Lenze CANopen control technology User Manual

KHBCANPCBAUTO 13383676

Ä.GEmä

L-force Controls

Communication manual

PC-based Automation

CANopen control technology

Commissioning & Configuration

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Contents

1	About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			6
	1.1	Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		8
	1.2	Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		9
	1.3	Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		10
	1.4	Notes used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		11
2	Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			12
3	The "PC-based Automation" system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			13
4	System bus (CAN) / CANopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			15
	4.1	CANopen (Logic) / CANopen (Motion) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		15
		4.1.1 Combination with other bus systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		16
		4.1.2	Field devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	17
	4.2	CANopen Hardware for your Industrial PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		18
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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	23
		5.4.3 Check use of repeater . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		24
6	Planning the CANopen network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			25
	6.1	Example of an overview screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		28
	6.2	Device specifications of the field devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		29
		6.2.1 Special features of the Servo Drives 9400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		30
		6.2.2 Special features of the Inverter Drives 8400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		31
		6.2.3 Special features for the I/O-System IP20 (EPM-Txxx). . . . . . . . . . . . . . . . . . . . . . .		32
		6.2.4 Special features of the I/O-System 1000 (EPM-Sxxx) . . . . . . . . . . . . . . . . . . . . . . .		33
		6.2.5 Special features of the 8200 vector frequency inverter . . . . . . . . . . . . . . . . . . . . .		34
		6.2.6 Special features of the ECS servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		35
7	Preparing the field devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			37
	7.1	Installing field devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		37
	7.2	Setting node addresses and the baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		37
	7.3	Connecting the Engineering PC to the Industrial PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		38

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8	Commissioning the CANopen Logic bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		40
	8.1	Overview of the commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	40
	8.2	Creating a project folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	41
	8.3	Commissioning of field devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	42
		8.3.1 Going online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	43
		8.3.2 Commissioning the Servo Drives 9400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	44
		8.3.3 Commissioning of 8400 Inverter Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	47
		8.3.4 Commissioning of I/O system IP20 (EPM-Txxx) . . . . . . . . . . . . . . . . . . . . . . . . . . . .	50
		8.3.5 Commissioning of I/O system 1000 (EPM-Sxxx) . . . . . . . . . . . . . . . . . . . . . . . . . . .	51
		8.3.6 Commissioning of 8200 vector frequency inverter . . . . . . . . . . . . . . . . . . . . . . . . .	52
		8.3.7 Commissioning of ECS devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	53
	8.4	Creating a PLC program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	54
	8.5	Configuring the CAN master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	57
	8.6	Integrating field devices (slaves) into the PLC program . . . . . . . . . . . . . . . . . . . . . . . . . . . .	59
	8.7	Setting of CAN parameters and CAN mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	60
		8.7.1 Special features of the 9400 Servo Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	63
		8.7.2 Special features of the 8400 Inverter Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	63

8.7.3Special 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 . . . . . . . . . . . . . . . . . . . . .	63
8.7.5 Special features of the ECS servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	64
8.8 Creating a program code to control the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	65
8.8.1 Special features of the Servo Drives 9400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	65
8.8.2 Special features of the Inverter Drives 8400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	65
8.8.3 Special features of the I/O system IP20 (EPM-Txxx) . . . . . . . . . . . . . . . . . . . . . . . .	66
8.8.4 Special features of the I/O system 1000 (EPM-Sxxx) . . . . . . . . . . . . . . . . . . . . . . .	66
8.8.5 Special features of the 8200 vector frequency inverter . . . . . . . . . . . . . . . . . . . . .	66
8.8.6 Special features of the ECS servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	67
8.9 Preparing the restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	68
8.9.1 Special features of the Servo Drives 9400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	69
8.9.2 Special features of the Inverter Drives 8400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	69
8.9.3 Special features of the I/O-System IP20 (EPM-Txxx) . . . . . . . . . . . . . . . . . . . . . . .	70
8.9.4 Special features of the I/O-System 1000 (EPM-Sxxx) . . . . . . . . . . . . . . . . . . . . . . .	71
8.9.5 Special features of the ECS servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	72

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9	Commissioning the CANopen Motion bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		73
	9.1	Overview of the commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	73
	9.2	Commissioning of field devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	74
	9.3	Creating a PLC program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	75
	9.4	Creating a Motion task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	78
	9.5	Creating a control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	79
	9.6	Creating a program code to control the Motion drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	82
	9.7	Preparing the restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	82
	9.8	Optimisation of signal propagation delays (for HighLine CiA402 only). . . . . . . . . . . . . .	83
		9.8.1 Example 1: 3 drives in 1 ms at 1 Mbit/s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	83
		9.8.2 Example 2: 4 drives in 2 ms at 1 Mbps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	84

