Rockwell Automation 20-COMM-K User Manual

20-COMM-K CANopen Adapter

Firmware 1.xxx

User Manual

Important User Information

Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (Publication SGI-1.1 available from your local Rockwell Automation sales office or online at www.rockwellautomation.com/literature) describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc. is prohibited.

http://

Throughout this manual, when necessary we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous

environment, which may lead to personal injury or death, property damage, or economic loss.

Important: Identifies information that is critical for successful application and

understanding of the product.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property

damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequences.

Shock Hazard labels may be located on or inside the equipment (e.g., drive or motor) to alert people that dangerous voltage may be present.

Burn Hazard labels may be located on or inside the equipment (e.g., drive or motor) to alert people that surfaces may be at dangerous temperatures.

20-COMM-K CANopen Adapter User Manual

PowerFlex, DriveExplorer, DriveExecutive, DPI, DriveTools SP, and ControlFLASH, are either trademarks or registered trademarks of

Rockwell Automation, Inc.

CANopen is a trademark of the CANopen Vendor Association.

Summary of Changes

The information below summarizes the changes made to this manual since its last release (January 2005):

Description of Changes Page

Reformatted document from half size (5.5 x 8.5 in.) to full size (8.5 x 11 in.) Throughout

Added SMC Flex to compatible products list. 1-2 Revised Figures 2.2 and 2.3 to show PowerFlex 700H/S Frames 9 and larger. Added

ground tab details in Figure 2.3. Added “Flash Updating the Adapter” section. 3-10

manual

2-5 and 2-6

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Preface About This Manual

Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2

Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2

Chapter 1 Getting Started

Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Compatible Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Required Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Chapter 2 Installing the Adapter

Preparing for an Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Commissioning the Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Connecting the Adapter to the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

Connecting the Adapter to the Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

Applying Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

Chapter 3 Configuring the Adapter

Chapter 4 Configuring the CANopen Network

Chapter 5 Using I/O Messaging

Configuration Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Using the PowerFlex 7-Class HIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Setting the Node Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Setting the Data Rate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Setting the I/O Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Selecting COS, Cyclic or RTR I/O Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Setting a Fault Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

Resetting the Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

Viewing the Adapter Status Using Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

Flash Updating the Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

Network Management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

CANopen Object Dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

CANopen Network Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

About Process Data Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Understanding the I/O Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Using Logic Command/Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

Using Reference/Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

Using Datalinks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

Transmit PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9

Receive PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10

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Chapter 6 Using Service Data Objects

About Service Data Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Running Service Data Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

CANopen DPI Parameter Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

CANopen DPI Full Parameter Access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

Chapter 7 Troubleshooting

Understanding the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

PORT Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

MOD Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

NET A (CAN RUN) Status Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

NET B (CAN ERR) Status Indicator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

Viewing Adapter Diagnostic Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

Viewing and Clearing Events. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

Appendix A Specifications

Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Mechanical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Regulatory Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

Appendix B Adapter Parameters

About Parameter Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

Appendix C CANopen Objects

CANopen Object Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1

Emergency Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4

Appendix D Logic Command/Status Words

PowerFlex 7-Class Drives (except PowerFlex 700S) . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1

PowerFlex 700S Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-3

Appendix E CANopen Network Example

Example Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1

Configuring the Network Nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-2

Configuring the Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-8

Configuring the PLC Variables and Linking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9

Configuring the PDOs, SDOs, and SYNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-16

Downloading Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-20

PLC Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-22

Appendix F Logic Controller Program Example

Configuring the Drive/ Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-1

Network Variables File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2

Program Code and Program Run. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-3

SDO Access Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-4

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Glossary

Index

Table of Contents iii

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iv Table of Contents

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Preface

About This Manual

Topic Page

Related Documentation Rockwell Automation Support P-2 Conventions Used in This Manual P-2

For: Refer to: Publication

DriveExplorer™ http://www.ab.com/drives/driveexplorer, and

DriveTools™ SP (includes DriveExecutive™)

PowerFlex 7-Class HIM HIM Quick Reference 20HIM-QR001 PowerFlex

PowerFlex PowerFlex® 700 Series B Drive

PowerFlex

PowerFlex (Frames 1 through 6)

PowerFlex (Frames 9 and higher)

70/70EC Drive PowerFlex 70 User Manual

700/700VC Drive

700H Drive PowerFlex 700H Installation Instructions

700S Drive

DriveExplorer online help (installed with the software) http://www.ab.com/drives/drivetools, and

DriveExecutive online help (installed with the software)

PowerFlex 70/700 Reference Manual PowerFlex 70EC/700VC Reference Manual

PowerFlex 700 User Manual PowerFlex 700 Series B User Manual PowerFlex 70/700 Reference Manual PowerFlex 70EC/700VC Reference Manual

PowerFlex 700H Programming Manual PowerFlex 700S with Phase I Control User Manual

PowerFlex 700S with Phase II Control User Manual PowerFlex 700S Reference Manual

PowerFlex 700S Installation Instructions PowerFlex 700S with Phase I Control User Manual PowerFlex 700S with Phase II Control User Manual PowerFlex 700S Reference Manual

P-1

—

20A-UM001 PFLEX-RM001 PFLEX-RM004

20B-UM001 20B-UM002 PFLEX-RM001 PFLEX-RM004

PFLEX-IN006 20C-PM001

20D-UM001 20D-UM006 PFLEX-RM002

PFLEX-IN006 20D-UM001 20D-UM006 PFLEX-RM002

Above Rockwell Automation documentation can be obtained online at

http://literature.rockwellautomation.com

documentation, contact your local Rockwell Automation distributor or sales representative.

CANopen documentation can be obtained online at http://

www.can-cia.com/.

To find your local Rockwell Automation distributor or sales representative, visit www.rockwellautomation.com/locations

For information such as firmware updates or answers to drive-related questions, go to the Drives Service & Support web site at www.ab.com/

support/abdrives and click on the “Downloads” or “Knowledgebase” link.

. To order paper copies of technical

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P-2 About This Manual

Rockwell Automation Support

Rockwell Automation, Inc. offers support services worldwide, with over 75 sales/support offices, over 500 authorized distributors, and over 250 authorized systems integrators located through the United States alone. In addition, Rockwell Automation, Inc. representatives are in every major country in the world.

Local Product Support

Contact your local Rockwell Automation, Inc. representative for:

• Sales and order support

• Product technical training

• Warranty support

• Support service agreements

Technical Product Assistance

For technical assistance, please review the information in Chapter 7,

Troubleshooting

Allen-Bradley Technical Support web site at www.ab.com/support/abdrives or contact Rockwell Automation, Inc.

, first. If you still have problems, then access the

Conventions Used in This Manual

This manual provides information about the adapter and using it with PowerFlex 7-Class (Architecture-Class) drives. The adapter can also be used with other products that support a DPI™ adapter, such as the SMC™ Flex. Refer to the documentation for your product for specific information about how it works with the adapter.

The following conventions are used throughout this manual:

• Parameter names are shown in the format Parameter xx - [*]. The xx

represents the parameter number. The * represents the parameter name— for example Parameter 01 - [DPI Port].

• Menu commands are shown in bold type face and follow the format

Menu > Command. For example, if you read “Select File > Open,” you should click the File menu and then click the Open command.

• The firmware release is displayed as FRN X.xxx. The “FRN” signifies

Firmware Release Number. The “X” is the major release number. The “xxx” is the minor update number.

• CANopen is an open protocol with many different vendors of software

and hardware. In this manual, the following tools were used: IXXAT CANopen Configuration Studio (version 1.4), Mauell CoDeSys AA programming software and the Mauell Telmatic ME-series of PLC. Different versions of the software may differ in appearance and procedures.

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Chapter 1

Getting Started

The adapter is intended for installation into a PowerFlex 7-Class drive and is used for network communication. The adapter can also be used with other Allen-Bradley products supporting DPI™.

Topic Page

Components Features 1-2 Compatible Products 1-2 Required Equipment 1-3 Safety Precautions 1-4 Quick Start 1-5 Status Indicators 1-6

1-1

Components

Figure 1.1 Components of the Adapter

➊

➋

➍

➎

➌

Item Part Description

Status Indicators Four LEDs that indicate the status of the DPI, the adapter, and

➊

DPI Connector A 20-pin, single-row shrouded male header. An Internal Interface

➋

CANopen Connector A 9-pin, male D-sub connector for the network cable.

➌

Node Address Switches Two rotary switches to set the node address. Refer to Setting the

➍

Data Rate Switch Switch to set the network data rate at which the adapter

➎

network connection. Refer to Chapter

cable is connected to this connector and a connector on the drive.

