Lenze EMF2178IB User Manual

Download

EDSMF2178IB

.Li|

Ä.Li|ä

L−force Communication

Communication Manual

CANopen

EMF2178IB

Communication module

Contentsi

1 About this documentation 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Document history 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Conventions used 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Terminology used 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Notes used 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Safety instructions 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General safety information 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Device− and application−specific safety instructions 12 . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Residual hazards 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Product description 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Application as directed 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Identification 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Product features 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Connections and interfaces 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Technical data 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 General data and operating conditions 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Protective insulation 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Communication time 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Dimensions 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Installation 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Mechanical installation 22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Electrical installation 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Wiring according to EMC (CE−typical drive system) 23 . . . . . . . . . . . . . . . . .

5.2.2 Wiring with a host (master) 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Wiring system bus (CAN) 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 Specification of the transmission cable 26 . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.5 Bus cable length 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 Voltage supply 30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Commissioning 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Before switching on 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Installing EDS files 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Setting node address and baud rate 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Initial switch−on 36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Enable drive via the communication module 37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EDSMF2178IB EN 3.0

Contents i

7 Replacing the EMF2172IB communication module (CAN) 39 . . . . . . . . . . . . . . . . . . . . . . . .

8 Data transfer 42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 Structure of the CAN telegram 42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 CAN communication phases / network management (NMT) 45 . . . . . . . . . . . . . . .

9 Process data transfer 48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1 Available process data objects 48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2 Configuring process data channel 50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 Cyclic process data objects 51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.1 Process data signals of Lenze controllers 52 . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.2 Mapping in CANopen objects (I−160x, I−1A0x) 65 . . . . . . . . . . . . . . . . . . . . .

10 Parameter data transfer 69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1 Access to the codes of the controller 70 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2 Lenze parameter sets 71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.1 Parameter sets for 8200 vector controller 71 . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.2 Parameter sets for controller 93XX 72 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3 Structure of the parameter data telegram 73 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4 Error codes 76 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5 Examples of parameter data telegram 77 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.6 Special features for parameter setting of the drive controller 81 . . . . . . . . . . . . . . .

10.6.1 8200 vector controller 81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.6.2 9300 Servo PLC / Drive PLC / ECS 81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11 Monitoring 83 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.1 Heartbeat Protocol 83 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.2 Node Guarding Protocol 85 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3 Emergency telegram 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12 Diagnostics 88 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1 Measures in case of troubled communication 88 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2 LED status displays 89 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EDSMF2178IB EN 3.0

Contentsi

13 Implemented CANopen objects 91 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.1 Reference between CANopen object and Lenze code 91 . . . . . . . . . . . . . . . . . . . . . . .

13.2 Overview 92 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.1 I−1000: Device type 96 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.2 I−1001: Error register 96 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.3 I−1003: Error history 97 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.4 I−1005: COB−ID SYNC message 98 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.5 I−1006: Communication cycle period 99 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.6 I−1008: Manufacturer’s device name 99 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.7 I−100A: Manufacturer software version 100 . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.8 I−100C: Guard time 100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.9 I−100D: Life time factor 101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.10 I−1010: Store parameters 101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.11 I−1011: Restore default parameters 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.12 I−1014: COB−ID emergency object 104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.13 I−1015: Emergency inhibit time 105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.14 I−1016: Consumer heartbeat time 105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.15 I−1017: Producer heartbeat time 106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.16 I−1018: Module device description 106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.17 I−1029: Error behaviour 106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.18 I−1200/I−1201: Server SDO parameters 107 . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.19 I−1400 ... I−1402: Receive PDO communication parameters 109 . . . . . . . . .

13.2.20 I−1600 ... I−1602: Receive PDO mapping parameters 111 . . . . . . . . . . . . . . .

13.2.21 I−1800 ... I−1802: Transmit PDO communication parameters 112 . . . . . . . .

13.2.22 I−1A00 ... I−1A02: Transmit PDO mapping parameters 114 . . . . . . . . . . . . . .

14 Codes 115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.1 Overview 115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.2 Communication−relevant Lenze codes 119 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3 Important controller codes 144 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15 Index 149 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EDSMF2178IB EN 3.0

0Fig. 0Tab. 0

1 About this documentation

Contents

This documentation exclusively contains descriptions of the EMF2178IB communication module (CANopen).

) Note!

This documentation supplements the mounting instructions supplied with the function/communication module and the documentation of the used

standard device. The mounting instructions contain safety instructions which must be

observed!

The features and functions of the communication module are described in detail.

Examples illustrate typical applications.

About this documentation 1

Furthermore this documentation contains the following:

ƒ Safety instructions that must be observed.

ƒ Key technical data relating to the communication module

ƒ Information on versions of Lenze standard devices to be used.

ƒ Notes on troubleshooting and fault elimination

The theoretical correlations are only explained in so far as they are necessary for comprehending the function of the communication module.

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

All brand names mentioned in this manual are trademarks of their respective companies.

I Tip!

For further information visit the homepage of the CAN user organisation CiA (CAN in Automation): www.can−cia.org.

© 2013 Lenze Drives GmbH, Postfach 10 13 52, D−31763 Hameln No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drives GmbH. All information given in this documentation has been selected carefully and complies with the hardware and software described. Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur. Necessary corrections will be included in subsequent editions.

EDSMF2178IB EN 3.0

About this documentation1

Target group

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

I Tip!

Information and auxiliary devices related to the Lenze products can be found in the download area at

http://www.Lenze.com

Validity information

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

ƒ EMF2178IB communication modules (CANopen) as of version 1x.2x.

EDSMF2178IB EN 3.0

1.1 Document history

Material no. Version Description

− 1.0 01/2008 TD17 First edition

13127634 2.0 07/2011 TD17 General revision

.Li|

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

3.0 06/2013 TD17 l New chapter "Replacing communication module

About this documentation

Document history

EMF2172IB (CAN)" (^ 39)

l General updates

EDSMF2178IB EN 3.0

About this documentation

Conventions used

1.2 Conventions used

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

Type of information Identification Examples/notes

Spelling of numbers

Decimal separator

Decimal Standard notation Example: 1234

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

Binary

l Nibble

Text

Program name » « PC software

Icons

Page reference ^ Reference to another page with additional

Documentation reference , Reference to another documentation with

Point In general, the decimal point is used.

For instance: 1234.56

0b[0, 1]

Point

Example: ´0b0110´ Example: ´0b0110.0100´

For example: »Engineer«, »Global Drive Control« (GDC)

information For instance: ^ 16 = see page 16

additional information For example: , EDKxxx = see documentation EDKxxx

EDSMF2178IB EN 3.0

1.3 Terminology used

Term Meaning

Standard device

Drive

»Global Drive Control« / »GDC«

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

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

Lenze setting

Basic setting

HW Hardware

SW Software

PDO Process data object

SDO Service data object

About this documentation

Terminology used

Lenze controllers that can be used with the communication module. ^ 13

PC software from Lenze which supports you in "engineering" (parameter setting, diagnosing, and configuring) during the entire life cycle, i.e. from planning to maintenance of the commissioned machine.

the term is usually called "Index".

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

These are settings the device is preconfigured with ex works.

EDSMF2178IB EN 3.0

1.4 Notes used

About this documentation

Notes used

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

Safety instructions

Structure of safety instructions:

} Danger!

Pictograph and signal word Meaning

{ Danger!

} Danger!

( Stop!

Application notes

(characterises the type and severity of danger)

Note

(describes the danger and gives information about how to prevent dangerous situations)

Danger of personal injury through dangerous electrical voltage.

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

Danger of personal injury through a general source of danger.

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

Danger of property damage.

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

Pictograph and signal word Meaning

) Note! I Tip! ,

Important note to ensure troublefree operation

Useful tip for simple handling

Reference to another documentation

EDSMF2178IB EN 3.0

2 Safety instructions

) Note!

It is absolutely vital that the stated safety measures are implemented in order to prevent serious injury to persons and damage to material assets.

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

2.1 General safety information

} Danger!

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

Safety instructions

General safety information

ƒ Lenze drive and automation components ...

... must only be used for the intended purpose. ... must never be operated if damaged. ... must never be subjected to technical modifications. ... must never be operated unless completely assembled. ... must never be operated without the covers/guards. ... can − depending on their degree of protection − have live, movable or rotating parts

during or after operation. Surfaces can be hot.

ƒ For Lenze drive components ...

... only use permitted accessories. ... only use original manufacturer spare parts.

ƒ All specifications of the corresponding enclosed documentation must be observed.

This is vital for a safe and trouble−free operation and for achieving the specified product features.

The procedural notes and circuit details provided in this document are proposals which the user must check for suitability for his application. The manufacturer does not accept any liability for the suitability of the specified procedures and circuit proposals.

ƒ Only qualified skilled personnel are permitted to work with or on Lenze drive and

automation components. According to IEC 60364 or CENELEC HD 384, these are persons ... ... who are familiar with the installation, assembly, commissioning and operation of

the product, ... possess the appropriate qualifications for their work, ... and are acquainted with and can apply all the accident prevent regulations, directives

and laws applicable at the place of use.

EDSMF2178IB EN 3.0

2.2 Device− and application−specific safety instructions

Safety instructions

Device− and application−specific safety instructions

ƒ During operation, the communication module must be securely connected to the

standard device.

ƒ 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).

ƒ Only use cables that meet the given specifications. (¶ 26)

, Documentation of the standard device, control system, and plant/machine

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

2.3 Residual hazards

Protection of persons

ƒ If controllers are connected to phase−earthed system with a rated mains voltage

³ 400 V, external measures need to be implemented to provide reliable protection against accidental contact. (see chapter "4.2", ^ 18)

Device protection

ƒ The communication module contains electronic components that can be damaged

or destroyed by electrostatic discharge.

EDSMF2178IB EN 3.0

3 Product description

3.1 Application as directed

The communication module ...

ƒ enables communication with Lenze controllers over the CAN bus with the CANopen

communication profile.

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

ƒ can be used in conjunction with the following Lenze controllers:

Product description

Application as directed

Series Device type

8200 vector E82xVxxxKxBxxxXX Vx 1x 8200 vector frequency inverter

9300

9300 vector

ECS servo system

Drive PLC EPL10200−xI ... EPL10203−xI 1x 8x Drive PLC

1) Operating system software versions of the controllers

EVS9321−xS ... EVS9332−xS 2x 1x Servo inverter

EVS9321−xK ... EVS9332−xK 2x 1x Servo cam profiler

EVS9321−xP ... EVS9332−xP 2x 1x Servo position controller

EVS9321−xR ... EVS9332−xR 2x 1x Servo register controller

EVS9321−xI ... EVS9332−xI 2x 8x

EVS9321−xT ... EVS9332−xT 2x 8x

EVF9321−xV ... EVF9333−xV 2x 1x

EVF9335−xV ... EVF9338−xV 1x 0x

EVF9381−xV ... EVF9383−xV 1x 0x

ECSxSxxxC4xxxxXX 1A 6x "Speed and Torque"

ECSxPxxxC4xxxxXX 1A 6x "Posi and Shaft"

ECSxMxxxC4xxxxXX 1A 6x "Motion"

ECSxAxxxC4xxxxXX 1A 6x "Application"

Version

HW SW

Explanation

9300 servo PLC

9300 vector frequency inverter

Any other use shall be deemed inappropriate!

EDSMF2178IB EN 3.0

Product description

Identification

3.2 Identification

Type

Id.-No.

Prod.-No.

Ser.-No.

E82AF000P0B201XX

Type code  W 33.2178IB 1x 2x

Series

Hardware version

Software version



99371BC013

EDSMF2178IB EN 3.0

3.3 Product features

ƒ Attachable communication module for the basic Lenze devices 8200 vector, 93XX,

9300 Servo PLC, Drive PLC, ECSXX

ƒ Front DIP switches for setting the ...

– CAN node address (max. 127 nodes) – baud rate (10, 20, 50, 125, 250, 500 and 1000 kbit/s)

ƒ Bus expansion without repeater up to 7450 m

ƒ Topology: Line terminated at both ends (R = 120 W)

ƒ Simple connection through plug−on screw terminals

ƒ Together with a 9300 Servo PLC, additional CANopen application profiles can be

implemented.

Product description

Product features

EDSMF2178IB EN 3.0

Product description

Connections and interfaces

3.4 Connections and interfaces

EMF2178IB

Address Bd

GND

CAN_L

CANopen

CAN_H

SHLD

V+

2178

2178CAN003

Legend for fold−out page

Pos. Description Detailed

0 Connection status to standard device (two−colour LED) 1 Connection status to fieldbus (two−colour LED) 2 Operating status of standard device (green and red Drive LED) 3 Fixing screw 4 Plug connector with double screw connection, 5−pole ^ 24 5 PE shield cable connection 6 DIP switches for setting the

l node address (switches 1 ... 7) l baud rate (switches 8 ... 10)

8 Nameplate ^ 14

information

^ 89

^ 33

2102LEC007

EDSMF2178IB EN 3.0

General data and operating conditions

4 Technical data

4.1 General data and operating conditions

Field Values

Order designation EMF2178IB Communication media DIN ISO 11898 Network topology Line terminated at both ends (R = 120 W) Communication profile CANopen, DS301 V4.01 Node addresses Max. 127 Cable length Max. 7450 m (depending on the baud rate, ^ 27) Baud rate [kbit/s] 10, 20, 50, 125, 250, 500, 1000 Voltage supply

Internal or external supply possible for basic devices: 8200 vector / 93XX / 9300 Servo PLC / Drive PLC / ECSXX (also see ^ 30)

External supply via separate power supply unit:

V+: V = 24 V DC ± 10 %

I = 100 mA

GND:

Reference potential for external voltage supply

Technical data

, Documentation for Lenze series of devices 8200 vector, 9300 and ECS

Here you can find the ambient conditions and the electromagnetic compatibility (EMC) specifications applying to the communication module.

EDSMF2178IB EN 3.0

Technical data

Protective insulation

4.2 Protective insulation

{ Danger!

Dangerous electrical voltage

If Lenze controllers are used on a phase earthed mains with a rated mains voltage ³ 400 V, protection against accidental contact is not ensured without implementing external measures.

Possible consequences:

ƒ Death or serious injury

Protective measures:

ƒ If protection against accidental contact is required for the control terminals

of the controller and the connections of the plugged device modules, ... – a double isolating distance must exist. – the components to be connected must be provided with the second

isolating distance.

Protective insulation between the bus and ... Type of insulation according to EN 61800−5−1

Reference earth / PE Functional insulation

External supply No functional insulation

Power section

l 8200 vector Double insulation

l 9300 vector, Servo PLC Double insulation

l Drive PLC Double insulation

l ECSXX Double insulation

Control terminals

l 8200 vector

(with internal supply, ^ 30)

l 8200 vector

(with external supply, ^ 30)

l 9300 vector, Servo PLC Basic insulation

l Drive PLC Basic insulation

l ECSXX Basic insulation

No functional insulation

Basic insulation

EDSMF2178IB EN 3.0

4.3 Communication time

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

The CAN bus communication times depend on ...

ƒ the processing time in the controller (see documentation of the controller)

ƒ Telegram runtime

– baud rate – telegram length

ƒ the data priority

ƒ the bus load

Processing time in the controller

Technical data

Communication time

, Documentation for the controller

Here you can find information on the processing times in the controller.

Telegram time

The telegram times depend on the baud rate and the telegram length:

Baud rate

[kbit/s]

0 bytes 2 bytes 8 bytes

10 5.44 7.36 13.12 20 2.72 3.68 6.56 50 1.09 1.47 2.62 125 0.44 0.59 1.05 250 0.22 0.29 0.52 500 0.11 0.15 0.26 1000 0.05 0.07 0.13

Telegram runtime

[ms]

EDSMF2178IB EN 3.0

Technical data

Dimensions

4.4 Dimensions

Address Bd

GND

Fig. 4−1 Dimensions of the communication module (all dimensions in mm)

CAN_L

CANopen

CAN_H

SHLD

V+

2178

2178CAN003

EDSMF2178IB EN 3.0

5 Installation

} Danger!

