Lenze CANopen Controller-based Automation User Manual

Automation Systems

Controller-based
Automation

CANopen®

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Communication Manual DE

Ä.O5÷ä

13462098

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Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5

1.1 Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7

1.2 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8

1.3 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 9

1.4 Definition of the notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10

2Safety instructions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11

3 Controller-based Automation: Central motion control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12

4 System bus (CAN) / CANopen _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15

4.1 CANopen (Logic) / CANopen (Motion) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16

4.2 Field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17

4.3 CANopen hardware for Lenze Controllers _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18

4.4 Lenze Engineering tools _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19

5 Technical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20

5.1 General data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20

5.2 Technical data of the MC-CAN2 communication card _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21

5.3 Bus cable specification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21

5.4 Bus cable length _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22

5.4.1 Total cable length _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22

5.4.2 Segment cable length _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22

5.4.3 Use of repeaters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23

6 Planning the CANopen network _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25

6.1 COB-IDs acc. to DS301 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26

6.2 Example of an overview screen _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27

6.3 Device specifications of the field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28

6.3.1 Special features of the 9400 Servo Drives _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29

6.3.2 Special features of the 8400 Inverter Drives _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30

6.3.3 Special features of the I/O system 1000 (EPM-Sxxx) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31

6.4 Special case: Delayed switch-on of one or more slaves _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32

7 Preparing the field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33

7.1 Installing field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33

7.2 Setting node addresses and baud rate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33

7.3 Connecting the Engineering PC to the Lenze Controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34

2 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17

Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

8 Commissioning of the CANopen Logic bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36

8.1 Sample projects (Application Samples) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36

8.2 Overview of the commissioning steps _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37

8.3 Create a project folder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 38

8.4 Commissioning the field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39

8.5 Creating a PLC program with a target system (Logic) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40

8.6 Configuring the communication parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42

8.7 Importing missing devices / device description files _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44

8.8 Creating a control configuration (adding field devices) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45

8.9 Setting of CAN parameters and PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 50

8.9.1 Cross communication between the slaves _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53

8.9.2 Special features of the I/O system 1000 (EPM-Sxxx) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54

8.10 Creating the program code for controlling the Logic field device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57

8.11 Preparing the restart _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 59

8.11.1 Special features of the 9400 Servo Drives HighLine _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 60

8.11.2 Special features of the 8400 Inverter Drives _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 60

8.11.3 Special features of the I/O system 1000 (EPM-Sxxx) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 61

8.12 Compiling the PLC program code _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64

8.13 Logging in on the Lenze Controller with the »PLC Designer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64

8.14 Starting the PLC program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64

8.15 Start parameters of the Servo Drives 9400 HighLine CiA 402 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64

9 Commissioning of the CANopen Motion bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 65

9.1 Sample projects (Application Samples) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66

9.2 Overview of the commissioning steps _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 67

9.3 Create a project folder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68

9.4 Commissioning the field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 69

9.5 Creating a PLC program with target system (Motion) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70

9.6 Configuring the communication parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72

9.7 Creating a Motion task _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74

9.8 Creating a control configuration _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78

9.9 Parallel operation of two synchronised CAN buses _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82

9.10 Setting SoftMotion parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 84

9.11 Setting of CAN parameters and PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 87

9.12 Creating the program code for controlling the Motion field device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90

9.13 Preparing the restart _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90

9.14 Compiling the PLC program code _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 91

9.15 Logging in on the Lenze Controller with the »PLC Designer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 91

9.16 Starting the PLC program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 91

9.17 Start parameters of the Servo Drives 9400 HighLine CiA 402 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 91

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Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

10 Mixed operation of CANopen and EtherCAT _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 92

11 SM3_Drive_Lenze.lib function library _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 93

12 Restarting the CAN bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94

13 Defining the minimum cycle time of the PLC project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 95

13.1 Determining the task utilisation of the application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 95

13.2 Optimising the system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 97

14 Diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 98

14.1 Logbook of the Lenze Controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 98

14.2 "Status" tab of the connected field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 99

14.3 Diagnostic codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 99

14.4 System bus configurator of the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 100

14.5 »PCAN view« for diagnostic purposes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101

14.5.1 Monitor telegram traffic on the CANopen bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101

14.5.2 Setting all CANopen nodes to the "Operational" status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103

14.6 Notes regarding the visualisation using »VisiWinNET« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 104

15 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 105

Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 107

Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 109

4 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17

1 About this documentation

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1 About this documentation

This documentation ...

