Lenze CANopen control technology User Manual
KHBCANPCBAUTO
13383676
Ä.GEmä
L-force Controls
Communication manual
PC-based Automation
CANopen control technology
Commissioning & Configuration
L
2 L DMS 4.2 EN 07/2011 TD17
Control technology | CANopen communication manual
Contents
1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1 Document history
1.2 Conventions used
1.3 Terminology used
1.4 Notes used
2 Safety instructions
3 The "PC-based Automation" system
4 System bus (CAN) / CANopen
4.1 CANopen (Logic) / CANopen (Motion)
4.1.1 Combination with other bus systems
4.1.2 Field devices
4.2 CANopen Hardware for your Industrial PC
5 Technical data
5.1 General data
5.2 Technical data of the MC-CAN2 communication card
5.3 Bus cable specification
5.4 Bus cable length
5.4.1 Total cable length
5.4.2 Segment cable length
5.4.3 Check use of repeater
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6 Planning the CANopen network
6.1 Example of an overview screen
6.2 Device specifications of the field devices
6.2.1 Special features of the Servo Drives 9400
6.2.2 Special features of the Inverter Drives 8400
6.2.3 Special features for the I/O-System IP20 (EPM-Txxx)
6.2.4 Special features of the I/O-System 1000 (EPM-Sxxx)
6.2.5 Special features of the 8200 vector frequency inverter
6.2.6 Special features of the ECS servo system
7 Preparing the field devices
7.1 Installing field devices
7.2 Setting node addresses and the baud rate
7.3 Connecting the Engineering PC to the Industrial PC
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DMS 4.2 EN 07/2011 TD17 L 3
Control technology | CANopen communication manual
8 Commissioning the CANopen Logic bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
8.1 Overview of the commissioning steps
8.2 Creating a project folder
8.3 Commissioning of field devices
8.3.1 Going online
8.3.2 Commissioning the Servo Drives 9400
8.3.3 Commissioning of 8400 Inverter Drives
8.3.4 Commissioning of I/O system IP20 (EPM-Txxx)
8.3.5 Commissioning of I/O system 1000 (EPM-Sxxx)
8.3.6 Commissioning of 8200 vector frequency inverter
8.3.7 Commissioning of ECS devices
8.4 Creating a PLC program
8.5 Configuring the CAN master
8.6 Integrating field devices (slaves) into the PLC program
8.7 Setting of CAN parameters and CAN mapping
8.7.1 Special features of the 9400 Servo Drives
8.7.2 Special features of the 8400 Inverter Drives
8.7.3 Special features of the I/O modules IP20 "1×counter/16×digital input" and
"SSI interface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
8.7.4 Special features of the 8200 vector frequency inverter
8.7.5 Special features of the ECS servo system
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8.8 Creating a program code to control the device
8.8.1 Special features of the Servo Drives 9400
8.8.2 Special features of the Inverter Drives 8400
8.8.3 Special features of the I/O system IP20 (EPM-Txxx)
8.8.4 Special features of the I/O system 1000 (EPM-Sxxx)
8.8.5 Special features of the 8200 vector frequency inverter
8.8.6 Special features of the ECS servo system
8.9 Preparing the restart
8.9.1 Special features of the Servo Drives 9400
8.9.2 Special features of the Inverter Drives 8400
8.9.3 Special features of the I/O-System IP20 (EPM-Txxx)
8.9.4 Special features of the I/O-System 1000 (EPM-Sxxx)
8.9.5 Special features of the ECS servo system
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4 L DMS 4.2 EN 07/2011 TD17
Control technology | CANopen communication manual
9 Commissioning the CANopen Motion bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
9.1 Overview of the commissioning steps
9.2 Commissioning of field devices
9.3 Creating a PLC program
9.4 Creating a Motion task
9.5 Creating a control configuration
9.6 Creating a program code to control the Motion drives
9.7 Preparing the restart
9.8 Optimisation of signal propagation delays (for HighLine CiA402 only)
9.8.1 Example 1: 3 drives in 1 ms at 1 Mbit/s
9.8.2 Example 2: 4 drives in 2 ms at 1 Mbps
10 CANopen with PROFIBUS
11 The function library LenzeCANdrive.lib
