Lenze L-force 930, L-force 931E Communications Manual

KHB 13.0002-EN

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.4&ø

Ä.4&øä

L-force Drives

Communication Manual

Servo Drives 930

931E

CANopen



This documentation applies to 931E servo inverters.

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Document history

Material No. Version Description

.4&ø 2.0 02/2007 TD19 First edition

0Fig.0Tab. 0

 Tip!

Current documentation and software updates concerning Lenze products can be found on the Internet in the ”Services & Downloads” area under

http://www.Lenze.com

Important note:

Software is provided to the user ”as is”. All risks regarding the quality of the software and any results obtained from its use remain with the u ser. The user should take appropriate security precautions against possible maloperation. We do not accept any responsibility for direct or indirect damage caused, e.g. loss of profit, loss of orders or adverse commercial effects of any kind. All trade names listed in this documentation are trademarks of their respective owners.

© 2007 Lenze GmbH & Co KG Kleinantriebe, Hans-Lenze-Straße 1, D-32699 Extertal No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze GmbH & Co KG Kleinantriebe. 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.

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Contents i

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1Preface 7..................................................................

1.1 Introduction 7.........................................................

1.2 About this Communication Manual 8.....................................

1.3 Legal regulations 9.....................................................

2 Safety instructions 10.........................................................

2.1 Persons responsible for safety 10..........................................

2.2 General safety instructions 11.............................................

2.3 Definition of notes used 12...............................................

3 Technical data 13............................................................

3.1 Communication data 13.................................................

4 Electrical installation 14.......................................................

4.1 Wiring according to EMC 14..............................................

4.2 Electrical connections of CANopen 15......................................

4.3 Connection of CAN bus slave 16...........................................

4.4 Connection of CAN bus master 17.........................................

5 CANopen communication 18...................................................

5.1 About CANopen 18......................................................

5.1.1 Structure of the CAN data telegram 18..............................

5.1.2 Identifier 19....................................................

5.1.3 Node address (node ID) 19........................................

5.1.4 User data 20....................................................

5.2 Parameter data transfer (SDO transfer) 21..................................

5.2.1 Telegram structure 21............................................

5.2.2 Reading parameters (example) 25..................................

5.2.3 Writing parameters (example) 26..................................

5.3 Process data transfer (PDO transfer) 27.....................................

5.3.1 Telegram structure 27............................................

5.3.2 Available process data objects 27..................................

5.3.3 Objects for PDO parameterisation 28...............................

5.3.4 Description of the objects 37......................................

5.3.5 Example of a process data telegram 39.............................

5.3.6 Activation of the PDOs 40.........................................

5.4 Sync telegram 41........................................................

5.4.1 Telegram structure 41............................................

5.4.2 Synchronisation of the process data 41.............................

5.4.3 Description of the objects 42......................................

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Contentsi

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5.5 Network management (NMT) 43..........................................

5.5.1 Communication phases of the CAN network (NMT) 43................

5.5.2 Telegram structure 44............................................

5.6 Emergency telegram 46..................................................

5.6.1 Telegram structure 46............................................

5.6.2 Description of the objects 48......................................

5.7 Heartbeat telegram 49...................................................

5.7.1 Telegram structure 49............................................

5.7.2 Description of the objects 51......................................

5.8 Boot-up telegram 52.....................................................

5.8.1 Telegram structure 52............................................

6 Commissioning 53...........................................................

6.1 Activation of CANopen 53................................................

6.2 Speed control 54........................................................

6.2.1 Parameterising of a process data object (TPDO and RPDO) 54...........

6.2.2 Parameterising of the motor and the current controller 57.............

6.2.3 Parameterising of the speed control 58.............................

6.2.4 Running through the state machine 59.............................

6.3 Position control 61......................................................

6.3.1 Parameterising of the homing run 61...............................

6.3.2 Running through the state machine 63.............................

7 Parameter setting 67.........................................................

7.1 Loading and saving of parameter sets 67...................................

7.1.1 Overview 67....................................................

7.1.2 Description of the objects 69......................................

7.2 Conversion factors (factor group) 70.......................................

7.2.1 Overview 70....................................................

7.2.2 Description of the objects 72......................................

7.3 Power stage parameters 74...............................................

7.3.1 Overview 74....................................................

7.3.2 Description of the objects 74......................................

7.4 Current controller and motor adaptation 76.................................

7.4.1 Overview 76....................................................

7.4.2 Description of the objects 77......................................

7.5 Speed controller 79......................................................

7.5.1 Overview 79....................................................

7.5.2 Description of the objects 79......................................

7.6 Position controller (position control function) 80.............................

7.6.1 Overview 80....................................................

7.6.2 Description of the objects 82......................................

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7.7 Analog inputs 85........................................................