Node Address Switches on page 2-2.

communicates. Refer to Setting the Data Rate

7, Troubleshooting.

on page 2-3.

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1-2 Getting Started

Features

The features of the adapter include:

• Typical mounting in a PowerFlex 7-Class (Architecture Class) drive.

• Captive screws to secure and ground the adapter to the drive.

• Compatibility with various configuration tools to configure the adapter

and connected drive. The tools include the PowerFlex 7-Class HIM on the drive, and drive-configuration software such as DriveExplorer (version 2.01 or higher) or DriveExecutive (version 3.01 or higher).

• Switches to set a node address and network data rate before applying

power to the PowerFlex drive. Alternately, you can disable the switches and use adapter parameters to configure these functions.

• Status indicators that report the status of the drive communications, the

adapter, and network. They are visible when the drive cover is open or closed.

• Parameter-configurable I/O (Logic Command/Reference and up to four

pairs of Datalinks) to meet application requirements.

• Support for Service Data Object (SDO) messages.

• Implementation of the CANopen DS301 specification.

Compatible Products

• User-defined fault actions to determine how the adapter and connected

drive respond to I/O messaging communication disruptions.

• Multiple data exchange methods (Cyclic, Change of State, and Remote

Transmission Request) to transmit data between the network and adapter.

• Faulted node recovery support. You can configure a device even when it

is faulted on the network if you have a configuration tool that uses faulted node recovery and have set the data rate switch to “PGM” (Program). The adapter then uses parameter settings for the data rate and node address instead of the switch settings.

DPI is a second generation peripheral communication interface and a functional enhancement to SCANport. The adapter is compatible with Allen-Bradley PowerFlex 7-Class drives and other products that support DPI. At the time of publication, compatible products include:

• PowerFlex 70 drives • PowerFlex 700S drives

• PowerFlex 700 drives • SMC™ Flex

• PowerFlex 700H drives

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Getting Started 1-3

Required Equipment

Equipment Shipped with the Adapter

When you unpack the adapter, verify that the package includes:

❑ One adapter ❑ A 2.54 cm (1 in.) and a 15.24 cm (6 in.) Internal Interface cable (only

one cable is needed to connect the adapter to the drive)

❑ One PowerFlex 7-Class DPI (Drive Peripheral Interface) Network

Communication Adapter Installation Instructions (publication

20COMM-IN004)

User-Supplied Equipment

To install and configure the adapter, you must supply:

❑ A small flathead screwdriver ❑ CANopen cable with 9-pin D-Sub female connector – thin cable with

an outside diameter of 7 mm (0.27 in.) is recommended

❑ Configuration tool, such as:

– PowerFlex 7-Class HIM (20-HIM-xx) – DriveExplorer (version 4.01 or higher) – DriveExecutive stand-alone software (version 3.01 or higher) or

bundled with the DriveTools SP suite (version 1.01 or higher) – CANopen Configuration Studio IXXAT (version 1.4 or higher) – PowerFlex 1203-USB or 1203-SSS Serial Converter (version 3.001

or higher)

❑ Computer with a CANopen network configuration tool (for example,

IXXAT tinCAN)

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1-4 Getting Started

Safety Precautions

Please read the following safety precautions carefully.

ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death.

Remove all power from the PowerFlex drive, and then verify power has been discharged before installing or removing an adapter.

ATTENTION: Risk of injury or equipment damage exists. Only personnel familiar with drive and power products and the

associated machinery should plan or implement the installation, start up, configuration, and subsequent maintenance of the product using an adapter. Failure to comply may result in injury and/or equipment damage.

ATTENTION: Risk of equipment damage exists. The adapter contains ESD (Electrostatic Discharge) sensitive parts that can be

damaged if you do not follow ESD control procedures. Static control precautions are required when handling the adapter. If you are unfamiliar with static control procedures, refer to Guarding Against Electrostatic Damage (publication 8000-4.5.2).

ATTENTION: Risk of injury or equipment damage exists. If the adapter is transmitting control I/O to the drive, the drive may

fault when you reset the adapter. Determine how your drive will respond before resetting an adapter.

ATTENTION: Risk of injury or equipment damage exists. Parameter 10 - [Comm Flt Action] and 11 - [Idle Flt Action]

let you determine the action of the adapter and connected drive if communications are disrupted. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run. Precautions should be taken to ensure that the setting of these parameters do not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable or a faulted controller).

ATTENTION: Risk of injury or equipment damage exists. When a system is configured for the first time, there may be

unintended or incorrect machine motion. Disconnect the motor from the machine or process during initial system testing.

ATTENTION: Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of

example. There are many variables and requirements with any application. Rockwell Automation, Inc. does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.

ATTENTION: Risk of injury or equipment damage exists. DPI or SCANport host products must not be directly connected

together via 1202 cables. Unpredictable behavior due to timing and other internal procedures can result if two or more devices are connected in this manner.

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Getting Started 1-5

Quick Start

This section is provided to help experienced users quickly start using the adapter. If you are unsure how to complete a step, refer to the referenced chapter.

Step Action Refer to…

1 Review the safety precautions for the adapter. Throughout This Manual 2 Verify that the PowerFlex drive is properly installed. Drive User Manual 3 Install the adapter.

Verify that the PowerFlex drive is not powered. Then, connect the adapter to the network using a network cable and to the drive using the Internal Interface cable. Use the captive screws to secure and ground the adapter to the drive.

4 Commission the adapter.

Set a unique node address and the appropriate data rate using the adapter switches. If desired, you can disable the switches and use adapter parameters instead.

5 Apply power to the adapter.

A. The adapter receives power from the drive. Verify that

the adapter is installed correctly and then apply power to the drive. The status indicators should be green. If they flash red, there is a problem. Refer to Chapter

Troubleshooting

B. Configure/verify key drive parameters.

6 Configure the adapter for your application.

Set adapter parameters for the following functions as required by your application:

• Node address and data rate (if Data Rate switch is set

to “PGM”)

• I/O configuration

• Change of State, Cyclic or RTR I/O data exchange

• Fault actions

7 Configure the CANopen network.

Use a tool of CANopen Network Management master such as CANopen Configuration Studio IXXAT to configure the CANopen network. Make sure to:

• Install the EDS file.

• Create configuration and device connections.

• Save your CANopen configuration.

8 Create a programmable logic controller program.

Use a programming tool such as CoDeSys Programming Software for the Mauell PLC to create a logic program that enables you to:

• Control the adapter and connected drive.

• Monitor or configure the drive using Service Data

Objects.

PowerFlex 7-Class DPI Network Communication Adapter Installation Instructions (publication

20COMM-IN004) and Chapter 2

Installing the Adapter

Chapter 2, Installing the Adapter

Chapter 3 Configuring the Adapter

Chapter Configuring the CANopen Network

Appendix E, CANopen Network Example

Chapter Using I/O Messaging

Chapter 6, Using Service Data Objects

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1-6 Getting Started

Status Indicators

The adapter uses four status indicators to report its operating status. They can be viewed on the adapter or through the drive cover (Figure 1.2

Figure 1.2 Status Indicators (location on drive may vary)

➊ ➋ ➌

➍

➊ ➋ ➌

➍

Item Name

PORT

➊

MOD

➋

NET A (CAN RUN)

➌

NET B (CAN ERR)

➍

After installing the adapter and applying power to the drive, refer to

Start-Up Status Indications

indications and their descriptions.

on page 2-8 for possible start-up status

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Chapter 2

Installing the Adapter

This chapter provides instructions for installing the adapter in a PowerFlex 7-Class drive.

Topic Page

Preparing for an Installation Commissioning the Adapter 2-1 Connecting the Adapter to the Drive 2-4 Connecting the Adapter to the Network 2-7 Applying Power 2-8

2-1

Preparing for an Installation

Commissioning the Adapter

Before installing the adapter, verify that you have all required equipment. Refer to Required Equipment

To commission the adapter, you must set a unique node address and the data rate that is used by the network.

Important:New settings are recognized only when power is applied to the

adapter. If you change a setting, cycle power to the drive.

ATTENTION: Risk of equipment damage exists. The adapter contains ESD (Electrostatic Discharge) sensitive parts that can be

on page 1-3.

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2-2 Installing the Adapter

Setting the Node Address Switches

Set the adapter Node Address switches (Figure 2.1) by rotating the switches to the desired value for each digit.

Important:Each node on the network must have a unique address. Set the

node address before power is applied because the adapter uses the node address it detects when it first receives power. To change a node address, you must set the new value and then remove and reapply power to (or reset) the adapter.

