Lenze S94CAN01A User Manual

L

Doc ID: S94CAN01A

S921

CANopen Communication Module

S94CAN01A

Table of Contents

1 Preface and General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1.1 How to use these Operating Instructions . . . . . . . . . . . . . . . . . . . . . . . . . 1

2 Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2.1 Persons responsible for safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2.2 General safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

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

3.1 Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

3.2 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

3.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

3.4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

4 CANopen DS301 Communication Profile Support . . . . . . . . . . . . . . . . . . . . . . . 7

4.1 Supported NMT (Network Management) services: . . . . . . . . . . . . . . . . . . . . 7

4.2 The Heartbeat Error Control Service . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

4.3 Communication Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

5. Drive 94 Specific Objects and functionality . . . . . . . . . . . . . . . . . . . . . . . . . 10

5.1 CAN Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5.2 CAN Torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5.3 E94 Drive specific objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Preface & General Info

1 Preface and General Information

1.1 How to use these Operating Instructions

• These Operating Instructions are intended for safety-relevant operation on and with the
E94ZACAN1 CANopen option module. They contain safety information which must be
observed.

• All personnel working on and with the module must have these Operating Instructions
available and observe the information and notes relevant for them.

• These instructions are only valid in combination with the Operating Instructions of the
corresponding controller. They must always be complete and in a perfectly readable
state.

ENGLISH

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2 Safety Information

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.

• The operator or his safety personnel is obliged to ensure

- the compliance with all relevant regulations, instructions, and legislation.

- that only skilled personnel works on and with the drive system.

- that the personnel have the Operating Instructions available for all corresponding

works.

- that all unqualified personnel are prohibited from working on and with the drive

system.

Qualified personnel

Qualified personnel are persons who - because of their education, experience, instructions,
and knowledge about corresponding standards and regulations, rules for the prevention of
accidents, and operating conditions - are authorized by the person responsible for the safety
of the plant to perform the required actions and who are able to recognize potential hazards.
(Definition for qualified personnel to VDE 105 or IEC 364)

Safety Info

2.2 General safety information

• These safety notes do claim to be complete. In case of questions and problems please
contact your Lenze representative.

• At the time of delivery the drive system meets the state of the art and ensures basically
safe operation.

• The indications given in these Operating Instructions refer to the stated hardware and
software versions of the controller.

• The controller is hazardous if:

- unqualified personnel work on and with the controller.

- the controller is used inappropriately.

• Ensure by appropriate measures that neither personal injury nor damage to property
may occur in the event of failure of the drive system.

• The drive system must only be operated when no faults occur.

• Retrofitting, modifications, or redesigns are basically prohibited. Lenze must be
contacted in all cases.

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3 Technical data

3.1 Related documents

• CANopen Application Layer and Communication Profile or CiA Draft Standard 301

• Drive 94 reference manual

3.2 General information

The internationally standardized CAN bus protocol, which had been developed for the
European Automobile Industry, is mainly characterized by

• Its resistance against interference and extreme temperatures

• Short transfer times

• Low connection expenses

These advantages have made CAN products interesting for other industries too.

The CANopen communication profile is based on CAN technology.

Technical Data

The CANopen protocol has been developed by the CiA(CON in Automation) in conformity
with the CAL (CON Application Layer). All mandatory parts of the CiA DS301 protocol,
version 4.01 have been implemented in the E94ZACAN1 Module.

3.3 Installation

The E94ZCAN1 CANopen Communication Module is designed to operate with the E94S
SimpleServo drive. For proper installation……

• Remove power from the drive and allow unit to discharge

• Remove blank module cover from Option Bay 1

• Plug in the 20 pin connector into drive

• Plug in the CANopen module

• Use set screws to connect module to drive

ENGLISH

ENGLISH

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