7.7.1 Overview 85....................................................

7.8 Digital inputs and outputs 85.............................................

7.8.1 Overview 85....................................................

7.8.2 Description of the objects 85......................................

7.9 Limit switches 86.......................................................

7.9.1 Overview 86....................................................

7.9.2 Description of the objects 86......................................

7.10 Device information 87...................................................

7.10.1 Description of the objects 87......................................

8 Device control 88............................................................

8.1 State diagram 88........................................................

8.1.1 Overview 88....................................................

8.1.2 State diagram of the drive controller 89.............................

8.1.3 States of the drive controller 91....................................

8.1.4 State transitions of the drive controller 92...........................

8.1.5 Control word 93.................................................

8.1.6 Controller state 96...............................................

8.1.7 Status word 97..................................................

9Operatingmodes 99..........................................................

9.1 Setting of the operating mode 99..........................................

9.1.1 Overview 99....................................................

9.1.2 Description of the objects 99......................................

9.2 Speed control 101........................................................

9.2.1 Overview 101....................................................

9.2.2 Description of the objects 103......................................

9.3 Homing 104.............................................................

9.3.1 Overview 104....................................................

9.3.2 Description of the objects 105......................................

9.3.3 Control of the homing run 106......................................

9.4 Positioning 107..........................................................

9.4.1 Overview 107....................................................

9.4.2 Description of the objects 108......................................

9.4.3 Functional description 109.........................................

9.5 Synchronous position selection 111.........................................

9.5.1 Overview 111....................................................

9.5.2 Description of the objects 112......................................

9.5.3 Functional description 114.........................................

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9.6 Torque control 117.......................................................

9.6.1 Overview 117....................................................

9.6.2 Description of the objects 118......................................

10 Appendix 119................................................................

10.1 Index table 119..........................................................

11 Index 143....................................................................

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1Preface

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1.1 Introduction

The competitive situation in the mechanical and system engineering sector requires new means to optimise the production costs. This is why modular machine and system engineering is becoming increasingly more important, since individual solutions can now be set up easily and cost-effectively from a single modular system.

Lenze fieldbus systems in industrial applications

For an optimal communication between the single modules of a system, fieldbus systems are increasingly used for process automation. Lenze offers the following communication modules for the standard fieldbus systems:

ƒ PROFIBUS-DP

ƒ CANopen

Preface

Introduction

Decision support

The decision for a fieldbus system depends on many different factors. The following overviews will help you to find the solution for your application.

PROFIBUS-DP

For bigger machines with bus lengths of more than 100 metres, INTERBUS or PROFIBUS-DP (PROFIBUS-Decentralised Periphery) are frequently used. The PROFIBUS-DP is always used together with a master control (PLC) – here the PROFIBUS master transmits e.g. the setpoints to the single PROFIBUS stations (e. g. Lenze controllers).

Whenusing thedata transferrateof 1.5Mbps typical for thePROFIBUS-DP,the sensorsand actuators receive the p rocess data. Due to the data transmission mode and the telegram overhead, a bus cycle timeresults at 1.5 Mbps, which is sufficient tocontrol e. g.conveyors. If, for technical reasons, the process data must be transmitted faster to the sensors and actuators, the PROFIBUS can also be operated with a data transmission rate of maximally 12 Mbps.

CANopen

CANopen is a communication protocol specified to the CiA (CAN in Automation) user group. Lenze can provide communication modules for controls with CANopen masters. These modules are compatible with the specification DS 301 V4.01.

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Preface

About this Communication Manual

1.2 About this Communication Manual

Target group

This manual is directed at all persons who carry out the dimensioning, installation, commissioning and settings of the 931 series drive controllers.

Together with the catalogue, it provides the project planning basis for the manufacturer of plants and machinery.

Contents

The CAN manual supplements the software manual and mounting instructions which are included in the scope of supply:

ƒ The features and functions are described in detail.

ƒ It provides detailed information on the possible applications.

ƒ Parameter setting is explained with the help of examples.

ƒ In case of doubt, the supplied mounting instructions are always valid.

How to find information

ƒ The table of contents and the index help you to find all information about a certain

topic.

ƒ Descriptions and data on other Lenze products can be found in the corresponding

catalogues, operating instructions and manuals.

ƒ You can request Lenze documents from your responsible Lenze sales partner or

download it as a PDF file from the Internet.

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1.3 Legal regulations

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Preface

Legal regulations

Labelling

Application as directed

Liability z The information, data, and notes in these instructions met the state of the art at the time of printing. Claims

Warranty z Terms of warranty: see Sales and Delivery Conditions of Lenze GmbH & Co KG Kleinantriebe.

