identifier Control

1 Network management (NMT)

For parameterising the PDO, the
network management is set to
Pre-operational (80

2 Deactivating the RPDO

The RPDO is deactivated by
setting bit 31.

3 Deleting the number of objects

For changing the object
mapping, the number of objects
(number_of_mapped_objects)
must be set to zero.

4 Parameterising the first object

to be mapped

Here, the index of the object to
be mapped (first_mapped_
object) and the length of the
corresponding variable type
must be indicated. The first
object to be mapped is the
setpoint speed (index 60FF_00
withalengthof32bits(20

5 Defining the number of objects

In this example, one mapped
object (setpoint speed) is to be
transmitted (number_of_
mapped_objects).

6 Parameterising the transmission

mode

The PDO transmission is
event-controlled and depends
on the transmission cycle time
(entry FF
type).

7 Activating the RPDO

The PDO is activated by
resetting bit 31.

8 Network management (NMT)

For parameterising the PDO, the
network management is set to
Operational (01

in the transmission_

h

Tab. 3 Example parameterisation of a receive PDO

).

h

).

h

).

h

00 2 80 00 00 00 00 00 00 00

601 8 23 00 14 01 01 02 00 80

601 5 2F 00 16 00 00 00 00 00

601 8 23 00 16 01 20 00 FF 60

)

h

601 5 2F 00 16 00 01 00 00 00

601 5 2F 00 14 02 FF 00 00 00

601 8 23 00 14 01 01 02 00 00

00 2 01 00 00 00 00 00 00 00

field

Data

length

Command

code

Index Subindex Data 1 Data 2 Data 3 Data 4

Low

High

byte

byte

62

KHB 13.0003-EN 2.0

6.2.2 Parameterising of the speed control

Before starting a control mode, the controller parameters often have to be adapted to
ensure a dynamic and adequately damped operating behaviour. Before this, the controller
parameters have to be selected depending on the system and the corresponding process.

In the following,speedcontrol is to beselected andthen parameterised by meansof ashort
example. In addition to the control parameters (K
operation (maximum speed, maximum acceleration, maximum deceleration and
maximum current) are determined.

Commissioning

Speed control

Parameterising of the speed control

), the limit values required for safe

p,Tn

6

No. Description Identifier Control

1 Defining the operating mode

Speed control (03) is used as
operating mode (modes_of_
operation).

2 Defining the maximum current

For limiting the current (max_
current) and the maximum
torque, the current is limited to

1.5 times the rated motor
current (1.5 times equals 1500
or 05DC

3 Speed controller setting (Kp)

A gain (velocity_control_gain) of
K

4 Speed controller setting (Tn)

An adjustment time (velocity_
control_time) of T
(equals 4E20

5 Differential component setting

(TV)

The differential time constant of
the speed controller (velocity_
control_differential_time) is set
to 8000 μs (equals 1F40

6 Defining the maximum

acceleration

The maximum acceleration
(profile_acceleration) is
20000 rev. × 4096 incr./rev. × 1/
min/s (equals 4E20000

7 Defining the maximum

deceleration

The maximum deceleration
(profile_deceleration) is
20000 rev. × 4096 incr./rev. × 1/
min/s (equals 4E20000

).

h

=2(equals200h) is selected.

p

= 20000 μs

n

) is selected.

h

).

h

).

h

).

h

Tab. 4 Speed controller parameterisation

601 5 2F 60 60 00 03 00 00 00

601 6 2B 73 60 00 DC 05 00 00

601 6 2B F9 60 01 00 02 00 00

601 6 2B F9 60 02 20 4E 00 00

601 6 2B F9 60 03 40 1F 00 00

601 8 23 83 60 00 00 00 E2 04

601 8 23 84 60 00 00 00 E2 04

field

Data

length

Command

code

Index Subindex Data 1 Data 2 Data 3 Data 4

Low

High

byte

byte

KHB 13.0003-EN 2.0

 63

6

Commissioning

Speed control
Running through the state machine

6.2.3 Running through the state machine

After having defined all control parameters required, the drive can be commissioned via
the status machine. First, aspeed setpoint isdefined andsent once via SDO access andonce
via the RPDO. Then, the status machine is traversed.

No. Description Identifier Control

length

1 Selecting the speed setpoint via

SDO access

The speed setpoint (target_
velocity) is set to 1000 rpm.

2 Selecting the speed setpoint via

RPDO

The speed setpoint is set to
1000 rpm via the RPDO. For
speed selection, you can either
use the method described under
1or2.

3 Status check (reading) 601 4 40 41 60 00 00 00 00 00

4 Control word: Error

acknowledgement

If an error has occurred, it can be
reset with the fault reset
command after the cause of the
error has been removed. If no
error has occurred, you can
directly continue with 6.

5 Status check (reading) 601 4 40 41 60 00 00 00 00 00

6 Control word: Shut down

With the shut down command,
the status is changed to ready
to switch on.

7 Status check (reading) 601 4 40 41 60 00 00 00 00 00

8 Control word: Switch on

With the switch on command,
the status is changed to

switched on.
9 Status check (reading) 601 4 40 41 60 00 00 00 00 00

10 Control word: Enable operation

With the enable operation

command, the status is changed

to operation enable.

Now, the motor is energised and

the setpoint is approached.

11 Status check (reading) 601 4 40 41 60 00 00 00 00 00

12 Control operation

During the control operation,

further changes (e.g. setpoint)

can be made.
13 Control word: Disable voltage

With this command, the drive is

switched off and set to the

status switch on disabled.

Tab. 5 Commissioning the speed control via the status machine

601 8 23 FF 60 00 E8 03 00 00

201 4 E8 03 00 00 00 00 00 00

601 6 2B 40 60 00 08 80 00 00

601 6 2B 40 60 00 06 80 00 00

601 6 2B 40 60 00 07 80 00 00

601 6 2B 40 60 00 0F 80 00 00

— — — — — — — — — —

601 6 2B 40 60 00 00 80 00 00

field

Data

Command

code

Index Subindex Data 1 Data 2 Data 3 Data 4

Low

High

byte

byte

64

KHB 13.0003-EN 2.0

Commissioning

Speed control

Running through the state machine

6

Switched

on disabled

Ready to

switch on

Switched

State

Operation

on

Enable

Controlword

Shut down

Controlword

Switch on

Controlword

Enable Operation

Speed control during operation

Length

Identifier

601h 6 2Bh 40h 60h 00h 06h 80h 00h 00h

601h 6 07h 40h 60h 00h 07h 80h 00h 00h

601h 6 0Fh 40h 60h 00h 0Fh 80h 00h 00h

Command

Mainindex

Subindex

(change of speed setpoint is possible)

Controlword

Switched

on disabled

Disable Voltage

Fig. 7 Representation of a state machine during speed control commissioning

601h 6 1Fh 40h 60h 00h 00h 80h 00h 00h

931m_052

KHB 13.0003-EN 2.0

 65

6

Commissioning

Position control
Parameterising of the homing run

6.3 Position control

The following example describes the parameterisation and execution of homing. A
controller with node address 1 is used as communication device. In addition, the
commissioning of a position control will be explained.