Figure 2.1 Setting Adapter Node Address Switches

Te ns

Digit

Ones

Digit

Setting Description

00…99 Node address used by the adapter if switches are enabled. The default switch setting is

01. Node address 01 is also the default address used by all uncommissioned devices.

We recommend that you do not use this address as the final adapter address.

The Node Address switches are checked during start-up and, if the address needs to

be changed, the power must be cycled for the change to take effect.

Important: If both Node Address switches are set to “0,” the adapter uses the

Parameter 03 - [COPN Addr Cfg] setting for the node address. With this parameter,

the node address can be set from 1…127. This parameter is readable/writable over the

network, and its default setting is 1. Refer to Setting the Node Address

The Node Address switch settings can be verified by viewing Parameter 04

- [COPN Addr Actual] using a PowerFlex 7-Class HIM, DriveExplorer

software, or DriveExecutive software.

on page 3-3.

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Installing the Adapter 2-3

Setting the Data Rate

Set the adapter Data Rate switch (Figure 2.2) by rotating the switch to the desired setting.

Figure 2.2 Setting Adapter Data Rate Switch

125K

50K

250K

20K

10K

PGM 1M

Setting Description

10Kbps, 20Kbps, 50Kbps, 125Kbps, 250Kbps, 500Kbps, 800Kbps or 1Mbps

PGM The adapter uses the setting of Parameter 05 - [COPN Rate Cfg] for the data

The Data Rate switch setting can be verified by viewing Parameter 06 [COPN Rate Actual] using a PowerFlex 7-Class HIM, DriveExplorer

software, or DriveExecutive software.

Sets the adapter to the respective data rate. The default switch setting is 500Kbps.

rate. This parameter is readable/writable over the network, and its default setting is 500Kbps. Refer to Setting the Data Rate

500K

800K

on page 3-3.

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2-4 Installing the Adapter

Connecting the Adapter to the Drive

ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death.

Remove power from the drive, and then verify power has been discharged before installing or removing the adapter.

1. Remove power from the drive.

2. Use static control precautions.

3. Remove the drive cover or open the drive door.

4. Connect the Internal Interface cable to the DPI port on the drive and

then to the DPI connector on the adapter (see Figure 2.3

5. Secure and ground the adapter to the drive (see Figure 2.4

following:

– On a PowerFlex 70 drive, fold the Internal Interface cable behind the

adapter and mount the adapter on the drive using the four captive screws.

– On a PowerFlex 700, PowerFlex 700H or PowerFlex 700S drive,

mount the adapter on the drive using the four captive screws.

) by doing the

Important:Tighten all screws to properly ground the adapter.

Recommended torque is 0.9 N•m (8.0 lb•in).

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Figure 2.3 DPI Ports and Internal Interface Cables

Installing the Adapter 2-5

20-COMM-K Adapter

➋

➌

PowerFlex 700 Frames 0 and 1

PowerFlex 700S Frames 0 and 1

➊

PowerFlex 70 - All Frames

➍

PowerFlex 700 Frames 2 and Larger PowerFlex 700S Frames 2 through 6

PowerFlex 700H Frames 9 and Larger PowerFlex 700S Frames 9 and Larger

Item Description

15.24 cm (6 in.) Internal Interface cable

➊

DPI Connector

➋

CANopen network cable

➌

2.54 cm (1 in.) Internal Interface cable

➍

HIM panel opens to allow access to DPI interface. To open panel, remove screws on left side of HIM panel and swing open.

➍

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2-6 Installing the Adapter

Figure 2.4 Mounting and Grounding the Adapter

Drive

0.9 N•m

(8.0 lb•in)

4 Places

Adapter

Internal Interface Cable folded behind the adapter and in front of the drive.

PowerFlex 70 - All Frame Sizes

(Adapter mounts in drive.)

PowerFlex 700 Frames 0 and 1

PowerFlex 700S Frames 0 and 1

(Adapter mounts on door.)

0.9 N•m

(8.0 lb•in)

4 Places

Ground Tab Detail

Verify metal ground tab is bent 90° and is under the adapter before tightening screw. After tightening the screw, verify continuity exists between the head of the screw and drive ground.

PowerFlex 700 Frames 2 and Larger PowerFlex 700S Frames 2 through 6

(Adapter mounts in drive.)

Ground Tab Detail

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0.9 N•m

(8.0 lb•in)

4 Places

PowerFlex 700H Frames 9 and Larger PowerFlex 700S Frames 9 and Larger

(Adapter mounts behind HIM panel.)

Verify metal ground tab is bent 90° and is under the adapter before tightening screw. After tightening the screw, verify continuity exists between the head of the screw and drive ground.

Installing the Adapter 2-7

Connecting the Adapter to the Network

ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death.

Remove power from the drive, and then verify power has been discharged before installing or removing the adapter.

1. Remove power from the network and drive.

2. Use static control precautions.

3. Connect one end of a CANopen cable to the network. A CANopen

cable with an outside diameter of 6.9 mm (0.27 in.) is recommended.

Important:Maximum cable length depends on the data rate. For

details, refer to Data Rate

4. Route the other end of the CANopen cable through the bottom of the

PowerFlex drive (Figure 2.4 CANopen cable. See Figure 2.5 connection details.

Figure 2.5 Connecting 9-Pin D-Sub Plug to CANopen Cable

120 Ohm Terminating Resistor

CAN_H CAN_L CAN_GND CAN_SHLD

7 2 3 5

) and connect a 9-pin D-Sub plug to the

in the Glossary.

and its related table for wiring

Pin Name Function

2 CAN_L CAN low bus line 3 CAN_GND CAN ground 5 CAN_SHLD CAN shield 6 GND Ground (not used) 7 CAN_H CAN high bus line

5. Connect a 120 Ohm bus termination resistor at both ends of the

CAN-bus cable (at the first and last node, if several adapters are connected to the CAN-bus). The termination should be made in the connectors and is not included on the adapter. (See Figure 2.5

6. Connect the CANopen cable plug to the mating adapter receptacle, and

secure it with the two screws.

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2-8 Installing the Adapter

Applying Power

ATTENTION: Risk of equipment damage, injury, or death exists. Unpredictable operation may occur if you fail to verify

that parameter settings are compatible with your application. Verify that settings are compatible with your application before applying power to the drive.

1. Install the drive cover or close the drive door. The status indicators can

be viewed on the front of the drive.

2. Ensure that the adapter has a unique node address on the network and is

set at the correct data rate. If a new address or data rate is needed, reset its switches (see Setting the Node Address Switches

Setting the Data Rate

3. Apply power to the network.

4. Apply power to the drive. The adapter receives its power from the

connected drive. When you apply power to the adapter for the first time, the status indicators should be green after an initialization. If an indicator is red, there is a problem. Refer to Chapter

5. If the Data Rate switch is set to “PGM” or the Node Address switches

are set to “00,” use a configuration tool to set the data rate and node address parameters in the adapter (see Setting the Data Rate

page 3-3 or Setting the Node Address on page 3-3).

on page 2-3).

on page 2-2 or

7, Troubleshooting.

Start-Up Status Indications

After power has been applied, the status indicators for the drive and communications adapter can be viewed on the front of the drive (Figure 2.6

Figure 2.6 Drive and Adapter Status Indicators (location on drive may vary)

➋

). Possible start-up status indications are shown in Table 2.A.

PORT

MOD

NET A

NET B

➊

STS

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Installing the Adapter 2-9

Table 2.A Drive and Adapter Start-Up Status Indications

Item Name Color State

STS

➊

(Status)

PORT Green Flashing Normal Operation. The adapter is establishing a

➋

MOD Green Flashing Normal Operation. The adapter is operating but is

NET A (CAN RUN)

NET B (CAN ERR)

(1)

If all status indicators are off, the adapter is not receiving power. Refer back to instructions in this chapter on installing the adapter. If any other conditions occur, see Chapter

Green Flashing Drive ready but not running, and no faults are

Yellow Flashing,

Red Flashing A fault has occurred.

Green Flashing Normal Operation. The adapter is properly

Green Off Normal Operation. No error.

(1)

Steady Drive running, no faults are present.

Drive Stopped Flashing, Drive Running Steady, Drive Running

Steady A non-resettable fault has occurred.

Adapter Status Indicators

Steady Normal Operation. The adapter is properly

Steady Normal Operation. The adapter is operating and

Steady Normal Operation. The adapter is properly

Steady Normal Operation. The CAN controller is bus off.

Description

Drive STS Indicator

present.