10	CANopen with PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		85
11	The function library LenzeCANdrive.lib . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		86
12	Defining the minimum cycle time of the PLC project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		87
	12.1	Calculating the total access time to the peripheral devices (TCorrection) . . . . . . . . . . . . .	87
	12.2	Detecting the task utilisation of the application (TTask utilisation). . . . . . . . . . . . . . . . . . . .	88
		12.2.1 Display of the system utilisation in the »PLC Designer«with the task Editor .	88
		12.2.2 Detecting the task utilisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	89
	12.3	Calculating the minimum cycle time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	90
	12.4	Optimising the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	91

13 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		92
13.1	Reading codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	92
13.2	Viewing the logbook of the IPC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	92
13.3	Error messages if communication card MC-CAN2 is not available . . . . . . . . . . . . . . . . . .	93
13.4	Searching the CANopen bus for nodes using the Engineering PC . . . . . . . . . . . . . . . . . . .	93
13.5	The global variable wState. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	94

14	Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		96
	14.1	Parameters of the MC-CAN2 communication card in slot 1 . . . . . . . . . . . . . . . . . . . . . . . .	97
	14.2	Parameters of the MC-CAN2 communication card in slot 2 . . . . . . . . . . . . . . . . . . . . . . . .	98
15	Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		99
	15.1	»PCAN-View« for diagnostic purposes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	99
	15.2	Use »PCAN-View« to set all nodes to the "Operational" state. . . . . . . . . . . . . . . . . . . . . . .	101
	15.3	Notes on visualisation using »VisiWinNET®«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	102
16	Index	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	103

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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	•	Control technology - System structure & Configuration
"PC-based Automation"	•	Control technology - System structure & Components
Communication manuals	•	CANopen control technology
"PC-based Automation"	•	PROFIBUS control technology
	•	EtherCAT control technology
(Software) manual	•	Industrial PC - Parameterisation & Configuration
"PC-based Automation"
Operating Instructions	•	EL x8xx - Built-in panel PC with TFT display
"Embedded Line Panel PC"
Operating Instructions	•	CS x8xx - tand-alone operator terminal
"Command Station"
Operating Instructions	•	CPC x8xx - ontrol cabinet PC
"Control Cabinet PC"
Operating Instructions	•	EL 1xx - HMI with Windows® CE
"HMI EL 100"
Further software manuals	•	»Global Drive Control« (»GDC«)
		– IPC as gateway - Parameterisation & Configuration
	•	»Engineer«
	• »PLC Designer« / »PLC Designer - SoftMotion« / »PLC Designer - CANopen
		for runtime systems«
	•	»VisiWinNET® Smart«

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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
	Abbreviations used:
MA EPM-Txxx (I/O system IP20)
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

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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.

1.1Document history

Material no.	Version				Description
-	1.0		06/2008	TD17	First edition
-	2.0		09/2008	TD17	Amended by chapter "CANopen with PROFIBUS" ( 85).
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.

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: [e-mail]

Thank you for your support. Your Lenze documentation team

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Conventions used

1.2Conventions 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.
			For example: 1234.56
Text
	Version information	Blue text colour	All information valid for or from a certain software
			version, is indicated accordingly in this
			documentation.
			Example: This function extension is available from
			software version V3.0!
	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
			Characteristics tab... / the Name input field...
	Sequence of menu		If the execution of a function requires several
	commands		commands in a row, the individual commands are
			separated by an arrow: Select File Open to ...
	Shortcut	<Bold>	Use <F1> to open the online help.
			If a key combination is required for a command, a "+"
			is placed between the key identifiers: With
			<Shift>+<ESC>...
	Program code	Courier	IF var1 < var2 THEN
	Keyword	Courier bold	a = a + 1
			END IF
	Hyperlink	underlined	Optically highlighted reference to another topic. It is
			activated with a mouse-click in this documentation.
Symbols
	Page reference	( 9)	Optically highlighted reference to another page. It is
			activated with a mouse-click in this documentation.
	Step-by-step instructions		Step-by-step instructions are indicated by a
			pictograph.