Select the settings for the lower-level speed control as described in chapter 6.2.2. The
following explanation is based on these controller settings.

6.3.1 Parameterising of the homing run

Before homing is started, the homing method, homing speed and accelerations have to be
defined. After this, the home position can be approached.

No. Description Identifier Control

1 Selecting the operating mode

Homing

Homing (06) is used as

operating mode (modes_of_

operation).
2 Defining the homing method

Traversing to the negative limit

switch under consideration of

the zero pulse (value 1) is

selected as homing method.

Alternative setting: current

position (value 35).

3 High homing speed setting

The search speed used while

searching for the limit switch

(speed_during_search_for_swit

ch) is set to 100 rpm.
4 Low homing speed setting

The search speed used while

searching for the zero pulse

(speed_during_search_for_zero)

is set to 50 rpm.

Tab. 6 Parameterisation of homing

601 5 2F 60 60 00 06 00 00 00

601 5 2F 98 60 00 01 00 00 00

601 6 2B 99 60 01 64 00 00 00

601 6 2B 99 60 02 32 00 00 00

field

Data

length

Command

code

Index Subindex Data 1 Data 2 Data 3 Data 4

Low

High

byte

byte

The homing status can be seen from the status word. Bit 12indicates whether homing has
been completed (homing_attained) or is still being carried out.

Unlike the other operating modes, this operating mode requires another step after the
status change to operation enabled when traversing the status machine. Then, homing is
started through bit 4 of the control word.

66

KHB 13.0003-EN 2.0

Commissioning

Position control

Parameterising of the homing run

6

No. Description Identifier Control

1 Status check (reading)

Every status change must be

carried out depending on the

basic status. After a status

change, you have to wait until

the status change is indicated in

the status word.

2 Control word: Shut down

With the shut down command,

the status is changed to

Ready_To_Switch_On.
3 Status check (reading)

(for explanation see 1)
4 Control word: Switch on

With the switch on command,

the status is changed to

Switched_On.
5 Status check (reading)

(for explanation see 1)
6 Control word: Enable operation

With the enable operation

command, the status is changed

to Operation_Enable.

Now, the motor is energised.

But, homing is not started yet.

7 Status check (reading)

(for explanation see 1)
8 Control word: Enable operation

and homing start

With the enable operation and

homing start command, homing

is started.
9 Status check (reading)

Thehomepositionis

approached. Homing is

completed when bit 12 (homing

attained) is set in the status

word.

10 Control word: Disable voltage

With this command, the drive is

switched off and set to the

status Switch_On_Disabled.

Tab. 7 Execution of homing by means of the status machine

601 4 40 41 60 00 00 00 00 00

601 6 2B 40 60 00 06 80 00 00

601 4 40 41 60 00 00 00 00 00

601 6 2B 40 60 00 07 80 00 00

601 4 40 41 60 00 00 00 00 00

601 6 2B 40 60 00 0F 80 00 00

601 4 40 41 60 00 00 00 00 00

601 6 2B 40 60 00 1F 80 00 00

601 4 40 41 60 00 00 00 00 00

601 6 2B 40 60 00 00 80 00 00

field

Data

length

Command

code

Index Subindex Data 1 Data 2 Data 3 Data 4

Low

High

byte

byte

KHB 13.0003-EN 2.0

 67

6

Commissioning

Position control
Running through the state machine

6.3.2 Running through the state machine

After homing, thepos ition control canbe started. Inadditionto the definitionof thetarget
position, the required control accuracy and the ramps and speed for the profile generator
must be defined.

No. Description Identifier Control

1 Defining the operating mode

Position control (01) is used as

operating mode (modes_of_

operation).
2 Defining the profile speed

With the profile velocity,you

determine the speed at which

the drive traverses during

positioning (v = 100 rpm).
3 Profile acceleration setting

The profile_acceleration object

is used to define the

acceleration.

4 Profile deceleration setting

The profile_deceleration object

is used to define the

deceleration.
5 Position window setting

In the position window

(position_error_tolerance_wind

ow), you can define a range in

which the controller does not

intervene.

One revolution corresponds to

an entry of 65536. 1/100 rev.

(655) is used as entry.
6 Defining the position window

The target position

(target_position) is reached

when the actual position of the

position controller(position_

actual_value) is within a

window (position_window)

around the target position.

1/100 rev. is selected as value.
7 Position controller setting (Kp)

A gain (position_control_gain)

= 0.02 (equals 0148h)is

of K

p

selected.

Tab. 8 Parameterisation of the position control

601 5 2F 60 60 00 01 00 00 00

601 8 23 81 60 00 64 00 00 00

601 8 23 83 60 00 88 13 00 00

601 8 23 84 60 00 88 13 00 00

601 8 23 FB 60 05 8F 02 00 00

601 8 23 67 60 00 8F 02 00 00

601 6 2B FB 60 01 48 01 00 00

field

Data

length

Command

code

Index Subindex Data 1 Data 2 Data 3 Data 4

Low

High

byte

byte

68

KHB 13.0003-EN 2.0

Commissioning

Position control

Running through the state machine

As in allother operatingmodes,a position change ismade bychangingthe statusmachine.

6

No. Description Identifier Control

length

1 Selecting the position setpoint

via SDO access

The position setpoint (target_

position) is set to 1000 rev. (1

rev. = 4096 increments).

2 Status check (reading) 601 4 40 41 60 00 00 00 00 00

3 Control word: Error

acknowledgement

If an error has occurred, it can be

reset with the fault reset

command after the cause of the

error has been removed. If no

error has occurred, you can

directly continue with 4.

4 Status check (reading) 601 4 40 41 60 00 00 00 00 00

5 Control word: Shut down

With the shut down command,

the status is changed to

Ready_To_Switch_On.

6 Status check (reading) 601 4 40 41 60 00 00 00 00 00

7 Control word: Switch on

With the switch on command,

the status is changed to

Switched_On.
8 Status check (reading) 601 4 40 41 60 00 00 00 00 00

9 Control word: Enable operation

With the enable operation

command, the status is changed

to Operation_Enable.

Now, the motor is energised.

The target is not approached

yet.
10 Status check (reading) 601 4 40 41 60 00 00 00 00 00

11 Control word: Enable operation

and new setpoint

With the enable operation and

new setpoint command, the

status is changed to

Operation_Enable.Now,the

motor is energised and the

setpoint is approached.

12 Status check (reading) 601 4 40 41 60 00 00 00 00 00

13 Control operation

During operation, further

changes (e.g. setpoint) can be

made.
14 Control word: Disable voltage

With this command, the drive is

switched off and set to the

status Switch_On_Disabled.