An inhibit condition exists – the drive cannot be started. Check drive Parameter 214 - [Start Inhibits]. An intermittent type 1 alarm condition is occurring. Check drive Parameter 211 - [Drive Alarm 1]. A continuous type 1 alarm condition exists. Check drive Parameter 211 - [Drive Alarm 1].

connection to the drive. It will turn steady green or red.

connected and communicating with the drive.

not transferring I/O data.

transferring I/O data.

connected but is not communicating with any devices on the network.

connected and communicating on the network.

7, Troubleshooting.

Configuring/Verifying Key Drive Parameters

The PowerFlex 7-Class drive can be separately configured for the control and Reference functions in various combinations. For example, you could set the drive to have its control come from a peripheral or terminal block with the Reference coming from the network. Or you could set the drive to have its control come from the network with the Reference coming from another peripheral or terminal block. Or you could set the drive to have both its control and Reference come from the network.

The following steps in this section assume that the drive will receive the Logic Command and Reference from the network.

1. Use drive Parameter 090 - [Speed Ref A Sel] to set the drive speed

Reference to “22” (DPI Port 5).

2. If hard-wired discrete digital inputs are not used to control the drive,

verify that unused digital input drive Parameters 361 - [Dig In1 Sel] and 362 - [Dig In2 Sel] are set to “0” (Not Used).

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2-10 Installing the Adapter

3. Verify that drive Parameter 213 - [Speed Ref Source] is reporting that

the source of the Reference to the drive is “22” (DPI Port 5). This ensures that any Reference commanded from the network can be monitored by using drive Parameter 002 - [Commanded Speed]. If a problem occurs, this verification step provides the diagnostic capability to determine whether the drive/adapter or the network is the cause.

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Chapter 3

Configuring the Adapter

This chapter provides instructions and information for setting the parameters to configure the adapter.

Topic Page

Configuration Tools Using the PowerFlex 7-Class HIM 3-2 Setting the Node Address 3-3 Setting the Data Rate 3-3 Setting the I/O Configuration 3-4 Selecting COS, Cyclic or RTR I/O Data Exchange 3-5 Setting a Fault Action 3-7 Resetting the Adapter 3-9 Viewing the Adapter Status Using Parameters 3-10 Flash Updating the Adapter 3-10

3-1

Configuration Tools

For a list of parameters, refer to Appendix definitions of terms in this chapter, refer to the Glossary

The adapter stores parameters and other information in its own non-volatile memory. You must, therefore, access the adapter to view and edit its parameters. The following tools can be used to access the adapter parameters:

Tool Refer to…

PowerFlex HIM page 3-2 DriveExplorer Software

(version 4.01 or higher) DriveExecutive Software

(version 3.01 or higher)

TIP: Service Data Objects can also be used to configure an adapter and drive. Refer to Chapter

http://www.ab.com/drives/driveexplorer, or DriveExplorer online help (installed with the software)

http://www.ab.com/drives/drivetools, or DriveExecutive online help (installed with the software)

6, Using Service Data Objects.

B, Adapter Parameters. For

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3-2 Configuring the Adapter

Using the PowerFlex 7-Class HIM

If your drive has either an LED or LCD HIM (Human Interface Module), it can be used to access parameters in the adapter as shown below. It is recommended that you read through the steps for your HIM before performing the sequence. For additional information, refer to your PowerFlex Drive User Manual or the PowerFlex 7-Class HIM Quick Reference (publication 20HIM-QR001).

Using an LED HIM

Step Example Screens

1. Press the key and then the Device (Sel) key to display the Device Screen.

2. Press the or key to scroll to the adapter. Letters represent files in the drive, and numbers represent ports. The adapter is usually connected to port 5.

3. Press the (Enter) key to enter your selection. A parameter database is constructed, and then the first parameter is displayed.

4. Edit the parameters using the same techniques that you use to edit drive parameters.

ALT

Sel

Using an LCD HIM

Step Example Screens

1. In the main menu, press the or key to scroll to Device Select.

2. Press the (Enter) key to enter your selection.

3. Press the or key to scroll to the adapter (20-COMM-K).

4. Press the (Enter) key to select the adapter. A parameter database is constructed, and then the main menu for the adapter is displayed.

5. Edit the parameters using the same techniques that you use to edit drive parameters.

NOTE: All configuration procedures throughout this chapter use the PowerFlex 7-Class LCD HIM to access parameters in the adapter and show example LCD HIM screens.

F-> Stopped Auto

0.00 Hz

Main Menu: Diagnostics Parameter

Device Select

Port 5 Device 20-COMM-K Main Menu:

Diagnostics

Parameter

Device Select

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Configuring the Adapter 3-3

Setting the Node Address

Setting the Data Rate

The node address is normally set by the adapter Node Address switches (Figure 2.1 set to “0,” the value of Parameter 03 - [COPN Addr Cfg] determines the node address.

1. Set the value of Parameter 03 - [COPN Addr Cfg] to a unique node

address.

Figure 3.1 Example COPN Node Addr Cfg LCD HIM Screen

2. Reset the adapter (see Resetting the Adapter on page 3-9).

The data rate is normally set by the adapter Data Rate switch (Figure 2.2), and must be the same for each node on the network. If the Data Rate switch is set to “PGM” (Program), the value of Parameter 05 - [COPN Rate Cfg] determines the data rate. Your application may require a different setting.

1. Set the value of Parameter 05 - [COPN Rate Cfg] to the data rate at

which your network is operating.

), and is unique to each node on the network. If both switches are

Port 5 Device 20-COMM-K Parameter #: 03

COPN Addr Cfg

1 <> 127

Default = 1

Figure 3.2 Example COPN Rate Cfg LCD HIM Screen

Port 5 Device 20-COMM-K Parameter #: 05

COPN Rate Cfg

500K

2. Reset the adapter (see Resetting the Adapter on page 3-9).

Value Data Rate

0 10 Kbps 1 20 Kbps 2 50 Kbps 3 125 Kbps 4 250 Kbps 5 500 Kbps (default) 6 1000 Kbps

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3-4 Configuring the Adapter

Setting the I/O Configuration

The I/O configuration determines the data that is sent to and from the drive. Logic Command/Status, Reference/Feedback, and Datalinks may be enabled or disabled. A “1” enables the I/O. A “0” disables the I/O.

1. Set the bits in Parameter 12 - [DPI I/O Cfg].

Figure 3.3 Example DPI I/O Cfg LCD HIM Screen

Port 5 Device 20-COMM-K Parameter #: 12

DPI I/O Cfg xxxxxxxxxxx0000 Cmd/Ref b00

Bit 0 is the right-most bit. In Figure 3.3, it is highlighted and equals “1.”

2. If Logic Command/Reference is enabled, configure the parameters in

the drive to accept the Logic Command and Reference from the adapter. For example, set Parameter 90 - [Speed Ref A Sel] in a PowerFlex 70 or 700 drive to “22” (DPI Port 5) so that the drive uses the Reference from the adapter. Also, verify that the mask parameters (for example, Parameter 276 - [Logic Mask]) in the drive are configured to receive the desired logic from the adapter. Refer to the documentation for your drive for details.

Bit Description

0 Logic Command/Reference (Default) 1 Datalink A 2 Datalink B 3 Datalink C

4 Datalink D 5…15 Not Used

3. If you enabled one or more Datalinks, configure parameters in the drive

to determine the source and destination of data in the Datalink(s). For example, configure the Datalinks in PowerFlex 70 and 700 drives by setting Parameters 300 - [Data In A1] through 317 - [Data Out D2]. Also, ensure that the Modbus/TCP adapter is the only adapter using the enabled Datalink(s).

4. Reset the adapter (see Resetting the Adapter

The adapter is ready to receive I/O.

on page 3-9).

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Configuring the Adapter 3-5

Selecting COS, Cyclic or RTR I/O Data Exchange

The data exchange (sometimes called allocation) is the method that the adapter uses to exchange real-time data on the CANopen network. The real-time data is transferred using a PDO (Process Data Object). The adapter can be configured to use one of the following data exchange types:

• COS (Change of State)

• Cyclic

• RTR (Remote Transmission Request)

Each PDO can have a different type of data exchange, but COS can only be selected for PDO1 (Status/Feedback word).

COS data exchange must be configured to set both the I/O configuration and COS parameters in the adapter. Cyclic and RTR data exchanges are configured in the PLC, so you only need to set the I/O configuration in the adapter. No adapter parameters need to be adjusted.

For more details, refer to Chapter

Using COS (Change of State) Data Exchange

COS means that a PDO is sent whenever the CANopen device has changed its state (for example, a value has changed).