12 Defining the minimum cycle time of the PLC project
12.1 Calculating the total access time to the peripheral devices (T
12.2 Detecting the task utilisation of the application (T
12.2.1 Display of the system utilisation in the »PLC Designer«with the task Editor
12.2.2 Detecting the task utilisation
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Task utilisation
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Correction
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) . . . . . . . . . . . . . 87
. 88
12.3 Calculating the minimum cycle time
12.4 Optimising the system
13 Diagnostics
13.1 Reading codes
13.2 Viewing the logbook of the IPC
13.3 Error messages if communication card MC-CAN2 is not available
13.4 Searching the CANopen bus for nodes using the Engineering PC
13.5 The global variable
14 Parameter reference
14.1 Parameters of the MC-CAN2 communication card in slot 1
14.2 Parameters of the MC-CAN2 communication card in slot 2
15 Appendix
15.1 »PCAN-View« for diagnostic purposes
15.2 Use »PCAN-View« to set all nodes to the "Operational" state.
15.3 Notes on visualisation using »VisiWinNET®«
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wState. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
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16 Index
DMS 4.2 EN 07/2011 TD17 L 5
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Control technology | CANopen communication manual
About this documentation
1 About this documentation
This documentation ...
provides detailed information on how to commission, configure and diagnose the
CANopen bus system in the field of Lenze control technology.
belongs to the "PC based Automation" manual collection which includes the following
documentation:
Documentation Subject
System manuals
"PC-based Automation"
Communication manuals
"PC-based Automation"
(Software) manual
"PC-based Automation"
Operating Instructions
"Embedded Line Panel PC"
Operating Instructions
"Command Station"
Operating Instructions
"Control Cabinet PC"
Operating Instructions
"HMI EL 100"
Further software manuals • »Global Drive Control« (»GDC«)
• Control technology - System structure & Configuration
• Control technology - System structure & Components
• CANopen control technology
• PROFIBUS control technology
• EtherCAT control technology
• Industrial PC - Parameterisation & Configuration
• EL x8xx - Built-in panel PC with TFT display
• CS x8xx - tand-alone operator terminal
• CPC x8xx - ontrol cabinet PC
• EL 1xx - HMI with Windows
–IPC as gateway - Parameterisation & Configuration
• »Engineer«
• »PLC Designer« / »PLC Designer - SoftMotion« / »PLC Designer - CANopen
for runtime systems«
• »VisiWinNET® Smart«
® CE
6 L DMS 4.2 EN 07/2011 TD17
Control technology | CANopen communication manual
About this documentation
Further technical documentations for Lenze components
More information about Lenze components that can be used together with "PC-based
Automation" can be found in the following documents:
Mounting & wiring Legend:
MAs for the Inverter Drives 8400 Printed documentation
MAs for the Servo Drives 9400 Online Help/PDF
MA EPM-Txxx (I/O system IP20) Abbreviations used:
MA EPM-Sxxx (I/O system 1000) SHB System manual
MA 8200 vector BA Operating Instructions
Wiring according to EMC, 8200 vector MA Mounting Instructions
MAs for the ECS servo system SW Software manual
MA communication card MC-CAN2 KHB Communication manual
MA communication card MC-ETC
MA communication card MC-ETH
MA communication card MC-PBM
MA communication card MC-PBS
MA communication card MC-MPI
MAs for communication modules
Parameter setting, configuration, commissioning
SW Inverter Drive 8400
BaseLine / StateLine / HighLine / TopLine
SW Servo Drive 9400 HighLine / PLC
Commissioning guide 9400 HighLine
SHB I/O system IP20 (EPM-Txxx)
SHB I/O system 1000 (EPM-Sxxx)
SHB 8200 vector
BAs for the ECS servo system
KHBs for communication modules
Programming
SW 9400 function library
Creating a network
KHBs for communication modules
Tip!