Tab. 9 Commissioning the position control via the status machine

601 8 23 7A 60 00 00 10 00 00

601 6 2B 40 60 00 08 80 00 00

601 6 2B 40 60 00 06 80 00 00

601 6 2B 40 60 00 07 80 00 00

601 6 2B 40 60 00 0F 80 00 00

601 6 2B 40 60 00 1F 80 00 00

— — — — — — — — — —

601 6 2B 40 60 00 00 80 00 00

field

Data

Command

code

Index Subindex Data 1 Data 2 Data 3 Data 4

Low

High

byte

byte

KHB 13.0003-EN 2.0

 69

6

Commissioning

Position control
Running through the state machine

In Fig. 8, the state changes and the corresponding states are represented graphically. The
process of running through the state machine is independent of the selected operating
mode (torque, speed or position control).

Switched

on disabled

Ready to

switch on

Switched

Operation

State

Enable

Oper. Enable +

new Setpoint

Controlword

Shut down

Controlword

Switch on

on

Controlword

Enable Operation

Controlword

Enable Operation

Length

Identifier

601h 6 2Bh 40h 60h 00h 06h 80h 00h 00h

601h 6 07h 40h 60h 00h 07h 80h 00h 00h

601h 6 0Fh 40h 60h 00h 0Fh 80h 00h 00h

601h 6 0Fh 40h 60h 00h 1Fh 80h 00h 00h

Command

Subindex

Mainindex

Execution of positioning process

Controlword

Switched

on disabled

Disable Voltage

Fig. 8 Representation of a state machine during position control commissioning

601h 6 1Fh 40h 60h 00h 00h 80h 00h 00h

931m_053

70

KHB 13.0003-EN 2.0

7 Parameter setting

Before the drive controller can perform the required task (torque or speed control or
positioning), several controller parameters have to be adapted to the motor used and to
the specific application. For this purpose you should keep to the sequence given in the
following chapters.

These chapters first explain the parameterisation and then the device control and the use
of the different operating modes.

7.1 Loading and saving of parameter sets

7.1.1 Overview

The controller has three parameter sets:

ƒ Current parameter set

The current parameter set is stored in the volatile controller memory (RAM). It can be
written and read as you like by using the »fluxx« parameterisation program or via the
CAN bus. When the controller is switched on, the application parameter set is copied
to the current parameter set.

Parameter setting

Loading and saving of parameter sets

Overview

7

ƒ Default parameter set

The default controller parameter set is default set and cannot be changed. By writing
to the CANopen object 1011_01h (restore_all_default_parameters), the default
parameter set can be copied to the current parameter set. Copying is only possible
when the power stage is switched off.

ƒ Application parameter set

The current parameter set can be saved in the non-volatile flash memory. Saving is
activated by a write access to the CANopen object 1010_01h (save_all_parameters).
When the controller is switched on, the application parameter set is automatically
copied to the current parameter set.

The following chart shows the connections between the individual parameter sets.

of the

Application

parameter set

CANopen-

object 1010

Default

parameter set

CANopen

object 1011

Switch-on

controller

Current

parameter set

KHB 13.0003-EN 2.0

931e_412

Fig. 9 Connections between the p arameter sets

 71

7

Parameter setting

Loading and saving of parameter sets
Overview

You can choose between two different parameter set management variants:

1. The parameter set is created by using the »fluxx« parameterisation program and
transferred to the individual controllers. In this case, you only have to set the objects
which can only be accessed via CANopen via the CAN bus.

The disadvantage of this variant is that the parameterisation software is always
required whena newcontroller is commissioned or incase of repairs (whenexchanging
the controller). Therefore, this variant is only useful when only one controller is used.

2. This variant is based on the fact that in most application-specific parameter sets
only a few parameters differ from the default parameter set. Therefore, the current
parameter set can be recreated via the CAN bus after every switch on of the system.

For this, the higher-level control loads the default parameter set (call of CANopen
object 1011_01h restore_all_default_parameters) first. After this, only the objects
that are different are transferred. This takes less than 1 second per controller. Of
advantage is that this method can also be used for controllers which have not been
parameterised yet so that the commissioning of new systems and exchange of
individual controllers is easy without requiring the parameterisation software.

 Note!

We recommend to use variant 2. Please observe that it is not possible to set all
parameters via the CAN. If other parameters have to be set, the first variant
must be used.

 Stop!

Uncontrolled motor rotation

A wrong parameter set can lead to an uncontrolled rotation of the motor.

Possible consequences:

ƒ This can cause damage to material.

Protective measures:

ƒ Before switching on the power stage, please ensure that the controller really

contains the required parameter set.

72

KHB 13.0003-EN 2.0

7.1.2 Description of the objects

Parameter setting

Loading and saving of parameter sets

Description of the objects

7

Index Name Possible settings

Lenze Selection Description

1010

1011

Store_parameters

h

0 largest_supported_

subindex

1 save_all_

parameters

Restore_default_

h

parameters

1 restore_all_default_

parameters

00000001h00000000

00000001h00000000

00000000

65766173

64616F6C

00000001

Characteristics

VAR UINT8 RO —

h

h

h

h

h

h

{1h} 65766173

Save Default parameter set is

{1h} 64616F6C

Load Loading the default

— UINT32 RW —

h

Accepting the default
parameter set in the
application parameter set.

Default parameter set is not
accepted.

accepted.

VAR UINT32 RW —

h

Loading the default
parameter set, only possible
when the p ower stage is
deactivated.
The CAN communication
parameters (node No., baud
rate and operating mode)
remain unchanged.

parameter set.

Read access: Reset to default
values.

KHB 13.0003-EN 2.0

 73

7

Parameter setting

Conversion factors (factor group)
Overview

7.2 Conversion factors (factor group)

7.2.1 Overview

Controllers are used in various app lications, e.g. as direct drives, with downstream
gearbox, for line drives, etc.

To make parameter setting for all these applications easy, the factor group can be used to
parameterise thecontroller in a way that allows the user to enter and read all values, such
as, for instance, the speed, directly in the required units on the drive.

The controller uses the factor group to convert the entries into its internal units. I.e. the
factor group is used to define the mathematical relation (gearbox ratio and polarity)
between the physical units and the internal controller units.

7.2.2 Description of the objects

Index Name Possible settings

Lenze Selection Description

6091

607E

h

Gear_ratio

h

0 number_of_

supported_entries

1 motor_revolutions 1 1 {1} 1000

2 shaft_revolutions 1 1 {1} 1000

0 polarity 00

h

00

h

02

h

00

h

Bit 6 40

Bit 7 80

Characteristics

{1h} 02

{04h} 40h,80h,C0

0 multiply by 1 position_polarity-flag

h

1 multiply by -1

0 multiply by 1 velocity_polarity-flag

h

1 multiply by -1

VAR UINT8 RO —

h

Maximally supported
subindices.

Two subindices are
supported.

VAR INT32 RW —

Gearbox ratio

VAR INT32 RW —

Gearbox ratio

VAR UINT8 RW —

h

Setting the sign of the
position and velocity values.
The direction of rotation can
be inverted by changing the
sign.
Often, it is useful to set both
flags to the same value.