• contains detailed information about the commissioning, configuration, and diagnostics of the
CANopen® bus system as part of the Lenze automation system Controller-based Automation.

• is part of the "Controller-based Automation" manual collection. It consists of the following sets
of documentation:

Documentation type Subject

System manuals System overview/sample topologies

• Controller-based Automation

• Visualising

Communication manuals
Online helps

Reference manuals
Online helps

Software manuals
Online helps

Bus systems

• Controller-based Automation EtherCAT®

• Controller-based Automation CANopen®

• Controller-based Automation PROFIBUS®

• Controller-based Automation PROFINET®

Lenze Controller:

• Controller 3200 C

• Controller c300

• Controller p300

• Controller p500

Lenze Engineering Tools:

• »PLC Designer«: Programming

• »Engineer«: Inverter configuration

• »VisiWinNET® Smart«: Visualisation

• »Backup & Restore«: Back up/restore data

5 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17

1 About this documentation

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

More technical documentation for Lenze components

Further information on Lenze products which can be used in conjunction with Controller-based
Automation can be found in the following sets of documentation:

Mounting & wiring Symbols:

Mounting instructions



• Controller

• Communication cards (MC-xxx)

• I/O system 1000 (EPM-Sxxx)

• Inverter, Servo Drives

•Communication modules

 Operating instructions

• Controller

• Servo system ECS (ECSxE, ECSxM)

Sample applications/Using application templates

 Online help/software manuals

• Application Sample i700

• Application Samples

• ApplicationTemplate

Parameter setting, configuration, commissioning

 Online help/reference manuals

•L-force Controller

• Inverter, Servo Drives

• I/O system 1000 (EPM-Sxxx)

 Online help/communication manuals

• Bus systems

•Communication modules

 Operating instructions

• Servo system ECS (ECSxE, ECSxM)

Printed documentation

Online help in the Lenze Engineering
Tool (also available as PDF file at

www.lenze.com

.)

 Tip!

Current documentation and software updates with regard to Lenze products can be found
in the download area at:

www.lenze.com

Target group

This documentation is intended for persons who plan, install, commission and maintain the
networking of devices as part of the Lenze automation system "Controller-based Automation".

Information on validity

The information provided in this documentation is valid for the Lenze automation system
"Controller-based Automation" from version 3.

Screenshots/application examples

All screenshots in this documentation are application examples. Depending on the firmware
version of the field devices and the software version of the Engineering tools installed (e.g. »PLC
Designer« ), screenshots in this documentation may differ from the representation on the screen.

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 6

1 About this documentation

1.1 Document history

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.1 Document history

Version Description

1.0 06/2008 TD17 First edition

2.0 09/2008 TD17 Chapter "Mixed operation of CANopen and EtherCAT

3.0 06/2009 TD17 General revision

4.0 10/2009 TD17 General revision

5.0 10/2010 TD17 Commissioning and configuration with the Lenze »PLC Designer« V3.x

5.1 03/2011 TD17 • Chapter "Parallel operation of two synchronised CAN buses

5.2 12/2011 TD17 Revision on the Lenze automation system"Controller-based Automation",

5.3 07/2012 TD17 • Revision on the Lenze automation system"Controller-based Automation",

6.0 11/2012 TD17 • General corrections

6.1 03/2013 TD17 Revision on the Lenze automation system"Controller-based Automation",

6.2 11/2013 TD17 Revision on the Lenze automation system"Controller-based Automation",

6.3 04/2014 TD17 Revision on the Lenze automation system"Controller-based Automation",

supplemented.

• SoftMotion settings for Servo Drives 9400 and ECSxM supplemented.

• References to Lenze sample projects for CANopen Logic field devices (device
application + PLC program) added.

Commissioning of the CANopen Logic bus

release 3.2

release 3.3

• Information on the ECS servo system and »GDC« removed.

•New layout

release 3.5

release 3.6

release 3.8

" ( 92) added.

" ( 82)

( 36)

7

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17

1 About this documentation

1.2 Conventions used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.2 Conventions used

This documentation uses the following conventions to distinguish different types of information:

Type of information Identification Examples/notes

Numbers

Decimal Normal spelling Example: 1234

Decimal separator Point In general, the decimal point is used.

Example: 1234.56

Hexadecimal 0x[0 ... 9, A ... F] Example: 0x60F4

Binary

• Nibble

Text

Program name » « PC software

Window italics The message window... / The Options dialog box ...

Variable name Setting bEnable to TRUE...

Control element Bold The OK button ... / The Copy command ... / The Properties

Sequence of menu
commands

Shortcut <Bold> Use <F1> to open the online help.