Disposal

Nameplate CE identification Manufacturer

Lenze drive controllers are definitely identified by the contents of the nameplate.

931E servo inverters

z must only be operated under the operating conditions prescribed in these Instructions. z are components

– for open and closed loop control of variable speed drives with synchronous motors. – for installation in a machine – for assembly with other components to form a machine.

z are electric units for the installation into control cabinets or similar closed electrical operating areas. z comply with the requirements of the Low-Voltage Directive. z are not machines for the purpose of the Machinery Directive. z are not to be used as domestic appliances, but only for industrial purposes.

Drive systems with 931E servo inverters

z comply with the EMC Directive if they are installed according to the guidelines of CE-typical drive systems. z can be used

– for operation on public and non-public mains – for operation in industrial premises.

z The user is responsible for the compliance of his application with the EC Directives.

Any other use shall be deemed as inappropriate!

on modifications referring to controllers which have already been supplied cannot be derived from the information, illustrations, and descriptions.

z The specifications, processes, and circuitry described in these Instructions are for guidance only and must be

adapted to your own specific application. Lenze does not take responsibility for the suitability of the process and circuit proposals.

z Lenze does not accept any liability for damage and operating interference caused by:

– disregarding the Operating Instructions – unauthorised modifications to the drive controllers – operating errors – improper working on and with the drive controllers

z Warranty claims must be made to Lenze immediately after detecting the deficiency or fault. z The warranty is void in all cases where liability claims cannot be made.

Material Recycle Dispose

Metal D - Plastic D - Assembled PCBs - D

In compliance with the EC Low-Voltage Directive

Lenze GmbH & Co KG Kleinantriebe Postfach 10 13 52 D-31763 Hameln

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Safety instructions

Persons responsible for safety

2 Safety instructions

2.1 Persons responsible for safety

Operator

An operator is any natural or legal person who uses the drive system or on behalf of whom the drive system is used.

Theoperatororhissafetyofficerisobliged

ƒ to ensure the compliance with all relevant regulations, instructions and legislation.

ƒ to ensure that only qualified personnel work on and with the drive system.

ƒ to ensure that the personnel have the Operating Instructions available for all work.

ƒ to ensure that all unqualified personnel are prohibited from working on and with

the drive system.

Qualified personnel

Qualified personnel are persons who -due totheir education,experience, instructions, and knowledge about relevant standards and regulations, rules for the prevention of accidents, and operating conditions - are authorised by the person responsible for the safety of the plant to perform the required actions andwho are able torecognise potential hazards. (Definition for skilled personnel to VDE 105 or IEC 364)

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2.2 General safety instructions

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ƒ These safety instructions are not claimed to be complete. In case of questions and

problems, please contact your Lenze representative.

ƒ At the time of delivery, the drive controller meets the state of the art and basically

ensures safe operation.

ƒ The information given in this manual refers to the specified hardware and software

versions of the modules.

ƒ The drive controller is a source of danger if

– unqualified personnel work with and on the drive controller. – the drive controller is used inappropriately.

ƒ The procedural notes and circuit details given in this manual are suggestions and

their transferability to the respective application has to be checked.

ƒ Ensure by appropriate measures that there is no risk of injury or death to persons or

risk of damage to property in the event of a drive controller failure.

Safety instructions

General safety instructions

ƒ Operate the drive system only when it is in a proper state.

ƒ Retrofittings, modifications or redesigns of the drive controller are basically

prohibited. Lenze must be contacted in all cases.

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2.3 Definition of notes used

Safety instructions

Definition of notes used

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

Safety instructions

Structure of safety instructions:

 Danger!

(characterises the type and severity of danger)

Note

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

Pictograph and signal word Meaning

 Danger!

 Danger!

 Stop!

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.

Application notes

Pictograph and signal word Meaning

 Note!  Tip! 

Important note to ensure trouble-free operation

Useful tip for simple handling

Reference to another documentation

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3 Technical data

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3.1 Communication data

Communication

Communication profile DS 301, DSP 402

Communication medium RS232

Network topology Without repeater: line / with repeaters: line or tree

CAN node Slave

Baud rate (in kbps) 10, 20, 50, 100, 125, 250, 500

Max. cable length per bus segment

Bus connection RJ45

Technical data

Communication data

1200 m (dependent on baud rate and cable type used)

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Electrical installation

Wiring according to EMC

4 Electrical installation

4.1 Wiring according t o EMC

General notes z The electromagnetic compatibility of the drive depends on the type of installation and the care taken.

Assembly z Electrical contacting of the mounting plate:

Shielding z If possible, only use braided cables.