1. Using the CANopen configuration tool, set the transmission mode of

the TPDO1 (Transmit PDO) of the adapter to “0” (synchronous) or “254” (asynchronous).

5, Using I/O Messaging.

2. Set Parameter 24 - [PDO1 Trigger] to “0” (COS).

Figure 3.4 Example DPO1 Trigger LCD HIM Screen

Port 5 Device 20-COMM-K Parameter #: 24

PDO1 Trigger

COS

3. Set Bit 0 (the Logic Command/Reference bit) in Parameter 12 - [DPI I/O Config] to “1” (Enabled).

Figure 3.5 Example I/O Configuration LCD HIM Screen

Port 5 Device 20-COMM-K Parameter #: 12

DPI I/O Cfg xxxxxxxxxxx0000 Cmd/Ref b00

Val ue Tr igger

0COS (Default) 1Cyclic

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3-6 Configuring the Adapter

4. Set Parameter 25 - [COS Status Mask] for the bits in the Logic Status

word that should be checked for changes. The bit definitions for the Status Mask will depend on the drive to which the adapter is connected. Refer to Appendix D

Figure 3.6 Example COS Status Mask LCD HIM Screen

or the drive documentation.

Por t 5 Devic e 20-COMM-K Parameter #: 25

COS Status Mask xxxxxxxxxxx0000 Bit 0 b00

5. Set Parameter 26 - [COS Fdbk Change] for the amount of change to

the Feedback that is required to trigger a Change of State message.

Figure 3.7 Example COS Fdbk Change LCD HIM Screen

Port 5 Device 20-COMM-K Parameter #: 26

COS Fdbk Change

1 <> 4294967295

Value Description

0 Ignore this logic bit. (Default) 1 Use this logic bit.

Default = 1

Using Cyclic Data Exchange

With cyclic data exchange, a PDO is sent periodically.

1. With the CANopen configuration tool, set the transmission mode of the

TPDO1 (Transmit PDO) of the adapter to “0” (synchronous) or “254” (asynchronous).

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2. Set Parameter 24 - [PDO1 Trigger] to “1” (Cyclic).

Figure 3.8 Example DPO1 Trigger LCD HIM Screen

Port 5 Device 20-COMM-K Parameter #: 24

PDO1 Trigger

Cyclic

3. Set Parameter 27 - [Cyclic Interval] for the desired time interval

between two transmissions.

Figure 3.9 Example Cyclic Interval LCD HIM Screen

Port 5 Device 20-COMM-K Parameter #: 27

Cyc Interval

0.02 s

0.02 <> 655.35

Value Tri gger

0 COS (Default) 1Cyclic

Default = 0.02 s

Configuring the Adapter 3-7

This cyclic data exchange is only possible for the PDO1. However, there is another possibility to implement cyclic data exchange for each PDO1:

1. Using the CANopen configuration tool, set the transmission mode of the TPDO (Transmit PDO) of the adapter to a value between “1” and “240.”

2. Using the CANopen configuration tool, set the communication cycle period to a desired value. The cyclic interval is calculated by multiplying the transmission type by the communication cycle period.

3. No adapter parameter needs to be adjusted.

Using RTR (Remote Transmission Request)

PDOs can be remotely requested by transmitting a CAN remote frame from the requesting PDO consumer. The corresponding PDO producer responds to this remote frame.

1. Using the CANopen configuration tool, set the transmission type of the TPDO (Transmit PDO) of the adapter to “252” (synchronous) or “253” (asynchronous).

Setting a Fault Action

2. No adapter parameter needs to be adjusted.

By default, when I/O communications are disrupted (for example, a cable is disconnected) or the controller is idle (in program mode or faulted), the drive responds by faulting if it is using I/O from the network. You can configure a different response to:

• Disrupted I/O communication using Parameter 10 - [Comm Flt Action]

• An idle controller using Parameter 11 - [Idle Flt Action]

ATTENTION: Risk of injury or equipment damage exists. Parameters 10 - [Comm Flt Action] and 11 - [Idle Flt Action]

let you determine the action of the adapter and connected drive if I/O communications are disrupted or the controller is idle. By default, these parameters fault the drive. You can set these parameters so that the drive continues to run. Precautions should be taken to ensure that the settings of these parameters do not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable or faulted controller).

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3-8 Configuring the Adapter

Changing the Fault Action

Set the values of Parameters 10 - [Comm Flt Action] and 11 - [Idle Flt Action] to the desired response:

Value Action Description

0 Fault The drive is faulted and stopped. (Default) 1 Stop The drive is stopped, but not faulted. 2 Zero Data The drive is sent 0 for output data. This does not command a stop. 3 Hold Last The drive continues in its present state. 4 Send Flt Cfg The drive is sent the data that you set in the fault configuration parameters

(Parameters 14 - [Flt Cfg Logic] through 23 - [Flt Cfg D2 In]).

Figure 3.10 Example Fault Action LCD HIM Screens

Port 5 Device 20-COMM-K Parameter #: 10

Comm Flt Action

Fault

Changes to these parameters take effect immediately. A reset is not required.

Port 5 Device 20-COMM-K Parameter #: 11

Idle Flt Action

Fault

Setting the Fault Configuration Parameters

If you set Parameter 10 - [Comm Flt Action] or 11 - [Idle Flt Action] to “Send Flt Cfg,” the values in the following parameters are sent to the drive after an I/O communications fault and/or idle fault occurs. You must set these parameters to values required by your application.

Parameter Description 14 - [Flt Cfg Logic] A 16-bit value sent to the drive for Logic Command. 15 - [Flt Cfg Ref] A 32-bit value (0…4294967295) sent to the drive as a Reference or Datalink. 16 - [Flt Cfg x1 In]

through

23 - [Flt Cfg x2 In]

Important: If the drive uses a 16-bit Reference or 16-bit Datalinks, the most

significant word of the value must be set to zero (0) or a fault will occur.

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Changes to these parameters take effect immediately. A reset is not required.

Configuring the Adapter 3-9

Resetting the Adapter

Changes to switch settings and some adapter parameters require that you reset the adapter before the new settings take effect. You can reset the adapter by cycling power to the drive or by using Parameter 09 - [Reset

Module].

ATTENTION: Risk of injury or equipment damage exists. If the

adapter is transmitting control I/O to the drive, the drive may fault

when you reset the adapter. Determine how your drive will respond before resetting a connected adapter.

Set Parameter 09 - [Reset Module] to “1” (Reset Module).

Figure 3.11 Example Reset Module LCD HIM Screen

Port 5 Device 20-COMM-K Parameter #: 09

Reset Module

When you enter “1” (Reset Module), the adapter will be immediately reset. When you enter “2” (Set Defaults), the adapter will set all adapter parameters to their factory-default values. After performing a Set Defaults, enter “1” (Reset Module) so that the new values take effect. The value of this parameter will be restored to “0” (Ready) after the adapter is reset.

Value Description

0 Ready (Default) 1 Reset Module 2 Set Defaults

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3-10 Configuring the Adapter

Viewing the Adapter Status Using Parameters

The following parameters provide information about the status of the adapter. You can view these parameters at any time.

Parameter Description 04 - [COPN Addr Act] The node address used by the adapter. This will be one of the following

06 - [COPN Rate Act] The data rate used by the adapter. This will be one of the following values:

07 - [Ref/Fdbk Size] The size of the Reference/Feedback. It will either be 16 bits or 32 bits. It is

08 - [Datalink Size] The size of the Datalinks. It will either be 16 bits or 32 bits. It is set in the

13 - [DPI I/O Act] The Reference/Feedback and Datalinks used by the adapter. This value is

values:

• The address set by the rotary switches.

• The value of Parameter 03 - [COPN Addr Cfg] if the switches have

been set to “0.”

• An old address of the switches or parameter if they have been changed

and the adapter has not been reset.

• The data rate set by the rotary switch.

• The value of Parameter 05 - [COPN Rate Cfg] if the switch has been

set to “PGM.”

• An old data rate of the switch or parameter if it has been changed and

the adapter has not been reset.

set in the drive and the adapter automatically uses the correct size.

drive and the adapter automatically uses the correct size.

the same as Parameter 12 - [DPI I/O Cfg] unless the parameter was changed and the adapter was not reset.

Flash Updating the Adapter

Bit Definition

Default xxx00001 Bit 76543210

The adapter can be flash updated over the network or serially through a direct connection from a computer to the drive using a 1203-USB or 1203-SSS serial converter.

When flashing over the network, you can use the Allen-Bradley software tool ControlFLASH, the built-in flash capability of DriveExplorer Lite or Full, or the built-in flash capability of DriveExecutive.