Program code Courier IF var1 < var2 THEN

Keyword Courier bold

Hyperlink Underlined

Icons

Page reference ( 8) Optically highlighted reference to another page. Can be

Step-by-step instructions

0b[0, 1] Example: ’0b0110’

Example: ’0b0110.0100’

Example: Lenze »Engineer«

tab ... / The Name input field ...

If several successive commands are required for
executing a function, the individual commands are
separated from each other by an arrow: Select the
command File

If a key combination is required for a command, a "+" is
placed between the key identifiers: With
<Shift>+<ESC>...

a = a + 1
END IF

Optically highlighted reference to another topic. Can be
activated with a mouse-click in this documentation.

activated with a mouse-click in this documentation.

Step-by-step instructions are marked by a pictograph.

 Open to...



Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 8

1 About this documentation

1.3 Terminology used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.3 Terminology used

Term Meaning

CAN CAN (Controller Area Network) is an asynchronous, serial fieldbus system.

CANopen® is a communication protocol based on CAN. The Lenze system bus (CAN on board)
operates with a subset of this communication protocol.
CANopen® is a registered Community Trade Mark of the CAN User Organisation CiA® (CAN
in Automation e. V.).

Code Parameter for parameterising or monitoring the field device. The term is also referred to as

Controller The controller is the central component of the automation system which controls the Logic

Engineering PC The Engineering PC and the Engineering tools installed serve to configure and parameterise

Engineering tools Lenze software solutions for simply engineering in all phases:

Fieldbus stations Lenze Controller and controller integrated into the bus system (CANopen)

Field device

PLC Programmable Logic Controller

Subcode If a code contains several parameters, they are stored in so-called "subcodes".

"index" in common usage.

and Motion functionalities (by means of the runtime software).
The controller communicates with the field devices via the fieldbus.

the system.
The Engineering PC communicates with the controller via Ethernet.

•»EASY Starter«

• »Engineer«

•»PLC Designer«

•»WebConfig«

•»VisiWinNET®«

•»IPC Backup & Restore«

Lenze Engineering tools

»PCAN view« is the basic version of the »PCAN explorer« program by PEAK System Technik
GmbH for the diagnostics of CAN networks.

EtherCAT® (Ethernet for Controller and Automation Technology) is an Ethernet-based
fieldbus system which meets the application profile for industrial real-time systems.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.

(German designation: SPS - Speicherprogrammierbare Steuerung)

This manual uses a slash "/" as a separator between code and subcode (e.g. "C00118/3").
In normal usage, the term is also referred to as "Subindex".

( 19)

9

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17

1 About this documentation

1.4 Definition of the notes used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.4 Definition of the notes used

The following signal words and symbols are used in this documentation to indicate dangers and
important information:

Safety instructions

Layout of the safety instructions:

 Pictograph and signal word!

(characterises the type and severity of danger)

Note

(describes the danger and suggests how to prevent dangerous situations)

Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage



Danger! Danger of personal injury through a general source of danger



Stop! Danger of damage to material assets



Application notes

Refere nce to a n imm inent d ange r that m ay resu lt in de ath or s erious person al in jury
if the corresponding measures are not taken.

Refere nce to a n imm inent d ange r that m ay resu lt in de ath or s erious person al in jury
if the corresponding measures are not taken.

Reference to a possible danger that may result in damage to material assets if the
corresponding measures are not taken.

Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation



Tip! Useful tip for easy handling



Reference to other documentation



Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 10

2 Safety instructions

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

2 Safety instructions

Observe the following safety instructions if you want to commission an inverter or a system with
the Lenze Controller.

 Read the documentation supplied with the system components carefully before you

start commissioning the devices and the Lenze Controller!

The system manual contains safety instructions which must be observed!

 Danger!

Risk of injury

There is risk of injury by ...

• unpredictable motor movements (e.g. an unintended direction of rotation, too high
speeds, or jerky movement);

• impermissible operating states during the parameterisation while there is an active
online connection to the device.

Possible consequences

Death or severe injuries

Protective measures

• If required, provide systems with installed inverters with additional monitoring and
protective devices according to the safety regulations valid in each case (e.g. law on
technical equipment, regulations for the prevention of accidents).

• During commissioning, maintain an adequate safety distance to the motor or the
machine parts driven by the motor.

 Stop!

Damage or destruction of machine parts

Damage or destruction of machine parts can be caused by ...

• unpredictable motor movements (e.g. an unintended direction of rotation, too high
speeds, or jerky movement);

• impermissible operating states during the parameterisation while there is an active
online connection to the device.