Inappropriate handling of the communication module and the standard device can cause serious personal injury and material damage.

Observe the safety instructions and residual hazards described in the documentation for the standard device.

( Stop!

The device contains components that can be destroyed by electrostatic discharge!

Before working on the device, the personnel must ensure that they are free of electrostatic charge by using appropriate measures.

Installation 5

EDSMF2178IB EN 3.0

5.1 Mechanical installation

Installation

Mechanical installation

Fig. 5−1 Attaching the communication module

ƒ Plug the communication module onto the standard device (here: 8200 vector).

ƒ Tighten the communication module to the standard device using the fixing screw in

order to ensure a good PE connection.

2102LEC014

) Note!

For the internal supply of the communication module by the 8200 vector frequency inverter the jumper has to be adjusted within the interface opening (see illustration above).

Observe the notes (¶ 30).

EDSMF2178IB EN 3.0

Wiring according to EMC (CE−typical drive system)

5.2 Electrical installation

5.2.1 Wiring according to EMC (CE−typical drive system)

For wiring according to EMC requirements observe the following points:

) Note!

ƒ Separate control cables/data lines from motor cables. ƒ Connect the shields of control cables/data lines at both ends in the case of

digital signals.

ƒ Use an equalizing conductor with a cross−section of at least 16mm

(reference:PE) to avoid potential differences between the bus nodes.

ƒ Observe the other notes concerning EMC−compliant wiring given in the

documentation for the standard device.

Procedure for wiring

Installation

Electrical installation

1. Observe the bus topology, i.e. do not use stubs.

2. Observe notes and wiring instructions in the documents for the control system.

3. Only use cables corresponding to the listed specifications (¶ 26).

4. Observe the permissible bus cable length (¶ 27)

5. Connect bus terminating resistors of 120 W each (scope of supply): – only to the physically first and last node – between the terminals CAN−LOW and CAN−HIGH

EDSMF2178IB EN 3.0

Installation

Electrical installation Wiring with a host (master)

5.2.2 Wiring with a host (master)

{ Danger!

An additional electrical isolation is required if a safe electrical isolation (reinforced insulation) to EN61800−5−1 is necessary.

For this purpose for instance an interface module for the master computer with an additional electrical isolation can be used (see respective manufacturer information).

For wiring observe the electrical isolation of the supply voltage. The supply voltage is on the same potential as the data bus.

The 5−pole plug connector with double screw connection serves to

ƒ connect the bus (¶ 25);

ƒ effect the external voltage supply (¶ 30).

CAN_H

CAN_L

SHLD

GND

120W

V+

2178CAN003

Fig. 5−2 5−pole plug connector with double screw connection

Designation Explanation

GND Reference potential for external voltage supply

CAN−GND connection CAN_L Data line / input for terminating resistor 120 W

SHIELD Shielding

CAN_H Data line / input for terminating resistor 120 W

V+ External voltage supply

EDSMF2178IB EN 3.0

Installation

Electrical installation

Wiring system bus (CAN)

5.2.3 Wiring system bus (CAN)

Structure of a CAN bus system (example)

The CAN bus system is designed as a 2 conductor (twisted pair) shielded with additional mass and termination at both ends of the line.

For sending and receiving data the following paths are available:

ƒ Max. three process data channels (PDO = Process Data Object)

– Process data are sent via the process data channel and are used for high−speed and

high−priority control tasks. Typical process data are, for instance, control words, status words, setpoints and actual values of a standard device.

ƒ Two parameter data channels (SDO = Service Data Object)

– The parameters are transferred at lower priority than the process data and are set

or changed e.g. during commissioning or product change.

– The parameters are accessed via the parameter data channels of the EMF2178IB

communication module to the codes of the basic Lenze device or the corresponding CANopen objects.

– With both parameter data channels, two masters can be connected to a standard

device. A PC (e.g. with the Lenze software "Global Drive Control") or an operator terminal serve to change parameters directly at the standard device during operation of a system connected to PLC. The second parameter data channel can be reached under the set address (via DIP switch or C0009) with an offset of "64". If, e.g., a PLC addresses the standard device with the address "1" and a second commanding device the address "65", always the same standard device is addressed.

– The second parameter channel is deactivated in the default state.

) Note!

ƒ The last telegram determines the parameter when a parameter is accessed

by two units (see CANopen objects 1200 and 1201 "Server SDO Parameters".(¶ 107)).

ƒ Please observe the notes in the chapter 6Commissioning (¶ 33), if you do

not select the baud rate and address via the front DIP switches.

EDSMF2178IB EN 3.0

Installation

Electrical installation Specification of the transmission cable

V+

SHLD

CAN_L

CAN

GND

LOW

HIGH

GND

CAN_H

EMF2178IB

GND

120 W

Fig. 5−3 Connection to the plug connector

5.2.4 Specification of the transmission 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 W (95 ... 140 W)

Cable resistance/cross−section

Cable length £ 300 m £ 70 mW/m / 0.25  0.34 mm2 (AWG22)

Cable length 301  1000 m £ 40 mW/m / 0.5 mm2 (AWG20)

Signal propagation delay £ 5 ns/m

120 W

2178CAN002

EDSMF2178IB EN 3.0

Installation

Electrical installation

Bus cable length

5.2.5 Bus cable length

) Note!

ƒ It is absolutely necessary to comply with the permissible cable lengths. ƒ If the total cable lengths of the CAN nodes differ for the same baud rate, the

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

ƒ Observe the reduction of the total cable length due to the signal delay of the

repeater.

5.2.5.1 Total cable length

The baud rate determines the total cable length.

Baud rate [kbps] Max. bus length [m] 10 7450 20 3950 50 1550 125 630 250 290 500 120 1000 25

Tab. 5−1 Total cable length

EDSMF2178IB EN 3.0

Installation

Electrical installation Bus cable length

5.2.5.2 Segment cable length

The segment cable length is determined by the cable cross−section used and by the number of nodes. Repeaters divide the total cable length into segments. If no repeaters are used, the segment cable length is identical to the total cable length.

Max. number of nodes per segment

2 240 m 430 m 650 m 940 m 5 230 m 420 m 640 m 920 m 10 230 m 410 m 620 m 900 m 20 210 m 390 m 580 m 850 m 32 200 m 360 m 550 m 800 m 63 170 m 310 m 470 m 690 m 100 150 m 270 m 410 m 600 m

Tab. 5−2 Segment cable length

Cable cross−section

(can be interpolated)

0.25 mm (AWG24)

0.5 mm (AWG21)

0.75 mm (AWG19)

1.0 mm (AWG18)

Example: Selection help

Given

Total cable length to be implemented 200 m

Number of nodes 63

Results

Max. possible baud rate 250 kbps

(derived from Tab. 5−1 Total cable length)

Required cable cross−section (interpolated) 0.30 mm2 (AWG23)

(derived from Tab. 5−2 Segment cable length)

Cable cross−section of standard CAN cable 0.34 mm2 (AWG22)

(see specification of the transmission cable ^ 26)

EDSMF2178IB EN 3.0

5.2.5.3 Checking the use of repeaters

Compare the values derived from Tab. 5−1 Total cable length (¶ 27) and Tab. 5−2 Segment cable length (¶ 28).

ƒ If the sum of the segment cable lengths is smaller than the total cable length to be

implemented, either repeaters must be used or the cable cross−section must be increased.

ƒ If the use of repeaters reduces the max. possible total cable length so much that it is

smaller than the total cable length to be implemented, then the cable cross−section must be increased or less repeaters must be used or the baud rate must be decreased.

ƒ The use of a further repeater is recommended as ...

– service interface

Advantage: Trouble−free connection during bus operation is possible.

– calibration interface

Advantage: The calibration/programming unit remains electrically isolated.

Installation

Electrical installation

Bus cable length

Example

Given

Total cable length to be implemented 450 m

Number of nodes 32

Cable cross−section 0.50 mm2 (AWG 20)

Baud rate 125 kbps

Repeater used Lenze repeater EMF2176IB

Reduction of the max. total cable length per repeater (EMF2176IB)

Results

Max. total cable length 630 m

Max. segment cable length 360 m

Comparison The max. segment cable length is smaller than the total cable

Conclusion A repeater must be installed at the determined max. segment

Results with 1 repeater

Max. total cable length 600 m

Max. segment cable length 720 m

Comparison Both the possible total cable length and the segment cable lengths

Conclusion 1 repeater is sufficient to implement the total cable length of 450

30 m

(see Tab. 5−1 Total cable length (^ 27))

(see Tab. 5−2 Segment cable length (^ 28))

length to be implemented.

cable length of 360 m.

(Reduction of the total cable length (^ 27) by 30 m)

are larger than the total cable length to be implemented.

EDSMF2178IB EN 3.0

Installation

Electrical installation Voltage supply

5.2.6 Voltage supply

Internal voltage supply

) Note!

Internal voltage supply has been selected in the case of standard devices with an extended AIF interface opening (e.g. front of 8200 vector). The area shown on a grey background in the graphic marks the jumper position.

ƒ By default, this is not supplied internally in the standard device. ƒ For internal voltage supply place the jumper on the position indicated

below.

In the case of all other device series (9300, ECS), voltage is always supplied from the standard device.

(Only external voltage supply possible.)

Lenze setting

Internal voltage supply

External voltage supply

) Note!

In the case of an external voltage supply and for greater distances between the control cabinets, always use a separate power supply unit (SELV/PELV) that is safely separated in accordance with EN 61800−5−1 in each control cabinet.

The external voltage supply of the communication module ...

ƒ is required if communication via the fieldbus is to be continued in case the supply of

the standard device fails.

ƒ is carried out via the 2−pole plug connector with screw connection (24 V DC):

Terminal Description

V+ External voltage supply

V = 24VDC±10% I = 100 mA

GND Reference potential for external voltage supply

ƒ The parameters of a basic device disconnected from the mains cannot be accessed.

EDSMF2178IB EN 3.0

Electrical installation

Terminal data

Area Values

Electrical connection Plug connector with screw connection

Possible connections

Tightening torque 0.5 ... 0.6 Nm (4.4 ... 5.3 lb−in)

Stripping length 6 mm

rigid:

flexible:

1.5 mm

without wire end ferrule

1.5 mm with wire end ferrule, without plastic sleeve

1.5 mm with wire end ferrule, with plastic sleeve

1.5 mm

(AWG 16)

Installation

Voltage supply

EDSMF2178IB EN 3.0

Commissioning

Before switching on

6 Commissioning

During commissioning, system−dependent data as e.g. motor parameters, operating parameters, responses and parameters for fieldbus communication are selected for the controller.

In Lenze devices, this is done via codes. The codes are stored in numerically ascending order in the Lenze controllers and in the plugged−in communication/function modules.

In addition to these configuration codes, there are codes for diagnosing and monitoring the bus devices.

6.1 Before switching on

( Stop!

Before you switch on the standard device with the communication module for the first time, check

ƒ the entire wiring with regard to completeness, short circuit, and earth fault. ƒ whether the bus system is terminated by a bus terminating resistor at the

physically first and last node.

6.2 Installing EDS files

The EDS files serve to implement the Lenze communication modules for the AIF and FIF interfaces into the CANopen configuration software.

The single EDS files describe the implemented CANopen functions of the respective communication module and the "on board" Lenze system bus (CAN).

I Tip!

The current EDS file required for configuring the EMF2178IB (CANopen) communication module can be found in the download area on:

www.Lenze.com

EDSMF2178IB EN 3.0

6.3 Setting node address and baud rate

The node address and the baud rate can be set via codes or via the DIP switches arranged at the front:

ƒ Node address: Switches 1 ... 7 / code C1850/C2350

ƒ Baud rate: Switches 8 ... 10 / code C1851/C2351

The Lenze setting of all DIP switches is OFF.

) Note!

Settings via codes

ƒ In the Lenze setting ˘ Address switches 1 ... 7 = OFF ˘, the values are

accepted from the codes C1850/C2350 (node address) and C1851/C2351 (baud rate).

– Node addresses > 99 can only be set via DIP switch. – The baud rates 10 kbps and 20 kbps can only be selected via DIP switch.

ƒ Writing the codes (e.g. with GDC via CAN) has a direct effect on the standard

device codes C0009 and C0126.

ƒ Acceptance of code changes by:

– Switching off and then on again the voltage supply; – "Reset node" with C0358 = 1; – Network management command "Reset Communication"; – Set C2120 (AIF control byte) = 1.

ƒ The codes are inactive if at least one address switch (1 ... 7) has been set to

ON position before a renewed mains connection.

Commissioning

Setting node address and baud rate

EDSMF2178IB EN 3.0

Commissioning

Setting node address and baud rate

Node address setting

BdAddress

OPEN

OFF

12345678910

Fig. 6−1 Address assignment via DIP switch

ƒ If several devices are connected to the CAN network, the node addresses must differ

from each other.

ƒ The desired node address results from the sum of the values of switches (1 ... 7) in

ON position.

Example

Switch Value

164OFF

2 32 OFF

3 16 ON

4 8 OFF

5 4 ON

6 2 ON

7 1 ON

Switch position Node address

16 + 4 + 2 + 1 = 23

) Note!

Switch off the voltage supply of the communication module, and then switch it on again to activate the changed settings.

EDSMF2178IB EN 3.0

Setting node address and baud rate

Baud rate setting

BdAddress

OPEN

OFF

12345678910

Fig. 6−2 Baud rate setting

ƒ The baud rate must be the same for all CAN nodes.

ƒ The following baud rates can be set:

Commissioning

Baud rate [kbps]

8 9 10

10 ON ON OFF 20 ON OFF ON 50 OFF ON ON 125 OFF ON OFF 250 OFF OFF ON 500 OFF OFF OFF 1000 ON OFF OFF

Switch

) Note!

Switch off the voltage supply of the communication module, and then switch it on again to activate the changed settings.

EDSMF2178IB EN 3.0

6.4 Initial switch−on

Commissioning

Initial switch−on

) Note!

Do not change the setting sequence.

1. Switch on the standard device and, if necessary, the external voltage supply of the communication module.

– The green LED 0 on the front of the communication module is lit. – The status LED of the standard device (Drive LED) 2 must be lit or blinking. The

meaning of the signalling can be found in the standard device documentation.

2. You can now communicate with the drive, i. e. – all parameters (SDO) can be read; – all writable parameters (SDO) can be overwritten.

3. After a state change ("Operational") process data can be exchanged with the drive.

2172CAN000D

Fig. 6−3 LEDs of the communication module

EDSMF2178IB EN 3.0

Enable drive via the communication module

6.5 Enable drive via the communication module

) Note!

ƒ During operation, the plugging of the communication module onto a

different controller may cause undefined operating states.

ƒ Observe the information on the CAN configuration and controller enable in

the documentation of the corresponding controller.

Enable the 8200 vector via the communication module

Step Procedure Comments

1. Set C0001 from "0" to "3"

2. Assign 28 to HIGH level The terminal 28 (controller enable) is always active and must be assigned to

3. Assign input terminal for QSP to HIGH level

4. The controller now accepts parameter data and process data.

Enable 93XX via the communication module

The Lenze parameter C0001 (operating mode) can be set with the GDC, keypad XT or directly via CANopen. Example for direct setting via CANopen: Write (C0001 = 3)

l Index = 0x5FFE (resulting from: 0x5FFF − (C0001) l Subindex: 0 l Value: 30000 (resulting from: C0001 = 3 x 10000)

HIGH level during CANopen operation. Otherwise the controller cannot be enabled via CANopen.

The quick stop function (QSP) is always active. If QSP is configured to an input terminal (Lenze setting: Not assigned), it must be assigned to HIGH level during CANopen operation.