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Terminology used

1.3	Terminology used
	Term	Meaning
	»Engineer«	Lenze engineering tools supporting you during the entire life cycle of a machine
		- from the planning phase to maintenance.
	»Global Drive Control« (GDC)
	»PLC Designer«
	Code	"Container" for one or several parameters used for Lenze Servo Drives parameter
		setting or monitoring.
	Subcode	If a code contains several parameters, they are stored in "subcodes".
		In the documentation the diagonal slash "/" is used as a separator between the
		designation of the code and subcode (e.g. "C00118/3").
	IPC	Industrial PC
	PLC	Programmable Logic Controller

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Notes used

1.4Notes 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)

Pictograph	Signal word	Meaning
	Danger!	Danger of personal injuries 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!	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.
	Stop!	Danger of damages to material assets
		Reference to a possible danger that may result in damage to material assets
		if the corresponding measures are not taken.
Application notes
Pictograph	Signal word	Meaning

Note! Important note for trouble-free operation

	Tip!	Useful tip for easy handling
		Reference to another documentation

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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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The "PC-based Automation" system

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.

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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	System bus (CAN) / CANopen
	CANopen (Logic) / CANopen (Motion)
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.

4.1CANopen (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.

4.1.1Combination 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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System bus (CAN) / CANopen

CANopen (Logic) / CANopen (Motion)

4.1.2Field devices

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

	Standard device		Logic	Motion
	Industrial PCs	EL x1xx PLC	z	-
		EL x8xx	z	z
		CS x8xx	z	z
		CPC x8xx	z	z
	Servo Drives 9400	HighLine 1)	z	-
		HighLine CiA402	z	z
		PLC	z	-
	Inverter Drives 8400	BaseLine	z	-
		StateLine	z	-
		HighLine	z	-
		TopLine	z	-
	I/O system IP20	EPM-Txxx	z	-
	I/O system 1000	EPM-Sxxx	z	-
	Frequency inverter	8200 vector	z	-
	ECS servo system	ECSxE	z	-
	(from firmware version 2.0)
		ECSXS (Speed & Torque)	z	-
		ECSxP (Posi & Shaft)	z	-
		ECSxM (Motion)	-	z
		ECSxA (Application)	z	-

1) with technology application (TA)

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System bus (CAN) / CANopen

CANopen Hardware for your Industrial PC

4.2CANopen 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	CAN1	CAN2
CAN3	CAN4	MC-CAN2
		MC-CAN2_ELx8xx
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

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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	Max. 3 drives/ms
		Motion bus
		Signal propagation delay - drive	4 cycles
		control drive
		Cross communication	Only possible with CANopen (Logic)
			In case of CANopen (Motion) the communication is executed centrally via
			the Industrial PC.
		Number of DI + DO (bits/ms)	384 (max. 6 PDOs/ms on the Logic bus)
		Cycle synchronisation with locked	+/-10 μs
		PLL (Jitter)

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Technical data

Technical data of the MC-CAN2 communication card

5.2Technical 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 ( 22)
Connection	SUB-D, 9-pole plug

CANopen bus connection (SUB-D, 9-pole plug)

View	Pin	Assignment	Description
	1	free	-
	2	LO	CAN-LOW
	3	CG	CAN-Ground
	4	free	-
	5	free	-
	6	CG	CAN-Ground
	7	HI	CAN-HIGH
	8	free	-
	9	free	-

5.3Bus 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: ≤ 70 mΩ/m / 0.25 ... 0.34 mm2 (AWG22)

Cable length 301 ... 1000 m: ≤ 40 mΩ/m / 0.5 mm2 (AWG20)

Signal propagation delay

≤ 5 ns/m

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Technical data

Bus cable length

5.4Bus 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 ( 24)

•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.

5.4.1Total cable length

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

Baud rate [kbps]	Max. bus length [m]
	9400 Servo	Inverter	I/O-System	I/O-System	8200 vector	Servo System
	Drives	Drives 8400	IP20	1000	frequency	ECS
			(EPM-Txxx)	(EPM-Sxxx)	inverter
			CAN gateway	CANopen bus
				coupler
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

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Technical data

Bus cable length

5.4.2Segment 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.

Max. number of	Cable cross-section (interpolation is permissible)
nodes per segment
	0.25 mm2		0.50 mm2	0.75 mm2	1.00 mm2
	(AWG 24)		(AWG 21)	(AWG 19)	(AWG 18)
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
Example: Selection help
Given:
Total cable length to be		200 m
implemented
Number of nodes		63
Results
Max. possible baud rate		250 kbps
		(derived from table Total cable length ( 22))
Required cable cross-section		0.30 mm2 (AWG23)
(interpolated)		(derived from table Segment cable length ( 23))
Cable cross-section - standard CAN		0.34 mm2 (AWG22)
cable		Bus cable specification ( 21)

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Bus cable length

5.4.3Check use of repeater

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

( 23).