Possible consequences

Damage or destruction of machine parts

Protective measures

If required, provide systems with installed inverters with additional monitoring and
protective devices according to the safety regulations valid in each case (e.g. law on
technical equipment, regulations for the prevention of accidents).

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3 Controller-based Automation: Central motion control

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

3 Controller-based Automation: Central motion control

The Lenze automation system "Controller-based Automation" serves to create complex automation
solutions with central motion control. Here, the Controller is the control centre of the system.

System structure of the Controller-based Automation: "All from one single source"

[3-1] Example: CANopen with the 3231 C Lenze Controller (I/O system 1000 and Servo Drive 9400 as slaves)

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3 Controller-based Automation: Central motion control

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Lenze provides especially coordinated system components:

• Engineering software
The Lenze Engineering tools

to parameterise, configure and diagnose the system. The Engineering PC communicates with
the Controller via Ethernet.

•Controller
The Lenze Controller is available as Panel Controller with integrated touch display and as

Cabinet Controller in control cabinet design.
Cabinet Controllers provide a direct coupling of the I/O system 100 via the integrated backplane

bus.
The runtime software of the Lenze Controllers provides the control and/or visualisation of

motion sequences. The following software versions are available:

• "Logic": Sequence control in the Controller, motion control in the inverter

• "Motion": Sequence control and motion control in the Controller, inverter as actuating drive

• "Visu": Optional visualisation of the automation system, can be used separately or in addition
to "Logic" or "Motion"
An external monitor panel/display can be connected to the Cabinet Controller 3231 C/
3241 C.

• Without software: Controller as single component with operating system only

•Bus systems
EtherCAT is a standard "on board" bus system of the Controller-based Automation. EtherCAT

enables the control of all nodes (Motion/Logic) on one common fieldbus.
Optionally, CANopen, PROFIBUS and PROFINET can be used as extended topologies.
The Controllers c300/p300 have a CANopen interface "on board" as well (in addition to

EtherCAT).

• Inverter (e.g. Servo Inverter i700)

( 19) on your Engineering PC (Windows operating system ) serve

"Logic & Motion" runtime software

The "Controller-based Automation" system allows for the central control of devices for Logic and
Motion applications. The runtime software runs on the Controller.

In case of Logic applications, the sequence control is carried out in the Controller and the motion
control is carried out in the inverter.

In case of Motion applications , the sequence control and motion control are carried out in the
Controller. The inverter is used as actuating drive.

• Motion applications make special demands on the cycle time and real-time capability of the bus
system between the Controller and the subordinate fieldbus nodes.

• this is for instance the case if the field devices, for example, are to move in a synchronised way
or if position setpoints are to be transmitted.

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3 Controller-based Automation: Central motion control

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Fieldbus communication

The Lenze Controllers have different interfaces for fieldbus communication:

Area Cabinet Controller Panel Controller

c300 3221 C 3231 C 3241 C p300 p500

Interfaces (on board)

Ethernet1212

EtherCAT 1

CANopen 1

Optional interfaces (communication cards)

CANopen
MC-CAN2

PROFIBUS master
MC-PBM

PROFIBUS slave
MC-PBS

PROFINET device
MC-PND

1)

2)

-  - 

-  - 

-  - 

-  - 

11

-1

1)

2)

1

-

1) In preparation

2) Only the CAN master functionality is supported.

The Ethernet interface serves to connect the Engineering PC or to create line topologies (no
integrated switch for Controller c300/p300).

 More information on the bus systems and configuration can be found in the

communication manuals:

• Controller-based Automation EtherCAT®

• Controller-based Automation CANopen®

• Controller-based Automation PROFIBUS®

• Controller-based Automation PROFINET®

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 14

4 System bus (CAN) / CANopen

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4 System bus (CAN) / CANopen

The control technology based on CANopen allows for the integration of all Lenze device series
provided with the Lenze system bus (CAN on board).

In order to extend the existing limits of the CAN bus, several CAN lines synchronised with each other
can be used. The number of CAN lines available depends on the equipment of the Lenze Controller
in each case.

The maximum possible number of nodes on a CAN line depends on the baud rate and the cycle time
set.

Example: In the case of a cycle time of 1 ms and a baud rate of 1 Mbps, three nodes with a setpoint
PDO and an actual value PDO, respectively, can be actuated on the CAN bus.

 Tip!