Commissioning

;)

hex

Step Procedure Comments

1. Set C0005 to th value "xxx3"

2. Set C0142 = 0 See "Protection against uncontrolled restart" (^ 38).

3. Assign 28 to HIGH level The terminal 28 (controller enable) is always active and must be assigned to

4. Assign terminal E1 to HIGH level

5. Connect terminal X5/A1 to

l X5/28 and l X5/E1

6. The controller now accepts parameter data and process data.

The value "xxx3" of the Lenze parameter C0005 (control of the controller via CANopen) can be set with the GDC, keypad XT or directly via CANopen. Example for the first commissioning with the signal configuration "1013": Write (C0005 = 1013)

l Index = 0x5FFA (resulting from: 0x5FFF − (C0005) l Subindex: 0 l Value: 10130000 (resulting from: C0005 = 1013 x 10000)

HIGH level during CANopen operation. Otherwise the controller cannot be enabled via CANopen.

If the signal configuration C0005 = 1013, the quick stop function (QSP) is assigned to the digital input terminals E1 and E2 in connection with the right/left change−over and thus always active.

Only affects the signal configuration C0005 = xx13 With this signal configuration the terminal A1 is switched as voltage output.

hex

)

EDSMF2178IB EN 3.0

Commissioning

Enable drive via the communication module

Enable ECSXX via the communication module

Step Procedure Comments

1. Select control interface "AIF" via code.

2. Set C0142 = 0 See "Protection against uncontrolled restart" (^ 38).

3. Assign terminals X6/SI1 and X6/SI2 to HIGH level

4. The controller now accepts parameter data and process data.

See documentation of the corresponding ECS controller.

The terminals X6/SI1 (controller enable/inhibit) and X6/SI2 (pulse enable/inhibit) are always active and must be assigned to HIGH level during CANopen operation. Otherwise, the controller cannot be enabled via CANopen.

Protection against uncontrolled restart

) Note!

Establishing communication

If communication is to be established via an externally supplied communication module, initially the standard device must also be switched on.

After communication has been established, the externally supplied module is independent of the power on/off state of the standard device.

Protection against uncontrolled restart

After a fault (e.g. short−term mains failure), a restart of the drive is not always wanted and − in some cases − even not allowed.

The restart behaviour of the controller can be set in C0142:

ƒ C0142 = 0 (Lenze setting)

– The controller remains inhibited (even if the fault is no longer active). – The drive starts up in a controlled manner by explicit controller enable:

93XX: Set terminal 28 to HIGH level. ECSXX: Set terminals X6/SI1 and X6/SI2 to HIGH level.

ƒ C0142 = 1

– An uncontrolled restart of the drive is possible.

EDSMF2178IB EN 3.0

Replacing the EMF2172IB communication module (CAN) 7

7 Replacing the EMF2172IB communication module (CAN)

Observe the following information when replacing the EMF2172IB (CAN) communication module by EMF2178IB (CANopen):

ƒ The communication modules feature different plug connectors for connecting the

voltage supply and the system bus (CAN).

ƒ The DIP switches of the communication modules feature different assignments for

setting the CAN node address and the baud rate (¶ 40). Furthermore there are different adjustable CAN address ranges:

Communication module CAN address range DIP switch

EMF2172IB (CAN) 1 ... 63 S4 ... S9

EMF2178IB (CANopen) 1 ... 127 S1 ... S7

ƒ Depending on the standard device used, the 2. SDO channel is activated via code

C1865/1 or C2365/1 (¶ 41).

Changing the wiring

The following illustration shows how you must carry out the previous wiring for the EMF2178IB communication module now.

Address Bd

1 - 3

4 - 9

addressbaud

24 V DC

CAN

Low

GND

High

2172

CANopen

CAN_H

CAN_L

SHLD

GND

V+

2178

2178CAN010

EDSMF2178IB EN 3.0

Replacing the EMF2172IB communication module (CAN)7

DIP switch settings

) Note!

On the EMF2178IB communication module, the switch S1 = OFF(Lenze setting) must remain set. (An address setting > 63 was not possible for EMF2172IB.)

1 - 3

OFF

CAN

4 - 9

addressbaud

OFF

Address

- -WS1 = OFF

S9 S2

S4 S7

Baudrate

S3 S8

S1 S10

Address Bd

CANopen

2178CAN011

Switch Value

Example

EMF2172IB EMF2178IB Switch position CAN node address

−S164 OFF

S9 S2 32 OFF

S8 S3 16 ON

S7 S4 8 OFF

16 + 4 + 2 + 1 = 23 S6 S5 4 ON

S5 S6 2 ON

S4 S7 1 ON

EDSMF2178IB EN 3.0

Replacing the EMF2172IB communication module (CAN) 7

Activate the 2. SDO channel

Depending on the standard device used, set code C1865/1 or C2365/1 to activate the

2. SDO channel.

Settings via the GDC/XT keypad for these standard devices:

EVS 93xx−ES EVS 93xx−EP EVS 93xx−EK EVS 93xx−ER EVF 93xx−EV E82EVxxx

1. Plug the EMF2178IB communication module onto

the standard device.

2. Use the GDC to set code C1865/1 = 1.

The setting is saved with mains failure protection directly in the communication module. When using the standard devices specified above, the setting can also be carried out beforehand.

EVS 93xx−EI EVS 93xx−ET EPL−10200 ECSxS/P/M/A

Use the GDC or XT keypad to set standard device code C2365/1 = 1 and save it with mains failure protection. After mains connection of one of the standard devices specified above, or after plugging on the EMF2178IB communication module, the contents of C2365 are written to the communication module.

EDSMF2178IB EN 3.0

Data transfer

Structure of the CAN telegram

8 Data transfer

Master and controller communicate with each other by exchanging data telegrams via the CAN bus.

The user data area of the CAN telegram either contains network management data, process dataor parameter data (^ 44).

Different communication channels are assigned to parameter and process data in the controller:

ƒ Process data are transferred via the process data channel.

ƒ Parameter data are transferred via the parameter data channel.

8.1 Structure of the CAN telegram

Control field CRC delimit. ACK delimit.

Start RTR bit CRC sequence ACK slot End

Identifier User data (0 ... 8 bytes)

l Network management

1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits

Fig. 8−1 Basic structure of the CAN telegram

l Process data l Parameter data

I Tip!

The identifier and the user data will be explained in more detail in this documentation.

The other signals refer to the transfer characteristics of the CAN telegram which are not described in this documentation.

For more information please refer to the homepage of the CAN user organisation CiA (CAN in Automation):

http://www.can−cia.org

EDSMF2178IB EN 3.0

Data transfer

Structure of the CAN telegram

Identifier (COB−ID)

The principle of the CAN communication is based on a message−oriented data exchange between a transmitter and various receivers. Here, all nodes can quasi simultaneously transmit and receive messages. In case of CANopen, a node orientation is achieved by having only one transmitter for each message.

The control which node is to receive a transmitted message is executed via the identifierin the CAN telegram, also called COB−ID(Communication Object Identifier). In addition to the addressing, the identifier contains information on the priority of the message and the type of user data.

With the exception of the network management and the sync telegram, the identifier consists of a basic identifier and the node address of the node to be addressed:

Identifier (COB−ID) = basic identifier + adjustable node address (Node−ID)

The identifier assignment is defined in the CANopen protocol.

Basic identifier

The basic identifier is preset as default with the following values according to the CANopen specification:

Object

NMT 0 0x000 Sync 128 0x080 Emergency X 128 0x080

PDO1 (Process data channel 1)

PDO2 (Process data channel 2)

PDO3 (process data channel 3)

SDO1 (Parameter data channel 1)

SDO2 (parameter data channel 2) Lenze setting: not active.

Node guarding / heartbeat X 1792 0x700

TPDO1

RPDO1

TPDO2

RPDO2

TPDO3

RPDO3

from the drive to the drive dec hex

Direction Basic identifier

X 384 0x180

X 512 0x200

X 640 0x280

X 768 0x300

X 896 0x380

X 1024 0x400

X 1408 0x580

X 1536 0x600

X 1472 0x5C0

X 1600 0x640

Node address (node ID)

Each node of the CAN network must be assigned with a node address (also called node ID) within the valid address range for unambiguous identification.

EDSMF2178IB EN 3.0

ƒ A node address must not be assigned more than once within a network.

ƒ The node address of the controller is configured under code C1850/C2350 or via DIP

switch(^ 33).

Data transfer

Structure of the CAN telegram

User data

The user data area of the CAN telegram either contains network management data, process dataor parameter data:

ƒ Network management data (NMT data)

Network management data contain information on the establishment of communication via the CAN network (^ 45).

ƒ Process data (PDO, Process Data Objects)

– Process data are transferred via the process data channel (see also chapter "Process

data transfer", ^ 48). – Process data serve to control the controller (slave). – Process data are transferred between the host and the controllers to ensure a

continuous exchange of current input and output data. – The host has direct access to process data. In the PLC, the data are, for instance,

directly assigned to the I/O area. An exchange between host and controller is

required as fast as possible. Small amounts of data can be transferred cyclically. – Process data are not saved in the controller. – Process data are, for instance, control words, status words, setpoints and actual

values.

ƒ Parameter data (SDO, Service Data Objects)

– Parameter data are transmitted as SDOs via the parameter data channel and

acknowledged by the receiver, i.e.the sender gets a feedback about the

transmission being successful or not (see also chapter "parameter data transfer",

^ 69). – The parameter data channel enables access to all Lenze codes and CANopen

indices. – The parameters for instance are set for the initial system set−up during

commissioning or when material is changed on the production machine. – In general, the parameter data transfer is not time−critical. – Parameter changes are automatically stored in the controller. – Parameter data for example are operating parameters, diagnostics information,

and motor data.

EDSMF2178IB EN 3.0

Data transfer

CAN communication phases / network management (NMT)

8.2 CAN communication phases / network management (NMT)

Regarding communication, the controller knows the following statuses:

Status Description

"Initialisation" After the controller is switched on, the initialisation phase is run through.

During this phase, the controller is not involved in the data exchange on the bus. A part of the initialisation or the complete initialisation can be run through again in every NMT status by transmitting different telegrams (see "state transition"). Here, all parameters are written with their set values. After completing the initialisation, the controller automatically adopts the "Pre−Operational" status.

"Pre−Operational" The controller can receive parameter data.

The process data are ignored.

"Operational" The controller can receive parameter data and process data.

"Stopped" Only network management telegrams can be received.

EDSMF2178IB EN 3.0

Data transfer

CAN communication phases / network management (NMT)

Network management (NMT) The telegram structure used for the network management contains the identifier and the

command included in the user data which consists of the command byte and the node address.

Telegrams with the identifier "0" and 2 byte user data are used to change between the different communication phases.

Identifier User data

Value = 0

11 bits

Fig. 8−2 Telegram for switching over the communication phases

A bus node, the network master, carries out the changes between the communication phases for the whole network.

With code C1852 / C2352 (¶ 125) you can set up the communication module for master or slave operation.

After an adjustable boot−up time in C1856/1 / C2356/1 in master operation, (¶ 130) the NMT command Start_Remote_Node is transmitted, which puts all nodes into the "Operational" status.

Only contains command

2bytes

) Note!

Only a change to "Operational" status enables communication via the process data!

Example:

If all nodes connected to the bus are to be switched from the "Pre−Operational" communication status to the "Operational" communication status via the CAN master, the identifier and the user data must have the following values in the transmission telegram:

ƒ Identifier: 0x00 (broadcast telegram) ƒ User data: 0x0100

EDSMF2178IB EN 3.0

CAN communication phases / network management (NMT)

State transitions

(1)

Initialisation

(2)

(14)

Pre-Operational

(7)

(4)

(13)

(3)

(12)

Operational

Fig. 8−3 State transitions in CAN network (NMT)

(5)

(6)

Stopped

(8)

(11)

(10)

(9)

Data transfer

E82ZAFU004

Status

transition

(1) − Initialisation

(2) − Pre−operational

From that moment on, the master changes the states for the whole network. A target address, which is part of the command, specifies the receiver(s).

(3), (6) 0x01yy Operational

(4), (7) 0x80yy Pre−operational

(5), (8) 0x02yy Stopped Only network management telegrams can be received.

(9) (10) (11) (12) (13) (14)

Command

(hex)

0x81yy

0x82yy

Network status after

change

Initialisation

Effects on process and parameter data after the status

change

Initialisation starts automatically when the mains is switched on. During initialisation, the drive does not take part in the data transfer. After initialisation has been completed, the node sends a boot−up message with an individual identifier on the CAN bus and changes automatically to the status "Pre−operational".

In this phase, the master determines the way in which the controller takes part in the communication.

Network management telegrams, sync, emergency, process data (PDOs) and parameter data (SDOs) active (like "Start remote node") Optional: When the status is changed, event and time−controlled process data (PDOs) will be sent once.

Network management telegrams, sync, emergency and parameter data (SDOs) active (like "Enter pre−operational state")

Initialises all parameters in the communication module with the stored values (corresponds to "Reset node")

Initialises communication−relevant parameters (CIA DS

301) in the communication module with the stored values (corresponds to "Reset communication")

EDSMF2178IB EN 3.0

yy = 00 In case of this assignment, the telegram addresses all devices connected. The

state of all devices can be changed at the same time.

yy = node ID If a node address is given, only the state of the device with the corresponding

address will be changed.

Process data transfer

Available process data objects

9 Process data transfer

Agreements

ƒ Process data telegrams between host (master) and controller (slave) are

distinguished as follows with regard to their direction: – Process data telegrams to the controller – Process data telegrams from the controller

ƒ In CANopen, the process data objects are named from the node’s view:

– RPDOx: A process data object received by a node – TPDOx: A process data object transmitted by a node

9.1 Available process data objects

Depending on the basic device used, up to 3 RPDOs and TPDOs can be available.

I Tip!

From the masters’s view, the following terms are used for process data transfer with the standard device and the plugged communication module:

ƒ The master sends the process data output words (POWs) as process output

data to the standard device

ƒ The master receives the process data input words (PIWs) as process input

data from the standard device.

EDSMF2178IB EN 3.0

Process data transfer

Available process data objects

Process data telegram to the controller (RPDO)

The identifier of the process data telegram includes the node address of the controller. The telegram has a maximum user data length of 8 bytes. This chapter describes which user data will be evaluated for the controllers.

The CAN bus is connected to the automation interface X1 via the communication module. X1 is connected to the function block AIF−IN. Here, the user data is transformed into corresponding signal types in order to use them for further function blocks. The control word is especially important for the controller. It contains the drive setpoint in user data bytes 1 and 2.

AIF−IN

Control word

Byte 1, 2 =

Byte 3, 4

Identifier

Fig. 9−1 Example: Process data telegram to controller

User data

8 bytes

X1 = AIF interface, e.g. 8200 vector

AIF

Process data telegram from the controller (TPDO)

For the cyclic process data telegrams from the controller, the function block to be used is called AIF−OUT. The status word (bytes 1 and 2) included in the process data telegram is transmitted on the CAN bus to the master via this function block.

EDSMF2178IB EN 3.0

9.2 Configuring process data channel

Process data transfer

Configuring process data channel

Selection of the setpoint source

Drive controller 8200 vector

The selection of the setpoint source for these controllers is determined with code C0001 (index: 0x5FFE). For process data evaluation the code C0001 must be set to 3 when operating the controller with the communication module.

The setpoint source is the process channel which overwrites the frequency setpoint (C0046) and the control word (C0135) (see documentation for 8200 vector).

) Note!

Please observe that the setpoint source selection (C0001) must be set equally in all parameter sets.

Drive controller 93XX

The 9300 controllers do not offer a setpoint source selection which can be set by one code only. For this purpose, you only need to connect preconfigured function blocks in order to adapt the controller to the drive task without being an expert in programming.

The user himself is able to carry out the interconnection. However, it is recommended to use the preconfigurations provided by Lenze, which are saved in the read−only memory of the controller. The Lenze preconfigurations (code C0005) define which source (terminal, keyboard, communication module) overwrites the frequency setpoint and the control word.

For operation via CAN bus, the value to be set under code C0005 must be set to "xxx3" (x = wildcard for selected preconfiguration).

, 9300 system manual

Here, you can find more detailed information.

PLC devices: 9300 Servo PLC / Drive PLC / ECSxA

For communicating via a communication module (e.g. EMF2178IB), it is necessary that the system blocks AIF−IN/OUT1 ... 3 and, if required, the AIF management are integrated into the control configuration of the IEC61131 project.