Documentation and software updates on Lenze products can be found in the
download area at:
http://ww.Lenze.com
DMS 4.2 EN 07/2011 TD17 L 7
Control technology | CANopen communication manual
About this documentation
Document history
Target group
This documentation is intended for all persons who plan, install, commission and maintain
the networking of devices in the field of control technology.
1.1 Document history
Material no. Version Description
- 1.0 06/2008 TD17 First edition
- 2.0 09/2008 TD17 Amended by chapter "CANopen with PROFIBUS
13296254 3.0 06/2009 TD17 General revision
13317281 4.0 10/2009 TD17 General revision
13369325 4.1 01/2011 TD17 Update for control technology release 2.5
13383676 4.2 07/2011 TD17 Chapter Error messages if communication card MC-CAN2 is not
available ( 93) supplemented.
" ( 85).
Your opinion is important to us!
These instructions were created to the best of our knowledge and belief to give you the
best possible support for handling our product.
If you have suggestions for improvement, please e-mail us to:
feedback-docu@Lenze.de
Thank you for your support.
Your Lenze documentation team
8 L DMS 4.2 EN 07/2011 TD17
1.2 Conventions used
This documentation uses the following conventions to distinguish between different types
of information:
Type of information Writing Examples/notes
Spelling of numbers
Decimal separator Point The decimal point is always used.
Text
Version information Blue text colour All information valid for or from a certain software
Program name » « The Lenze PC software »Engineer«...
Window Italics The Message window... / The Options dialog box...
Variable identifier By setting bEnable to TRUE...
Control element Bold The OK button... / the Copy command... / the
Sequence of menu
commands
Shortcut <Bold> Use <F1> to open the online help.
Program code Courier
Keyword Courier bold
Control technology | CANopen communication manual
About this documentation
Conventions used
For example: 1234.56
version, is indicated accordingly in this
documentation.
Example: This function extension is available from
software version V3.0!
Characteristics tab... / the Name input field...
If the execution of a function requires several
commands in a row, the individual commands are
separated by an arrow: Select File
If a key combination is required for a command, a "+"
is placed between the key identifiers: With
<Shift>+<ESC>...
IF var1 < var2 THEN
a = a + 1
END IF
Open to ...
Hyperlink underlined
Symbols
Page reference ( 9) Optically highlighted reference to another page. It is
Step-by-step instructions
Optically highlighted reference to another topic. It is
activated with a mouse-click in this documentation.
activated with a mouse-click in this documentation.
Step-by-step instructions are indicated by a
pictograph.
DMS 4.2 EN 07/2011 TD17 L 9
Control technology | CANopen communication manual
About this documentation
Terminology used
1.3 Terminology used
Term Meaning
»Engineer« Lenze engineering tools supporting you during the entire life cycle of a machine
»Global Drive Control« (GDC)
»PLC Designer«
Code "Container" for one or several parameters used for Lenze Servo Drives parameter
Subcode If a code contains several parameters, they are stored in "subcodes".
IPC Industrial PC
PLC Programmable Logic Controller
- from the planning phase to maintenance.
setting or monitoring.
In the documentation the diagonal slash "/" is used as a separator between the
designation of the code and subcode (e.g. "C00118/3").
10 L DMS 4.2 EN 07/2011 TD17
1.4 Notes used
The following signal words and symbols are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:
Pictograph and signal word!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Control technology | CANopen communication manual
About this documentation
Notes used
Pictograph Signal word Meaning
Danger! Danger of personal injuries through dangerous electrical voltage
Danger! Danger of personal injury through a general source of danger
Stop! Danger of damages to material assets
Application notes
Pictograph Signal word Meaning
Note! Important note for trouble-free operation
Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.
Reference to an imminent danger that may result in death or serious
personal injury 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.
