Lenze E84DGFCC User Manual

EDS84DMOTCAN 13395082

Ä.HSsä

L-force Communication

Communication Manual

8400 motec

E84DGFCCxxx

CANopen communication unit

2 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

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

2.1 General safety and application instructions

2.2 Device and application-specific safety instructions

2.3 Residual hazards

3 Product description

3.1 Application as directed

3.2 Product features and variants

3.3 Connections and interfaces

4 Technical data

4.1 General data and operating conditions of the CANopen

4.2 Supported protocols

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4.3 Communication time

5 Installation

5.1 Mechanical installation

5.2 Electrical installation

6 Commissioning

6.1 Before initial switch-on

6.2 Configuring the host (master)

6.3 Possible settings via DIP switch

6.4 Settings in the Lenze »Engineer«

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5.2.1 Network topology

5.2.2 Bus termination

5.2.3 Specification of the bus cable

5.2.4 Bus cable length

5.2.5 CANopen connection

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6.3.1 Setting the baud rate

6.3.2 Setting the CAN node address

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6.5 Initial switch-on

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Communication manual 8400 motec CANopen

Contents

7 Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

7.1 Structure of the CAN data telegram

7.1.1 Identifier

7.1.2 User data

7.2 Communication phases/network management

7.2.1 State transitions

7.2.2 Network management telegram (NMT)

7.2.3 Parameterising the Inverter Drives 8400 motec as CAN master

8 Process data transfer

8.1 Access to process data / PDO mapping

8.2 Port interconnection of the process data objects (PDO)

8.3 Identifiers of the process data objects

8.4 Transmission type

8.5 PDO synchronisation via sync telegram

9 Parameter data transfer

9.1 Identifiers of the parameter data objects

9.2 User data

9.2.1 Command

9.2.2 Addressing by means of index and subindex

9.2.3 Data 1 ... data 4

9.2.4 Error messages

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9.3 Parameter data telegram examples

9.3.1 Reading parameters

9.3.2 Write parameters

9.3.3 Reading block parameters

10 Monitoring

10.1 Monitoring of the RPDOs for data reception

10.2 Integrated error detection

10.3 Heartbeat protocol

10.4 Emergency telegram

11 Diagnostics

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10.3.1 Telegram structure

10.3.2 Parameter setting

10.3.3 Commissioning example

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4 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

Contents

12 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

12.1 Communication-relevant parameters of the operating system

12.2 Parameters for CANopen communication

12.3 Table of attributes

13 Implemented CANopen objects

14 DIP switch positions for setting the CAN node address

15 Index

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Communication manual 8400 motec CANopen

About this documentation

1 About this documentation

Contents

This documentation exclusively describes the system bus (CAN) and the CANopen-specific functions of the Inverter Drive 8400 motec.

 Note!

This documentation supplements the mounting instructions and the hardware manual "Inverter Drives 8400 motec" supplied with the controller.

The features of the system bus (CAN) and CANopen-specific functions for the Inverter Drive 8400 motec are described in detail.

Typical applications are explained with the help of examples.

This documentation also contains ...

 the most important technical data for CAN communication;

 information on the installation and commissioning of the CAN network;  information on CAN data transfer, CAN monitoring functions, communication-relevant

parameters and implemented CAN objects.

The theoretical concepts are only explained to the level of detail required to understand the function of CAN communication with Inverter Drives 8400 motec.

Depending on the software version of the controller and of the »Engineer« software installed, the screenshots in this documentation may vary from the »Engineer« representation.

This documentation does not describe the software of other manufacturers. No responsibility is taken for corresponding information given in this documentation. Information on how to use the software can be obtained from the documents of the host (master).

All brand names used in this documentation are trademarks of their respective owners.

 Tip!

Detailed information about the system bus (CAN) can be found on the website of the CAN user organisation CiA (CAN in Automation):

www.can-cia.org

6 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

About this documentation

Target group

This documentation is intended for all persons who plan, install, commission and maintain the networking and remote service of a machine.

 Tip!