Axis modules of the ECS series

, Operating instructions for the axis modules of the ECS series

Here you can find detailed information on the process data configuration.

EDSMF2178IB EN 3.0

9.3 Cyclic process data objects

Synchronisation of cyclic process data

The "sync telegram" is used to ensure that the process data can be cyclically read by the controller and will be accepted by the controller.

The sync telegram is the trigger point for accepting data in the controller and activates the sending process from the controller. For cyclic process data processing, the sync telegram must be generated accordingly.

Sync telegram Sync telegram

Process data transfer

Cyclic process data objects

Process data from Controller

Fig. 9−2 Sync telegram

After the sync telegram has been received, the controllers send the cyclic process data to the master. The master reads them as process input data.

When the sending process has been completed, the controllers receive the process output data (from the master).

All other telegrams (e. g. parameters or event−controlled process data) are acyclically accepted by the controllers after transmission has been completed.

Acyclic data have not been taken into account for the above figure. When selecting the cycle time, they must be considered.

Process data to Controller

Cycle time

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects Process data signals of Lenze controllers

9.3.1 Process data signals of Lenze controllers

9.3.1.1 Process data signals for 8200 vector frequency inverters

A change of code C0001 to 3 preconfigures the process data words in the controller.

) Note!

Frequency and speed values are normalised with "240005"480Hz.

Process data telegram to drive

User data (up to 8 bytes)

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Control

word

Low byte

Byte description:

Byte Content Description

1 C0135

2 C0135

3 AIF−IN.W1, low byte

4 AIF−IN.W1, high byte

5 AIF−IN.W2, low byte

6 AIF−IN.W2, high byte

7 / 8 xx No evaluation of these data, any content possible

Control

word

High byte

Control word, low byte

Control word, high byte

AIF−IN.W1

Low byte

AIF−IN.W1

High byte

Bits 0 ... 7 of the control word under C0135 (^ 145) are entered here.

Bits 8 ... 15 of the control word under C0135 (^ 145) are entered here.

AIF−IN.Wx is parameterised under code C0412.

AIF−IN.W2

Low byte

AIF−IN.W2

High byte

xx xx

Process data telegram from drive

User data (up to 8 bytes)

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Status word

Low byte

Status word

High byte

AIF−OUT.W1

Low byte

AIF−OUT.W1

High byte

AIF−OUT.W2

Low byte

AIF−OUT.W2

High byte

xx xx

Byte description:

Byte Content Explanation

1 C0150

Status word, low byte

2 C0150

Status word, high byte

3 AIF−OUT−W1

Low byte

4 AIF−OUT.W1

High byte

5 AIF−OUT−W2

Low byte

6 AIF−OUT.W2

High byte

7 / 8 xx No evaluation of these data, any content possible

Bits 0 ... 7 of the status word are entered here under C0150 (^ 145).

Bits 8 ... 15 of the status word are entered here under C0150 (^ 145).

AIF−OUT.Wx is parameterised under code C0421.

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects

Process data signals of Lenze controllers

Device control word AIF−CTRL for 8200 vector (C0135, index 0x5F78)

Bit

0 / 1 JOG values

7 DOWN function motor potentiometer

Assignment (Lenze setting)

C0001 = 3 with C0007 £ 51 C0001 = 3 with C0007 > 51

Freely configurable 1

Bit 1 0

0 0 00 = C0046 active

0 1 01 = NSET1−JOG1 (C0037) active

1 0 10 = NSET1−JOG2 (C0038) active

1 1 11 = NSET1−JOG3 (C0039) active

Current direction of rotation (DCTRL1−CW/CCW)

01Not active

Active

Freely configurable 3

Quick stop (QSP) (AIF−CTRL−QSP) Quick stop (QSP) (AIF−CTRL−QSP)

01Not active

Active

Stop ramp function generator (NSET1−RFG1−STOP)

01Not active

Active

Ramp function generator input = 0

(NSET1−RFG1−0)

01Not active

Active

UP function motor potentiometer (MPOT1−UP)

01Not active

Active

01Not active

Active

Freely configurable 5

Freely configurable 6

Freely configurable 7

Freely configurable 8

(MPOT1−DOWN)

Set under C0410/...

8 Freely configurable Freely configurable 9 9

11 Reset fault

Controller inhibit (AIF−CTRL−CINH) Controller inhibit (AIF−CTRL−CINH)

01Not active

Active

01Not active

Active

External fault (AIF−CTRL−TRIP−SET) External fault (AIF−CTRL−TRIP−SET)

01Not active

Active

01Not active

Active

Reset fault

(AIF−CTRL−TRIP−RESET)

0 −> 1 Edge from 0 to 1 0 −> 1 Edge from 0 to 1

Change over parameter set (DCTRL1−PAR2/4)

01Not active

Active

Change over parameter set (DCTRL1−PAR3/4)

01Not active

Active

DC injection brake (MCTRL1−DCB)

01Not active

Active

(AIF−CTRL−TRIP−RESET)

Freely configurable 13

Freely configurable 14

Freely configurable 15

15 Freely configurable Freely configurable 16

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects Process data signals of Lenze controllers

DCTRL

... ... ...

DCTRL

... ... ...

AIF-IN

AIF-IN.W1

AIF-IN.W2

C0410/x = 10 C0410/x = 11 C0410/x = 12

C0410/x = 22

C0410/x = 25

C0412/x = 10

C0412/x = 11

AIF

AIF-CTRL

16 Bit

.B0

.B1

.B2

.B3

.B4

.B8

.B9

.B10

.B11

.B12

.B15

QSP

... ... ...

CINH

TRIP-SET

TRIP-RESET

... ... ...

Fig. 9−3 System block AIF−IN in 8200 vector (freely configurable assignment)

2141LON011

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects

Process data signals of Lenze controllers

Device status word AIF−STAT for 8200 vector (C0150, index 0x5F69)

Bit Assignment (Lenze setting) Set under C0417/... 0 Current parameter set (DCTRL−PAR−B0) 1 1 Pulse inhibit (DCTRL1−IMP) 2 2 I 3 Output frequency = frequency setpoint (MCTRL1−RFG1=NOUT) 4 4 Ramp function generator input = ramp function generator output 1

5 Q 6 Output frequency = 0 (DCTRL1−NOUT=0) 7 7 Controller inhibit (DCTRL1−CINH) 8 8 ... 11 Device status (DCTRL1−Stat*1 ... STAT*8)

Bit 11 10 9 8

12 Overtemperature warning (DCTRL1−OH−WARN) 13 13 DC−bus overvoltage (DCTRL1−OV) 14 14 Direction of rotation (DCTRL1−CCW) 15 15 Ready for operation (DCTRL1−RDY) 16

limit (MCTRL1−IMAX) 3

max

(NSET1−RFG1−I=0)

threshold (PCTRL1−QMIN) 6

min

0 0 0 0 Device initialisation

0 1 0 Switch−on inhibit

0 1 1 Operation inhibited

1 0 0 Flying restart circuit active

1 0 1 DC injection brake active

1 1 0 Operation enabled

1 1 1 Message active

0 0 0 Fault active

1 1 1 Communication with basic device not possible

Reserved

AIF-OUT

AIF-STAT

16 Bit

AIF

C0417/1

DCTRL1-IMP

C0417/3

C0417/4

C0417/5

C0417/6

DCTRL1-NOUT=0

DCTRL1-CINH

DCTRL1-STAT*1 DCTRL1-STAT*2

DCTRL1-STAT*4

DCTRL1-STAT*8

DCTRL1-OH-WARN

DCTRL1-OV

C0417/15

C0417/16

C0421/1

C0421/2

STAT1

AIF-OUT.W1

AIF-OUT.W2

.B0

.B1

.B2 .B3

.B4

.B5

.B6 .B7

.B8

.B9

.B10

.B11 .B12

.B13 .B14 .B15

.B0

.B1

.B2 .B3

.B4

.B5

.B6 .B7

.B8

.B9

.B10 .B11

.B12

.B13 .B14

.B15

Fig. 9−4 System block AIF−OUT in 8200 vector (freely programmable assignment)

2141LON013

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects Process data signals of Lenze controllers

9.3.1.2 Process data signals for 9300 servo inverter

The assignment of the process data for the 93XX controller can be changed by reconfiguring the function blocks AIF−IN and AIF−OUT.

, 9300 system manuals

Here you can find detailed information on the function blocks and signal configurations.

Function block AIF−IN

The function block AIF−IN determines the input data of the controller as data interface for the EMF2178IB communication module.

Process data telegram to drive

User data (up to 8 bytes )

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

Control

word

Low byte

^ 57

Control

word

High byte

AIF−IN.W1

Low byte

AIF−IN.W1

High byte

AIF−IN.W2

Low byte

AIF−IN.W2

High byte

AIF−IN.W3

Low byte

AIF−IN.W3

High byte

AIF−IN.W1 to AIF−IN.W3 depend on the signal configuration selected under code C0005. Under code C0005 you can preconfigure the signals of the control word and the status word.

In the controller, other signals can be assigned to AIF−IN.W1 to AIF−IN.W3. For this, the function block configuration described in the 93XX System Manual is used.

Signal configuration

(C0005)

Speed control 1003 / 1013 / 1113 NSET−N

Torque control 4003 / 4013 / 4113 MCTRL−MADD

LF master 5003 / 5013 / 5113 NSET−N

LF slave rail 6003 / 6013 / 6113 DFSET−A−TRIM

LF slave cascade 7003 / 7013 / 7113 DFSET−VP−DIV

cam profiler 1xxx3 YSET1−FACT

Positioning 2xxx3 Not assigned

vector control 1xx3 / 2xx3 / 3xx3 /

vector control 4xx3 NCTRL−MADD

vector control 6xx3 DFSET−A−TRIM DFSET−N−TRIM

vector control 7xx3 / 8xx3 / 9xx3 DFSET−VP−DIV DFSET−A−TRIM

vector control 100x3 NLIM−IN1

vector control 110x3 Not assigned

5xx3 / 100x3

AIF−IN.W1 AIF−IN.W2 AIF−IN.W3 AIF−IN.D1

Speed setpoint 100 % = 16383

Torque setpoint 100 % = 16383

Speed setpoint 100 % = 16383

Phase trimming

LF factor

NLIM−IN1

Not assigned

DFSET−N−TRIM Speed trimming

DFSET−A−TRIM Phase trimming

Not assigned

Not assigned Not assigned

EDSMF2178IB EN 3.0

Control word for 93XX

Process data transfer

Cyclic process data objects

Process data signals of Lenze controllers

9300 9300 servo inverter 9300

position

9300

cam profiler

9300 vector

controller

C0005 1xx3 4xx3 5xx3 6xx3, 7xx3 2xx3 xxx3 1xxx, 2xxx,

4xx3 6xx3, 7xx3

3xxx, 5xxx,

10xxx,

11xxx

0 NSET−JOG*1 Not assigned NSET−JOG*1 Not assigned Not assigned CSEL1−CAM*1 NSET−JOG*1 Not assigned Not assigned

1 NSET−JOG*2 Not assigned NSET−JOG*2 Not assigned Not assigned CSEL1−CAM*2 NSET−JOG*2 Not assigned Not assigned

2 NSET−N−INV NSET−N−INV NSET−N−INV NSET−N−INV Not assigned CSEL1−CAM*4 NSET−N−INV Not assigned Not assigned

3 AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP AIF−CTRL.QSP

4 NSET−RFG−STOPNSET−RFG−STOPNSET−RFG−STOPNSET−RFG−STOPPOS−PRG−START CSEL1−EVENT NSET−RFG−STOPNSET−RFG−STOPNot assigned

5 NSET−RFG−0 NSET−RFG−0 NSET−RFG−0 NSET−RFG−0 POS−PRG−STOP CDATA−CYCLE NSET−RFG−0 NSET−RFG−0 Not assigned

6 Not assigned Not assigned Not assigned Not assigned Not assigned CSEL1−LOAD Not assigned Not assigned Not assigned

7 Not assigned Not assigned Not assigned Not assigned POS−PRG−RESET CSEL1−LOAD Not assigned Not assigned Not assigned

8 Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned

9 AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH AIF−CTRL.CINH

10 AIF−CTRL.TRIP−

SET

11 AIF−CTRL.TRIP−

RESET

12 DCTRL−PAR*1 DCTRL−PAR*1 DCTRL−PAR*1 DCTRL−PAR*1 POS−PS−CANCEL Not assigned DCTRL−PAR*1 DCTRL−PAR*1 DCTRL−PAR*1

13 DCTLR−PAR−LOADDCTLR−PAR−LOADDCTLR−PAR−LOADDCTLR−PAR−LOADPOS−PARAM−RD Not assigned DCTLR−PAR−LOADDCTLR−PAR−LOADDCTLR−PAR−LO

14 NSET−Ti*1 NSET−JOG*1 REF−ON REF−ON POS−LOOP−ONH Not assigned NSET−Ti*1 NSET−JOG*1 Not assigned

15 NSET−Ti*2 NSET−JOG*2 NSET−Ti*1 Not assigned POS−STBY−STP Not assigned NSET−Ti*2 NSET−JOG*2 Not assigned

AIF−CTRL.TRIP− SET

AIF−CTRL.TRIP− RESET

AIF−CTRL.TRIP− SET

AIF−CTRL.TRIP− RESET

AIF−CTRL.TRIP− SET

AIF−CTRL.TRIP− RESET

AIF−CTRL.TRIP−SET AIF−CTRL.TRIP−SET AIF−CTRL.TRIP−

AIF−CTRL.TRIP−RESETAIF−CTRL.TRIP−RESETAIF−CTRL.TRIP−

SET

RESET

AIF−CTRL.TRIP− SET

AIF−CTRL.TRIP− RESET

AIF−CTRL.TRIP− SET

AIF−CTRL.TRIP− RESET

) Note!

The individual bit−control commands of the control word depend on other bit positions.

EDSMF2178IB EN 3.0

. . .. . .

Process data transfer

Cyclic process data objects Process data signals of Lenze controllers

)

A I F - I N *

A I F - C T R L . B 3

1 6 B i t

C 0 1 3 6 / 3

1 6 B i t

C 0 8 5 5 / 1

1 6 B i n ä r s i g n a l e

C 0 8 5 5 / 2

1 6 B i n ä r s i g n a l e

1 6 B i t L o w W o r d

1 6 B i t H i g h W o r d

A I F - C T R L . B 8

A I F - C T R L . B 9

A I F - C T R L . B 1 0

A I F - C T R L . B 1 1

1 6 B i t L o w W o r d

1 6 B i t H i g h W o r d

C 0 8 5 6 / 2

C 0 8 5 6 / 3

C 0 8 5 7

C 0 8 5 6 / 1

C 1 1 9 7

A I F - I N

A I F - C T R L . B 3

A I F - C T R L . B 8

A I F - C T R L . B 9

A I F - C T R L . B 1 0

A I F - C T R L . B 1 1

B i t 0

1 6 B i t

S t e u e r w o r t

B i t 1 5

B y t e 3 , 4

X 1

B y t e 5 , 6

B y t e 7 , 8

1 6 B i t

C 0 8 5 5 / 1

1 6 B i n ä r s i g n a l e

C 0 8 5 5 / 2

1 6 B i n ä r s i g n a l e

1 6 B i t L o w W o r d

1 6 B i t H i g h W o r d

C 0 8 5 6 / 1

C 0 8 5 6 / 2

C 0 8 5 6 / 3

C 0 8 5 7

D C T R L

Q S P

D I S A B L E

C I N H

T R I P - S E T

T R I P - R E S E T

A I F - C T R L . B 0

A I F - C T R L . B 1

A I F - C T R L . B 2 A I F - C T R L . B 4

A I F - C T R L . B 5

A I F - C T R L . B 6

A I F - C T R L . B 7 A I F - C T R L . B 1 2

A I F - C T R L . B 1 3

A I F - C T R L . B 1 4

A I F - C T R L . B 1 5

A I F - I N . W 1

A I F - I N . W 2

A I F - I N . W 3

A I F - I N . B 0

A I F - I N . B 2

A I F - I N . B 1 4 A I F - I N . B 1 5

A I F - I N . B 1 6

A I F - I N . B 1 7

A I F - I N . B 3 0 A I F - I N . B 3 1

A I F - I N . D 1

B i t 0

S t e u e r w o r t

B i t 1 5

B y t e 3 , 4B y t e 5 , 6

X 1

B y t e 7 , 8

D C T R L

Q S P

D I S A B L E

C I N H

T R I P - S E T

T R I P - R E S E T

A I F - C T R L . B 0

A I F - C T R L . B 1

A I F - C T R L . B 2 A I F - C T R L . B 4

A I F - C T R L . B 5

A I F - C T R L . B 6 A I F - C T R L . B 7 A I F - C T R L . B 1 2

A I F - C T R L . B 1 3

A I F - C T R L . B 1 4

A I F - C T R L . B 1 5

A I F - I N . W 1

A I F - I N . D 2

A I F - I N . W 2

A I F - I N . W 3

A I F - I N . B 0

A I F - I N . B 2

A I F - I N . B 1 4 A I F - I N . B 1 5

A I F - I N . B 1 6

A I F - I N . B 1 7

A I F - I N . B 3 0 A I F - I N . B 3 1

A I F - I N . D 1

Fig. 9−5 Function blocks AIF−IN and AIF−IN

AIF−IN*) is available for the 9300 technology variants servo inverter, positioning controller and cam profiler as of software version 2.0. AIF−IN.D2 is new.