Earthing z Electrical contacting of the mounting plate:

Especially observe: – Assembly – Shielding –Earthing

z In the case of differing installations, the evaluation of the conformity to the EMC Directive requires the

system to be checked for compliance with the EMC limit values. This applies, for instance, to: – Use of unshielded cables

z The user is responsible for compliance with the EMC Directive.

– If the following measures are observed, you can assume that no EMC problems will occur during operation

and that the EMC Directive / EMC law is met.

– If devices are operated close to the system which do not meet the CE requirements regarding the noise

immunity according to EN 61000-4-2, these devices may be electromagnetically impaired by the drive.

– Mounting plates with conductive surface (galvanised or stainless steel) enable a permanent contact. – Painted plates are not suitable for an EMC-compliant installation.

z If you use several mounting plates:

– Contact the mounting plates to each other over a large area (e.g. with copper strips).

z Route signal cables separately from mains cables. z Route the cables as close as possible to the reference potential. Freely suspended cables act like aerials.

z The overlap rate of the shield should be higher than 80%. z Always use metal or metallised connectors for the serial data cable coupling. Connect the shield of the data

cable to the connector shell.

z Usemetalcableclampstoattachtheshieldbraid. z Connect the shield to the shield bus in the control cabinet. z Connect the shields of analog control cables at one end.

– Mounting plates with conductive surface (galvanised or stainless steel) enable a permanent contact. – Painted plates are not suitable for an EMC-compliant installation.

z If you use several mounting plates:

– Contact the mounting plates to each other over a large area (e.g. with copper strips).

z Route signal cables separately from mains cables. z Route the cables as close as possible to the reference potential. Freely suspended cables act like aerials.

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4.2 Electrical connections of CANopen

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Electrical installation

Electrical connections of CANopen

CG CGCG CGHI HIHI HI

120

CAN-GND CAN-HIGH CAN-LOW

120

PES

X4.1 X4.1X4.2 X4.2

LO LOLO LO

PES

Fig. 1 Basic wiring of CANopen with Sub-D connector to the master

Node 1 - master (e.g. PLC)

Node 2 - slave (e.g. drive controller 931E)

Node n - slave, n = max. 128

Specification of the transmission cable

Please observe our recommendations for signal cables.

Bus cable specification

Cable resistance 135 - 165 Ω/km,(f=3-20MHz) Capacitance per unit length ≤ 30 nF/km Loop resistance < 110 Ω/km Wire diameter >0.64mm Wire cross-section >0.34mm Wires double twisted, insulated and shielded

PES

120

931e_420

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ƒ Connection of the bus terminating resistors:

– One resistor of 120 Ω each at the first and last bus node

ƒ Communication protocol

– CANopen (CAL-based communication profile DS 301/DSP 402)

ƒ Bus extension:

– 25 m for max. data transfer rate of 1 Mbps – Up to 1 km for reduced data transfer speed

ƒ Signal level according to ISO 11898

ƒ Up to 128 bus nodes possible

ƒ Access to all Lenze parameters

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Electrical installation

Connection of CAN bus slave

4.3 Connection of CAN bus slave

Features

ƒ Parameter selection

ƒ Data exchange between drive controllers

ƒ Connection of operator and input devices

ƒ Connection of higher-level controls

ƒ Baud rates of 125, 250, 500 kBaud

 Stop!

An external 120 Ω terminating resistor is required to terminate the bus system.

Connection plan for RJ45 socket

X4.1 / X4.2

Fig. 2 Connection of CAN bus (X4.1, X4.2)

Pin no. Meaning Comment

1CAN-HIGH CAN-HIGH (high is dominant)

2 CAN-LOW CAN-LOW (low is dominant)

3 CAN-GND CAN ground

4 — Reserved

5 — Reserved

6 CAN-SHLD CAN shield (hardware version 1.1 and higher)

7 CAN-GND CAN ground

8 — Reserved

 Tip!

An RJ45 bus terminating connector is available for the 931E drive controllers. Please contact Lenze.

931E-001.iso

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4.4 Connection of CAN bus master

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The below table shows the assignment of a 9-pin Sub-D socket such as provided by most CAN masters for the connection of field devices.

Connection of the CAN bus to a 9-pin Sub-D socket

View Pin Signal Explanation

Tab. 1 CAN Sub-D socket

1 — Reserved

2 CAN-LOW CAN-LOW (low is dominant)

3 CAN-GND CAN ground

4 — Reserved

5 (CAN-SHLD) Optional CAN shield

6 (GND) Optional ground

7 CAN-HIGH CAN-HIGH (high is dominant)

8 — Reserved

9 (CAN-V+) Optional external CAN voltage supply

Electrical installation

Connection of CAN bus master

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CANopen communication

About CANopen Structure of the CAN data telegram

5 CANopen communication

5.1 About CANopen

The CANopen protocol isa standardisedlayer 7protocol forthe CAN bus. This layeris based on the CAN application layer (CAL), which has been developed as a universal protocol.