Information and software updates for Lenze products can be found in the Download area at:

www.Lenze.com

Information regarding the validity

The information given in this documentation is valid for the following devices:

Product series Type designation Variant

Inverter Drives 8400 motec

CANopen communication unit

Product features and variants

E84DGFCCxNx CANopen

E84DGFCCxJx CANopen + safety

( 15)

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Communication manual 8400 motec CANopen

About this documentation Document history

1.1 Document history

Version Description

1.0 09/2010 TD17 First edition

2.0 01/2011 TD17 Update of the ...

• Parameters for CANopen communication

• »Engineer« screenshots

3.0 11/2011 TD17 General revision

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.

( 76) (version 02.00)

Your Lenze documentation team

8 L EDS84DMOTCAN EN 3.0 - 11/2011

1.2 Conventions used

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

Type of information Writing Examples/notes

Numbers

Decimal Standard notation Example: 1234

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

Binary

• Nibble

Decimal separator Point The decimal point is always used.

Text

Program name » « PC software

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

Hyperlink Underlined

Symbols

Page reference ( 9) Optically highlighted reference to another page. Can

Step-by-step instructions

Communication manual 8400 motec CANopen

About this documentation

Conventions used

In inverted commas

Point



Example: ’100’ Example: ’0110.0100’

Example: 1234.56

Example: Lenze »Engineer«

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

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

be activated with a mouse-click in this documentation.

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

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Communication manual 8400 motec CANopen

About this documentation Terminology used

1.3 Terminology used

Term Meaning

Controller Lenze frequency inverter of the "Inverter Drives 8400 motec" product series

Standard device

The 8400 motec controller consists of the following modules: "drive unit", "communication unit", and "wiring unit".

• The drive unit is available in various power classes.

• The communication unit is available in the following versions: –No fieldbus –AS-i option –CANopen option –PROFIBUS option –PROFINET option –EtherCAT option

• The wiring unit provides flexible connection options for an easy integration into the power supply of the machine.

diagnosing, and configuring) during the entire life cycle, i.e. from planning to maintenance of the commissioned machine.

usage, the term is usually referred to as "Index".

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

Drive unit Communication unit Wiring unit

»Engineer« PC software from Lenze which supports you in "engineering" (parameter setting,

Code Parameter which serves to parameterise and monitor the controller. In normal

Subcode If a code contains more than one parameter, these parameters are stored in

Lenze setting These are settings with which the device is preconfigured ex works.

Basic setting

HW Hardware

SW Software

 Note!

Some of the terms used originate from the CANopen protocol.

10 L EDS84DMOTCAN EN 3.0 - 11/2011

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!

(characterise the type and severity of danger)

Note

(describes the danger and suggests how to avoid the danger)

Pictograph Signal word Meaning







Communication manual 8400 motec CANopen

About this documentation

Danger! Danger of personal injury through dangerous electrical voltage

Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Danger! 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 property damage

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

Notes used

Application notes

Pictograph Signal word Meaning

Note! Important note for trouble-free operation



Tip! Useful tip for simple handling



Reference to other documents



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Safety instructions General safety and application instructions

2 Safety instructions

 Note!

Always observe the specified safety measures to avoid severe injury to persons and damage to property!

Always keep this documentation to hand in the vicinity of the product during operation.

2.1 General safety and application instructions

 Danger!

Disregarding the following basic safety measures may lead to severe personal injury and damage to material assets.

 Lenze drive and automation components ...

– must only be used as directed.

Application as directed

– must never be commissioned in the event of visible damage. – must never be technically modified. – must never be commissioned before they have been completely mounted. – must never be operated without the covers required. – can - depending on the degree of protection - have live, movable or rotating parts

during operation and after operation. Surfaces can be hot.

 For Lenze drive components ...

– use only the accessories approved. – use only original spare parts from the manufacturer.

 Observe all specifications given in the attached and associated documentation.

– This is the precondition for safe and trouble-free operation and for achieving the

specified product features.

Product features and variants

– The procedural notes and circuit details described in this document are only

proposals. It is up to the user to check whether they can be adapted to the particular

applications. Lenze does not take any responsibility for the suitability of the

procedures and circuit proposals described.