2111IBU003

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects

Process data signals of Lenze controllers

Function block AIF−OUT

The function block AIF−OUT determines the output data of the controller as data interface for the EMF2178IB communication module.

Process data telegram from drive

User data (up to 8 bytes )

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Status word

Low byte

Status word

High byte

AIF−OUT.W1

Low byte

^ 60

AIF−OUT.W1 to AIF−OUT.W3 depend on the signal configuration selected under code C0005. Under code C0005 you can preconfigure the signals of the control word and the status word.

In the controller, other signals can be assigned to AIF−OUT.W1 to AIF−OUT.W3. For this, the function block configuration described in the 93XX System Manual is used.

AIF−OUT.W1

High byte

AIF−OUT.W2

Low byte

AIF−OUT.W2

High byte

AIF−OUT.W3

Low byte

AIF−OUT.W3

High byte

Signal configuration (C0005) AIF−OUT.W1 AIF−OUT.W2 AIF−OUT.W3 AIF−OUT.D1

Speed control 1003 / 1013 / 1113

Torque control 4003 / 4013 / 4113

LF master 5003 / 5013 / 5113

LF slave rail 6003 / 6013 / 6113

LF slave cascade 7003 / 7013 / 7113

Cam profiler 1xxx3

Positioning 2xxx3

vector control

vector control 110x3 Not assigned Not assigned Not assigned

1xx3 / 4xx3 / 5xx3 / 10xx3

6xx3 / 7xx3 / 8xx3 / 9xx3

MCTRL−NACT Actual speed value 100 % = 16383

MCTRL−MSET2 Torque display 100 % = 16383

MCTRL−NACT Actual speed value 100 % = 16383

MCTRL−MSET2 Torque display 100 % = 16383

MCTRL−NACT Actual speed in % 100 % = 16383

MCTRL−MSET2 Torque display 100 % = 16383

MCTRL−PHI−ACT Angle actual value

Not assigned Not assigned

MCTRL−IACT

MCTRL−PHI−ANA

MCTRL−NSET2 Speed controller input 100 % = 16383

MCTRL−MSET2 Torque setpoint in % 100 % = 16383

MCTRL−NSET2 Speed controller input 100 % = 16383

MCTRL−MSET2 Torque setpoint in % 100 % = 16383

Not assigned

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects Process data signals of Lenze controllers

Status word for 93XX

9300 9300 servo inverter 9300

position

9300

cam profiler

9300 vector

controller

C0005 1xx3 4xx3 5xx3 6xx3, 7xx3 2xx3 1xx3 1xxx, 2xxx,

4xxx 6xxx, 7xxx,

3xxx, 5xxx,

10xxx, 11xxx

0 DCTRL−PAR1−0 DCTRL−PAR1−0 DCTRL−PAR1−0 DCTRL−PAR1−0 Not assigned CERR1−ERR DCTRL−PAR1−0 DCTRL−PAR1−0 DCTRL−PAR1−0

1 DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP DCTRL−IMP

2 MCTRL−IMAX MCTRL−IMAX REF−OK REF−OK POS−REF−OK MCTRL−IMAX MCTRL−IMAX MCTRL−IMAX MCTRL−IMAX

3 MCTRL−MMAX Not assigned MCTRL−MMAX Not assigned Not assigned MCTRL−MMAX MCTRL−MMAX MCTRL−IMAX

4 NSET−RFG−I=0 MCTRL−IMAX

negated

NSET−RFG−I=0 MCTRL−IMAX

negated

MCTRL−MMAX negated

DCTRL−TRIP NSET−RFG−I=0 NSET−RFG−I=0 NSET−QSP−OUT

5 QMIN QMIN REF−BUSY REF−BUSY POS−IN−TARGET CDATA−X0 QMIN QMIN QMIN

6 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0 DCTRL−NACT=0

7 DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH DCTRL−CINH

8 ... 11

Device status:

0b0000 = 0 0b0010 = 2 0b0011 = 3 0b0100 = 4 0b0101 = 5 0b0110 = 6 0b0111 = 7 0b1000 = 8 0b1010 = 10

DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN DCTRL−WARN

Device initialisation Switch−on inhibit Operation inhibited Flying restart circuit active DC injection brake active Operation enabled Message active Fault active Fail−QSP (only 9300 servo position controller)

13 DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS DCTRL−MESS

14 DCTRL−CW/CCWDCTRL−CW/CCWDCTRL−CW/CCWNot assigned DCTRL−AIFL−QSPDCTRL−CW/CCWDCTRL−CW/CCWDCTRL−CW/CCWDCTRL−CW/CC

15 DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY DCTRL−RDY

negated

8xxx, 9xxx

MCTRL−MMAX

A I F - O U T

C 0 1 5 6 / 1

C 0 1 5 6 / 6

C 0 1 5 6 / 7

C 0 8 5 0 / 1

C 0 8 5 0 / 2

C 0 8 5 0 / 3

C 0 1 1 6 / 1

C 0 1 1 6 / 1 6 C 0 1 1 6 / 1 7

C 0 1 1 6 / 3 2

C 0 8 5 1

S T A T

S T A T . B 0

D C T R L - I M P

. . .

S T A T . B 1 4

S T A T . B 1 5

C 0 8 5 8 / 1

C 0 8 5 8 / 2

C 0 8 5 8 / 3

F D O - 0

. . .

F D O - 1 5 F D O - 1 6

. . .

F D O - 3 1

A I F - O U T . D 1

C 0 8 5 9

F D O

1 6 B i t

A I F - O U T . W 1

A I F - O U T . W 2

A I F - O U T . W 3

1 6 B i t L o w W o r d

1 6 B i t H i g h W o r d

1 6 B i t L o w W o r d

1 6 B i t H i g h W o r d

C 0 8 5 2

C 0 8 5 3

B i t 1 5

B i t 3 1

B i t 0

S t a t u s w o r d

B i t 0

B y t e 3 , 4

B i t 0

B y t e 5 , 6

B y t e 7 , 8

Fig. 9−6 Function blocks AIF−OUT and AIF−OUT

AIF−OUT*) is available for the 9300 technology variants servo inverter, positioning controller and cam profiler as of software version 2.0. AIF−OUT.D2 is new.

)

A I F - O U T *

S T A T

S T A T . B 0

C 0 1 5 6 / 1

D C T R L - I M P

. . .

S T A T . B 1 4

C 0 1 5 6 / 6

S T A T . B 1 5

C 0 1 5 6 / 7

A I F - O U T . D 2

C 1 1 9 5

C 0 8 5 0 / 1

C 0 8 5 0 / 2

: 

C 0 8 5 0 / 3

C 0 1 1 6 / 1

C 0 1 1 6 / 1 6

C 0 1 1 6 / 1 7

C 0 1 1 6 / 3 2

C 0 8 5 1

C 1 1 9 6

A I F - O U T . W 1

C 0 8 5 8 / 1

C 0 8 5 8 / 2

C 0 8 5 8 / 3

F D O - 0

. . .

F D O - 1 5

F D O - 1 6

. . .

F D O - 3 1

A I F - O U T . D 1

C 0 8 5 9

F D O

1 6 B i t

1 6 B i t L o w W o r d

1 6 B i t H i g h W o r d

A I F - O U T . W 2

A I F - O U T . W 3

1 6 B i t L o w W o r d

1 6 B i t H i g h W o r d

1 6 B i t L o w W o r d

1 6 B i t H i g h W o r d

C 0 8 5 4

C 0 8 5 2

C 0 8 5 3

B i t 1 5

B i t 3 1

B i t 0

S t a t u s w o r d

B i t 0

B y t e 3 , 4

X 1

B y t e 5 , 6

B y t e 7 , 8

2111IBU002

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects

Process data signals of Lenze controllers

9.3.1.3 Process data signals for 9300 Servo PLC, Drive PLC, ECSxA

, For more information ...

please see the chapter "System blocks, AIF1_IO_AutomationInterface" in the Manuals and Operating Instructions for the 9300ServoPLC, Drive PLC and ECSxA axis module.

) Note!

Only 9300 Servo PLC & ECSxA:

Perform the following linkings in the PLC program of the drive controller:

ƒ AIF1_wDctrlCtrl WDCTRL_wAIF1Ctrl ƒ DCTRL_wStat W AIF1_wDctrlStat

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects Process data signals of Lenze controllers

Process data telegram to drive

Automation

Interface

Inputs_AIF1

Byte

Controlword

Byte

16 Bit

16 binary

signals

16 Bit

C0855/1

16 binary

signals

16 Bit

C0855/2

16 binary

signals

16 Bit

LowWord

16 Bit

HighWord

C0856/1

C0856/2

C0856/3

C0857

AIF1_wDctrlCtrl

AIF1_bCtrlB0_b

AIF1_bCtrlB1_b

AIF1_bCtrlB2_b

AIF1_bCtrlQuickstop_b

AIF1_bCtrlB4_b

AIF1_bCtrlB5_b

AIF1_bCtrlB6_b

AIF1_bCtrlB7_b

AIF1_bCtrlDisable_b

AIF1_bCtrlCInhibit_b

AIF1_bCtrlTripSet_b

AIF1_bCtrlTripReset_b

AIF1_bCtrlB12_b

AIF1_bCtrlB13_b

AIF1_bCtrlB14_b

AIF1_bCtrlB15_b

AIF1_nInW1_a

AIF1_nInW2_a

AIF1_bInB0_b

…

AIF1_bInB15_b

AIF1_nInW3_a

AIF1_bIn16_b

…

AIF1_bIn31_b

AIF1_dnInD1_p

Automation

Interface

Automation

Interface

Inputs_AIF2

Byte

Inputs_AIF3

Byte

16 Bit

16 binary

signals

16 Bit

16 binary

signals

16 Bit

LowWord

16 Bit

HighWord

16 Bit

16 binary

signals

16 Bit

16 binary

signals

16 Bit

LowWord

16 Bit

HighWord

16 Bit

AIF2_nInW1_a

AIF2_bInB0_b

...

AIF2_bInB15_b

AIF2_nInW2_a

AIF2_bInB16_b

...

AIF2_bInB31_b

AIF2_dnInD1_p

AIF2_nInW3_a

AIF2_nInW4_a

AIF3_nInW1_a

AIF3_bInB0_b

...

AIF3_bInB15_b

AIF3_nInW2_a

AIF3_bInB16_b

...

AIF3_bInB31_b

AIF3_dnInD1_p

AIF3_nInW3_a

AIF3_nInW4_a

Fig. 9−7 Function blocks AIF1−IN, AIF2−IN and AIF3−IN

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects

Process data signals of Lenze controllers

Process data telegram from drive

The following data can be assigned to the PIW data (TPDOs):

Designation / variable name Explanation

Device status word (AIF1_DctrlStat) AIF word 1

AIF_nOutW1_a AIF word 2

AIF_nOutW2_a AIF word 3

AIF_nOutW3_a AIF word 4

AIF2_nOutW1_a AIF word 5

AIF2_nOutW2_a AIF word 6

AIF2_nOutW3_a AIF word 7

AIF2_nOutW4_a AIF word 8

AIF3_nOutW1_a AIF word 9

AIF3_nOutW2_a AIF word 10

AIF3_nOutW3_a AIF word 11

AIF3_nOutW4_a AIF word 12

AIF1_dnOutD1_p AIF double word 1

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects Process data signals of Lenze controllers

AIF1_wDctrlStat

AIF1_nOutW1_a

AIF1_nOutW2__a

AIF1_bFDO0_b

…

AIF1_bFDO15_b

AIF1_nOutW3_a

AIF1_bFDO16_b

…

AIF1_bFDO31_b

AIF1_dnOutD1_p

C0858/1

C0858/2

C0858/3

C0859

16 Bit

C0151/4

16 binary

signals

16 Bit

C0151/4

16 binary

signals

16 Bit

LowWord

16 Bit

HighWord

Outputs_AIF1

Byte

AIF2_nOutW1_a

Automation

Interface

AIF2_bFDO0_b

...

AIF2_bFDO15_b

AIF2_nOutW2_a

AIF2_bFDO16_b

...

AIF2_bFDO31_b

AIF2_dnOutD1_p

AIF2_nOutW3_a

AIF2_nOutW4_a

AIF3_nOutW1_a

AIF3_bFDO0_b

...

AIF3_bFDO15_b

AIF3_nOutW2_a

AIF3_bFDO16_b

...

AIF3_bFDO31_b

AIF3_dnOutD1_p

AIF3_nOutW3_a

AIF3_nOutW4_a

16 Bit

16 binary

signals

16 Bit

16 binary

signals

16 Bit

LowWord

16 Bit

HighWord

16 Bit

16 binary

signals

16 Bit

16 binary

signals

16 Bit

LowWord

16 Bit

HighWord

16 Bit

Outputs_AIF2

Byte

Outputs_AIF3

Byte

Automation

Interface

Automation

Interface

Fig. 9−8 Function blocks AIF1−OUT, AIF2−OUT and AIF3−OUT

Axis modules of the ECS series

, Operating instructions for the axis modules of the ECS series

Here you can find detailed information on the process data configuration.

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects

Mapping in CANopen objects (I−160x, I−1A0x)

9.3.2 Mapping in CANopen objects (I−160x, I−1A0x)

General

) Note!

Mapping is not possible in communication modules used together with old devices of the 8200 series.

The CANopen objects I−160x and I−1A0x are used to assign the CANopen process data to the internal data. In the EMF2178IB communication module an assignment to the process data of the internal AIF interface is possible. The process data volume and type depends on the standard device.

The process data length depends on the AIF mode (^ 68):

Basic device AIF mode

8200 vector Mode 3: 3 process data words with variable assignment

93XX Mode 4: 4 process data words with variable assignment

9300 servo PLC Mode 5: 12 process data words with variable assignment

ECSXX depends on the variant (mode 4 or 5)

For mapping in the module, the master enters indices and data lengths.

Mapping structure

MSB LSB

31 ... 16 15 ... 8 7 ... 0

Index Subindex Object length

DWord 0 = 0x20

Word = 0x10

The EDS file for the EMF2178IB communication module supports the mapping.

I Tip!

The current EDS file required for configuring the EMF2178IB (CANopen) communication module can be found in the download area on:

www.Lenze.com

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects Mapping in CANopen objects (I−160x, I−1A0x)

AIF data image in codes

The AIF process data images are mapped to the following codes:

AIF process data Code Index

[hex]

Process input data AIF−IN as 16−bit values C1822/1 ... 12 0x58E1

Process output data AIF−OUT as 16−bit values C1823/1 ... 12 0x58E0

Process input data AIF−IN as 32−bit values C1824/1 ... 11 0x58DF

Process output data AIF−OUT as 32−bit values C1825/1 ... 11 0x58DE

The codes represent the values at the AIF interface. Converted into indices, mapping refers to these codes.