When flashing through a direct serial connection from a computer to a drive, you can use the same Allen-Bradley software tools described above, or you can use HyperTerminal set to the X-modem protocol.

To obtain a flash update for this adapter, go to http://www.ab.com/support/

abdrives/webupdate. This site contains all firmware update files and

associated Release Notes that describe firmware update enhancements/ anomalies, how to determine the existing firmware version, and how to flash update using DriveExplorer, DriveExecutive, ControlFLASH or HyperTerminal.

Not Used

Datalink D

Datalink C

Datalink B

Datalink A

Cmd/Ref

0 = I/O disabled 1 = I/O enabled

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Chapter 4

Configuring the CANopen Network

This chapter provides information about configuring a CANopen network to communicate with the adapter and its connected PowerFlex 7-Class drive.

To configure the CANopen network, a variety of configuration tools of CANopen Network ManagemenT (NMT) masters are available from several manufactures, which help you to manage and configure CANopen devices and systems.

Appendix E gives an example how to configure the CANopen network by using the IXXAT CANopen Configuration Studio with the Mauell CoDeSys AA programming software and the Mauell Telematic ME series of PLC.

Topic Page

Network Management (NMT) CANopen Object Dictionary 4-3 CANopen Network Configuration 4-4

4-1

Network Management (NMT)

The Network Management (NMT) is used to control the status of all nodes in the CANopen network. It uses a master/slave hierarchy and requires a device with master functionality responsible for detecting, starting, and monitoring the node states. Within any NMT slave there has to be implemented the NMT slave state machine, where the Pre-Operational state allows device configuration to take place.

Based on the DS301 specification, the 20-COMM-K uses the standard CANopen network management state machine. Figure 4.1 slave state machine, and the corresponding different transitions. There are four main states defined:

• Initialization state

• Pre-Operational state

• Operational state

• Stopped state

shows the NMT

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4-2 Configuring the CANopen Network

Figure 4.1 The NMT Slave State Machine

Reset

Application

Reset

Communication

Power-on

Initialisation

Pre-Operational

Stopped

Operational

The numbers in Figure 4.1 correspond to the numbers within the parenthesis in the following state descriptions.

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Initialization State

The CANopen adapter enters the Initialization state automatically after power-up and after a reset command. After the initialization is done, the adapter enters into the Pre-Operational state (12).

Pre-Operational State

In the Pre-Operational state, the adapter can be configured and parameterized, and allocation via SDO is possible but PDO communication is not allowed in this state. After this state is attained, the node can be switched to the Operational state when receiving a Start_Remote_Node message (6) from an NMT master.

Configuring the CANopen Network 4-3

Operational State

All communication objects are active in the Operational state. This means there is PDO communication, SDO communication, synchronization, and error control, and emergency messages allowed. The adapter will enter the Stopped state when receiving a Stop_Remote_Node message (7).

Stopped State

All communications, except NMT and heartbeat for error control, are stopped when the adapter is switched into the Stopped state. The adapter can be switched back to the Pre-Operational state by receiving a “Enter_PRE-OPERATIONAL_State” message.

A Reset_Node message (10) from an NMT master will reset the adapter. A Reset_Communication message (11) will reset the CANopen communication parameters within the adapter.

CANopen Object Dictionary

On CANopen, the interface between the application and CAN is achieved by an Object Dictionary. The Object Dictionary is unique for any CANopen device and represents complete access to the application in terms of the communication parameters, the application data, and the configuration parameters.

To configure the CANopen network it is necessary to access the Object Dictionary. However, some configuration tools allow network configuration directly on the application level and hide all CANopen configuration data, such as PDO mapping, or the assignment of CAN identifier.

To gain access to the Object Dictionary, Process Data Objects (PDOs) and Service Data Objects (SDOs) are used.

Index Description

0000h Reserved 0001h - 025Fh Data types 0260h - 0FFFh Reserved 1000h - 1FFFh Communication profile area 2000h - 5FFFh Manufacturer specific area 6000h - 9FFFh Device profile specific area A000h - BFFFh Interface profile specific area C000h - FFFFh Reserved

Refer to Table C.A (Manufacturer Specific Area) for more information about CANopen objects.

(Communication Profile Area) and Table C.B

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4-4 Configuring the CANopen Network

CANopen Network Configuration

Network Node Configuration

With help of the configuration tool, set up a CANopen network with a specific baud rate. Select the required devices (for example, a PLC, input modules, output modules, and PowerFlex drives with 20-COMM-K adapters), add them to the network, and assign a unique node ID for each device.

EDS File

An EDS file is needed for each device on the CANopen network. Go to the Rockwell Automation web site at www.rockwellautomation.com/resources/

eds to download EDS files. Save EDS files to an appropriate location on

your computer.

SDO Configuration

Service Data Objects (SDOs) are used to establish a peer-to-peer connection between two CANopen devices.

SDOs use asynchronous data transmission with acknowledge. The SDOs are used to access all CANopen objects (Appendix required for adapter configuration/parameterization. Access to an individual Object is made with a multiplexer via the Index and Sub-index of the Object Dictionary.

C) in the adapter, and

This type of connection is based on a Client/Server-based mechanism. Configure the PLC as SDO server and install the SDO channels to the other devices (SDO clients).

PDO Configuration

Process Data Objects (PDOs) are used to transmit the real-time data using the producer/consumer communication model. The PDOs are transmitted without any protocol “overhead” and without confirmation. The PDO object is used for the I/O communication.

There are basically two types of PDOs, depending on the transmission direction:

• TPDOs (Transmit PDOs) are used to transfer data from the

communication adapter.

• RPDOs (Receive PDOs) are used to transfer data to the communication

adapter.

The PDOs are defined via the CANopen Object Dictionary, whereby pre-defined PDOs can be selected (Default PDO mapping). The mapping can also be changed if desired. The PDO mapping is made during configuration with the help of SDOs.

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Configuring the CANopen Network 4-5

Besides the PDO mapping to determine which data are available (mapped) in the selected PDO, the communication parameters that define the PDO communication behavior need to be set. This includes the transmission mode (synchronous or asynchronous) and the triggering mode which can be Change of State (COS), Cyclic or Remote Transmission Request (RTR).

SYNC Configuration

The synchronization object (SYNC) is used to synchronize the devices. There has to be a device in the network that is regarded as the SYNC producer. Usually, the PLC is configured as the SYNC message producer. The Communication Cycle Period (time between two SYNC messages) can be set to a desired value.

The SYNC object is used to synchronize PDO communication, trigger the transmission of a PDO, or perform the action on the last received PDO.

Node/Life Guarding

Node/Life Guarding is used for error control to check that any CANopen device is working properly. The mechanism used for guarding is based on the master/slave relationship. The NMT master guards all of its NMT slaves cyclically (cycle time = Guard Time) by using an RTR frame. Any CANopen slave responds to this RTR frame to guarantee that the application program is running (Node Guarding).

Simultaneously, if a slave does not receive an RTR frame from the NMT master within a specified time (Guard Time x Life Time Factor), the slave knows that the NMT master must have failed. This mechanism is called Life Guarding.

Adjust the Guard Time and the Life Time Factor to desired values.

Emergency EMCY

The emergency object is used to send fault information from the communication adapter to the CANopen network.

The emergency object is triggered by a fault event from the drive or the communication adapter itself. An emergency object is transmitted only once per error event.

Saving and Downloading the Configuration

After configuration and parameterization, save all parameters and download to devices separately. For the download, the adapter must be set in the Pre-Operational state.

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4-6 Configuring the CANopen Network

Notes:

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Chapter 5

Using I/O Messaging

This chapter provides information and examples that explain how to use I/O Messaging to control a PowerFlex 7-Class drive.

Topic Page

About Process Data Objects Understanding the I/O Image 5-4 Using Logic Command/Status 5-6 Using Reference/Feedback 5-6 Using Datalinks 5-8 Transmit PDO Mapping 5-9 Receive PDO Mapping 5-10

ATTENTION: Hazard of injury or equipment damage exists. The examples in this publication are intended solely for purposes of

example. There are many variables and requirements with any application. Rockwell Automation does not assume responsibility or liability (to include intellectual property liability) for actual use of the examples shown in this publication.

5-1

About Process Data Objects

On CANopen, Process Data Objects (PDOs) are used to transfer the real-time data which controls the PowerFlex drive and sets its Reference. PDOs can also be used to transfer data to and from Datalinks. A PDO message has high priority on the CAN bus. Each PDO has a unique CAN identifier, and the maximum length of a PDO message is 8 bytes.