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	450 m
implemented
Number of nodes	32
Cable cross-section	0.50 mm2 (AWG 21)
Baud rate	125 kbit/s
Used repeater	Lenze repeater EMF2176IB
Reduction of the max. total cable	30 m
length per repeater (EMF2176IB)
Results
Max. possible total cable length	600 m
	(cp. table Total cable length ( 22))
Max. segment cable length	360 m
	(cp. table Segment cable length ( 23))
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 ( 22) by 30 m)
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.

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Planning the CANopen network

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 ( 28)).

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) ( 15)

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

Baud rate	•	The baud rate applies to all nodes of the CANopen network.
	• 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)
Master role of the device	•	An NMT master sets itself and then the NMT slaves to the "Operational" state.
(NMT master/sync 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 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 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.
CAN objects and COB-IDs	•	Plan your COB-IDs according to the CANopen DS301 communication profile.
		This convention is optimised for the communication with a central master
		device. COB-IDs acc. to DS301 ( 26)
	• 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

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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	TPDO1	z		384		180
(process data channel 1)
	RPDO1		z	512		200
PDO2	TPDO2	z		640		280
(process data channel 2)
	RPDO2		z	768		300
PDO3	TPDO3	z		896		380
(process data channel 3)
	RPDO3		z	1024		400
PDO4	TPDO4	z		1152		480
(process data channel 4)
	RPDO4		z	1280		500
SDO		z		1408		580
(parameter data channel 1)
			z	1536		600
NMT Error Control		z		1792		700

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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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 ( 30) 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)

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Planning the CANopen network

Example of an overview screen

6.1Example of an overview screen

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

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Device specifications of the field devices

6.2Device 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
			(EPM-Txxx)
CAN interface	on board and/or	on board	on board
	CANopen module
Available PDOs	4 Transmit (Tx) +	3 Transmit (Tx) +	10 Transmit (Tx) +
	4 Receive (Rx)	3 Receive (Rx)	10 Receive (Rx)
Can unused PDOs be	yes	yes	yes
deactivated?
Can PDO COB-IDs be freely	yes	yes	yes
selected?
Can PDO transfer characteristics	yes	yes	yes
be adjusted?
Available SDO channels	1 ex works (fixed),	2 ex works (fixed)	2 ex works
	9 further can be activated		(Only possible with V1.3
			in CANopen mode.)
Can SDO COB-IDs be freely	only for channel 2 ... 10	no	no
selected?

	I/O-System 1000	8200 vector frequency	ECS servo system
	(EPM-Sxxx)	inverter
CAN interface	on board	Fieldbusfunction module	2 x CAN on board:
		CANopen E82ZAFUC0xx	•	Terminal X4: Motion
				bus (CAN)
			•	Terminal X14: System
				bus (CAN)
Available PDOs	10 Transmit (Tx) +	3 Transmit (Tx) +	1 Transmit (Tx) +
	10 Receive (Rx)	3 Receive (Rx)	1 Receive (Rx)
Can unused PDOs be	yes	yes	no
deactivated?
Can PDO COB-IDs be freely	yes	yes	yes
selected?
Can PDO transfer characteristics	yes	yes	yes
be adjusted?
Available SDO channels	1 ex works (fixed),	1 ex works (fixed),	2 ex works (fixed)
	1 more can be activated	1 more can be activated
Can SDO COB-IDs be freely	no	no	no
selected?

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Device specifications of the field devices

6.2.1Special 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 (0x8nnnnnnnhex), 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		0
Sync 1)				128		80
Emergency		z		128		80
PDO1	TPDO1	z		384		180
(process data channel 1)
	RPDO1		z	512		200
PDO2	TPDO2	z		640		280
(process data channel 2)
	RPDO2		z	768		300
PDO3	TPDO3	z		896		380
(process data channel 3)
	RPDO3		z	1024		400
PDO4	TPDO4	z		1152		480
(process data channel 4)
	RPDO4		z	1280		500
SDO1	TSDO1	z		1408		580
(parameter data channel 1)
	RSDO1		z	1536		600
SDO2 ... 10	TSDOx	z		1472		5C0
(parameter data channel 2 ... 10)
	RSDOx		z	1600		640
Node guarding, heartbeat		z		1792		700

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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