Detailed information on CAN/CANopen can be found on the website of the CAN User
Organization CiA (CAN in Automation):

www.can-cia.org

15 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17

4 System bus (CAN) / CANopen

4.1 CANopen (Logic) / CANopen (Motion)

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.1 CANopen (Logic) / CANopen (Motion)

[4-1] Example: CANopen (Logic/Motion) with the 3231 C controller (I/O system 1000 and Servo Drive 9400 as slaves)

Due to the requirements regarding the real time behaviour of the fieldbus system and due to its
limited transfer capacity, it is useful to operate Logic and Motion devices on separate CAN phases if
CANopen is used – on a logic bus and a motion bus.

The Lenze Controllers ...

•with the Communication card MC-CAN2
and CANopen (Motion);

• can also be used as CAN slaves.

Depending on the required number of Motion nodes and bus cycle time, up to 2 Motion bus lines
can be created.

( 18) have two CAN interfaces for CANopen (Logic)

 Tip!

A sample project for operation of a 3200 C controller as CAN slave can be found in the
"Download" area at www.Lenze.com

"Application Knowledge Base": All articles  Application Ideas Pool  Controller 3200 C

:

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4 System bus (CAN) / CANopen

4.2 Field devices

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2 Field devices

The Lenze automation system supports the following Logic/Motion components:

Field devices System bus (CAN/CANopen)

Logic Motion

Controller Controller 32xx C 

Controller c300 

Controller p300 

Controller p500 

Servo Drives 9400 HighLine 1) 

HighLine with CiA402 

PLC 

Regenerative power supply
module

Inverter Drives 8400 BaseLine 

StateLine 

HighLine 

TopLine 

I/O-System 1000 EPM-Sxxx 



1) with technology application (TA)

17

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4 System bus (CAN) / CANopen

4.3 CANopen hardware for Lenze Controllers

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.3 CANopen hardware for Lenze Controllers

Communication card MC-CAN2

The MC-CAN2 communication card serves to connect a Lenze Controller to the CAN bus system. The
card provides two independent bus lines.

A Front panel

B Printed circuit board

C Coding

D Connection of Lenze Controller

E CAN connection

MC-CAN2-001

[4-2] Communication card MC-CAN2

Technical data of the MC-CAN2 communication card ( 21)

Use

The MC-CAN2 communication card is installed in the corresponding slot of the Lenze Controller.

Example: Lenze Controller 3231 C with MC-CAN2 communication card

MC-CAN2 Communication card MC-CAN2

CAN1
CAN2

Connections for the 2 bus lines

• CAN1: CANopen (Logic and/or Motion)

• CAN2: CANopen (Logic and/or Motion)

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4 System bus (CAN) / CANopen

4.4 Lenze Engineering tools

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.4 Lenze Engineering tools

The Lenze Engineering tools enable the configuration and operation of controller-based Lenze
automation systems according to individual requirements.

Use the corresponding Engineering tool applicable to the field device.

»EASY Navigator«

The »EASY Navigator« provides an overview of the Lenze Engineering software installed on the
Engineering PC.

The Lenze Engineering software consists of the Engineering tools optimised for the respective
application case.

The »EASY Navigator« ...

• simplifies orientation for selecting the suitable Engineering tool;

• allows for the simple start of the required Engineering tool (depending on the application):

What would you like to do? Button Engineering tool

Programming

• Parameterise the Lenze Controller

• Parameterise the i700 servo inverter

• Parameterise the I/O system 1000

Configuring the inverter

• Projecting the automation/drive system

• Parameterisation/configuration

• Inverter Drives 8400, 8400 motec/protec

• Servo Drives 9400

• I/O-System 1000

Visualising

• Visualising the automation system

• Creating the user interface

Online diagnostics

Easy online diagnostics of Lenze Controllers and
other Lenze field devices

»PLC Designer«

»Engineer«

»VisiWinNET«

»EASY Starter«

19

Online parameterisation

• Online parameterisation and commissioning

• Direct online parameterisation when the online

connection to the Lenze devices is active.

»EASY Starter«

Further Engineering tools that are not called via the »EASY Navigator« are:

• »WebConfig« (web-based parameterisation, configuration, and online diagnostics)

• »Backup & Restore« (data backup, data recovery).