PDO mapping and configuration are made with help of SDOs.

RPDO: SDO 1400 - 1403h (1st - 4th RPDO communication parameter)

SDO 1600 - 1603h (1st - 4th RPDO mapping parameter)

TPDO: SDO 1800 - 1803h (1st - 4th TPDO communication parameter)

SDO 1A00 - 1A03h (1st - 4th TPDO mapping parameter)

The adapter provides many options for configuring and using I/O, including:

• Configuring the size of I/O by enabling or disabling the Logic

Command/Reference and Datalinks

• Using a Change of State, Cyclic or RTR data exchange method

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5-2 Using I/O Messaging

PDO Transmission Types

The transmission type (or data exchange type) parameter of a PDO specifies the transmission mode and the triggering mode.

The transmission modes are:

• Synchronous transmission

• Asynchronous transmission

The adapter supports three PDO triggering modes:

• COS (Change of State)

• Cyclic

• Remote Transmission Request (RTR)

The triggering mode is only relevant for TPDOs. For RPDOs, only the transmission mode is important. To configure the PDOs, the adapter parameters have to be adjusted and other settings made using a CANopen configuration tool (for example, IXXAT CANopen Configuration Studio).

PDO Transmission Modes

To synchronize devices, a synchronization object (SYNC object) is transmitted periodically by a synchronization application (SYNC Master).

Figure 5.1

transmission. The time between two SYNC objects is the Communication Cycle Period.

Figure 5.1 Synchronous and Asynchronous Transmission

Sync

Object

Synchronous TPDO: The data for Synchronous TPDOs are sampled at the moment the SYNC object is received. For COS and cyclic transmission, the TPDOs are sent immediately after sampling (therefore, after the SYNC object). For RTR transmission, the TPDOs are sent after the receipt of the request message.

shows the principle of synchronous and asynchronous

= Synchronous

PDOs

Sync

Object

= Asynchronous

PDOs

Sync

Object

Time

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Asynchronous TPDO: Asynchronous TPDOs are transmitted without any correlation to a SYNC. The data for asynchronous TPDOs are sampled continuously.

Using I/O Messaging 5-3

Synchronous RPDO: The data of synchronous RPDOs is passed to the application when the next SYNC object occurs, independently of the transmission rate specified by the transmission type.

Asynchronous RPDO: The data of asynchronous RPDOs is passed directly to the application.

PDO Triggering Modes

The adapter supports three PDO triggering modes:

• Change of State (COS)

Triggering mode COS means that the PDO is sent when a device-specific event occurs (for example, a value has changed). COS can only be selected for the TPDO1- Logic Status/Feedback (Parameter 24 - [PDO1 Trigger] is set to “0”).

COS with transmission mode asynchronous can be configured by setting the transmission type of the TPDO1 to “254” using a CANopen configuration tool. For COS with transmission mode synchronous, the transmission type must be set to “0.”

Adapter Parameters 25 and 26 control the COS behavior. Parameter 25

- [COS Status Mask] defines which bits in the Logic Status word are checked for changes, and Parameter 26 - [COS Fdbk Change] specifies how much the Feedback word can change before it is considered a change of state.

• Cyclic

PDOs with the cyclic triggering mode are sent periodically with a specific interval. For the transmission types 0 (synchronous) cyclic transmission and 254 (asynchronous), Parameter 24 - [PDO1 Trigger] is set to “1” (Cyclic) and Parameter 27 - [Cycle Interval] defines this interval. This is only possible for the PDO1.

A synchronous cyclic transmission can also be implemented by setting the transmission type to a value between 1 and 240. Then, the cyclic interval is calculated as follows:

Cyclic Interval = Transmission Type x Communication Cycle Period

• Remote Transmission Request (RTR)

The transmission of a PDO is initiated on receipt of a Remote Transmission Request initiated by any other device (PDO consumer). The transmission can be either synchronous or asynchronous.

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5-4 Using I/O Messaging

Table 5.A TPDO Summary

Understanding the I/O Image

Triggering Mode

COS Synchronous COS 0

Cyclic Synchronous — 1…240 Synchronous cyclic

RTR only Synchronous — 252 Synchronous RTR only

(1)

Transmission types 241…251 are reserved.

(2)

The transmission type 255 - Asynchronous (Profile Event) is not used in this implementation.

(3)

If transmission type 0 or 254 (COS and cyclic) is selected for TPDOs other than TPDO1, the TPDO will only be transmitted on Remote Transmission Request.

Table 5.B RPDO Summary

Transmission Mode

Synchronous Data is passed to application

Asynchronous Data is passed to application

(1)

The transmission types 252 and 253 are not possible for RPDOs.

The CANopen specification requires that the terms input and output be defined from CANopen network’s point of view. Therefore, Output I/O is data that is output from the CANopen network and consumed by the CANopen adapter. Input I/O is status data that is produced by the adapter and consumed as input by the CANopen network. The I/O image table will vary based on:

Transmission Mode

Asynchronous COS 254

Synchronous Cyclic 0 Asynchronous Cyclic 254

Asynchronous — 253 Asynchronous RTR only

Behavior Transmission

after next SYNC.

immediately.

Param. 24 [PDO1 Trigger]

Transmission

(1) (2)

Type

(3)

(1)

Type

0 Synchronous acyclic 0…240 Synchronous cyclic 254 Asynchronous (Manuf. Event) 255 Asynchronous (Profile Event)

Transmission Type Name

Synchronous acyclic Asynchronous (Manuf. Event)

Name

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• Size (either 16-bit or 32-bit) of the Reference/Feedback words and

Datalink words used by the drive. To determine the size of the Reference/Feedback and Datalinks, view adapter Parameters 07 - [Ref/ Fdbk Size] and 08 - [Datalink Size]. For information to access parameters, see

• Configuration of I/O (Parameter 12 - [DPI I/O Config]) in the adapter.

If any I/O is not enabled, the image table is truncated. The image table always uses consecutive words starting at word 0.

The controller I/O image changes depending on the size of the drive’s Reference/Feedback and Datalinks. Table 5.C show the I/O image when using various PowerFlex 7-Class drives.

, Table 5.D, and Ta ble 5.E

Using I/O Messaging 5-5

Table 5.C I/O Image for PowerFlex 70/700/700H Drives and SMC Flex

(16-bit Reference/Feedback and 16-bit Datalinks)

Word Output I/O Word Input I/O

0 Logic Command 0 Logic Status 1 Reference 1 Feedback 2 Datalink In A1 2 Datalink Out A1 3 Datalink In A2 3 Datalink Out A2 4 Datalink In B1 4 Datalink Out B1 5 Datalink In B2 5 Datalink Out B2 6 Datalink In C1 6 Datalink Out C1 7 Datalink In C2 7 Datalink Out C2 8 Datalink In D1 8 Datalink Out D1 9 Datalink In D2 9 Datalink Out D2

Table 5.D I/O Image for PowerFlex 700 VC Drives

(16-bit Reference/Feedback and 32-bit Datalinks)

Word Output I/O Word Input I/O

0 Logic Command 0 Logic Status 1 Reference 1 Feedback 2 Datalink In A1 (LSW) 2 Datalink Out A1 (LSW) 3 Datalink In A1 (MSW) 3 Datalink Out A1 (MSW) 4 Datalink In A2 (LSW) 4 Datalink Out A2 (LSW) 5 Datalink In A2 (MSW) 5 Datalink Out A2 (MSW) 6 Datalink In B1 (LSW) 6 Datalink Out B1 (LSW) 7 Datalink In B1 (MSW) 7 Datalink Out B1 (MSW) 8 Datalink In B2 (LSW) 8 Datalink Out B2 (LSW) 9 Datalink In B2 (MSW) 9 Datalink Out B2 (MSW) 10 Datalink In C1 (LSW) 10 Datalink Out C1 (LSW) 11 Datalink In C1 (MSW) 11 Datalink Out C1 (MSW) 12 Datalink In C2 (LSW) 12 Datalink Out C2 (LSW) 13 Datalink In C2 (MSW) 13 Datalink Out C2 (MSW) 14 Datalink In D1 (LSW) 14 Datalink Out D1 (LSW) 15 Datalink In D1 (MSW) 15 Datalink Out D1 (MSW) 16 Datalink In D2 (LSW) 16 Datalink Out D2 (LSW) 17 Datalink In D2 (MSW) 17 Datalink Out D2 (MSW)

LSW = Least Significant Word (Bits 15…0); MSW = Most Significant Word (Bits 31…16)