( 14)

( 15)

12 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

Device and application-specific safety instructions

 Only qualified personnel may work with and on Lenze drive and automation

components. In accordance with IEC 60364 and CENELEC, these are persons ... – who are familiar with the installation, assembly, commissioning, and operation of

the product. – who have the corresponding qualifications for their work. – who know all regulations for the prevention of accidents, directives and laws

applicable on site and are able to apply them.

2.2 Device and application-specific safety instructions

 During operation, the communication unit must be connected to the wiring unit and

the drive unit.

 With external voltage supply, always use a separate power supply unit, safely

separated in accordance with EN 61800-5-1 in every control cabinet ("SELV"/"PELV").

 Only use cables that correspond to the given specifications.

Specification of the bus cable

( 26)

Safety instructions

 Documentation of "Inverter Drives 8400 motec", control system, plant/machine

All other measures prescribed in this documentation must also be implemented. Observe the safety instructions and application notes specified in the documentation.

2.3 Residual hazards

Device protection

 The communication unit contains electronic components that can be damaged or

destroyed by electrostatic discharge.

Installation

( 22)

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Product description Application as directed

3 Product description

3.1 Application as directed

The CANopen communication unit ...

 is a unit that can only be used in conjunction with the following modules:

Product series Type designation

Inverter Drives 8400 motec

Drive unit

Inverter Drives 8400 motec

Wiring unit

 is a device intended for use in industrial power systems.

 may only be operated under the operating conditions specified in this documentation.

E84DGDVxxxxxxxx

E84DGVNxx

 may only be used in CANopen networks.

 can also be used without being connected to the CANopen network.

Any other use shall be deemed inappropriate!

14 L EDS84DMOTCAN EN 3.0 - 11/2011

3.2 Product features and variants

The CANopen communication unit is available in the following versions:

Product series Type designation Features

Inverter Drives 8400 motec

CANopen communication unit

 The CANopen communication unit ...

– is mounted on the wiring unit (E84DGVNxx); – is exclusively supplied internally by the drive unit (E84DGDVxxxxxxxx).

Communication manual 8400 motec CANopen

Product description

Product features and variants

Enclosure

IP 65

CANopen

M12

I/O: Terminal

E84DGFCCANP zz z

E84DGFCC9NP zzz

E84DGFCCAJP zz zz

E84DGFCC9JP zzz z

I/O: M12

Safety

 The I/O connections can be led into the device via M12 connectors or by means of cable

glands.

 In the E84DGFCC9xx version, a maximum of four digital inputs is conducted on M12

connectors (see "Inverter Drives 8400 motec" hardware manual).

 Devices without an integrated safety system (safety option) have no analog input and

no relay output.

 In the case of the E84DGFCCxJx communication units, the integrated safety system can

be used for the protection of persons on machines.

 Setting of the CAN node address and baud rate is possible via DIP switch or code.

 Communication with the Lenze »Engineer« (access to all Lenze parameters) is

preferably carried out via the CAN bus. Furthermore communication can be effected via the diagnostic interface of the drive unit.

 "Inverter Drives 8400 motec" hardware manual

Here you'll find detailed information on the integrated safety system (safety option).

Software manual / »Engineer« online help "Inverter Drives 8400 motec"

Here you will find detailed information on how to configure the safety system (safety option).

EDS84DMOTCAN EN 3.0 - 11/2011 L 15

Communication manual 8400 motec CANopen

Product description Product features and variants

The system bus (CANopen) of the Inverter Drives 8400 motec is the advanced version of the system bus (CAN) and includes the following features:

 Full compatibility according to CANopen DS301, V4.02.

 Support of the "Heartbeat" NMT slave function (DS301, V4.02).  Number of parameterisable server SDO channels:

– Max. 2 channels with 1 ... 8 bytes – Because of the 2 server SDO channels, the address range from 1 ... 63 is available.

 Number of parameterisable PDO channels:

– Max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable) – Max. 2 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)

 All PDO channels are functionally equivalent.

 Monitoring of the RPDOs for data reception

 Adjustable error response to ...

