Lenze AC Tech SMVector Reference Manual
CMVCAN01A
SMVector - CANopen Communication Module
Communications Interface Reference Guide
This documentation applies to the CANopen communications option for the SMVector inverter and
should be used in conjunction with the SMVector Operating Instructions (Document SV01) that
shipped with the drive. These documents should be read carefully as they contain important technical
data and describe the installation and operation of the drive and this option.
© 2007 AC Technology Corporation
No part of this documentation may be copied or made available to third parties without the explicit
written approval of AC Technology Corporation.
All information given in this documentation has been carefully selected and tested for compliance with
the hardware and software described. Nevertheless, discrepancies cannot be ruled out. We do not
accept any responsibility nor liability for damages that may occur. Any necessary corrections will be
implemented in subsequent editions.
About these instructions
1 Safety information ................................................................2
2 Introduction ..........................................................................4
2.1 Overview ...................................................................................................4
2.2 SMVector CANopen Implementation Specifications ...................................4
3 Installation ............................................................................5
3.1 Installing the Module into the Terminal Cover ..........................................5
3.2 CANopen terminal block ...........................................................................5
3.3 Installing the Terminal Cover ....................................................................6
4 Commissioning CANopen communications .....................7
4.1 Quick Set-up .............................................................................................7
5 Extended Parameters for CANopen ...................................8
5.1 Parameter menu .......................................................................................8
5.2 CANopen mapping details .....................................................................17
5.2.1 RPDO mapping details (P446/P456) ......................................................17
5.2.2 TPDO mapping details (P466/P476) .......................................................20
6 Troubleshooting and fault elimination .............................23
6.1 Faults ......................................................................................................23
6.2 Troubleshooting ......................................................................................
23
A1 Appendix A - Configuration Example ...............................24
A1.1 Master / Follower drive system ...............................................................24
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Contents
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Safety information
1 Safety information
General
Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be live,
moving and rotating. Some surfaces can be hot.
Non-authorized removal of the required cover, inappropriate use, and incorrect installation or operation
creates the risk of severe injury to personnel or damage to equipment.
All operations concerning transport, installation, and commissioning as well as maintenance must
be carried out by qualified, skilled personnel (IEC 364 and CENELEC HD 384 or DIN VDE 0100 and
IEC report 664 or DIN VDE0110 and national regulations for the prevention of accidents must be
observed).
According to this basic safety information, qualified skilled personnel are persons who are familiar with
the installation, assembly, commissioning, and operation of the product and who have the qualifications
necessary for their occupation.
Application as directed
Drive controllers are components which are designed for installation in electrical systems or machinery.
They are not to be used as appliances. They are intended exclusively for professional and commercial
purposes according to EN 61000-3-2. The documentation includes information on compliance with
the EN 61000-3-2.
When installing the drive controllers in machines, commissioning (i.e. the starting of operation as
directed) is prohibited until it is proven that the machine complies with the regulations of the EC Directive
98/37/EC (Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting of operation as directed) is only allowed when there is compliance with
the EMC Directive (89/336/EEC).
The drive controllers meet the requirements of the Low Voltage Directive 73/23/EEC. The harmonised
standards of the series EN 50178/DIN VDE 0160 apply to the controllers.
The availability of controllers is restricted according to EN 61800-3. These products can cause
radio interference in residential areas. In this case, special measures can be necessary.
Installation
Ensure proper handling and avoid excessive mechanical stress. Do not bend any components and
do not change any insulation distances during transport or handling. Do not touch any electronic
components and contacts.
Controllers contain electrostatically sensitive components, which can easily be damaged by inappropriate
handling. Do not damage or destroy any electrical components since this might endanger your
health!
Electrical connection
When working on live drive controllers, applicable national regulations for the prevention of accidents
(e.g. VBG 4) must be observed.
The electrical installation must be carried out according to the appropriate regulations (e.g. cable crosssections, fuses, PE connection). Additional information can be obtained from the documentation.
The documentation contains information about installation in compliance with EMC (shielding, grounding,
filters and cables). These notes must also be observed for CE-marked controllers.
The manufacturer of the system or machine is responsible for compliance with the required limit values
demanded by EMC legislation.
Operation
Systems including controllers must be equipped with additional monitoring and protection devices
according to the corresponding standards (e.g. technical equipment, regulations for prevention
of accidents, etc.). You are allowed to adapt the controller to your application as described in the
documentation.
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Safety information
DANGER!
• After the controller has been disconnected from the supply voltage, live components
and power connection must not be touched immediately, since capacitors could be
charged. Please observe the corresponding notes on the controller.
• Do not continuously cycle input power to the controller more than once every three
minutes.
• Please close all protective covers and doors during operation.