Process data AIF−IN

Byte 1

2nd byte

3rd byte

Byte 4

Byte 5

Byte 6

7th byte

Byte 8

Byte 9

Byte 10

Byte 11

Byte 12

Byte 13

Byte 14

Byte 15

Byte 16

Byte 17

Byte 18

Byte 19

Byte 20

Byte 21

Byte 22

Byte 23

Byte 24

[Cxxx/y] = Codes not relevant for the AIF modes (¶ 68)

AIF1−IN

(bytes 1 ... 8)

AIF2−IN

(bytes 1 ... 8)

AIF3−IN

(bytes 1 ... 8)

Represented as

16−bit values 32−bit values

C1822/1

C1822/2

C1822/3

C1822/4

C1822/5

C1822/6

C1822/7

C1822/8

C1822/9

C1822/10

C1822/11

C1822/12

[C1824/1]

C1824/2

C1824/3

[C1824/4]

C1824/5

[C1824/6]

[C1824/7]

[C1824/8]

C1824/9

[C1824/10]

[C1824/11]

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects

Mapping in CANopen objects (I−160x, I−1A0x)

Process data AIF−OUT

Byte 1

2nd byte

3rd byte

Byte 4

Byte 5

Byte 6

7th byte

Byte 8

Byte 9

Byte 10

Byte 11

Byte 12

Byte 13

Byte 14

Byte 15

Byte 16

Byte 17

Byte 18

Byte 19

Byte 20

Byte 21

Byte 22

Byte 23

Byte 24

[Cxxx/y] = Codes not relevant for the AIF modes (¶ 68)

AIF1−OUT

(bytes 1 ... 8)

AIF2−OUT

(bytes 1 ... 8)

AIF3−OUT

(bytes 1 ... 8)

Represented as

16−bit values 32−bit values

C1823/1

C1823/2

C1823/3

C1823/4

C1823/5

C1823/6

C1823/7

C1823/8

C1823/9

C1823/10

C1823/11

C1823/12

[C1825/1]

C1825/2

C1825/3

[C1825/4]

C1825/5

[C1825/6]

[C1825/7]

[C1825/8]

C1825/9

[C1825/10]

[C1825/11]

CANopen indices for mapping

According to the CANopen specifications, the indices I−160x and I−1A0x are available for mapping the CAN PDOs. During mapping, the process output data of the master are mapped via the indices I−160x to the AIF input data of the basic device. The indices I−160x refer to codes C1822 and C1824. The entry contains the index of the corresponding code and the corresponding subindex for the assignment of a word or double word. The object length must be indicated accordingly.

Under the indices I−1A0x, the indices of code C1823 must be entered for words or the indices of code C1825 for double words.

Device−internal mechanisms

The user must know the AIF interface assignment to configure the mapping accordingly in the communication module. All data of the AIF interface can be placed on any position of the CAN PDOs. The maximum scope of the AIF interface is shown in the codes. The available values depend on the basic device and on the application in the basic device.

EDSMF2178IB EN 3.0

Process data transfer

Cyclic process data objects Mapping in CANopen objects (I−160x, I−1A0x)

AIF interface assignment / AIF modes

Process data Mode 3 Mode 4 Mode 5

Byte 1

2nd byte

3rd byte

Byte 4

Byte 5

Byte 6

7th byte

Byte 8

Byte 9

Byte 10

Byte 11

Byte 12

Byte 13

Byte 14

Byte 15

Byte 16

Byte 17

Byte 18

Byte 19

Byte 20

Byte 21

Byte 22

Byte 23

Byte 24

AIF1−IN/OUT

(bytes 1 ... 8)

AIF2−IN/OUT

(bytes 1 ... 8)

AIF3−IN/OUT

(bytes 1 ... 8)

Control word / status word

AIF−IN.W1 / AIF−OUT.W1

AIF−IN.W2 / AIF−OUT.W2

AIF−CTRL / AIF−STAT

AIF−IN.W1 / AIF−OUT.W1

AIF−IN.W2 / AIF−OUT.W2

AIF−IN.W3 / AIF−OUT.W3

AIF−IN.D1 / AIF−OUT.D1

AIF−IN.D2 / AIF−OUT.D2

AIF_wDctrlCtrl / AIF_wDctrlStat

AIF1_nInW1_a / AIF1_nOutW1_a

AIF1_nInW2_a / AIF1_nOutW2_a

AIF1_nInW3_a / AIF1_nOutW3_a

AIF2_nInW1_a / AIF2_nOutW1_a

AIF2_nInW2_a / AIF2_nOutW2_a

AIF2_nInW3_a / AIF2_nOutW3_a

AIF2_nInW4_a / AIF2_nOutW4_a

AIF3_nInW1_a / AIF3_nOutW1_a

AIF3_nInW2_a / AIF3_nOutW2_a

AIF3_nInW3_a / AIF3_nOutW3_a

AIF3_nInW4_a / AIF3_nOutW4_a

AIF1_dnInD1_p / AIF1_dnOutD1_p

AIF2_dnInD1_p / AIF2_dnOutD1_p

AIF3_dnInD1_p / AIF3_dnOutD1_p

ƒ For mode 3 (e.g. for the 8200 vector), an assignment of the first three words is

useful. For the mapping, the index of code C1822 should accordingly be used with the subindices 1 to 3.

ƒ For mode 4 (e.g. for the 93XX), an assignment of the first four words or the double

words 2 and 3 is possible. Here, the representation of the double words differs from the text description in the basic device.

ƒ For mode 5 (e.g. for the 9300 Servo PLC), all 12 words are possible and the use of

double words 3, 5 and 9.

ƒ The user is responsible for the corresponding assignment. The mapping is not

checked once again during the entry.

ƒ For a more detailed description of the entries, see indices I−160x (¶ 111) and

I−1A0x (¶ 114).

EDSMF2178IB EN 3.0

10 Parameter data transfer

Controller

Parameter data transfer 10

Parameter data channel 1

Read

WriteWrite

Parameter (code) Parameter (code)

Keypad

Fig. 10−1 Connection of devices for parameter setting via two parameter data channels

Parameters ...

ƒ are values which are stored under codes in Lenze controllers.

ƒ are, for instance, used for one−off plant settings or a change of material in a

machine.

ƒ are transferred with low priority.

Parameter data channel 2

(activation with C1865/1 / C2365/1)

Read

Parameter data are transmitted via the system bus as SDOs (Service Data Objects) and acknowledged by the receiver. The SDOs enable read and write access to the object directory.

In the Lenze setting, one parameter data channel is available for parameter setting.

A second parameter data channel can be activated via code C1865/1 / C2365/1 or the implemented CANopen object I−1201 in order to enable the simultaneous connection of various devices. The parameter data channel 2 is deactivated as default.

) Note!

When the second parameter data channel is activated the possible number of bus nodes is reduced.

EDSMF2178IB EN 3.0

10.1 Access to the codes of the controller

Parameter data transfer

Access to the codes of the controller

When using Lenze communication modules, you can change the features and response characteristics of any controller connected to the network using a higher−level host system(PLC, master).

In Lenze controllers, parameters to be changed are listed under codes.

Controller codes are addressed via the index when accessing the code through the communication module.

The index for Lenze code numbers is between 16576 (0x40C0) and 24575 (0x5FFF).

, Documentation for the controller

Here you can find a detailed description of the codes.

Indexing of Lenze codes

Conversion formula

Index (dec) Index (hex)

24575 − Lenze code 0x5FFF − (Lenze code)

hex

Example for C0001 (operating mode)

Index (dec) Index (hex)

24575 − 1 = 24574 0x5FFF − 1 = 0x5FFE

The parameter value is part of the telegram user data (see examples, ^ 77).

EDSMF2178IB EN 3.0

Parameter sets for 8200 vector controller

10.2 Lenze parameter sets

Parameter sets are used for separately storing codes based on the need for different configurations of application processes.

( Stop!

8200 vector with EMF2178IBcommunication module

ƒ The cyclic writing of parameter data to the EEPROM is not permissible. ƒ If you still want to change parameter data, code C0003 must be set to"0"

after every mains switching. The parameter data are not stored in the EEPROM but as volatile data.

10.2.1 Parameter sets for 8200 vector controller

The 8200 vector controller has four parameter sets the parameters of which can be directly addressed via the INTERBUS.

Parameter data transfer

Lenze parameter sets

Addressing

Addressing is carried out with a code offset:

ƒ Offset "0" addresses the parameter set 1 with the codes C0000 ... C1999.

ƒ Offset "2000" addresses the parameter set 2 with the codes C2000 ... C3999.

ƒ Offset "4000" addresses the parameter set 3 with the codes C4000 ... C5999.

ƒ Offset "6000" addresses the parameter set 4 with the codes C6000 ... C7999.

If a parameter is only available once (see documentation of the controller), use the code offset "0".

Example

Addressing of the code C0011 (maximum field frequency) in different parameter sets:

ƒ C0011 in parameter set 1: Code no. = 11

ƒ C0011 in parameter set 2: Code no. = 2011

ƒ C0011 in parameter set 3: Code no. = 4011

ƒ C0011 in parameter set 4: Code no. = 6011

) Note!

Automatic saving of the changed parameter data is activated (Lenze basic setting, can be switched off via C0003).

EDSMF2178IB EN 3.0

Parameter data transfer

Lenze parameter sets Parameter sets for controller 93XX

10.2.2 Parameter sets for controller 93XX

The drive controllers 93XX feature up to four parameter sets for storage in the EEPROM for each technology variant. An additional parameter set is located in the main memory of the drive controller. This parameter set is referred to as "current" parameter set.

Addressing

ƒ Only the current parameter set can be directly addressed via the bus.

ƒ After power−on, parameter set 1 is automatically loaded into the current parameter

set.

ƒ Before changing the parameters of parameter sets 2 ... 4, the parameter sets must

be activated.

) Note!

Changes in the current parameter set are lost after switching off the drive controller.

Code C0003 is used to store the current parameter set (see documentation of the controller).

EDSMF2178IB EN 3.0

Structure of the parameter data telegram

10.3 Structure of the parameter data telegram

User data (up to 8 bytes)

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

Command

Index

Low byte

Index

High byte

Subindex

) Note!

User data are displayed in the left−justified INTEL format. (Calculation examples: ^ 77)

Command

The command contains the services for writing and reading parameters and information about the user data length.

Parameter data transfer

Data 1 Data 2 Data 3 Data 4

Low word High word

Low byte High byte Low byte High byte

Error code

Structure of a command:

Bit 7 MSB

Command

Write request 0 0 1 0 x x 1 1

Write response 0 1 1 0 x x 0 0

Read request 0 1 0 0 x x 0 0

Read response 0 1 0 0 x x 1 1

Error response 1 0 0 0 0 0 0 0

Command Specifier (cs) 0 Length e s

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

LSB

Note

User data length coding in bits 2 and 3:

l 0b00 = 4 bytes l 0b01 = 3 bytes l 0b10 = 2 bytes l 0b11 = 1 byte

The following information is contained/must be entered in the command.

Command

Write request (Send parameters to drive)

Write response (Controller response to write request (acknowledgement))

Read request (Request to read a parameter from the controller)

Read response (Response to the read request with an actual value)

Error response (Controller indicates a communication error)

4−byte data

(bytes 5 ... 8)

hex dec hex dec hex dec hex dec

0x23 35 0x2B 43 0x2F 47

0x60 96 0x60 96 0x60 96

0x40 64 0x40 64 0x40 64 0x40 64

0x43 67 0x4B 75 0x4F 79 0x41 65

0x80 128 0x80 128 0x80 128 0x80 128

2−byte data

(bytes 5 and 6)

1−byte data

(byte 5)

Block

Writing not possible

EDSMF2178IB EN 3.0

Parameter data transfer

Structure of the parameter data telegram

Index low byte / Index high byte

Parameters and Lenze codes are selected with these two bytes according to the following formula:

Index = 24575 − (Lenze code number + 2000 (parameter set − 1))

Example Calculation Low/high byteindex entries

Code C0012 (acceleration time) in parameter set 1 is to be addressed.

Code C0012 (acceleration time) in parameter set 2 is to be addressed.

Subindex

Depending on the corresponding Lenze code, further subcodes may exist.

For all array codes, the value of the highest subindex can be read out via subindex 0.

Data (Data1...4)

24575 − 12 − 0 = 24563 = 0x5FF3 Index low byte = 0xF3

Index high byte = 0x5F

An offset of "2000" is to be added because of parameter set 2: 24575 − 12 − 2000 = 22563 = 0x5823

Index low byte = 0x23 Index high byte = 0x58

Parameter value length depending on the data format

(Data format: See "table of attributes" in the documentation of the controller)

Parameter value

(length: 1 byte)

Parameter value (length: 2 bytes)

Low byte High byte

Low word High word

Low byte High byte Low byte High byte

0x00

Parameter value (length: 4 bytes)

0x00 0x00

) Note!

ƒ Lenze parameters are mainly represented as data type FIX32 (32−bit value

with sign and four decimal positions). In order to obtain integer values, the desired parameter value must be multiplied by 10000. (See "Attribute table" in the documentation of the controller.)

ƒ The parameters C0135 and C0150 are transferred as bit code and without

factor.

, Documentation of the controllers

Here you can find the descriptions of the codes (see there: "Code table")

EDSMF2178IB EN 3.0

Parameter data transfer

Structure of the parameter data telegram

Error messages

User data (up to 8 bytes)

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

Command

ƒ Byte 1:

Index

Low byte

Code 128 or 0x80 in the command byte indicates that an error has occurred.

ƒ Bytes 2 ... 4:

These bytes contain the index (bytes 2 and 3) and the subindex (byte 4) of the code in which the error has occurred.

ƒ Bytes 5 ... 8:

The data bytes 5 ... 8 contain the error code. The error code is described in reversed direction compared to the read direction.

Example: Representation of the error code 0x06040041 in bytes 5 ... 8

Index

High byte

Subindex Error code

Read direction of error code

0x41 0x00 0x04 0x06

Byte 5 Byte 6 7th byte Byte 8

Low word High word

Low byte High byte Low byte High byte

EDSMF2178IB EN 3.0

Parameter data transfer

Error codes

10.4 Error codes

Error code

[hex] 0x05030000 Toggle bit not changed 0x05040000 SDO protocol expired 0x05040001 Invalid or unknown client/server command specifier 0x05040002 Invalid block size (only block mode) 0x05040003 Invalid processing number (only block mode) 0x05040004 CRC error (only block mode) 0x05040005 Not enough memory 0x06010000 Object access not supported 0x06010001 Try to read writable object 0x06010002 Try to write readable object 0x06020000 Object not listed in object directory 0x06040041 Object not mapped to PDO 0x06040042 Number and length of objects to be transferred longer than PDO. 0x06040043 General parameter incompatibility 0x06040047 General internal controller incompatibility 0x06060000 Access denied because of hardware error 0x06070010 Inappropriate data type, service parameter length 0x06070012 Inappropriate data type, service parameter length exceeded 0x06070013 Inappropriate data type, service parameters not long enough 0x06090011 Subindex does not exist 0x06090030 Parameter value range exceeded 0x06090031 Parameter values too high 0x06090032 Parameter values too low 0x06090036 Maximum value falls below minimum value 0x08000000 General error 0x08000020 Data cannot be transferred or stored for the application. 0x08000021 Because of local control, data cannot be transferred or stored for the application. 0x08000022 Because of current controller status, data cannot be transferred or stored for the

0x08000023 Dynamic generation of object directory not successful or no object directory available

Description

application.

(e.g. object directory generated from file, generation not possible because of a file error).

EDSMF2178IB EN 3.0

10.5 Examples of parameter data telegram

Reading parameters

The heatsink temperature C0061 ( 43 °C) is to be read from the controller with node address 5 via the parameter data channel 1.