– physical CAN errors (frame, bit, ACK error) – bus-stop, bus-working – missing PDOs

 Telegram counters for SDOs and PDOs

 Bus status diagnostics

 Boot-up telegram generation  Emergency telegram generation

 Reset node telegram generation (in the case of master configuration)

 Sync telegram generation and response to sync telegrams:

– Data transmission/reception – Device-internal time base synchronisation

 Abort codes

 Object directory (all mandatory functions, optional functions, indexes)

16 L EDS84DMOTCAN EN 3.0 - 11/2011

3.3 Connections and interfaces

Communication manual 8400 motec CANopen

Product description

Connections and interfaces

[3-1] CANopen communication unit

Pos. Description

DIP DIP switch

Possible settings via DIP switch

A2 CANopen input (M12 pins, 5-pole)

CANopen connection

A3 CANopen output (M12 socket, 5-pole)

CANopen connection

A1 / A4 Positions for further freely designable inputs and outputs:

B1 ... B4

X3 / X4 / X61 Terminal strips for wiring the connectors at A1 ... A4 and B1 ... B4

X5 Plug connector for connection to the drive unit

• Digital inputs

•Digital output

• Analog input (only for E84DGFCCxJx)

• Relay output (only for E84DGFCCxJx)

• Connection of safety system "Safety Option" (only for E84DGFCCxJx)

E84DG002

( 32)

( 29)

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Communication manual 8400 motec CANopen

Product description Connections and interfaces

 By default, the CANopen connectors are already pre-assembled and wired with the

terminal strip X3.

 The CANopen connections and further connections (e.g. digital inputs) can be freely

designed at the positions A1 ... A4 and B1 ... B4..

 The connections can be equipped with 5-pole M12 connectors, or optionally with cable

glands (cable cross-section max. 1.0 mm

 The M12 connectors, cable glands and prefabricated system cables can be obtained

from various manufacturers.

 Wire the M12 connectors or cable glands used to the corresponding contacts of

terminal strips X3, X4, and X61.

, AWG 18).

 "Inverter Drives 8400 motec" hardware manual

Observe the notes and wiring instructions given in the documentation.

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Communication manual 8400 motec CANopen

General data and operating conditions of the CANopen

4 Technical data

 "Inverter Drives 8400 motec" hardware manual

Here you will find the ambient conditions and information on the electromagnetic compatibility (EMC) that also apply to the communication unit.

4.1 General data and operating conditions of the CANopen

Field Values

Order designation • E84DGFCCxNx (CANopen)

• E84DGFCCxJx (CANopen + Safety)

Communication profile CANopen, DS301 V4.02

Communication medium DIN ISO 11898

Interface • CANopen input: M12 pins, 5-pole, A-coded

• CANopen output: M12 socket, 5-pole, A-coded

Network topology Line terminated on both sides

Adjustable node address 1 ... 63 (can be set via DIP switch or code C00350

Max. number of nodes 63

Baud rate [kbps] 20, 50, 125, 250, 500, 800, 1000 kbps, adjustable via DIP switches or code

C00351

Process data • Max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)

• Max. 2 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)

Parameter data Max. 2 server SDO channels with 1 ... 8 bytes

Transmission mode for TPDOs • With change of data

• Time-controlled, 1 to x ms

• After the reception of 1 to 240 sync telegrams

Conformities, approvals • CE

•UR / cUR

Technical data

)

EDS84DMOTCAN EN 3.0 - 11/2011 L 19

Communication manual 8400 motec CANopen

Technical data Supported protocols

4.2 Supported protocols

Protocols

Standard PDO protocols PDO write

PDO read

SDO protocols SDO download

SDO download initiate SDO download segment

SDO upload SDO upload initiate SDO upload segment

SDO abort transfer

SDO block download SDO block download initiate SDO block download end

SDO block upload SDO block upload initiate SDO block upload end

NMT protocols Start remote node (master and slave)

Stop remote node (slave)

Enter pre-operational (slave)

Reset node (slave and local device)

Reset communication protocol (slave)

Monitoring protocols Heartbeat (heartbeat producer and heartbeat consumer)

• 1 Heartbeat Producer can be monitored.

Emergency telegram (to master)

20 L EDS84DMOTCAN EN 3.0 - 11/2011

4.3 Communication time

The communication time is the time between the start of a request and the arrival of the corresponding response.