 Note!

If both the direction of rotation of the position controller and the direction of
rotation of the lower-level speed controller are inverted with a position
control, the signal will not be inverted due to the double inversion (first in the
position, then in the speed controller).

74

KHB 13.0003-EN 2.0

7.3 Power stage parameters

7.3.1 Overview

The rectified mains voltage is smoothed by the DC-bus capacitors. The motor is fed from
the DC bus via the switchable semiconductor components. The power stage includes
several safety functions some of which can be parameterised:

ƒ Overvoltage / undervoltage monitoring

ƒ Overcurrent monitoring

ƒ Power stage monitoring

The implementation of the safety functions requires some basic information on the motor
to be controlled. The objects designed for this, are described below:

The power stage can be activated in different ways:

ƒ Power stage activation via the CAN bus (state machine)

Parameter setting

Power stage pa rameters

Overview

7

ƒ Power stage activation via the »fluxx« software

ƒ Power stage activation via the digital input (start/stop)

7.3.2 Description of the objects

Index Name Possible settings

Lenze Selection Description

6079

0 DC_link_circuit_

h

voltage

{1 mV}

Characteristics

VAR UINT32 RO MAP

Reading the DC-bus voltage.

KHB 13.0003-EN 2.0

 75

7

7.4 Motor adaptation

7.4.1 Overview

Parameter setting

Motor adaptation
Overview

 Stop!

Uncontrolled motor rotation

When the phase sequence in the motor or phase-angle encoder cable is
reversed, a direct feedback may occur and the motor speed cannot be
controlled.

Possible consequences:

ƒ This can cause damage to material.

Protective measures:

ƒ Before switching on the motor, ensure that the phase sequence in the motor

cable and the phase-angle encoder cable is correct.

The controller parameter set must be adapted to the connected motor and the cable set.
This concerns the following parameters:

ƒ Rated current: Depending on the motor

ƒ Overload capacity: Depending on the motor

ƒ Direction of rotation: Depending on the motor and the phase sequence in the motor

and phase-angle encoder cable

ƒ Offset angle: Depending on the motor and the phase sequence in the motor and

phase-angle encoder cable

The controllers are default set by Lenze. For more detailed information, please see the
Software Manual.

76

KHB 13.0003-EN 2.0

7.4.2 Description of the objects

Parameter setting

Motor adaptation

Description of the objects

7

Index Name Possible settings

Lenze Selection Description

6075

6073

6076

6072

6410

0 motor_rated_

h

h

h

h

h

current

0 max_current {motor_rated_current/1000}

0 motor_rated_

torque

0 max_torque 1500 0 {motor_rated_torque/1000} 1500

Motor_data

1 resolver_offset 1 0 {1 inc} 4096

2 number_of_pole_

2 1 {1} 13

pairs

3 braking _times {1 ms}

4 brake_voltage 001A0012 {1 V}

{1 mA}

{0.001 Nm}

Bit No. Meaning

0 ... 3 Pole pair number

4 Reversal of direction of resolver

Bit No. Meaning

0 ... 15 Disengagement time

16 ... 31 Engagement time

Bit No. Meaning

0 ... 15 Minimum limit value (18 ... 22 V)

16 ... 31 Maximum limit value (26 ... 32 V)

Characteristics

VAR UINT32 RO —

Reading the rated current for

.

I

rat

The default value depends on
thesizeofthedrive.

VAR UINT16 RW —

Input value for I

max

.
The default value depends on
thesizeofthedrive.

VAR UINT32 RO —

Reading the rated torque.
The default value depends on
thesizeofthedrive.

VAR UINT16 RW —

Input value for M

max

.
Maximum setting: 1.5 times
the rated torque of the
controller.

VAR UINT16 RW —

Setting the resolver offset.

VAR UINT16 RW —

Setting the pole pair number.

VAR UINT32 RW —

Setting the disengagement
and engagement time of the
brake.

VAR UINT32 RW —

Setting the value range for
the brake voltage.

KHB 13.0003-EN 2.0

 77

7

7.5 Speed controller

7.5.1 Overview

Parameter setting

Speed controller
Overview

The controller parameter set must be adapted to your application. Especially the gain
strongly depends on the masses possibly connected to the motor. The data must be
optimally determined when commissioning the system with the »fluxx« software.

 Stop!

Uncontrolled vibrations

Incorrect speed controller p arameter settings can lead to strong vibrations.

Possible consequences:

ƒ Parts of the system can be destroyed.

Protective measures:

ƒ Ensure that the speed controller parameter settings are correct, before

switching on the controller.

The speed controller settings are identical with the control parameters of the position
controller. This is why the object velocity_control_parameters_set is used for parameter
setting.

78

KHB 13.0003-EN 2.0

7.5.2 Description of the objects

Parameter setting

Speed controller

Description of the objects

7

Index Name Possible settings

Lenze Selection Description

60F9

h

Velocity_control_
parameter_set

1 velocity_control_

gain

2 velocity_control_

time

3 velocity_control_

differential_time

4 sampling_time 800 500 {1 μs} 5000

1920 0.01 × 128 {128} 100 × 128

10000 2000 {1 μs} 65500

6500 1 {1 μs} 30000

Characteristics

VAR UINT16 RW —

Setting the speed controller
gain.
»fluxx« software:

=1.5

K

p

Here:
15 × 128 = 1920

VAR UINT16 RW —

Setting the time constant T
of the speed controller.
»fluxx« software: T
Here: 2 ms = 2000 μs

VAR UINT16 RW —

Setting the time constant T
of the speed controller.
To increase the dynamic
performance for following
error or position control, the
speed setpoint changes are
differentiated and the result
is added to the PI speed
controller output. Here, the
time constant of the
differential component can
be set.

VAR UINT16 RW —

Settingthesampletimefor
the speed and position
controller.

=2ms

n

n

v

KHB 13.0003-EN 2.0

 79

7

7.6 Position controller (position control function)

7.6.1 Overview

Parameter setting

Position controller (position control function)
Overview

This chapter describes all parameters that are required for the position controller. The
positionsetpoint(position_demand_value) of the driving profile generator is assigned to
theposition controllerinput.In addition,the actualposition value(position_actual_value)
is sent by the phase-angle encoder (resolver, incremental encoder, etc.). The behaviour of
the position controller can be influenced by parameters.

The following subfunctions are defined in this chapter:

1. Following error (Following_Error)

A following error is the difference between the actual position value
(position_actual_value) and the position setpoint (position_demand_value). If the
following error is for a certain time higher than the value indicated in the following error
window (following_error_window), bit 13 following_error is set in the statusword object.