Tip! Useful tip for easy handling
Reference to another documentation
DMS 4.2 EN 07/2011 TD17 L 11
Control technology | CANopen communication manual
Safety instructions
2 Safety instructions
Please observe the following safety instructions when you want to commission a controller
or system using the Industrial PC.
Read the documentation supplied with the system components thoroughly
before starting to commission the devices and the Industrial PC!
The system manual contains safety instructions which must be observed!
Danger!
According to our present level of knowledge it is not possible to ensure the
absolute freedom from errors of a software.
If necessary, systems with built-in controllers must be provided with additional
monitoring and protective equipment according to relevant safety regulations
(e.g. law on technical equipment, regulations for the prevention of accidents) so
that an impermissible operating status does not endanger persons or facilities.
During commissioning persons must keep a safe distance from the motor or the
machine parts driven by the motor. Otherwise there would be a risk of injury by
the moving machine parts.
Stop!
If you change parameters in an engineering tool during an existing online
connection to a device, the changes are directly added to the device!
A wrong parameter setting can cause unpredictable motor movements. By
unintentional direction of rotation, too high speed or jerky operation, the driven
machine parts may be damaged!
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3 The "PC-based Automation" system
Industrial PCs (IPCs) become more and more important in the field of automation
technology. Due to their scaling options and various combinations of visualisation and
control on one device, Industrial PCs provide clear advantages for many applications.
Lenze Industrial PCs are available with the following software equipment:
Industrial PC as component (optional with operating system) without any further
software
Industrial PC as visualisation system
Industrial PC as control and visualisation system
The "PC-based Automation" system enables the central control of Logic and Motion
systems.
The "PC-based Automation" system
For this purpose, Lenze provides coordinated system components:
Industrial PCs as control and visualisation system
– The IPC is the central component of the "PC-based Automation" which control the
Logic and Motion functionalities by means of the runtime software.
– The IPC communicates with the field devices via the fieldbus.
– The IPCs are available in different designs.
Note!
Moreover, the Z EL 1xx PLC HMI series is part of the "PC-based Automation"
system. These devices differ considerably from the Industrial PCs in performance
and various other details. However, the devices of the EL 1xx PLC HMI series are
able to perform smaller control tasks.
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The "PC-based Automation" system
Engineering tools for the Engineering PC
– The Engineering PC communicates with the IPC via Ethernet.
– Different engineering tools serve to configure and parameterise the system.
Fieldbuses
Field devices
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4 System bus (CAN) / CANopen
Lenze device series 8200 vector, 9300 and ECS have an on-board system bus (CAN)
connection. The protocol used there is a subset of CANopen. Thus the devices are not
CANopen-conform but can be driven by a CANopen-compatible control under "L-force
Controls" - also in connection with other CANopen-compatible nodes.
4.1 CANopen (Logic) / CANopen (Motion)
System bus (CAN) / CANopen
CANopen (Logic) / CANopen (Motion)
Due to the demands on the real-time behaviour of the bus system and the limited transfer
capacity, the CANopen bus must be divided into a Logic and a Motion bus.
The Logic bus and the Motion buses can be connected to many different field devices.
To establish a CANopen bus, use the Communication card MC-CAN2
( 18).
Note!
Depending on the required Motion node number and bus cycle time, up to 4
Motion buses can be established.
Only 2 buses are possible for the CS x8xx Command Station IPC series.
Conventions for "PC-based Automation"
• Interface CAN1: CANopen (Logic) or CANopen (Motion)
• Interface CAN2 ... 4: CANopen (Motion)
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System bus (CAN) / CANopen
CANopen (Logic) / CANopen (Motion)
CANopen (Logic)
The Logic bus is used to operate controllers which
carry out simple movements,
do not have a Motion functionality,
are controlled via PLC functionalities only.
CANopen (Motion)
The Motion bus is used to control controllers which carry out e.g. synchronised
movements.