In practice, however, it became clear that applications with CAL were too complex for the user. CANopen is a uniform, easy-to-use structure which has been developed to provide a connection for CAN devices from different manufacturers.

5.1.1 Structure of the CAN data telegram

Control field CRC delimit. ACK delimit.

Start RTR bit

CRC sequence ACK slot End

Identifier Data

length

1bit 11 bits 1bit 2bits 4bits 15bits 1bit 1bit 1bit 7bits

Fig. 3 Basic structure of the CAN telegram

User data (0 ... 8 bytes)

z Network management z Process data z Parameter data

 Note!

To the user, only the identifier, the data length and the user data are relevant. All other data of the CAN telegram is automatically processed by the system.

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5.1.2 Identifier

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The principle of the CAN communication is based on a message-oriented data exchange between one sender and many receivers. All nodes can send and receive quasi-simultaneously.

The identifier in the CAN telegram - also called COB ID (communication object identifier)is used to control which node is to receive a sent message. In addition to the addressing, the identifier contains information on the priority of the message and on the type of the user data.

With the exception of the network management and the sync telegram, the identifier contains the node address of the drive:

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

The identifier assignment is specified in the CANopen protocol.

The ex works default setting of the basic identifier is:

CANopen communication

About CANopen

Identifier

Object

NMT 0 Sync 80 Emergency X 80

PDO1 (process data channel 1)

PDO2 (process data channel 2)

SDO1 (parameter data channel 1)

Heartbeat/boot-up X 700

5.1.3 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.

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

TPDO1 RPDO1 TPDO2 RPDO2

Direction Basic identifier

From the drive To the drive Hex

X 180

X 200

X 280

X 300

X 580

X 600

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5.1.4 User data

CANopen communication

About CANopen User data

The master and the drive controller communicate with each other by exchanging data telegrams via the CAN bus.

The user data range of the C AN telegram contains network management data, parameter data or process data:

ƒ Network management data (NMT data)

Network service: E.g. all CAN nodes can be addressed at the same time.

ƒ Process data (PDO, process data objects)

– Process data is transferred via the process data channel. – Process data can be used to control the drive controller. – The master can directly access the process data. The data is, for instance, directly

assigned to the I/O area of the master. It is necessary that the control and the drive controller can exchange data within a very short time interval. For this purpose,

small amounts of data can be transferred cyclically. – Process data is not stored in the drive controller. – Process data is transferred between the master and the drive controllers to ensure

a continuous exchange of current input and output data. – Examples for process data are, for instance, setpoints and actual values.

ƒ Parameter data (SDO, service data objects)

– Parameters are set, for instance, for the initial system set-up during

commissioning or when the material is changed on a production machine. – Parameter data is transferred by means of so-called SDOs via the parameter data

channel. The transfer is acknowledged by the receiver, i.e. the sender gets a

feedback about the transfer being successful or not. – The parameter data channel enables the access to all CANopen indexes. – Parameter changes are automatically stored in the drive controller. – In general, the transfer of parameters is not time-critical. – Examples for parameter data are, for instance, operating parameters, diagnostic

information and motor data.

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Parameter data transfer (SDO transfer)

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5.2 Parameter data transfer (SDO transfer)

5.2.1 Telegram structure

The telegram for parameter data has the following structure:

11 bits 4bits User data (up to 8 bytes)

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

Identifier

ƒ The following subchapters explain in detail the different parts of the telegram.

Data

length

Command

code

Index

low byte

high byte

Identifier

11 bits 4bits User data (up to 8 bytes)

Identifier

Data

length

Command

code

Index

low byte

high byte

With the exception of the network management and the sync telegram, the identifier contains the node address of the drive:

CANopen communication

Telegram structure

Index

Subindex

Data 1 Data 2 Data 3 Data 4

Error code

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

The identifier assignment is specified in the CANopen protocol.

The ex works default setting of the basic identifier is:

Object

SDO (parameter data channel)

From the drive To the drive Hex

Direction Basic identifier

X 580

X 600

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CANopen communication

Parameter data transfer (SDO transfer) Telegram structure

Command code

11 bits 4bits User data (up to 8 bytes)

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

Identifier

Data

length

Command

code

Index

low byte

Index

high byte

Subindex

Data 1 Data 2 Data 3 Data 4

Error code

The command code contains the services for writing and reading parameters and the information on the length of the user data.