The communication times in a CANopen network depend on ...

 the processing time in the controller;  the telegram runtime (baud rate / telegram length);

 the nesting depth of the network.

Processing time in the controller

Data Processing time

Process data Approx. 2 ms

Parameter data Approx. 30 ms + 20 ms tolerance (typical)

Communication manual 8400 motec CANopen

Technical data

Communication time

update cycle + 0 ... 1 ms + 1 ... x ms

• For some codes, the processing time may be longer (see software manual/»Engineer« online help "Inverter Drives 8400 motec").

processing time in the module application task runtime of the technology application used

(tolerance)

There are no interdependencies between parameter data and process data.

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Communication manual 8400 motec CANopen

Installation

5 Installation

 Stop!

Electrostatic discharge

Electronic components within the communication unit can be damaged or destroyed by electrostatic discharge.

Possible consequences:

• The communication unit is defective.

• Communication via the fieldbus is not possible or faulty.

• I/O signals are faulty.

• The safety function is faulty.

Protective measures

• Discharge electrostatic charges before touching the communication unit.

22 L EDS84DMOTCAN EN 3.0 - 11/2011

5.1 Mechanical installation

 Mounting instructions for "Inverter Drives 8400 motec"

Here you will find detailed information on the installation.

0.37 ... 3.0 kW 4.0 ... 7.5 kW

Communication manual 8400 motec CANopen

Installation

Mechanical installation

[5-1] Mechanical installation of the 8400 motec components

Legend for Fig. [5-1]

1 Drive unit

2 Communication unit

3 Wiring unit

A Cover of the drive unit

EDK84DG... Mounting instructions for the drive unit, communication unit, wiring unit

E84DG023a

E84DG023b

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Communication manual 8400 motec CANopen

Installation Electrical installation

5.2 Electrical installation

 "Inverter Drives 8400 motec" hardware manual

Here you'll find detailed information on ...

• the digital and analog inputs and outputs;

• the relay output;

• the integrated safety system (safety option);

• the wiring of the connections.

Observe the notes and wiring instructions given in the documentation.

5.2.1 Network topology

The following examples show two simple CAN networks.

Each segment of the network must be terminated at both ends by resistors (120 Ω) between CAN-Low and CAN-High. The bus terminators of the system bus (CAN) are marked with a "Z" in the following examples.

A CAN network consisting of only one segment starts with the CAN master (M) with integrated bus termination, whereas the last CAN node (S) has to be terminated by a bus terminating resistor.

Bus termination

( 25)

S SS

[5-2] CAN network with one segment

E94YCPM012a

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Communication manual 8400 motec CANopen

Installation

Electrical installation

A CAN network consisting of several segments contains repeaters (R) for connecting the segments. The repeaters are provided with integrated bus terminations.

Consider the use of repeaters

( 28)

[5-3] CAN network with repeaters

If no repeater is to be used at the end of the segment, the bus must be terminated by a bus terminating resistor at the last node (S). The bus termination is supplied by the node itself.

5.2.2 Bus termination

The system bus (CANopen) must be terminated through a bus terminating resistor at the first and last physical node (120 Ω).

In the case of the communication unit, the bus terminating resistor can only be installed externally at the M12 connector. This has the advantage that the presence of the resistor can be identified on the closed device.

 Note!

• The CANopen terminals (input and output) must be installed so that they are closed. For this purpose either use a connecting cable, a closed terminating resistor plug (M12 pins, 5-pole, A-coded), or a cap.

• The connecting cable and terminating resistor plug can be procured freely from various cable manufacturers (e.g. Lapp or Turck).

• If you want to disconnect individual nodes, ensure that the bus terminations at the cable ends remain active. Otherwise the bus may become instable.

• Observe that the bus terminator is no longer active when the terminating resistor plug has been removed.

S SS

S S

1 23

E94YCPM012b

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Communication manual 8400 motec CANopen

Installation Electrical installation

5.2.3 Specification of the bus cable

We recommend the use of CAN cables in accordance with ISO 11898-2:

CAN cable in accordance with ISO 11898-2

Cable type Paired with shielding

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

(AWG20)

(AWG22)

Observe the notes provided on the Bus cable length

5.2.4 Bus cable length

 Note!