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5Technical data

5.1 General data

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

5 Technical data

5.1 General data

Area Values

Communication profile CANopen (DS301, V4.02)

Standards CAN, ISO 11898 / EN 50325-4

Network topology Line, terminated at both ends with 120 

(e.g. terminated with Sub-D plug of type EWZ0046)

Max. number of nodes 127

Adjustable node addresses 1 ... 127

(adjustable for Lenze devices via DIP switches)

Baud rates [kbps] • 10

•20

•50

• 125

• 250

• 500

• 1000

Parameter data Max. 10 client and server SDO channels with 1 ... 8 bytes

Cycle time - Motion/CNC task 1 ... 16 ms

Number of drives/ms on the Motion
bus

Signal propagation delay drive
controller drive

Cross communication Only possible with CANopen (Logic)

Number of DI + DO (bits/ms) 384 (max. 6 PDOs/ms on the Logic bus)

Cycle synchronisation with locked
PLL (Jitter)

Max. 3 drives/ms

4 cycles



In the case of CANopen (Motion), communication is executed centrally via
the Lenze Controller.

+/-10 μs

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5Technical data

5.2 Technical data of the MC-CAN2 communication card

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

5.2 Technical data of the MC-CAN2 communication card

Area Values

Type within the network Master or slave

Max. number of nodes 63

Max. baud rate 1000 kbps

Bus length See chapter "Bus cable length

Connection SUB-D, 9-pole plug

Connection of CAN bus (SUB-D, 9-pole plug)

View Pin Assignment Description

1free -

2LO CAN-LOW

3CG CAN-Ground

4free -

5free -

6CG CAN-Ground

7HI CAN-HIGH

8free -

9free -

" ( 22)

5.3 Bus cable specification

We recommend to use CAN cables according to ISO 11898-2:

CAN cables according to ISO 11898-2

Cable type Paired cable with shield

Impedance 120  (95 ... 140 )

Cable resistance/cross-section

Cable length 301 ... 1000 m:

Signal propagation delay  5 ns/m

Cable length  300 m:

 70 m/m / 0.25... 0.34 mm
 40 m/m / 0.5 mm

2

(AWG20)

2

(AWG22)

21

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5Technical data

5.4 Bus cable length

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

5.4 Bus cable length

 Note!

• It is absolutely necessary to comply with the permissible cable lengths.

• Observe the reduction of the total cable length due to the signal delay of the repeater.

Use of repeaters

• If the total cable lengths of the nodes are different at the same baud rate, the smaller
value must be used to determine the max. cable length.

5.4.1 Total cable length

The total cable length is also specified by the baud rate.

Baud rate [kbps] Max. bus length [m]

10 8000 - 5000

20 4000 - 2500

50 1500 1500 1000

125 600 600 500

250 275 275 250

500 110 110 80

1000 13 13 25

( 23)

Servo Drives
9400

Inverter Drives
8400

I/O-System 1000
(EPM-Sxxx)

CANopen bus coupler

5.4.2 Segment cable length

Repeaters divide the total cable length into segments. The segment cable length is defined by the
cable cross-section and the number of nodes per segment. Without a repeater, the segment cable
length corresponds to the total cable length.

Max. number of

nodes per segment

2 240 m 430 m 650 m 940 m

5 230 m 420 m 640 m 920 m

10 230 m 410 m 620 m 900 m

20 210 m 390 m 580 m 850 m

32 200 m 360 m 550 m 800 m

63 170 m 310 m 470 m 690 m

100 150 m 270 m 410 m 600 m

Cable cross-section

0.25 mm

2

0.50 mm

2

0.75 mm

2

1.00 mm

2

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5Technical data

5.4 Bus cable length

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

5.4.3 Use of repeaters

Compare the values from the tables Total cable length ( 22) and Segment cable length ( 22).

If the detected segment cable length is smaller than the total cable length to be achieved, repeaters
must be used.

Example: Detecting cable lengths / number of repeaters

Given:

Cable cross-section 0.5 mm

Number of nodes 127

Repeater Lenze repeater, type 2176 (cable reduction: 30 m)

At the maximum number of nodes (127), the following cable lengths/number of repeaters from the
specifications have to be observed:

Baud rate [kbps] 10 20 50 125 250 500 800 1000

Max. cable length [m] 8000 3900 1500 630 290 110 40 17

Segment cable length [m] 270 270 270 270 270 110 40 17

Number of repeaters 33 16 6 2 1 - - -

2

, according to Bus cable specification ( 21)

23

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5Technical data

5.4 Bus cable length

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Example: Check use of repeater

Given:

Baud rate 125 kbps

Cable cross-section 0.5 mm

Number of nodes 28

Cable length 450 m

Test step Cable length See table ...

1 Total cable length at 125 kbps: 630 m Total cable length

2 Segment cable length for 28 nodes and a cable cross-

section of 0.5 mm

3 Comparison: The detected segment cable length is

smaller than the total cable length of 450 m to be
achieved.

