Lenze EMF2178IB User Manual
EDSMF2178IB
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L−force Communication
Communication Manual
CANopen
EMF2178IB
Communication module
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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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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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
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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.
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1.1 Document history
Material no. Version Description
− 1.0 01/2008 TD17 First edition
13127634 2.0 07/2011 TD17 General revision
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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)
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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
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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.
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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
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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
2
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.
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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.
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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
3
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
1)
9300 servo PLC
9300 vector frequency inverter
Any other use shall be deemed inappropriate!
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Product description
Identification
3.2 Identification
L
Type
Id.-No.
Prod.-No.
Ser.-No.
E82AF000P0B201XX
Type code W 33.2178IB 1x 2x
Series
Hardware version
Software version
99371BC013
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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
3
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Product description
Connections and interfaces
3.4 Connections and interfaces
EMF2178IB
6
5
Address Bd
GND
CAN_L
0
L
CANopen
CAN_H
SHLD
1
2
3
V+
4
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
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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
4
, 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.
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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
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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
4
, 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
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Technical data
Dimensions
4.4 Dimensions
Address Bd
GND
Fig. 4−1 Dimensions of the communication module (all dimensions in mm)
62
CAN_L
L
CANopen
CAN_H
SHLD
75
V+
2178
18
36
2178CAN003
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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
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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).
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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 16mm
(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
5
2
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
.
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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 EN61800−5−1 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
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EDSMF2178IB EN 3.0
Installation
Electrical installation
Wiring system bus (CAN)
5
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.
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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
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Installation
Electrical installation
Bus cable length
5
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
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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)
2
0.5 mm
(AWG21)
2
0.75 mm
(AWG19)
2
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)
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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
5
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.
m.
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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 = 24VDC±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.
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