The "L-force Motion" runtime software contains the PLCopen libraries and supports the
SoftMotion control to control the "Servo Drives 9400 HighLine CiA402" series and the
"ECSxM" axis module.
4.1.1 Combination with other bus systems
The CANopen bus system can be combined with PROFIBUS. This makes sense if not all field
devices are available for the same bus system or a Motion bus (CANopen) is required in
parallel to the PROFIBUS (as Logic bus). The bus systems are synchronised in the control.
Note!
• A mixed operation is only possible with Industrial PCs which have two
additional slots for communcation cards. A mixed operation is not possible
with the "Command Station".
• Release 2.5 does not facilitate a combination of PROFIBUS and EtherCAT.
• In the control configuration, the PROFIBUS master must be in the first
position – upstream to the CANopen motion nodes.
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4.1.2 Field devices
The Lenze control system supports the following Logic/Motion components:
Standard device Logic Motion
Industrial PCs EL x1xx PLC z -
Servo Drives 9400 HighLine 1) z -
Inverter Drives 8400 BaseLine z -
I/O system IP20 EPM-Txxx z -
I/O system 1000 EPM-Sxxx z -
Frequency inverter 8200 vector z -
ECS servo system
(from firmware version 2.0)
1) with technology application (TA)
Control technology | CANopen communication manual
System bus (CAN) / CANopen
CANopen (Logic) / CANopen (Motion)
EL x8xx zz
CS x8xx zz
CPC x8xx zz
HighLine CiA402 zz
PLC z -
StateLine z -
HighLine z -
TopLine z -
ECSxE z -
ECSXS (Speed & Torque) z -
ECSxP (Posi & Shaft) z -
ECSxM (Motion) - z
ECSxA (Application) z -
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System bus (CAN) / CANopen
CANopen Hardware for your Industrial PC
4.2 CANopen Hardware for your Industrial PC
Communication card MC-CAN2
The MC-CAN2 communication card is a plug-in card to connect an Industrial PC to a CAN
fieldbus. It has two independent CAN bus connections.
A Front panel
B Board
C Coding
D Connection
E Fieldbus connection
MC-CAN2-001
Technical data of the MC-CAN2 communication card
( 21)
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System bus (CAN) / CANopen
CANopen Hardware for your Industrial PC
Possible applications
The MC-CAN2 communication card can be plugged into slot 1 and slot 2 of the Industrial
PC. Your Industrial PC can have several CANopen communication cards.
Example: The EL x8xx Industrial PC with MC-CAN2 in slots 1 and 2
EL x8xx
Legend
EL x8xx Industrial PC of the EL x8xx series
CAN1 ... 4 CAN bus connections
•CAN1: CANopen (Logic) or CANopen (Motion)
• CAN2 ... 4: CANopen (Motion)
MC-CAN2 Communication card MC-CAN2
CAN3
CAN1
CAN4
CAN2
l
l
MC-CAN2
MC-CAN2_ELx8xx
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Technical data
General data
5 Technical data
5.1 General data
Field Values
Communication profile CANopen (DS301, V4.02)
Standards CAN, ISO 11898 / EN 50325-4
Network topology Line, terminated at both ends with 120 Ω
(e.g. terminated with Sub-D plug of type EWZ0046)
Max. number of nodes 127
Adjustable node addresses 1 ... 127
(adjustable for Lenze communication modules 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
Max. number of drives/ms on the
Motion bus
Signal propagation delay - drive
control 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 case of CANopen (Motion) the communication is executed centrally via
the Industrial PC.