2

:

Conclusion:

• It is not possible to use a cable length of 450 m without using a repeater.

• After 360 m (test step 2) a repeater has to be used.

2

( 22)

360 m Segment cable length

( 22)

Result:

• The Lenze repeater, type 2176 (cable reduction: 30 m), is used

•Calculation of the maximum cable length:

• First segment: 360 m

• Second segment: 360 m (see table Segment cable length
for a repeater)

• Max. achievable cable length with a repeater: 690 m

• The selected cable length can be implemented.

( 22)) minus 30 m (cable reduction

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6 Planning the CANopen network

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

6 Planning the CANopen network

Create an overview screen of the planned CANopen network with all field devices to be
implemented. Start with the Lenze Controller and arrange the other field devices below it (see

Example of an overview screen

Provide the following data for each device:

Type Type designation of the field device

Used CAN interface of the device • The functionality of the two available CAN interfaces is identical. Both

Unambiguous CAN node address • If system bus (CAN) devices are used, max. 63 nodes/node addresses are

Baud rate • The baud rate applies to all nodes of the CANopen network.

Master task of the device
(NMT master/Sync master)

CAN objects and COB-IDs • Plan your COB-IDs according to the CANopen DS301 communication

( 27)).

Logic and Motion devices can be connected. The combination of Logic and
Motion on an interface is possible as well.

• If possible, the Logic and Motion devices should be installed on different
CAN lines:

• The requirements of the Motion devices regarding the synchronicity of
the bus are higher.

• Shorter cycle times are needed.

• The data volume to be transferred is larger.

CANopen (Logic) / CANopen (Motion)

possible.

• With CANopen-compliant devices, up to 127 nodes/node addresses are
possible.

Note: Do not use the node address 1, in order to avoid unintentional
mistakes and conflicts with a device containing the factory adjustment.

• 50, 125, 250 and 500 kbps are supported by all device types of the system.

• Observe the connection between bus cable length and baud rate.Bus

cable length ( 22)

•An NMT master sets itself and then the NMT slaves to the "Operational"
state. In this state, process data can be communicated. Generally, there
can be an optional number of NMT masters on one CANopen bus.

•A Sync master cyclically sends a sync telegram providing for an exactly
simultaneous processing of process data and/or a simultaneous task
start in all sync receivers.

• Via CAN synchronisation, the Lenze Controller can influence the exact
time of the following events in the field device:

• Acceptance and transmission of sync-controlled PDOs

• Starting time of the task of the application (only possible in 9400)

• You only need to use CAN synchronisation on the Logic bus if an exact
simultaneity in the range of milliseconds is of importance. A mere
operating periphery (operator button, control lamps, etc.) does not
require CAN synchronisation.

profile. This convention is optimised for the communication with a
central master device.COB-IDs acc. to DS301

• Up to 4 PDOs per device can be identif ied with this sch eme. I f you require
more, e.g. for a modular I/O system with more than 8 modules, you can
add them later.

• You can easily assign the node during the bus diagnostics by means of the
COB-IDs.

• COB-ID = basic identifier + node address

( 16)

( 26)

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6 Planning the CANopen network

6.1 COB-IDs acc. to DS301

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

 Please observe ...

the device-specific information on the CAN configuration in the documentation for the
field devices to be implemented.

6.1 COB-IDs acc. to DS301

Object Direction Basic identifier

from the drive to the drive Dec hex

NMT 0 0x000

Sync 128 0x080

Time Stamp 256 0x100

Emergency  128 0x080

PDO1

(Process data channel 1)

PDO2

(Process data channel 2)

PDO3

(Process data channel 3)

PDO4

(Process data channel 4)

SDO

(Parameter data channel 1)

NMT Error Control  1792 0x700

TPDO1

RPDO1

TPDO2

RPDO2

TPDO3

RPDO3

TPDO4

RPDO4

 384 0x180

 512 0x200

 640 0x280

 768 0x300

 896 0x380

 1024 0x400

 1152 0x480

 1280 0x500

 1408 0x580

 1536 0x600

 Note!

In Lenze system bus (CAN) devices, two SDO channels are permanently active, in
CANopen devices, only one by default.

When using CANopen devices, activate a second SDO channel for access of the
»Engineer«. Otherwise communication with the device will be interfered if you go online
with the »Engineer« while the Lenze Controller has access as well.