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

• Please take into account the reduction of the total cable length due to the

• Mixed operation refers to different nodes being connected to the same

Total cable length

• If the total cable lengths of the nodes are different at the same baud rate, the

1. Check that the total cable length is not exceeded.

The total cable length is determined by the baud rate.

( 26)!

signal delay of the repeater.

Consider the use of repeaters

( 28)

network.

smaller value must be used to determine the maximum cable length.

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

20 4013

50 1575

125 600

250 275

500 113

800 38

1000 13

[5-1] Total cable length

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Communication manual 8400 motec CANopen

Segment cable length

2. Check that the segment cable length is not exceeded

The segment cable length is determined by the number of nodes and the cable cross-section used. Without a repeater, the segment cable length corresponds to the total cable length.

Installation

Electrical installation

Maximum 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

[5-2] Segment cable length

3. Compare both values.

If the value determined from the Segment cable length the required total cable length Total cable length Repeaters divide the total cable length into segments.

Selection example

Given

• Cable cross-section: 0.5 mm

• Number of nodes: 63

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

Cable cross-section

0.25 mm

0.5 mm

0.75 mm

1 mm

[5-2] table is smaller than

[5-1], repeaters must be used.

, according to Specification of the bus cable ( 26)

Based on the given specifications, the following cable lengths/number of repeaters result for a maximum of 63 nodes:

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

Max. cable length [m] 4013 1575 600 275 113 38 13

Segment cable length [m] 270 270 270 270 113 38 13

Number of repeaters 15621- - -

EDS84DMOTCAN EN 3.0 - 11/2011 L 27

Communication manual 8400 motec CANopen

Installation Electrical installation

Consider the use of repeaters

 Note!

The use of an additional repeater is recommended as:

• Service interface – Advantage: Trouble-free connecting during ongoing bus operation is

possible.

• Calibration interface – Advantage: Calibration/programming units remain electrically isolated.

Given

• Baud rate: 125 kbps

• Cable cross-section: 0.5 mm

• Number of nodes: 28

• Cable length: 450 m

Steps Cable length See

1 Total cable length at 125 kbps: 600 m Table Total cable length

2 Segment cable length for 28 nodes and a

cable cross-section of 0.5 mm

3 Comparison: The value determined in

step 2 is smaller than the required cable length of 450 m.

360 m Table Segment cable length

( 27)

Conclusion:

 A cable length of 450 m is not possible without installing a repeater.

 After 360 m (step 2), a repeater must be installed.

Result:

 The Lenze repeater, type 2176 (cable reduction: 30 m), is used  Calculation of the max. cable length:

– First segment: 360 m – Second segment: 360 m (according to the table Segment cable length

[5-2] ( 27))

minus 30 m (cable reduction when a repeater is used)

 Max. possible cable length with one repeater: 690 m

– Now the required cable length is possible.

[5-1] ( 26)

[5-2]

28 L EDS84DMOTCAN EN 3.0 - 11/2011

5.2.5 CANopen connection

CANopen connection

Pin Signal Description

1 - Not assigned

2 - Not assigned

3CG CAN GND potential

4 CH CAN-High data line

5CL CAN-Low data line

Communication manual 8400 motec CANopen

Installation

Electrical installation

 Input: M12 pins, 5-pole, A-coded

 Wiring at terminal strip X3

 Output: M12 socket, 5-pole, A-coded

 Wiring at terminal strip X3

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Communication manual 8400 motec CANopen

Commissioning Before initial switch-on

6 Commissioning

During commissioning, system-related data such as motor parameters, operating parameters, responses, and parameters for fieldbus communication are defined for the controller. For Lenze devices, this is done via the codes.

The codes of the controller and communication are saved non-volatilely as a data set in the memory module.

In addition, other codes are also available for diagnosing and monitoring the nodes.

Parameter reference

6.1 Before initial switch-on

 Stop!

Before switching on the device for the first time, please check ...

• the entire wiring for completeness, short circuit, and earth fault.

• whether the bus system is terminated through a bus terminating resistor at the first and last physical node.

Bus termination

( 75)

( 25)

30 L EDS84DMOTCAN EN 3.0 - 11/2011

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