+/-10 μs
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Technical data of the MC-CAN2 communication card
5.2 Technical data of the MC-CAN2 communication card
Field Values
Type within the network Master or slave
Max. number of nodes 63
Max. baud rate [kbit/s] 1000
Bus length See Bus cable length
Connection SUB-D, 9-pole plug
CANopen bus connection (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)
Technical data
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 Ω (95 ... 140 Ω)
Cable resistance / cross-section
Cable length ≤ 300 m:
Cable length 301 ... 1000 m:
Signal propagation delay ≤ 5 ns/m
≤ 70 mΩ/m / 0.25 ... 0.34 mm
≤ 40 mΩ/m / 0.5 mm
2
(AWG20)
2
(AWG22)
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Technical data
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.Check use of repeater
• 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 8075 - 5000 5000 7434 -
20 4012 - 2500 2500 3934 -
50 1575 1620 1000 1000 1534 1500
125 600 600 500 500 614 630
250 275 260 250 250 274 290
500 112 90 80 80 104 120
1000 12 5 25 25 9 25
9400 Servo
Drives
Inverter
Drives 8400
( 24)
I/O-System
IP20
(EPM-Txxx)
CAN gateway
I/O-System
1000
(EPM-Sxxx)
CANopen bus
coupler
8200 vector
frequency
inverter
Servo System
ECS
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5.4.2 Segment cable length
The segment cable length is determined by the used cable cross-section and the number of
nodes. Repeaters divide the total cable length into segments. Without a repeater, the
segment cable length corresponds to the total cable length.
Technical data
Bus 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 (interpolation is permissible)
0.25 mm
(AWG 24)
2
0.50 mm
(AWG 21)
2
0.75 mm
(AWG 19)
2
1.00 mm
(AWG 18)
Example: Selection help
Given:
Total cable length to be
implemented
Number of nodes 63
Results
Max. possible baud rate 250 kbps
Required cable cross-section
(interpolated)
Cable cross-section - standard CAN
cable
200 m
(derived from table Total cable length
0.30 mm
(derived from table Segment cable length
0.34 mm
Bus cable specification
2
(AWG23)
2
(AWG22)
( 21)
( 22))
( 23))
2
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Technical data
Bus cable length
5.4.3 Check use of repeater
Compare the values from the tables Total cable length
( 23).
( 22) and Segment cable length
If the total segment cable length is shorter than the total cable length to be
implemented, either repeaters must be used or the cable cross-section must be
increased.
If, due to the use of repeaters, the max. possible total cable length is reduced to a value
smaller than the total cable length to be implemented, either the cable cross-section
must be increased and the number of repeaters must be reduced or the baud rate must
be reduced.
The use of another repeater is recommended as ...
– Service interface
Advantage: Trouble-free coupling during bus operation is possible.
– Calibration interface
Advantage: The calibration/programming unit remains electrically isolated.
Example
Given
Total cable length to be
implemented
Number of nodes 32
Cable cross-section 0.50 mm
Baud rate 125 kbit/s
Used repeater Lenze repeater EMF2176IB
Reduction of the max. total cable
length per repeater (EMF2176IB)
450 m
30 m
2
(AWG 21)
Results
Max. possible total cable length 600 m
(cp. table Total cable length
Max. segment cable length 360 m
(cp. table Segment cable length
Comparison The max. segment cable length is shorter than the total cable length to be
implemented.
Conclusion After the determined max. segment cable length of 360 m at the latest, a
repeater must be used.
Results with 1 repeater
Max. possible total cable length 570 m
(Reduction of the Total cable length
Total segment cable length 720 m
Comparison Both the possible total cable length and the segment cable length are longer
than the total cable length to be implemented.
Conclusion One repeater suffices to implement the total cable length of 450 m.
( 22))
( 23))
( 22) by 30 m)
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6 Planning the CANopen network
Before establishing a CANopen network, create a plan of your Logic bus and/or your
Motion buses.
For this purpose, create an overview screen of the planned CANopen network with all field
devices to be implemented. Start with the Industrial PC 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 "Logic before Motion":
• Always connect an existing Logic bus to the 1st CAN interface (CAN1).
• Motion buses, however, can be connected to every CAN interface.
CANopen (Logic) / CANopen (Motion)
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 role of the device
(NMT master/sync master)
CAN objects and COB-IDs • Plan your COB-IDs according to the CANopen DS301 communication profile.