Fig. 10 shows the definition of the window function for the ”Following error” message.
Symmetrically around the setpoint position (position_demand_value)x
between x
the window (following_error_window). If the drive leaves the window, bit 13
following_error is set in the status word.

and xi+x0is defined. The positions xt2and xt3are, for instance, not within

i-x0

, the range

i

x

t2

x

t3

position x

x-x

i0

Fig. 10 Following error

2. Position reached (Position Reached)

This function is used to define a position window around the target position
(target_position). When the target position of the drive is reached - the drive i s withinthe
tolerance window - bit 10 target_reached is set in the status word.

Fig. 11 shows the definition of the window function for the ”Position reached” message.
Symmetricallyaround thetarget position (target_position)x
x

and xi+x0is defined. The positions xt0and xt1are, for instance, within the position

i-x0

window (position_window). When the driveis within this window, bit 10 target_reached
is set in the status word. As soon as the drive leaves the permissible range, bit 10 is reset
to zero.

x

i

x+x

i0

931e_417

, the position range between

i

80

KHB 13.0003-EN 2.0

Parameter setting

Position controller (position control function)

Description of the objects

7

x-x

i0

Fig. 11 Position reached

The position limit values which must not be exceeded both by the position_actual_value
and the position_demand_value are the limit values for positioning. They are defined in
the software_position_limit object.

7.6.2 Description of the objects

The controller parameter set must be adapted to your application. The position controller
data must be optimally determined when commissioning the system with the »fluxx«
software.

 Stop!

Uncontrolled vibrations

Incorrect position controller parameter settings can lead to strong vibrations.

Possible consequences:

ƒ Parts of the system can be destroyed.

Protective measures:

ƒ Ensure that the position controller parameter settings are correct, before

switching on the controller.

x

t0

x

t1

position x

x

i

x+x

i0

931e_419

KHB 13.0003-EN 2.0

 81

7

Parameter setting

Position controller (position control function)
Description of the objects

Index Name Possible settings

Lenze Selection Description

60FB

6063

6064

h

h

h

Position_control_
parameter_set

1 position_control_

gain

2 position_control_

end_time

0 position_actual_

value

0 position_actual_

value

1 0 {16384} 2

10 0 {1 ms} 65535

Characteristics

VAR UINT16 RW —

Setting the position
controller gain.

=1(correspondsto

K

p

16384).
The position controller
compares the setpoint
position with the actual
position and - considering the
gain - calculates a correction
speed from the difference
that is sent to the speed
controller.
The position controller is also
used for following error
control.

VAR UINT16 RW —

Setting the position control
end time.
This is the time the motor
continues to be actively
energised after reaching the
target position to hold the
target position.
The input of 0 means that
the motor is permanently
energised.

31

-2

31

-2

{1 inc} 231-1

{position units} 231-1

VAR INT32 RO MAP

Reading the actual position.
The phase-angle encoder
sends the actual position
value to the position
controller.
Theunitcanbesetviathe
factor group.

VAR INT32 RO MAP

Reading the actual position.
The phase-angle encoder
sends the actual position
value to the position
controller.

82

KHB 13.0003-EN 2.0

Parameter setting

Position controller (position control function)

Description of the objects

7

6065

6067

Possible settingsNameIndex

0 following_error_

h

h

window

0 position_window 1820 -2

9102 00000000

Characteristics

DescriptionSelectionLenze

h

31

{1 inc} 7FFFFFFF

{1 inc} 231-1

VAR UINT32 RW MAP

Symmetrical range around
the position setpoint.
If the actual position value is
not within this range, a
following error occurs and bit
13 is set in the status word.
Causes for the following
error:

z the drive is inhibited
z the positioning speed is

too high

z the acceleration values are

too high

z the value of the

following_error_window
index is too low

z the parameters of the

position controller are not
correct

VAR UINT32 RW MAP

Symmetrical range around
the target position. The
target position is reached,
when the actual position
value is for a certain time in
this range.

KHB 13.0003-EN 2.0

 83

7

Parameter setting

Position controller (position control function)
Description of the objects

607D

Possible settingsNameIndex

Software_position_

h

limit

0 number_of_

supported_entries

1 min_position_limit {1 inc}

2 max_position_limit {1 inc}

00

02

h

h

{1h} 02

Characteristics

DescriptionSelectionLenze

VAR UINT8 RO —

h

Maximally supported
subindices.

Two subindices are
supported.

VAR INT32 RW —

Input value for the minimum
positioning limit.
The value refers relatively to
the home_position. Before
comparing the limit values
with the current
target_position, they have to
be converted:
corrected_min_position_limi
t = min_position_limit

- home_offset.
The calculation must be
repeated whenever the
home_offset or the
software_position_limit are
changed.

VAR INT32 RW —

Input value for the maximum
positioning limit.
The value refers relatively to
the home_position. Before
comparing the limit values
with the current
target_position, they have to
be converted:
corrected_max_position_limi
t = max_position_limit

- home_offset.
The calculation must be
repeated whenever the
home_offset or the
software_position_limit are
changed.

84

KHB 13.0003-EN 2.0

7.7 Digital inputs and outputs

7.7.1 Overview

All digital controller inputs can be read via the CAN bus and the digital outputs can be set
as you choose.

7.7.2 Description of the objects

Parameter setting

Digital inputs and outputs

Overview

7

Index Name Possible settings

Lenze Selection Description

60FDh0 digital_inputs 00000000

Bit No. Digital input

0 Neg. limit switch High-active

1 Pos. limit switch High-active

2 Reference switch

3 Interlock (no

4 ... 15 Reserved

16 Brake_on

17 DOUT0

18 ... 31 Reserved

60FE

h

Digital_outputs

0 number_of_

supported_entries

1 digital_outputs_

data

2 digital_outputs_

mask

00

h

02

h

0 00000000

Bit No. Digital output Activating or deactivating

0 Brake

1 ... 15 Reserved

16 DOUT0

17 Neg. limit switch

18 Pos. limit switch

19 Reference switch

20 Quick stop

17 ... 31 Reserved

0 0 {1} 1

0 Output is not selected

1 Output is selected

h

controller or
power stage
enable)

h

{1} FFFFFFFF

High-active

{1h} 02

{1h} FFFFFFFF

Characteristics

VAR UINT32 RO MAP

h

Reading the digital inputs.

VAR UINT8 RO —

h

Maximally supported
subindices.

Three subindices are
supported.

VAR UINT32 RW MAP

h

special functionalities or
outputs.
With bit 0, you can, for
instance, activate or
deactivate the brake.

VAR UINT32 RW MAP

Defining a mask to ensure
that an output is not
activated when this is not
desired.