Structure of the command code:

Bit 7

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

MSB

Write command code

Write command / write request 0 0 1 0 x x 1 1

Response to write command / write response

Read command code CS 0 Length e s

Read command / read request 0 1 0 0 x x 0 0

Response to read command / read response

Error command code CS 0 Length e s

Error response 1 0 0 0 0 0 0 0

CS 0 Length e s

0 1 1 0 x x 0 0

0 1 0 0 x x 1 1

LSB

Comment

CS: command specifier User data length is coded in bits 2 and 3:

z 00=4bytes z 01=3bytes z 10=2bytes z 11=1byte

The command code specifies whether a value is to be read or written. The command code also determines the data length (1 byte, 2 bytes, 4 bytes).

Write command code

Write command / write request (Send parameters to t he drive)

Response to write command / write response (Response of the drive controller to the write request (acknowledgement))

Read command code

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

Response to read command / read response (Response to the read request with the actual value)

Error command code

Error response (The drive controller signals a communication error)

4-byte data

(5th ... 8th byte)

hex hex hex

23 2B 2F

60 60 60

40 40 40

43 4B 4F

80 80 80

2-byte data

(5th and 6th byte)

1-byte data

(5th byte)

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CANopen communication

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Parameter data transfer (SDO transfer)

Telegram structure

Index low byte / index high byte

11 bits 4bits User data (up to 8 bytes)

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

Identifier

Data

length

The object to be addressed is contained in bytes 2 and 3 of the telegram.

ƒ The value for the index is split up into low byte and high byte and entered in the

left-justified Intel format.

Subindex

11 bits 4bits User data (up to 8 bytes)

Identifier

ƒ If an object (e.g. controller parameter) consists of several sub-objects, the

Data

length

sub-objects are addressed via subindexes. The number of the corresponding subindex is entered in byte 4 of the telegram. (See following tables for sub-objects).

Command

code

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

Command

code

Index

low byte

Index

low byte

Index

high byte

Index

high byte

Subindex

Data 1 Data 2 Data 3 Data 4

ƒ If an object has no sub-objects, the value ”0” is entered in byte 4 of the telegram.

(See following sub-object tables).

Data (data 1 ... data 4)

11 bits 4bits User data (up to 8 bytes)

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

Identifier

Data

length

Command

code

Index

low byte

Index

high byte

Subindex

Data 1 Data 2 Data 3 Data 4

For the data of the parameter up to 4 bytes (data 1 ... data 4) are available.

The data is represented in the left-justified Intel format with data 1 as the LSB and data 4 as the MSB.

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CANopen communication

Parameter data transfer (SDO transfer) Telegram structure

Error code (F0 ... F3)

11 bits 4bits User data (up to 8 bytes)

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

Identifier

ƒ Byte 1:

Code 80

ƒ Bytes 2, 3 and 4:

Data

length

in the command code byte indicates that an error has occurred.

Command

code

Index

low byte

Index

high byte

Subindex

F0 F1 F2 F3

Error code

These bytes contain the index (bytes 2 and 3) and the subindex (byte 4) at which an error occurred.

ƒ Bytes 5 to 8:

The data bytes 5 to 8 contain the error code. The error code is represented opposite to the direction of reading.

Example: The representation of the error code 06 04 00 41

in bytes 5 to 8

Reading direction of the error code

41 00 04 06

5th byte 6th byte 7th byte 8th byte

Low word High word

Low byte High byte Low byte High byte

The below table lists the meanings of the error codes:

Error code Explanation

F3 F2 F1 F0

06 01 00 00 Access to object is not supported

06 01 00 01 Attempt to read a write-only object

06 01 00 02 Attempt to write to a read-only object

06 02 00 00 Object does not exist in the object directory

06 04 00 41 Object cannot be mapped to the PDO

06 04 00 42 The number and length of objects to be mapped would exceed PDO length.

06 07 00 10 Data type does not match, length of service parameter does not match

06 07 00 12 Data type does not match, length of service parameter is too large

06 07 00 13 Data type does not match, length of service parameter is too small

06 09 00 11 Subindex does not exist

06 09 00 30 Value range of parameter exceeded

06 09 00 31 Parameter values too large

06 09 00 32 Parameter values too small

08 00 00 20 Data cannot be transferred/saved to the application.

08 00 00 21 Data cannot be transferred/saved to the application due to local control.

08 00 00 22 Data cannot be transferred/saved to the application due to current device state.

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5.2.2 Reading parameters (example)

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Problem

The numerator setting (object 6093_01) of the drive controller with node address 1 is to be read via the parameter channel.