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 kbit/s are supported by all device types of the system.
• Observe the dependency between bus cable length and baud rate. Bus
cable length ( 22)
•An NMT master
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
simultaneous processing of process data and/or a simultaneous task start in
all sync receivers.
• Via CAN synchronisation you 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 for Servo Drives
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.
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 identified with this scheme. If 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
Planning the CANopen network
( 28)).
( 15)
sets itself and then the NMT slaves to the "Operational" state.
cyclically sends a sync telegram providing for an exactly
( 26)
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Planning the CANopen network
Observe device-specific information on CAN configuration provided in the
documentation of the field devices to be integrated.
COB-IDs acc. to DS301
Object Direction Basic identifier
from the drive to the drive Dec Hex
NMT 0 0
Sync 128 80
Time Stamp 256 100
Emergency z 128 80
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 z 1792 700
TPDO1
RPDO1
TPDO2
RPDO2
TPDO3
RPDO3
TPDO4
RPDO4
z 384 180
z 640 280
z 896 380
z 1152 480
z 1408 580
z 512 200
z 768 300
z 1024 400
z 1280 500
z 1536 600
Note!
In 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 accesses of the
»Engineer« or »Global Drive Control«. Otherwise the communication with the
device will be interfered if you go online with the »Engineer« or the »Global
Drive Control«, while the IPC has also access.
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Planning the CANopen network
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 ( 31)
Basic identifier - I/O system IP20 (EPM-Txxx) ( 32)
Basic identifier - I/O system 1000 (EPM-Sxxx) ( 33)
Basic identifier - 8200 vector with fieldbus function module CANopen E82ZAFUC0xx
( 34)
Basic identifier - ECS servo system ( 36)
( 30)
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Planning the CANopen network
Example of an overview screen
6.1 Example of an overview screen
The illustration shows you an example of an overview screen for planning a CANopen
network:
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6.2 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 when being operated subordinate to a control
Servo Drives 9400 Inverter Drives 8400 I/O-System IP20
CAN interface on board and/or
Available PDOs 4 Transmit (Tx) +
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?
CANopen module
4 Receive (Rx)
yes yes yes
yes yes yes
yes yes yes
9 further can be activated
only for channel 2 ... 10 no no
Planning the CANopen network
Device specifications of the field devices
(EPM-Txxx)
on board on board
3 Transmit (Tx) +
3 Receive (Rx)
2 ex works (fixed) 2 ex works
10 Transmit (Tx) +
10 Receive (Rx)
(Only possible with V1.3
in CANopen mode.)
I/O-System 1000
(EPM-Sxxx)
CAN interface on board Fieldbus fu nction module
Available PDOs 10 Transmit (Tx) +
10 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 no
yes yes yes
yes yes yes
1 more can be activated
no no no
8200 vector frequency
inverter
CANopen E82ZAFUC0xx
3 Transmit (Tx) +
3 Receive (Rx)
1 ex works (fixed),
1 more can be activated
ECS servo system
2 x CAN on board:
•Terminal X4: Motion
bus (CAN)
• Terminal X14: System
bus (CAN)
1 Transmit (Tx) +
1 Receive (Rx)
2 ex works (fixed)
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Planning the CANopen network
Device specifications of the field devices
6.2.1 Special features of the Servo Drives 9400
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.
hex
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
NMT 0 0
Sync 1) 128 80
Emergency z 128 80
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 z 1792 700
TPDO1
RPDO1
TPDO2
RPDO2
TPDO3
RPDO3
TPDO4
RPDO4
TSDO1
RSDO1
TSDOx
RSDOx
from the drive to the drive dec hex
z 384 180
z 512 200
z 640 280
z 768 300
z 896 380
z 1024 400
z 1152 480
z 1280 500
z 1408 580
z 1536 600
z 1472 5C0
z 1600 640
1) When creating the sync transmit/receive identifier manually, observe the use of the emergency telegram because of
the same COB-ID.
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