KHB 13.0003-EN 2.0

 85

7

Parameter setting

Digital inputs and outputs
Description of the objects

2005

0 local_output_

h

function

Possible settingsNameIndex

0 -128 {1} 127

Value Function Active

-128 ... -17 Reserved

-16 Reference set Low

-15 ... -14 Reserved

-13 Stopover Low

-12 Motor
deenergised

-11 Controller error Low

-10 Reserved

-9 Drive in standstill Low

-8 Reserved

-7 Homing active Low

-6 ... -5 Reserved

-4 Setpoint reached Low

-3 Traversing request
is being processed

-2 Fault

-1 Warning

0 No function

1 Warning High

2 Fault High

3 Traversing request

is being processed

4 Setpoint reached High

5 ... 6 Reserved

7 Homing active High

8 Reserved

9 Drive in standstill High

10 Reserved

11 Controller error High

12 Motor

deenergised

13 Stopover

14 ... 15 Reserved

16 Reference set High

17 ... 127 Reserved

Low

Low

Low

High

High

Characteristics

DescriptionSelectionLenze

VAR INT8 RW —

Digital output can be
parameterised by the user.

86

KHB 13.0003-EN 2.0

Parameter setting

Digital inputs and outputs

Description of the objects

7

2006

0 local_input_

h

function

Possible settingsNameIndex

0 -128 {1} 127

Value Function Active

-128 ... -9 Reserved

-8 Start/stop Low

-7 Reserved

-6 Stopover Low

-5 Synchronisation Low

-4 Reserved

-3 Quick stop Low

-2 Power stage off Low

-1 Reference Low

0 No function

1 Reference High

2 Output stage off High

3 Quick stop High

4 Reserved

5 Synchronisation High

6 Stopover High

7 Reserved

8 Start/stop High

9 ... 127 Reserved

Characteristics

DescriptionSelectionLenze

VAR INT8 RW —

Digital input can be
parameterised by the user.

KHB 13.0003-EN 2.0

 87

7

Parameter setting

Device information
Description of the objects

7.8 Device information

7.8.1 Description of the objects

Index Name Possible settings

Lenze Selection Description

6410

6510

h

h

Motor_data

1 resolver_offset 1 0 {1 inc} 4096

2 number_of_pole_

pairs

3 braking _times {1 ms}

4 brake_voltage 001A0012 {1 V}

Drive_data

0 number_of_

supported_entries

1 identification

2 serial_number

3 operating_minutes

2 1 {1} 13

Bit No. Meaning

0 ... 3 Pole pair number

4 Reversal of direction of resolver

Bit No. Meaning

0 ... 15 Disengagement time

16 ... 31 Engagement time

Bit No. Meaning

0 ... 15 Minimum limit value (18 ... 22 V)

16 ... 31 Maximum limit value (26 ... 32 V)

00

03

h

h

{1h} 03

Characteristics

VAR UINT16 RW —

Setting the resolver offset.

VAR UINT16 RW —

Setting the pole pair number.

VAR UINT32 RW —

Setting the disengagement
and engagement time of the
brake.

VAR UINT32 RW —

Setting the value range for
the brake voltage.

VAR UINT8 RO —

h

Maximally supported
subindices.

Four subindices are
supported.

VAR UINT32 RO —

Reading the identification.

VAR UINT32 RO —

Reading the serial number.

VAR UINT32 RO —

Reading the operating
minutes.

88

KHB 13.0003-EN 2.0

Parameter setting

Device information

Description of the objects

7

1018

1008

1009

100Ah0 manufacturer_

0identity_object

h

1 vendor_id

2 product_code

3 revision_number

4 serial_number

0 manufacturer_

h

h

device_name

0 manufacturer_

hardware_version

software_version

Possible settingsNameIndex

03A30018

h

Characteristics

DescriptionSelectionLenze

ARR UINT8 RO —

Not used.

— UINT32 RO —

Manufacturer’s code

— UINT32 RO —

Product code

— UINT32 RO —

Firmware version

— UINT32 RO —

Serial number of hardware

VAR STR RO —

Manufacturer’s controller
name.

VAR STR RO —

Current hardware version.

VAR STR RO —

Current software version.

KHB 13.0003-EN 2.0

 89

7

Parameter setting

Manufacturer-specific information parameters
Overview

7.9 Manufacturer-specific information parameters

7.9.1 Overview

In this chapter, additional objects have been created which go beyond the objects in
DSP301 and DSP402. These objects are described in the following.

7.9.2 Description of the objects

Index Name Possible settings

Lenze Selection Description

200F

2001

2002

2003

2007

2008

0 remote_request 0 {1} 1

h

0 actual_drive_

h

h

h

h

h

temperature

0 actual_device_

temperature

0 actual_brake_

voltage

0 absolute_

resolver_position

Maximum_control _
difference

0 number_of_

supported_entries

1 maximum_

positive_
control_difference

2 maximum_

negative_
control_difference

-1 {1 inc}

Value Meaning

1 Requesting the control

0 Not requesting the control

00

h

02

h

authority via the CAN bus

authority via the CAN bus

{1 °C}

{1 °C}

{1 mV}

{1h} 02

{1 rpm}

{1 rpm}

Characteristics

VAR UINT8 RW MAP

Requesting the control
authority.
Cannot be saved (when the
controller is restarted, the
control authority has to be
requested again).

Bit15ofthecontrolword
need not be set to ”1”.
The control authority can
still only be requested via bit
15 of the control word.

VAR INT16 RO —

Reading the current motor
temperature.

VAR INT8 RO —

Reading the current
controller temperature.

VAR UINT16 RO MAP

Reading the current brake
voltage.

VAR INT16 RW —

Determining the absolute
resolver p osition within one
revolution.

VAR UINT8 RO —

h

Maximally supported
subindices.

Three subindices are
supported.

VAR UINT16 RW —

Set the setting to 0 to start
measurement.

VAR UINT16 RW —

Set the setting to 0 to start
measurement.

90

KHB 13.0003-EN 2.0

Parameter setting

Manufacturer-specific information parameters

Description of the objects

7

2009

200Ah0 local_errors

0 local_warnings

h

Possible settingsNameIndex

Bit No. Meaning

0 DC-bus voltage > 220 V

1 22V>brakevoltage>26V

2 Motor temperature > 130 °C

3 Temperature of electronic components

>70°C

4 Following error

5 ... 15 Reserved

Bit No. Meaning

0 DC-bus voltage < 180 V

1 20V>brakevoltage>28V

2 Motor temperature > 140 °C

3 Temperature of electronic components

>78°C

4 DC-bus voltage > 400 V

5 Quick stop

6 Homing

7 Motor deenergised

8 Driving program

9 System parameter

10 Drive inhibited

11 ... 15 Reserved

Characteristics

DescriptionSelectionLenze

VAR UINT16 RO MAP

Reading warnings.

VAR UINT16 RO MAP

Reading error messages.

KHB 13.0003-EN 2.0

 91

7

Parameter setting

Manufacturer-specific driving records
Overview

7.10 Manufacturer-specific driving records

7.10.1 Overview

The 931M/W controllers are equipped with 99 driving programs in which the user can
predefine and save the control mode, setpoints, driving profiles, etc. In this way, the
predefined setpoints and the complete driving profiles canbe directlyaccepted as current
values with a simple SDO command (selection of the corresponding driving program in
object 2100).