The COB-IDs for your CANopen network can be calculated according to the following formula:

COB-ID = basic identifier + node address

Basic identifier - 9400 Servo Drives

Basic identifier - 8400 Inverter Drives

Basic identifier - I/O system 1000 (EPM-Sxxx)

( 29)

( 30)

( 31)

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6 Planning the CANopen network

6.2 Example of an overview screen

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

6.2 Example of an overview screen

The illustration shows you an example of an overview screen for planning a CANopen network:

[6-1] Example of an overview screen for designing a CANopen network

27

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6 Planning the CANopen network

6.3 Device specifications of the field devices

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

6.3 Device specifications of the field devices

When planning your CANopen network, consider the device specifications of the implemented field
devices.

Overview of the device specifications for operation with a Lenze Controller

Servo Drives 9400 Inverter Drives 8400 I/O-System 1000

(EPM-Sxxx)

CAN interface • on board

•CANopen module

Available PDOs 4 Transmit (Tx) +

4 Receive (Rx)

Can unused PDOs be
deactivated?

Can PDO COB-IDs be freely
selected?

Can PDO transfer characteristics
be adjusted?

Available SDO channels 1 ex works (fixed),

Can SDO COB-IDs be freely
selected?

yes yes yes

yes yes yes

yes yes yes

9 further can be activated

only for channel 2 ... 10 no no

on board on board

3 Transmit (Tx) +
3 Receive (Rx)

2 ex works (fixed) 1 ex works (fixed),

10 Transmit (Tx) +
10 Receive (Rx)

1 more can be activated

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6 Planning the CANopen network

6.3 Device specifications of the field devices

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

6.3.1 Special features of the 9400 Servo Drives

• The parameter data channel 1 is always active.

•The optional parameter data channels 2 ... 10 can be activated via the subcodes of the codes

Cxx372 and Cxx373.

SDO identifier Code

CANopen SDO server Rx identifier C00372: CAN on board

C13372: Module in slot 1

C14372: Module in slot 2

CANopen SDO server Tx identifier C00373: CAN on board

C13373: Module in slot 1

C14373: Module in slot 2

• If bit 31 is set (0x8nnnnnnn), the corresponding SDO server is deactivated.

• In order to change the COB-ID of a currently active parameter data channel, you have to first
deactivate it and then activate it with a changed COB-ID. Both processes must be rendered
effective by a "Reset Node" command via C00002.

Basic identifier - 9400 Servo Drives

The default setting of the basic identifier is as follows:

Object Direction Basic identifier

from the drive to the drive Dec hex

NMT 0 0x000

Sync 1) 128 0x080

Emergency  128 0x080

PDO1

(Process data channel 1)

PDO2

(Process data channel 2)

PDO3

(Process data channel 3)

PDO4

(Process data channel 4)

SDO1

(Parameter data channel 1)

SDO2 ... 10

(Parameter data channel 2 ... 10)

Node guarding, heartbeat  1792 0x700

TPDO1

RPDO1

TPDO2

RPDO2

TPDO3

RPDO3

TPDO4

RPDO4

TSDO1

RSDO1

TSDOx

RSDOx

 384 0x180

 512 0x200

 640 0x280

 768 0x300

 896 0x380

 1024 0x400

 1152 0x480

 1280 0x500

 1408 0x580

 1536 0x600

 1472 0x5C0

 1600 0x640

29

1) When creating the sync transmit/receive identifier manually, observe the use of the emergency telegram because
of the same COB-ID.

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17

6 Planning the CANopen network

6.3 Device specifications of the field devices

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6.3.2 Special features of the 8400 Inverter Drives

Basic identifier - 8400 Inverter Drives

The default setting of the basic identifier is as follows:

Object Direction Basic identifier

from the drive to the drive Dec hex

NMT 0 0x000

Sync 1) 128 0x080

Emergency  128 0x080

PDO1

(Process data channel 1)

PDO2

(Process data channel 2)

PDO3

(Process data channel 3)

SDO1

(Parameter data channel 1)

SDO2

(Parameter data channel 2)

Heartbeat  1792 0x700

Boot-up 2)  1792 0x700

TPDO1

RPDO1

TPDO2

RPDO2

TPDO3

RPDO3

TSDO1

RSDO1

TSDO2

RSDO2

 384 0x180

 512 0x200

 640 0x280

 641 0x281

 768 0x300

 769 0x301

 1408 0x580

 1536 0x600

 1472 0x5C0

 1600 0x640

1) When creating the sync transmit/receive identifier manually, observe the use of the emergency telegram because
of the same COB-ID.

2) When the boot-up identifier is set manually, observe the use of heartbeat because of the same COB-ID.

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 30