ƒ Identifier calculation

Identifier from SDO1 to controller Calculation

1536 + node address 1536 + 5 = 1541

ƒ Command "Read Request" (request to read a parameter from the controller)

Command Value [hex]

Read request 0x40

ƒ Index calculation

Index Calculation

24575 − code number 24575 − 61 = 24514 = 0x5FC2

Parameter data transfer

Examples of parameter data telegram

ƒ Subindex: 0

ƒ Telegram to controller

User data

Command Index

Identifier

1541 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00

ƒ Telegram from controller

Command Index

Identifier

1413 0x43 0xC2 0x5F 0x00 0xB0 0x8F 0x06 0x00

LOW byte

Index

HIGH byte

Index

HIGH byte

Subindex Data 1 Data 2 Data 3 Data 4

User data

Subindex Data 1 Data 2 Data 3 Data 4

– Command:

"Read Response" (response to the read request) = 0x43

– Identifier:

SDO1 from controller (1408) + node address (5) = 1413

– Index of the read request:

0x5FC2

– Subindex:

– Data 1 ... 4:

0x00068FB0 = 430000 W 430000 : 10000 = 43 °C

EDSMF2178IB EN 3.0

Parameter data transfer

Examples of parameter data telegram

Writing parameters

The acceleration time C0012 (parameter set 1) of the controller with the node address 1 is to be changed to 20 seconds via the SDO1 (parameter data channel 1).

ƒ Identifier calculation

Identifier from SDO1 to controller Calculation

1536 + node address 1536 + 1 = 1537

ƒ Command "Write Request" (transmit parameter to drive)

Command Value [hex]

Write request 0x23

ƒ Index calculation

Index Calculation

24575 − code number 24575 − 12 = 24563 = 0x5FF3

ƒ Subindex: 0

ƒ Calculation of the acceleration time

Data 1 ... 4 Calculation

Value for acceleration time 20 s ú 10000 = 200000

= 0x00030D40

ƒ Telegram to controller

User data

Command Index

Identifier

1537 0x23 0xF3 0x5F 0x00 0x40 0x0D 0x03 0x00

ƒ Telegram from controller if executed faultlessly

Command Index

Identifier

1409 0x60 0xF3 0x5F 0x00 0x00 0x00 0x00 0x00

LOW byte

Index

HIGH byte

Index

HIGH byte

Subindex Data 1 Data 2 Data 3 Data 4

User data

Subindex Data 1 Data 2 Data 3 Data 4

– Command:

"Write Response" (response of the controller (acknowledgement)) = 0x60

– Identifier:

SDO1 from controller (= 1408) + node address (= 1) = 1409

EDSMF2178IB EN 3.0

Parameter data transfer

Examples of parameter data telegram

Read block parameters

The software product code (code C0200) of the Lenze 8200 vector is to be read from parameter set 1. The product code has 14 alphanumerical characters. They are transferred as block parameters. The transfer of block parameters uses the entire data width (2nd to 8th byte).

During user data transfer, the command byte (1. Byte) contains the entry 0x40 or 0x41 to ...

– be able to signalise the end of the block transfer; – request the next block.

ƒ C0200 − request

Command Index

Low byte

0x40 0x37 0x5F 0x00 0x00 0x00 0x00 0x00

Byte 1: 0x40, "Read request" (requirement to read a parameter from the controller) Byte 2/3: Index low/high byte: 24575 − 200 − 0 = 24375 (0x5F37)

ƒ Response including the block length (14 characters)

Command Index

Low byte

0x41 0x37 0x5F 0x00 0x0E 0x00 0x00 0x00

Byte 1: 0x41, "read response". The entry 0x41 implies that it is a block diagram. Byte 2/3: Index low/high byte: 24575 − 200 − 0 = 24375 (0x5F37) Byte 5: 0x0E = data length of 14 characters (ASCII format)

ƒ First data block − request

Index

High byte

Index

High byte

Subindex Data 1 Data 2 Data 3 Data 4

) Note!

The single blocks are toggled*, i.e. at first it is requested with command 0x60 (0b01100000), then with command 0x70 (0b01110000), after his again with 0x6 etc.

The response is sent accordingly. It is alternating because of a toggle bit. The process is completed by command 0x11 (bit 0 is set, see below).

*Toggle−Bit = bit 4 (starting with "0")

EDSMF2178IB EN 3.0

Command Index

Low byte

0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Byte 1: 0x60

ƒ Response

Command Index

Bytes 2 ... 8, ASCII format: 8 2 S 8 2 1 2

"Write response" (acknowledgement) with access to bytes 2 ... 8.

Low byte

0x00 0x38 0x32 0x53 0x38 0x32 0x31 0x32

Index

High byte

Index

High byte

Subindex Data 1 Data 2 Data 3 Data 4

Parameter data transfer

Examples of parameter data telegram

ƒ Second data block − request

Command Index

Low byte

0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Byte 1: 0x70 (Toggle), "Write response" (acknowledgement) with access to all 4 data bytes

ƒ Second data block − response with over−detection

Command Index

Low byte

0x11 0x56 0x5F 0x31 0x34 0x30 0x30 0x30

Byte 1: 0x11, last data block transfer Bytes 2 ... 8, ASCII format: V _ 1 4 0 0 0

Index

High byte

Index

High byte

Subindex Data 1 Data 2 Data 3 Data 4

Result of data block transfer: 82S8212V_14000

EDSMF2178IB EN 3.0

Parameter data transfer

Special features for parameter setting of the drive controller

8200 vector controller

10.6 Special features for parameter setting of the drive controller

10.6.1 8200 vector controller

The digital and analog input and output signals are freely configurable (see System Manual 8200 vector; code C0410, C0412, C0417 and C0421).

10.6.2 9300 Servo PLC / Drive PLC / ECS

AIF control byte (C2120)/AIF status byte (C2121)

The controller and the EMF2178IB communication module are able to exchange control and status information. For this purpose, a control byte and a status byte are made available in the AIF protocol.

C2120: AIF control byte

Code Subcode Index

C2120 − 22455 =

Possible settings

Selection Description

0 No command

1 Update codes 23XX and CAN reinitialisation º reset node

2 Update codes C23XX

10 Reread C2356/1...4

11 Reread C2357

12 Reread C2375

13 Reread C2376 ... C2378

14 Reread C2382

33 ... 62

Value range is only valid for profile applications in a PLC

Update C7999 and C7998 including CAN reinitialisation

Update C7999, mapping table of profile indices

Update C7998, error list of emergency messages

Reset error source, activate emergency messages

Error source 1 ... 30, activate emergency messages

0x57B7

Possible settings

Lenze Selection

0 See table below FIX32

Data type

With the AIF control byte it is possible to read the codes C23XX saved in the 9300 Servo PLC, Drive PLC and ECS into the communication module.

EDSMF2178IB EN 3.0

Execute command

How to accept the values in the communication module:

ƒ Write the table value of the required command into the AIF control byte.

ƒ Change the status of the MSB of the AIF control byte. The command is executed.

Parameter data transfer

Special features for parameter setting of the drive controller 9300 Servo PLC / Drive PLC / ECS

Example

By writing the value"2" into the AIF control byte all codes C23XX are re−read when the MSB changes its status.

For some codes it is necessary to carry out a CAN reinitialisation so that new values and the functions derived from them will become effective.

C2121: AIF status byte

Code Subcode Index

C2121 − 22454 =

0x57B6

Possible settings

Lenze Selection

0 0 [1] 255 U8

Data type

The AIF status byte provides the 9300 Servo PLC, Drive PLC and ECS with information of the communication module. With this information, the 9300 Servo PLC, Drive PLC and ECS can monitor the status of the communication module. Depending on the communication module states, it is possible for you to take corresponding countermeasures.

AIF status byte Description

Bit 0 CE11 error, CAN−IN1 monitoring time exceeded Bit 1 CE12 error, CAN−IN2 monitoring time exceeded Bit 2 CE13 error, CAN−IN3 monitoring time exceeded Bit 3 CE14−error, communication module in BUS−OFF status Bit 4 Operational status Bit 5 Pre−operational state Bit 6 Warning status Bit 7 Internally assigned

EDSMF2178IB EN 3.0

11 Monitoring

11.1 Heartbeat Protocol

) Note!

ƒ Only one monitoring function can be active:

– Heartbeat or node guarding.

ƒ Heartbeat has priority over node guarding:

– If both functions are configured, the heartbeat settings will be active.

Monitoring

Heartbeat Protocol

Heartbeat Producer Time

NMT- Master

Request

t=0

....

EMERGENCY

NMT-Slave

Indication

Heartbeat Consumer Time

Indication

Heartbeat Event

CANopen objects for configuration

CANopen Lenze

Index Subindex Designation Code Subcode Description

I−1016 1 Consumer heartbeat time and COB−ID

I−1017 0 Producer heartbeat time C1870

C1869 C2369

C1870 C2370

C2370

Consumer heartbeat COB−ID

1 Consumer heartbeat time

2 Producer heartbeat time

E82ZAFU009

EDSMF2178IB EN 3.0

The "heartbeat producer" cyclically sends a heartbeat message to one or several "heartbeat consumers".

Monitoring

Heartbeat Protocol

Heartbeat transmission

The heartbeat transmission is activated by entering a time under in the CANopen object I−1017. The monitoring is activated by setting a time and a node ID in the object I−1016/1.

Telegram structure

NMT identifier plus node ID and a data byte with status information:

Data value (s) Status

4 Stopped

5 Operational

127 Pre−operational

Identifier Identifier = Basisadresse (1792) + configurable address (1 ... 127)

Heartbeatmonitoring

The consumer monitors whether the message is received within the "heartbeat consumer time". If this is not the case, an emergency telegram with a "heartbeat event" is sent.

The controller response to a "heartbeat event" is set under subcode C1882/5 / C2382/5.

If the "heartbeat event" occurs, the node changes from the "Operational" state to the "Pre−operational" state (default setting). By means of the object I−1029 a different response can be set.

The heartbeat monitoring only starts when the first heartbeat telegram of a node monitored has been successfully received and the "Pre−operational" NMT state has been reached.

I Tip!

Detailed information on the objects I−1016, I−1017 and I−1029 can be found in the chapter entitled "Implemented CANopen objects" (^ 91).

EDSMF2178IB EN 3.0

11.2 Node Guarding Protocol

) Note!

ƒ Only one monitoring function can be active:

– Heartbeat or node guarding.

ƒ Heartbeat has priority over node guarding:

– If both functions are configured, the heartbeat settings will be active.

The "Node Guarding Protocol" serves to monitor the connection between the NMT master and the NMT slave(s) within a CAN network.

) Note!

An NMT master can be a PLC with a CAN interface or a PC card. The NMT slave function of the "Node Guarding Protocols" (DS301, version

4.01) is supported by the EMF2178IB communication module.

Monitoring

Node Guarding Protocol

Fig. 11−1 Telegram transfer between NMT master and NMT slave

2175COB001

EDSMF2178IB EN 3.0

Monitoring

Node Guarding Protocol

CANopen objects for configuration

CANopen Lenze

Index Subindex Designation Code Subcode Description

I−100C 0 Guard time C1827

C2327

I−100D 0 Life time factor C1828

C2328

− Change of "guard time"

− Change of "life time factor"

RTR telegram

The NMT master cyclically ("node guard time", monitoring time) sends a data telegram called "Remote Transmit Request" (RTR) to the NMT slave.

The RTR prompts the NMT slave to send its current data.

Response telegram

The NMT slave sends a response telegram with a user data width of 1 byte. The most significant bit of the response telegram is a toggle bit (t).

The data value (s) of the other seven bits indicates the status of the NMT slave:

Data value (s) Status

4 Stopped

5 Operational

127 Pre−operational

Identifier Identifier = basic address (1792) + configurable address (1 ... 127)

Node life time

The "node life time" is the product of "node guard time" (object I−100C) and "life time factor" (object I−100D).

Life guarding event

If the NMT slave does not receive an RTR telegram from the NMT master in the "node life time", the "life guarding event" triggers a fault signal in the NMT slave. An emergency telegram with a "life guarding event" is sent.

The controller response to a "life guarding event" is set under subcode C1882/5 / C2382/5.

If the "life guarding event" occurs, the node changes from the "Operational" state to the "Pre−operational" state (default setting). By means of the object I−1029 a different response can be set.

Node guarding event

The "node guarding event" should occur in the NMT master if despite the request by the NMT master no response from the NMT slave is received in the "node life time" or the toggle bit has not changed in the "node life time".

EDSMF2178IB EN 3.0

11.3 Emergency telegram

An emergency telegram is sent once to the master if the error status of the communication module changes, i.e.

ƒ if an internal communication module error occurs.

ƒ if an internal communication module error is eliminated.

The emergency telegram sent via the CAN bus is structured as follows:

ƒ Byte 1 + 2: Emergency error code

ƒ Byte 3: Error register object I−1001

ƒ Bytes 4 ... 8: Field for manufacturer−specific error messages

Contents: – Emergency error code 0x1000: Lenze error number – All other emergency error codes have the value "0".

Monitoring

Emergency telegram

Emergency error codes

[hex] 0x0000

0x1000 Basic device in TRIP, message, warning, FAIL, QSP or persistent fault 01

0x3100 Supply voltage of basic device faulty or failed 01

0x6280 Fault in mapping table with operation with a profile implemented in

0x8100 Communication error (warning) 11

0x8130 "Life guard error" or "heartbeat error" 11

0x8210 PDO length shorter than expected 11

0x8220 PDO length longer than expected 11

0x8700 Sync telegram monitoring 11

Cause Error register entry

One of several errors eliminated

Single error eliminated (no more errors)

the PLC

(I−1001)

EDSMF2178IB EN 3.0

Diagnostics

Measures in case of troubled communication

12 Diagnostics

12.1 Measures in case of troubled communication

The following table shows error causes and remedy measures if there is no communication with the controller.

Possible cause of error

Is the controller switched on?

Is the communication module supplied with voltage?

Does the controller receive telegrams?

Diagnostics Remedy

One of the operating status LEDs of the basic device (2) must be on.

The green LED 0 (connection status with controller) is on (remedy 1) or blinking (remedy 2).

The green LED 1 (connection status with bus) must be blinking when communicating with the host.

Supply controller with voltage (see Operating Instructions/Manual for the basic device)

l In case of supply from the controller check the

connection. With external supply check the 24 V voltage at terminals 39 and 59. A voltage of 24V +10% must be applied.

l The communication module has not been initialised

with the controller yet.

l Remedy 1: Controller not switched on (see fault

possibility 1).

l Remedy 2: Check the connection to the controller.

Check whether the connection corresponds to the instructions given in the chapter "Electrical installation". Check whether host sends telegrams and uses the appropriate interface.

Is the existing node address already assigned?

EDSMF2178IB EN 3.0

12.2 LED status displays

The LEDs on the front are provided to the communication module for the purpose of fault diagnostics.

Fig. 12−1 LEDs of the communication module

Pos. Status display (LED) Description

Connection status to standard device, two−colour LED (green/red) OFF l The communication module is not supplied with voltage.

GREEN

RED

Blinking The communication module is supplied with voltage, but has no

Constantly ON The communication module is supplied with voltage and is

Constantly ON CANopen operation impossible. Blinking

Diagnostics

LED status displays

l The external voltage supply is switched off.

connection to the standard device. Cause: The standard device is ...

l switched off; l in the initialisation phase; l not available.

connected to the standard device.

Permanently: l Parameters are reset to Lenze setting.

l CANopen operation possible.

1 x blinking: l An error occurred while saving a value. 2 x blinking: l CANopen operation possible.

l The node address/baud rate from C1850/C2350 or C1851/C2351

could not be accepted .