Unlike the »fluxx« software and the Profibus interface, driving programs cannot be
automatically combined via the CANopen bus. The driving programs are only used to
accept predefined driving profiles dynamically and with a low bus load.

The individual objects of the driving programs are explained in the following. The
driving_program_number object is used to select the current driving program.

The parameters driving_program_acceleration, driving_program_deceleration,
driving_program_velocity, driving_program_position and driving_program_torque are
used to define the driving profile. The setpoint selection depends on the control mode (see
modes_of_operation):

ƒ for torque control, the setpoint corresponds to the driving_program_torque,

ƒ for speed control, the setpoint corresponds to the driving_program_velocity,and

ƒ for position control, the setpoint corresponds to the driving_program_position.

7.10.2 Description of the objects

Index Name Possible settings

Lenze Selection Description

2100

0 driving_program_

h

number

0 0 {1} 99

Driving program Meaning

0 Depending on the active

1 ... 99 Depending on the active

control mode, the setpoints
and profile values of the
objects 6071
6083

h

apply.

control mode, the setpoints
and profile values of the
objects 2171
2184

h

, 607Ah, 6081h,

h

, 6084hand 60FF

, 217Ah, 2183h,

h

and 21FFhapply.

Characteristics

VAR UINT8 RW MAP

Selecting the current driving
program.

h

92

KHB 13.0003-EN 2.0

Parameter setting

Manufacturer-specific driving records

Description of the objects

7

2171

217A

2183

h

Driving_program_
torque

0 number_of_

supported_entries

1 driving_program_

torque

...

99 driving_program_

torque

Driving_program_

h

position

0 number_of_

supported_entries

1 driving_program_

position

...

99 driving_program_

position

h

Driving_program_
acceleration

0 number_of_

supported_entries

1 driving_program_

acceleration

...

99 driving_program_

acceleration

Possible settingsNameIndex

00

h

{1h} FF

0 -1500 {rated_torque/1000} 1500

0 -1500 {rated_torque/1000} 1500

0 -2

0 -2

00

00

h

31

31

h

{1h} FF

{1 inc} 2

{1 inc} 2

{1h} FF

0 0 {1 rpm/s} 2

0 0 {1 rpm/s} 2

Characteristics

DescriptionSelectionLenze

VAR UINT8 RO —

h

Maximally supported
subindices.

VAR INT16 RW —

Setting the setpoint torques
(with torque control) for the
individual driving programs.
Important: Unlike the »fluxx«
software, with speed,
following error, or position
control,thetorqueisnot
limited here. The value that is
saved is only used as torque
setpoint. The torque can only
be limited via the object
max_torque.

VAR INT16 RW —

See subindex 1.

VAR UINT8 RO —

h

Maximally supported
subindices.

31

VAR INT32 RW —

Setting the position setpoint
for the individual driving
programs.

31

VAR INT32 RW —

Setting the position setpoint
for the individual driving
programs.

VAR UINT8 RO —

h

Maximally supported
subindices.

18

VAR INT32 RW —

Setting the acceleration
ramp.

18

VAR INT32 RW —

Setting the acceleration
ramp.

KHB 13.0003-EN 2.0

 93

7

Parameter setting

Manufacturer-specific driving records
Description of the objects

2184

21FF

h

Driving_program_
deceleration

0 number_of_

supported_entries

1 driving_program_

deceleration

...

99 driving_program_

deceleration

h

Driving_program_
velocity

0 number_of_

supported_entries

1 driving_program_

velocity

...

99 driving_program_

velocity

Possible settingsNameIndex

00

h

{1h} FF

0 0 {1 rpm/s} 2

0 0 {1 rpm/s} 2

00

h

{1h} FF

0 -6000 {1 rpm} 6000

0 -6000 {1 rpm} 6000

Characteristics

DescriptionSelectionLenze

VAR UINT8 RO —

h

Maximally supported
subindices.

18

VAR INT32 RW —

Setting the deceleration
ramp.

18

VAR INT32 RW —

Setting the deceleration
ramp.

VAR UINT8 RO —

h

Maximally supported
subindices.

VAR INT32 RW —

Setting the speed used to
approach the positions of the
individual driving programs.
With speed control, the value
is used as speed setpoint.
Otherwise, the value is used
as profile velocity.

VAR INT32 RW —

See subindex 1.

94

KHB 13.0003-EN 2.0

8 Device control

8.1 State diagram

8.1.1 Overview

The following chapter describes how the drive controller is controlled under CANopen, i.e.
how, for instance, the power stage is switched on or how an error is acknowledged.

 Stop!

Uncontrolled rotation of the motor

An incorrectly parameterised drive controller can cause uncontrolled rotation
of the motor.

Possible consequences:

ƒ This may result in property damage.

Protective measures:

ƒ Before the initital switch-on of the power stage, ensure that the drive

controller is really parameterised with the correct parameters.

Device control

State diagram

Overview

8

Under CANopen, the entire control of the drive controller is implemented using two
objects:Themastercancontrolthedrivecontrollerviathecontrol word, and the state of
the drive controller can be read back via the status word object. To explain the control of
the drive controller, the following terms are used:

ƒ State

Depending on the powerstage being switched on or an error havingoccurred, the drive
controller isin different states. The states defined under CANopen are described inthis
chapter.

Example: Switch_On_Disabled

ƒ State transition

CANopennot onlydefines thestates, butalso howto getfrom onestate toanother (e.g.
for acknowledging an error). State transitionsare initiatedby themaster bysetting bits
in the control word or internally by the drive controller if, for instance, the controller
detects an error.

ƒ Command

To initiate state transitions, certain bit combinations must be set in the control word.
Such a combination is called a command.

Example: Enable operation

ƒ State diagram (state machine)

All states and state transitions together form the state diagram, i.e. the overview of all
states and the possible transitions.

KHB 13.0003-EN 2.0



95

8

Device control

State diagram
State diagram of the drive controller

8.1.2 State diagram of the drive controller

0

Start

0

Not_Ready_To_Switch_On

1

Switch_On_Disabled

2

Ready_To_Switch_On

3

8

9

Fig. 12 State diagram of the drive controller

Switched_On

4

Operation_Enable

 Power disabled (power stage is inhibited)
 Fault (error)
 Power enabled (power stage is switched on)

7

6

5

12

10

11

13

Fault_Reaction_Active

14

Fault

15

Quick_Stop_Active

1

2

931e_421

96

 Danger!

Hazardous electrical voltage

Power stage disabled means that the power transistors are no longer
controlled. A hazardous voltage can, however, still be applied to the motor.

Possible consequences:

ƒ Extreme danger when working on the motor.

Protective measures:

ƒ Disconnect the motor from the mains before working on the motor.

After power-on, the controller is initialised and finally reaches the Switch_On_Disabled
status. Inthis status, the CAN communication is fullyoperational and thecontroller can be
parameterised (speed control can, for instance, be selected). The power stage is switched
off and the shaft can thus freely rotate.