Telegram to the drive controller

Value Info

Identifier = Basic identifier + node address

=600+1=601 Data length = 08

Command code = 40

Index = 6093

Subindex = 1 z Subindex = 1 (numerator)

Data 1 Data 2 Data 3 Data 4 Data 1 ... 4

=00

= 00 00 00 00

CANopen communication

Parameter data transfer (SDO transfer)

Reading parameters (example)

z Basic identifier for parameter channel = 600 z Node address = 1

z “Read request” command (request to read a

parameter)

z Index of the position_factor

z Read request only

11 bits 4bits User data

Identifier

601

Data

length

Command

code

Index

low byte

Index

high byte

Subindex

Data 1 Data 2 Data 3 Data 4

Telegram from the drive controller

Value Info

Identifier = Basic identifier + node address

=580+1=581

Data length = 08

Command code = 43

Index = 6093

Subindex = 1 z Subindex = 1 (numerator)

Data 1 Data 2 Data 3 Data 4 Data 1 ... 4

=C0

=4B

=03

=00

= C0 4B 03 00

11 bits 4bits User data

Identifier

581

Data

length

Command

code

Index

low byte

z Basic identifier for parameter channel = 580 z Node address = 1

z “Read response” command (response to the read

request with the actual value)

z Index of the position_factor

z Assumption: The set numerator value is 00 03 4B C0

(216000d).

Index

high byte

Subindex

Data 1 Data 2 Data 3 Data 4

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CANopen communication

Parameter data transfer (SDO transfer) Writing parameters (example)

5.2.3 Writing parameters (example)

Problem

The numerator (object 6093_01) of the drive controller with node address 1 is to be set to 216000 via the SDO (parameter data channel).

Telegram to the drive controller

Value Info

Identifier = Basic identifier + node address

=600+1=601 Data length = 08

Command code = 23

Index = 6093

Subindex = 1 z Subindex = 1 (numerator)

Data 1 Data 2 Data 3 Data 4 Data 1 ... 4

=C0

=4B

=03

=00

= C0 4B 03 00

z Basic identifier for parameter channel = 600 z Node address = 1

z “Write request” command (send parameter to the

drive)

z Index of the position_factor

z Assumption: The numerator value to be set is to be

00 03 4B C0

(216000d).

11 bits 4bits User data

Identifier

601

Data

length

Command

code

Index

low byte

Index

high byte

Subindex

Data 1 Data 2 Data 3 Data 4

Telegram from the drive controller (acknowledgement for faultless execution)

Value Info

Identifier = Basic identifier + node address

=580+1=581

Data length = 08

Command code = 60

Index = 6093

Subindex = 1 z Subindex = 1 (numerator)

Data 1 ... 4 = 00 00 00 00

11 bits 4bits User data

Identifier

581

Data

length

Command

code

Index

low byte

z Basic identifier for parameter channel = 580 z Node address = 1

z “Write response” command (acknowledgement from

the drive controller)

z Index of the position_factor

z Acknowledgement only

Index

high byte

Subindex

Data 1 Data 2 Data 3 Data 4

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5.3 Process data transfer (PDO transfer)

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Process data objects (PDOs)can beused, forinstance, forthe fastevent-controlled transfer of data. The PDO transfers one or several parameters specified in advance. Unlike with an SDO, the transfer of a PDO is not acknowledged. After the PDO activation, all receivers must therefore always be able to process any arriving PDOs. This usually means a considerable software load on the master. However, this disadvantage is compensated by the advantage that the master does not need to cyclically poll the parameters transferred by a PDO, which results in a significant reduction of the CAN bus load.

Example:

The master wants to know when the drive controller has completed the positioning from AtoB.

When SDOs areused for this purpose, the master continuously (e.g. every millisecond) has to poll the status word object, i.e. the load on the bus is high.

When a PDO is used, right from the start of the application the drive controller is parameterised in such a way that it transmits a PDO containing the status word object as soon as the status word object changes.

CANopen communication

Process data transfer (PDO transfer)

Telegram structure

Instead of polling continuously, the master automatically receives a corresponding message as soon as the event has occurred.

The following types of process data telegram are distinguished

ƒ Process data telegrams to the drive controller: Receive PDO (RPDOx)

ƒ Process data telegrams from the drive controller: Transmit PDO (TPDOx)

5.3.1 Telegram structure

The telegram for process data has the following structure:

11 bits 4bits User data (up to 8 bytes)

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

Identifier

Data

length

Data 0 Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7

5.3.2 Available process data objects

The drive controller is provided with two transmit and two receive PDOs.

Almost all objects of the object directory can be entered in (mapped to) the PDOs, i.e. the PDO containsfor instance theactual speed value or actual positionvalue as data.The drive controller must know in advance which data is to be transferred because the PDO only contains user data and no information about the type of the parameter.

In this way almost all kinds of data telegrams can be defined. The settings required are described in the following chapters.