WARNING!
Network control permits automatic starting and stopping of the inverter drive. The
system design must incorporate adequate protection to prevent personnel from
accessing moving equipment while power is applied to the drive system.
Pictographs used in these instructions
Pictograph Signal word Meaning Consequences if ignored
DANGER!
Warning of Hazardous
Electrical Voltage.
Reference to an imminent
danger that may result in death
or serious personal injury if the
corresponding measures are not
taken.
WARNING!
Impending or possible danger
for persons
Death or injury
STOP!
Possible damage to equipment
Damage to drive system or its
surroundings
Note
Useful tip: If observed, it will
make using the drive easier
2 Introduction
This reference guide assumes that the reader has a working knowledge of CANopen
Fieldbus Protocol and familiarity with the programming and operation of motion control
equipment. This guide is intended as a reference only.
2.1 Overview
CANopen Fieldbus is an internationally accepted communications protocol designed for
commercial and industrial installations of motion control applications. High data transfer
rates combined with it’s efficient data formatting permit the coordination of motion control
devices in multi-axis applications. AC Tech’s implementation of the CANopen protocol
allows for baud rates ranging from 10 kbps to 1Mbps.
DSP402 compatible control and status words are available to the user for configuring
modes of operation and altering the drive operating parameters. Additionally, to offer
greater interoperability with the SMVector inverter, a drive specific set of objects are
available that offer further drive profile configuration and allow access to specific modes of
operation.
2.2 SMVector CANopen Implementation Specifications
• Supported data rates (bit/s): 1.0M, 800K, 500K, 250K, 125K, 50K, 20K, 10K.
• 2 transmit and 2 receive process data objects (PDOs) supported.
• Synchronous, Asynchronous and Change of State PDO communications modes
supported.
• Two Service Data Objects (SDO) provide access to all SMV parameters
• Heartbeat and Node guarding with selectable timeout action
• DSP402 compatible Control and Status Words accessible via PDO and SDO.
To simplify the setup of the CANopen Master, AC Tech will provide the applicable EDS
(Electronic Data Sheet).
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Introduction
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Installation
3 Installation
3.1 Installing the Module into the Terminal Cover
7mm
<_ 2.8 mm²
(12-22 AWG)
0.5 Nm/ 4.5 lb-in
1 2 3 4 5
3.2 CANopen terminal block
Terminal Description Important
1 CAN_GND: CAN earth ground
For reliable communication make sure terminal
CAN_GND is connected to CAN network
GND/common. If only two wires are used (CAN_H
and CAN_L) in the network, connect CAN_GND to
chassis/earth ground.
2 CAN_L: CAN low
If controller is located at either end of the network,
a terminating resistor (120ohm typical) should be
connected across CAN_L and CAN_H
3
4 CAN_H: CAN high
5
Protection against contact
• All terminals have basic isolation (single insulating distance)
• Protection against contact can only be ensured by additional measures (i.e. double insulation)
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Installation
3.3 Installing the Terminal Cover
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Commissioning
4 Commissioning CANopen communications
Following installation of the CANopen communications module,
4.1 Quick Set-up
With drive power disconnected connect the CANopen communication module and
network cable to the drive as shown in the preceding section.
NOTE:
If CANopen network is already operational do NOT connect the network connector
until the Node ID and Baud rate parameters on installed drive are setup correctly.
Apply Power to the drive. In drive parameter menu, select parameter P400 Network
Protocol and set it to 3 -- CANopen. After this action, the module will be initialized with
CANopen protocol and will enter Online mode - P402 = 3.
To monitor and control the drive via network, the following parameters should be set as a
minimum:
P410 Node Id (default 1)
P411 Baud Rate (default 5 = 500 kbps)
P100 Start Control Source - Network control can be taken in any mode of operation except when
P100 = 2 Remote Keypad Only.
NOTE:
If P100 is not equal 0, TB1 must be connected to TB4 in order to start the drive.
P112 Rotation - Set this parameter to Forward and Reverse (1) if operation in both directions is
required.
P121
P122
or
P123
One of these parameters must be set to 9 - Network Enable and corresponding terminal
must be closed in order to take network control and start via network.
P304 Motor Rated frequency, P305 Motor Rated Speed - if Network speed needs to be scaled in
RPMs units; those parameters must be set accordingly to motor nameplate.
To activate changes made to P400 and P401 use P418 Reset CAN node parameter or
recycle the power.
If no other CANopen parameter has been modified the drive will enter CANopen Preoperational state (see P412, P419) and every 2 seconds (P416) will transmit a heartbeat
message.
As a default, RPDO#1 (P44x) and TPDO#1 (P46x) are active when the CANopen state is
switched to the operational state.
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