KHB 13.0003-EN 2.0

Device control

State diagram

State diagram of the drive controller

With status transitions 2, 3, 4, - basically corresponding to CAN controller enable - you
change to the Operation_Enable status. In this status, the power stage is switched on and
the motor is controlled according to the selected operating mode. Therefore, it is
absolutely necessary to ensure before that the controller parameters are correct and the
corresponding setpoint is zero.

Status transition 9 corresponds to controller inhibit.

If an error occurs, (no matter from which status) the status finally changes to Fault.
Depending on the severity of the error, certain actions, e.g. emergency braking, can be
carried out before the status change (Fault_Reaction_Active).

The execution of the indicated status transitions requires certain bit combinations to be
set in the control word. Bits 0 ... 3 of the control word are evaluated together to activate a
status transition. In the following, only themost important statustransitions (2, 3 , 4, 9 and

15) will be explained. A table of all states and status transitions can be found at the end of
this chapter.

In the first column of the following table, you can find the desired status transition and in
the second column the command required for the transition (usually a command by the
master). In the control word column, you can see, how the command is generated, i.e.
which bits are to be set in the control word.

8

Transition Command

2 Shutdown and

controller enable

3 Switch on 1 X X 1 1 1 Power stage is switched on

4 Enable operation 1 X 1 1 1 1 Control according to the selected

9 Disable voltage 1 X X X 0 X Power stage is disabled. Motor can be

15 Fault reset and error

removed

Tab. 10 Important controller status transitions

Xnotrelevant

Control word (bits)

15 7 3 2 1 0

1 X X 1 1 0 None

1 0->1X X X X Error acknowledgement

Action

operating mode

freely rotated.

KHB 13.0003-EN 2.0



97

8

Device control

State diagram
States of the drive controller

Example: Switching on the power stage (controller must be parameterised)

1. ThecontrollerisintheSwitch_On_Disabled status.

2. ThecontrolleristochangetoOperation_Enable.

3. Transitions 2, 3 and 4 must be executed.

4. For requesting the parameterisation authority via the CAN bus, bit 1 5
remote_request must be set to 1. If this is not the case, another interface (e.g. serial
interface) has got the parameterisation authority and the status machine cannot be
”enabled” or influenced via the CAN bus.

5. Ensure that no other bits are set in the control word, because only bits 0 ... 3 are
important for the transitions.

Transition Old status

2 Switch_On_Disabled 1 X 1 1 0 8006hReady_To_Switch_On

3 Ready_To_Switch_On1 X 1 1 1 8007hSwitched_On

4 Switched_On 1 1 1 1 1 800FhOperation_Enable

1)

The master must wait until the status can be read in the status word.

Transitions 3 and 4 can be combined by setting the control word directly to 000Fh.Theset
bit 3 is not relevant for status transition 2.

8.1.3 States of the drive controller

Status Meaning

Not_Ready_To_Switch_On The controller makes a self-test. CAN communication is not active yet.

Switch_On_Disabled The self-test has been completed. CAN communication is possible.

Ready_To_Switch_On The controller is waiting for the switch-on command, depending on the

Switched_On1) Thepowerstageisswitchedon.

Operation_Enable1) Voltage is applied and the motor is controlled according to the operating

Quick_Stop_Active1) The quick stop function is carried out (see: quick_stop_option_code). Voltage

Fault_Reaction_Active

Fault An error has occurred. The motor is deenergised.

Tab. 11 Controller states

1)

Thepowerstageisswitchedon

1)

Control word

15 3 2 1 0 Value

controller enable logic.

mode.

is applied and the motor is controlled according to the quick stop function.

An error has occurred. With critical errors, the status changes to Fault
immediately. Otherwise, the action selected in the
fault_reaction_option_code is activated. Voltage is applied and the motor is
controlled according to the Fault Reaction function.

New status

1)

1)

1)

98



KHB 13.0003-EN 2.0

State transitions of the drive controller

8.1.4 State transitions of the drive controller

The following table lists all states and their meaning. Please observe that bit 15 of the
control word remote_request must always be set to 1 to ensure the parameterisation
authority via the CAN bus.

Device control

State diagram

8

Transition Command

0 Switched on or reset Internal transition Start self-test.

1 Self-test successful Internal transition Activation of CAN communication.

2 Shutdown and

controller and power
stage enable

3 Switch on 1 X X 1 1 1 Power stage is switched on.

4 Enable operation 1 X 1 1 1 1 Control according to the selected

5 Disable operation 1 X 0 1 1 1 Motor is decelerated and energised at

6 Shutdown 1 X X 1 1 0 Power stage is disabled. Motor can be

7 Quick stop 1 X X 0 1 X None

8 Shutdown 1 X X 1 1 0 Power stage is disabled. Motor can be

9 Disable voltage 1 X X X 0 X Power stage is disabled. Motor can be

10 Disable voltage 1 X X X 0 X Power stage is disabled. Motor can be

11 Quick stop 1 X X 0 1 X Braking is activated.

12 Disable voltage or

braking completed

13 Error occurred Internal transition With non-critical errors, response

14 Error handling

completed

15 Fault reset and error

removed

Tab. 12 Status transitions of the controller

Xnotrelevant

Control word (bits)

15 7 3 2 1 0

1 X X 1 1 0 None

1 X X X 0 X Power stage is disabled. Motor can be

Internal transition Power stage is disabled. Motor can be

1 0->1X X X X Error acknowledgement (with rising

Action

operating mode.

standstill.

freely rotated.

freely rotated.

freely rotated.

freely rotated.

freely rotated.

according to fault_reaction_option_
code. With critical errors, transition 14.

freely rotated.

edge).

KHB 13.0003-EN 2.0



99

8

Device control

State diagram
Control word

8.1.5 Control word

The controlword is used to change the current controller status oractivate a certainaction
(e.g. start homing). The function of bits 4, 5, 6, 8 and 14 depends on the current operating
mode (modes_of_operation) of the controller.

Index Name Possible settings

Lenze Selection Description

6040h0 control word 0000

h

Characteristics

0000

h

Bit No. Meaning

0 Switch on

1 Enable voltage

2 Quick stop

3 Enable operation

4 ... 6 Operation-mode specific The bit function depends on

7 Reset fault With a zero/one transition,

8 Stop The bit function depends on

9 ... 10 Reserve Reserved, set to 0.

11 ... 13 Operation-mode specific The bit function depends on

14 Wait for sync The bit function depends on

15 Remote request When this bit is set, remote

{1h} FFFF

VAR UINT16 RW MAP

h

Changing the controller
status.
Activating an action (e.g.
homing).

Controlling the status
transitions. (These bits are
evaluated together).

the operating mode.

the controller tries to
acknowledge the existing
errors. This is only successful,
when the cause of the error
has been removed.

the operating mode.

the operating mode.

the operating mode.

control of t he controller via
theCANbusisrequested.
When this bit is not set, local
controller operation (e.g. via
the »fluxx« software) is
enabled.

100



KHB 13.0003-EN 2.0