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CANopen communication

Process data transfer (PDO transfer) Objects for PDO parameterisation

5.3.3 Objects for PDO parameterisation

Two transmit PDOs (TPDO) and two receive PDOs (RPDO) are available in the drive controller. The different objects of the PDOs are identical.

1. Transmit PDO

Index Name Possible settings

Lenze Selection Description

1800

Transmit PDO1

Communication Parameter

0 number_of_entries

1 COB-ID_used_by_

PDO

2 transmission_type 255

3 inhibit_time 0

00000181

Characteristics

00000181

Bit no. Value

0-10 x 11-bit identifier

11 - 28 0

29 0

0 {1} 240, 254, 255 —

0 Function is switched off

n = 1 ... 240 By entering a value n, this

n = 254, 255 Event-controlled

0 {0.1 ms} 65535 —

0 RTR of this PDO is permitted

1 RTR of this PDO is not

0 PDO is active

1 PDO is inactive

{1h} 04

{1h} 000001FF

REC UINT8 RO —

Maximum number of supported subindexes.

3 subindexes are supported.

— UINT32 RW —

Identifier of transmit PDO1,

+ node address).

(180

For processing, bits 30 and 31 must be set (parameterisation of mapping).

The extended identifier (bit 29) is not supported. Each bit of this range must be ”0”.

(Lenze).

permitted (unadjustable).

UINT8 RW —

Setting of the transmission mode

PDO is accepted with every n-th sync.

transmission mode

UINT16 RW —

Setting of the minimum delay time between two PDOs. The time can only be changed if the PDO is not active (subindex 1, bit 31 = 1)

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CANopen communication

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Process data transfer (PDO transfer)

Objects for PDO parameterisation

Index Name Possible settings

Lenze Selection Description

1A00

Transmit PDO1

Mapping Parameter

0 number_of_

mapped_objects

1 first_mapped_

object

2 second_mapped_

object

...

4 fourth_mapped_

object

60410010

Characteristics

{1h} 04

{1h}

REC UINT32 RW —

Maximum number of supported subindexes.

1 subindex is supported.

— UINT32 RW —

EntryoftheCOBIDofthe first mapped object.

— UINT32 RW —

Not supported.

— UINT32 RW —

Not supported.

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CANopen communication

Process data transfer (PDO transfer) Objects for PDO parameterisation

2. Transmit PDO

Index Name Possible settings

Lenze Selection Description

1801

Transmit PDO2

Communication Parameter

0 number_of_entries

1 COB-ID_used_by_

PDO

2 transmission_type 255

3 inhibit_time 0

00000281

Characteristics

00000281

Bit no. Value

0-10 x 11-bit identifier

11 - 28 0

29 0

0 {1} 240, 254, 255 —

0 Function is switched off

n = 1 ... 240 By entering a value n, this

n = 254, 255 Event-controlled

0 {0.1 ms} 65535 —

0 RTR of this PDO is permitted

1 RTR of this PDO is not

0 PDO is active

1 PDO is inactive

{1h} 04

{1h} 000002FF

REC UINT8 RO —

Maximum number of supported subindexes

3 subindexes are supported.

— UINT32 RW —

Identifier of transmit PDO2,

+ node address).

(280

For processing, bits 30 and 31 must be set (parameterisation of mapping).

The extended identifier (bit 29) is not supported. Each bit of this range must be ”0”.

(Lenze)

permitted (unadjustable)

UINT8 RW —

Setting of the transmission mode

PDO is accepted with every n-th sync.

transmission mode

UINT16 RW —

Setting of the minimum delay time between two PDOs. The time can only be changed if the PDO is not active (subindex 1, bit 31 = 1)

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KHB 13.0002-EN 2.0

+ 118 hidden pages

Lenze L-force 930, L-force 931E Communications Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Document history

Contents i

1Preface

1.1 Introduction

1.2 About this Communication Manual

1.3 Legal regulations

2 Safety instructions

2.1 Persons responsible for safety

2.2 General safety instructions

2.3 Definition of notes used

3 Technical data

3.1 Communication data

4 Electrical installation

4.1 Wiring according t o EMC

4.2 Electrical connections of CANopen

4.3 Connection of CAN bus slave

4.4 Connection of CAN bus master

5 CANopen communication

5.1 About CANopen

5.1.1 Structure of the CAN data telegram

5.1.2 Identifier

5.1.3 Node address ( node ID)

5.1.4 User data

5.2 Parameter data transfer (SDO transfer)

5.2.1 Telegram structure

5.2.2 Reading parameters (example)

5.2.3 Writing parameters (example)

5.3 Process data transfer (PDO transfer)

5.3.1 Telegram structure

5.3.2 Available process data objects

5.3.3 Objects for PDO parameterisation