2172CAN000D

EDSMF2178IB EN 3.0

Diagnostics

LED status displays

Pos. Status display (LED) Description

1 Connection status to fieldbus, two−colour LED (green/red)

OFF No connection to the master

GREEN

RED

RED constantly on

CANopen status ("Z") CANopen error ("F")

Z: Bus off

Blinking GREEN every 0.2 seconds

GREEN every 0.2 seconds 1 x blinking RED, 1 s OFF

Blinking GREEN every 0.2 seconds 2 x blinking RED, 1 s OFF

GREEN constantly on

GREEN constantly on 1 x blinking RED, 1 s OFF

GREEN constantly on 2 x blinking RED, 1 s OFF

GREEN constantly on 3 x blinking RED, 1 s OFF

Blinking GREEN every second

Blinking GREEN every second 1 x blinking RED, 1 s OFF

Blinking GREEN every second 2 x blinking RED, 1 s OFF

Z: Pre−operational, F: None

Z: Pre−operational, F: Warning limit reached

Z: Pre−operational, F: Node guard event

Z: Operational, F: None

Z: Operational, F: Warning limit reached

Z: Operational, F: Node guard event

Z: Operational, F: Sync message error

Z: Stopped, F: None

Z: Stopped, F: Warning limit reached

Z: Stopped, F: Node guard event

Pos. Status display (LED) Description

2 Green and red Drive LED Operating status of standard device

(see standard device documentation)

EDSMF2178IB EN 3.0

Implemented CANopen objects

Reference between CANopen object and Lenze code

13 Implemented CANopen objects

Lenze controllers can be parameterised with Lenze codes and manufacturer−independent "CANopen objects". A completely CANopen−conform communication can only be achieved by using CANopen objects for parameter setting.

All CANopen objects described in these instructions are defined according to the "CiA Draft Standard 301/version 4.02".

) Note!

Some of the terms used here derive from the CANopen protocol.

13.1 Reference between CANopen object and Lenze code

CANopen objects and Lenze codes do not have the same functionalities.

Some CANopen objects have a direct influence on the corresponding codes:

ƒ If a new value is written within an object, the value is also adopted in the

corresponding code C18xx or C23xx.

ƒ When reading an object, the values stored under the corresponding code are

displayed.

Example

The CANopen object I−1017 (producer heartbeat time) is mapped on the codes C1870/2 and C2370/2:

ƒ Reading the object I−1017:

– Response: Value under code C1870/C2370, subcode 2.

ƒ Writing a new value into the object I−1017:

– The new producer heartbeat time is also entered under C1870/2 and C2370/2.

EDSMF2178IB EN 3.0

Implemented CANopen objects

Overview

13.2 Overview

CANopen objects Lenze codes

Index Subindex Designation Code Subcode Description

I−1000 0 Device Type − − −

I−1001 0 Error register − − −

I−1003 0 ... 10

I−1005 0 COB−ID SYNC message

I−1006 0 Communication cycle period

I−1008 0 Manufacturer’s device name − − −

I−100A 0 Manufacturer’s software version − − −

I−100C 0 Guard time C1827

I−100D 0 Life time factor C1828

I−1010

I−1011 0 ... 7 Restore default parameters − − −

I−1014 0 COB−ID emergency object C1871

I−1015 0 Emergency inhibit time C1872

I−1016 0, 1 Consumer heartbeat time and COB−ID

I−1017 0 Producer heartbeat time C1870

I−1018 0 ... 4 Module device description − − −

I−1029 0, 1 Error behaviour − − −

I−1200

I−1201

(depending on the error messages)

0 Store parameters (U8)

1...3 Store parameters (U32)

0 Server SDO1 parameters

1 Identifier client ®server (rx)

2 Identifier server ®client (tx)

0 Server SDO2 parameters

1 Identifier client ®server (rx)

2 Identifier server ®client (tx)

Error history − − −

C1867 C2367

C1868 C2368

C1856 C2356

C1857 C2357

C1856 C2356

C1857 C2357

C2327

C2328

− − −

C2371

C2372 C1869

C2369 C1870

C2370

− − −

C1865 C2365

− Change of COB−ID Rx

− Change of COB−ID Tx

− Change of "guard time"

− Change of "life time factor"

− Change of "COB−ID emergency"

1 Change of consumer heartbeat

2 Change of cycle time for the producer

1 Change of validity of SDO 2

The time entered depends on bit 30 (sync sending).

Enter the value corresponding to bit 30 of I−1005

(setting bit 31 to deactivate the emergency is not directly depend.)

Change of delay time

Change of consumer heartbeat COB−ID

monitoring time

heartbeat telegram

hex

EDSMF2178IB EN 3.0

I−1400

I−1401

I−1402

I−1600

I−1601

I−1602

Implemented CANopen objects

Lenze codesCANopen objects

1 RPDO1 COB−ID

2 RPDO1 transmission type C1873

5 RPDO1 event timer C1857

0 Number of entries − − −

1 RPDO2 COB−ID

2 RPDO2 transmission type C1873

5 RPDO2 event timer C1857

0 Number of entries − − −

1 RPDO3 COB−ID

2 RPDO3 transmission type C1873

5 RPDO3 event timer C1857

0 Number of mapped objects in RPDOs

1 RPDO mapping 1

2 RPDO mapping 2

3 RPDO mapping 3

4 RPDO mapping 4

0 Number of mapped objects in RPDOs

1 RPDO mapping 1

2 RPDO mapping 2

3 RPDO mapping 3

4 RPDO mapping 4

0 Number of mapped objects in PDOs

1 RPDO mapping 1

2 RPDO mapping 2

3 RPDO mapping 3

4 RPDO mapping 4

Number of entries − − −

C1853 C2353

C1855 C2355

C1865 C2365

C2373

C2357

C1853 C2353

C1855 C2355

C1865 C2365

C2373

C2357

C1853 C2353

C1855 C2355

C1865 C2365

C2373

C2357

− − −

1 Change of COB−ID:

1 Enter the new ID under the code.

2 Change of validity of the PDOs

1 Change of transmission type

1 Change of monitoring time

2 Change of COB−ID:

3 Enter the new ID under the code.

3 Change of validity of the PDOs

2 Change of transmission type

2 Change of monitoring time

3 Change of COB−ID:

5 Enter the new ID under the code.

4 Change of validity of the PDOs

3 Change of transmission type

3 Change of monitoring time

Overview

DescriptionSubcodeCodeDesignationSubindexIndex

Set code to CANopen addressing.

EDSMF2178IB EN 3.0

I−1800

I−1801

I−1802

I−1A00

I−1A01

Implemented CANopen objects

Overview

Lenze codesCANopen objects

1 TPDO1 COB−ID

2 TPDO1 transmission type

3 Inhibit time − − −

5 TPDO1 event timer C1856

0 Number of entries − − −

1 TPDO2 COB−ID

2 TPDO2 transmission type

3 Inhibit time − − −

5 TPDO2 event timer C1856

0 Number of entries − − −

1 TPDO3 COB−ID

2 TPDO3 transmission type

3 Inhibit time − − −

5 TPDO3 event timer C1856

0 Number of mapped objects in TPDOs

1 TPDO mapping 1

2 TPDO mapping 2

3 TPDO mapping 3

4 TPDO mapping 4

0 Number of mapped objects in TPDOs

1 TPDO mapping 1

2 TPDO mapping 2

3 TPDO mapping 3

4 TPDO mapping 4

Number of entries − − −

C1853 C2353

C1855 C2355

C1865 C2365

C1874 C2374

C1875 C2375

C2356

C1853 C2353

C1855 C2355

C1865 C2365

C1874 C2374

C1875 C2375

C2356

C1855 C2355

C1865 C2365

C1874 C2374

C1875 C2375

C2356

− − −

1 Change of COB−ID:

2 Enter the new ID under the code.

2 Change of validity of the PDOs

1 Change of transmission type

1 Change of mode

2 Change of cycle time

2 Change of COB−ID:

4 Enter the new ID under the code.

3 Change of validity of the PDOs

2 Change of transmission type

2 Change of mode

3 Change of cycle time

6 Enter the new ID under the code.

4 Change of validity of the PDOs

3 Change of transmission type

3 Change of mode

4 Change of cycle time

DescriptionSubcodeCodeDesignationSubindexIndex

Set code to CANopen addressing.

EDSMF2178IB EN 3.0

I−1A02

0 Number of mapped objects in TPDOs

1 TPDO mapping 1

2 TPDO mapping 2

3 TPDO mapping 3

4 TPDO mapping 4

Implemented CANopen objects

Overview

Lenze codesCANopen objects

DescriptionSubcodeCodeDesignationSubindexIndex

− − −

EDSMF2178IB EN 3.0

Implemented CANopen objects

Overview I−1000: Device type

13.2.1 I−1000: Device type

Index (hex)

0x1000

Subindex Default

0 − 0 ... 232 − 1 ro U32

The object I−1000 indicates the device profile for this device. It is also possible to include additional information here that is defined in the device profile itself. If a specific device profile is not used, the content is "0x0000".

Data telegram assignment

Byte 8 7th byte Byte 6 Byte 5

13.2.2 I−1001: Error register

Reading of the error register

Index (hex)

0x1001

Subindex Default

0 − 0 ... 255 ro U8

Bit assignment in the data byte (U8) for the individual error states

Name

Device Type

Value range Access Data type

setting

U32

Device profile number Additional information

Name

Error register

Value range Access Data type

setting

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Error status

000 0 0 0 0 0 No fault 0 0 0 0 0 0 0 1 Device error message 0 0 0 1 0 0 0 1 Communication error

EDSMF2178IB EN 3.0

13.2.3 I−1003: Error history

Error history

Implemented CANopen objects

Overview

I−1003: Error history

Index (hex)

0x1003

Subindex Default

0 Number of recorded

errors

Standard error field − 0 ... 232 − 1 ro U32

...

Name

Error history

Value range Access Data type

setting

− 0 ... 255 rw U8

This object shows that errors have occurred in the communication module and in the basic device:

ƒ Subindex 0: Number of saved error messages. ƒ Subindex 1 ... 10: Error list.

The error messages consist of a 16−bit error code and a 16−bit manufacturer−specific information field.

) Note!

The values in the "standard error field" under subindex 1 ... 10 will be completely deleted if subindex 0 "number of recorded errors" is overwritten with "0".

EDSMF2178IB EN 3.0

Implemented CANopen objects

Overview I−1005: COB−ID SYNC message

13.2.4 I−1005: COB−ID SYNC message

Index (hex)

0x1005

Subindex Default

0 0x80 or

Name

COB−ID SYNC message

Value range Access Data type

setting

0 ... 232 − 1 rw U32

0x80000080

This object ensures that sync telegrams can be created for the communication module and that the identifier value can be written.

Creating sync telegrams

Sync telegrams are created when bit 30 (see below) is set to "1".

The time between the syn telegrams can be set using the object I−1006.

Writing identifiers

The default setting for receiving PDOs is "0x80" in the 11−bit identifier (also according to the CANopen specification). This means that all communication modules are default set to the same sync telegram.

If sync telegrams are only to be received by certain communication modules, their identifiers can be entered with values up to "0xFF". The identifiers can only be changed when the communication module does not send sync telegrams (bit 30 = 0).

Data telegram assignment

Byte 8 7th byte Byte 6 Byte 5

MSB U32 LSB

31 30 29 28 ... 11 10 ... 0

0/1 0/1 0 Bit value: 0 11−bit identifier

Bits Value Description

0 ... 10 X 11−bit identifier 11 ... 29 0 The extended identifier is not supported. Any of these bits must be "0". 30

31 X optional

0 Device does not create sync telegrams. 1 Device creates sync telegrams.

EDSMF2178IB EN 3.0

Implemented CANopen objects

13.2.5 I−1006: Communication cycle period

Overview

I−1006: Communication cycle period

Index (hex)

0x1006

Subindex Default

0 0 0 ... 232 − 1 rw U32

Name

Communication cycle period

setting

This object is used to set a sync telegram cycle time when sync sending is activated (bit 30 in object I−1005).

If sync sending is deactivated and a cycle time is selected, the selected time is used for monitoring the sync telegrams received.

With the default setting of "0", sync telegrams are not created or monitored.

Cycle times can be entered as "1000" or an integer multiple of "1000". The unit of the entered time is ms. The maximum value is 65535000 ms.

13.2.6 I−1008: Manufacturer’s device name

Index (hex)

0x1008

Subindex Default

0 − Module−specific const VS

Name

Manufacturer’s device name

setting

Value range Access Data type

(9 characters)

Display of the manufacturer’s device designation of controller and communication module.

The manufacturer’s device designation comprises a total of 9 characters:

ƒ 1st ... 4th character: The 4th to 7th character is read out of the software ID of the

standard device (C0200). – e.g. "8212" from the ID of the 8200 vector frequency inverter

ƒ 5th character: Use of an underscore ("_")

ƒ 6th ... 9th character: The 4th to 7th character is read out of the software ID of the

standard device (C1500). – e.g. "AFU0" from the total "82ZAFU0B_20000" ID of the E82ZAFUC

communication module (CANopen)

EDSMF2178IB EN 3.0

Implemented CANopen objects

Overview I−100A: Manufacturer software version

13.2.7 I−100A: Manufacturer software version

Index (hex)

0x100A

Subindex Default

0 − Module−specific const VS

Name

Manufacturer’s software version

Value range Access Data type

setting

(11 characters)

Display of the manufacturer’s software version of controller and communication module.

The manufacturer’s software version consists of a total of 11 characters:

ƒ 1st ... 5th character: The 10th to 14th character is read out of the software ID of the

standard device (C0200). – 10th character: Major software version – 11. character: Minor software version – 12th ... 14th character: Power class of the standard device (see documentation of

the standard device)

ƒ 6th character: Use of an underscore ("_")

ƒ 7th ... 11th character: The 10th to 14th character is read out of the software ID of

the standard device (C1500). – e.g. "20000" from the total "82ZAFU0B_20000" ID of the E82ZAFUC

communication module (CANopen)

13.2.8 I−100C: Guard time

Index (hex)

0x100C

Subindex Default

0 0 0 ... 65535 rw U16

The guard time is indicated in milliseconds.

With the default setting of "0", "node guarding" is not supported.

"Node guarding" in the slave is activated if a value > "0" is selected for the "guard time" and the "life time factor". The "guard time" indicates the time within which the RTRs from the master are awaited.

Name

Guard time

Value range Access Data type

setting

100

EDSMF2178IB EN 3.0

Lenze EMF2178IB User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contentsi

1 About this documentation

1.1 Document history

1.2 Conventions used

1.3 Terminology used

1.4 Notes used

2 Safety instructions

2.1 General safety information

2.3 Residual hazards

3 Product description

3.1 Application as directed

3.2 Identification

3.3 Product features

3.4 Connections and interfaces

4 Technical data

4.1 General data and operating conditions

4.2 Protective insulation

4.3 Communication time

4.4 Dimensions

5 Installation

5.1 Mechanical installation

5.2 Electrical installation

5.2.2 Wiring with a host (master)

5.2.3 Wiring system bus (CAN)

5.2.4 Specification of the transmission cable

5.2.5 Bus cable length

5.2.6 Voltage supply

6 Commissioning

6.1 Before switching on

6.2 Installing EDS files

6.3 Setting node address and baud rate

6.5 Enable drive via the communication module

7 Replacing the EMF2172IB communication module (CAN)

8 Data transfer

8.1 Structure of the CAN telegram

8.2 CAN communication phases / network management (NMT)

9 Process data transfer

9.1 Available process data objects

9.2 Configuring process data channel

9.3 Cyclic process data objects

9.3.1 Process data signals of Lenze controllers

10 Parameter data transfer

10.1 Access to the codes of the controller

10.2 Lenze parameter sets

10.2.1 Parameter sets for 8200 vector controller

10.2.2 Parameter sets for controller 93XX

10.3 Structure of the parameter data telegram

10.4 Error codes

10.5 Examples of parameter data telegram

10.6 Special features for parameter setting of the drive controller

10.6.1 8200 vector controller

10.6.2 9300 Servo PLC / Drive PLC / ECS

11 Monitoring

11.1 Heartbeat Protocol

11.2 Node Guarding Protocol

11.3 Emergency telegram

12 Diagnostics

12.1 Measures in case of troubled communication

12.2 LED status displays

13 Implemented CANopen objects

13.1 Reference between CANopen object and Lenze code

13.2 Overview