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5-6 Using I/O Messaging

Table 5.E I/O Image for PowerFlex 700S Drives

(32-bit Reference/Feedback and 32-bit Datalinks)

Word Output I/O Word Input I/O

0 Logic Command 0 Logic Status 1Not Used 1Not Used 2 Reference (LSW) 2 Feedback (LSW) 3 Reference (MSW) 3 Feedback (MSW) 4 Datalink In A1 (LSW) 4 Datalink Out A1 (LSW) 5 Datalink In A1 (MSW) 5 Datalink Out A1 (MSW) 6 Datalink In A2 (LSW) 6 Datalink Out A2 (LSW) 7 Datalink In A2 (MSW) 7 Datalink Out A2 (MSW) 8 Datalink In B1 (LSW) 8 Datalink Out B1 (LSW) 9 Datalink In B1 (MSW) 9 Datalink Out B1 (MSW) 10 Datalink In B2 (LSW) 10 Datalink Out B2 (LSW) 11 Datalink In B2 (MSW) 11 Datalink Out B2 (MSW) 12 Datalink In C1 (LSW) 12 Datalink Out C1 (LSW) 13 Datalink In C1 (MSW) 13 Datalink Out C1 (MSW) 14 Datalink In C2 (LSW) 14 Datalink Out C2 (LSW) 15 Datalink In C2 (MSW) 15 Datalink Out C2 (MSW) 16 Datalink In D1 (LSW) 16 Datalink Out D1 (LSW) 17 Datalink In D1 (MSW) 17 Datalink Out D1 (MSW) 18 Datalink In D2 (LSW) 18 Datalink Out D2 (LSW) 19 Datalink In D2 (MSW) 19 Datalink Out D2 (MSW)

LSW = Least Significant Word (Bits 15…0); MSW = Most Significant Word (Bits 31…16)

Using Logic Command/ Status

Using Reference/Feedback

The Logic Command is a 16-bit word of control produced by the CANopen network and consumed by the adapter. The Logic Status is a 16-bit word of status produced by the adapter and consumed by the CANopen network.

This manual contains the bit definitions for most compatible products available at the time of publication in Appendix

Word s. For other products, refer to their documentation.

The Reference is produced by the controller and consumed by the adapter. The Feedback is produced by the adapter and consumed by the controller. The size of the Reference/Feedback is determined by the drive and displayed using adapter Parameter 07 - [Ref/Fdbk Size].

Size Valid Values

16-bit -32768 to 32767 32-bit -2147483648 to 2147483647

The Reference value is a scaled engineering value; it is NOT in Hertz or RPM. The Reference uses a “32767” scale. The “32767” endpoint of the scale is equal to the value of parameter 55 - [Maximum Freq], which has a default value of 130 Hz. For all PowerFlex 70/700 drives, default scaling is 0…15123 which is equal to 0…60.0 Hz. This is based on the formula shown below. Reference scaling is limited by drive parameter 82 [Maximum Speed]. If the default value of 60 Hz. for parameter 82 [Maximum Speed] is changed, the speed Reference scaling also changes. To determine Reference scaling, use:

D, Logic Command/Status

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Using I/O Messaging 5-7

(Parameter 82 / Parameter 55) * 32767 = Scaling

Using parameter 82 and 55 default values, speed Reference scaling is:

(60 Hz / 130 Hz) * 32767 = 15123

Therefore, 0…15123 = 0…60.0 Hz.

If parameter 82 - [Maximum Speed] is changed to 90 Hz, then:

(90 Hz / 130 Hz) * 32767 = 22685

Therefore, 0…22685 = 0…90.0 Hz.

A graphic representation of this Reference scaling is shown below:

130 Hz

90 Hz 60 Hz

0 Hz

Par. 82 - [Maximum Speed]

327672268515123

Par. 55 - [Maximum Freq]

For PowerFlex 70 EC drives (firmware v2.xxx or higher) or PowerFlex 700 VC drives (firmware v3.xxx or higher), parameter 298 - [DPI Ref Select] was added to simplify scaling for the speed Reference. When parameter 298

- [DPI Ref Select] is set to its default “0” (Max Freq), the speed Reference

scaling is as shown above. However, when parameter 298 - [DPI Ref Select] is set to “1” (Max Speed), the speed Reference scaling is equal to parameter 82 - [Max Speed]:

Therefore, 0…32767 = 0…60.0 Hz.

If parameter 82 - [Maximum Speed] is changed to 90 Hz, then:

Speed Feedback uses the same scaling as the speed Reference.

TIP: For PowerFlex 700 VC drives (firmware v3.xxx or higher), Parameter 299 - [DPI Fdbk Select] enables you to select the feedback data coming from the drive over DPI. The default is “Speed Fdbk” in Hz or RPM determined by Parameter 079 - [Speed Units]. The data selection for Parameter 299 is also displayed on the 1st line of the HIM and on DriveExplorer and DriveExecutive screens in the drive status area of the screen.

Scaling = (Parameter 82 / Parameter 55) * 32767

Parameter 82 = Scaling

90 Hz = 32767

For Reference/Feedback details about other DPI drives, refer to their respective User Manuals.

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5-8 Using I/O Messaging

Using Datalinks

A Datalink is a mechanism used by PowerFlex drives to transfer data to and from the controller. Datalinks allow a drive parameter value to be read or written without using an SDO explicit message. When enabled, each Datalink occupies two 16-bit or 32-bit words in both the input and output image. Use adapter Parameter 08 - [Datalink Size] to determine whether the drive uses 16-bit or 32-bit words for Datalinks.

Rules for Using Datalinks

• Each set of Datalink parameters in a PowerFlex drive can be used by

only one adapter. If more than one adapter is connected to a single drive, multiple adapters cannot use the same Datalink.

• Parameter settings in the drive determine the data passed through the

Datalink mechanism. Refer to the documentation for your drive.

• When you use a Datalink to change a value, the value is NOT written to

the Non-Volatile Storage (NVS). The value is stored in volatile memory and lost when the drive loses power. Thus, use Datalinks when you need to change a value of a parameter frequently.

Using 16-Bit Datalinks to Read/Write 32-Bit Parameters

This subsection only pertains to PowerFlex 70 (SC or EC), PowerFlex 700 (SC), and PowerFlex 700H drives which use 16-bit Datalinks. To read or write a 32-bit parameter using 16-bit Datalinks, typically both Datalinks of a pair (A, B, C, D) are set to the same 32-bit parameter. For example, to read Parameter 10 - [Elapsed Run Time] in a PowerFlex 70 drive, both Datalink A1 Out and Datalink A2 Out are set to “10.” Datalink A1 Out will contain the least significant word (LSW) and Datalink A2 Out will contain the most significant word (MSW).

32-bit data is stored in binary as follows:

MSW 2 LSW 215 through 2

In this example, the Parameter 10 - [Elapsed Run Time] value of 6553.9 Hrs is read as “6553.9” in Datalink A1 Out and Datalink A2 Out.

Datalink Word Parameter Data (Hex)

A1 Out LSW 10 0003 A2 Out MSW 10 0001

Conversion Example:

through 2

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Parameter 010 - [Elapsed Run Time] = 6553.9 Hrs MSW = 0001 LSW = 0003 Engineering Value = 65536 + 3 = 65539 Parameter 10 Displayed Value = 6553.9 Hrs

hex

= 0001

= 216 = 65536

binary

Using I/O Messaging 5-9

Regardless of the Datalink combination, Datalink x1 Out will always contain the LSW and Datalink x2 Out will always contain the MSW. In the following example, the PowerFlex 70 drive Parameter 242 - [Power Up Marker] contains a value of 88.4541 hours.

Datalink Word Parameter Data (Hex)

A2 Out MSW 242 000D B1 Out LSW 242 7F3D

Conversion Example:

Parameter 242 - [Power Up Marker] = 88.4541 hours MSW = 000D LSW = 7F3D Engineering Value = 851968 + 32573 = 884541 Parameter 242 Displayed Value = 88.4541 Hrs

= 1101

hex

= 32573

hex

= 219 + 218 + 216 = 851968

binary

Transmit PDO Mapping

The Transmit PDOs have a default mapping as shown in Table 5.F. The mapping can be changed if desired. Since every PDO can contain up to eight bytes of data, it is possible to map, for example, Datalink A1, A2, C1, and C2 to the same PDO number when using a drive with 16-bit Datalinks.

Table 5.F Default TPDO Mapping

TPDO# Default Mapping Enabled Remap Initial Transmission Type

1 Product Logic Status (0x2201)

+Feedback 16-bit (0x2204)

2 Datalink A1 Out 16-bit (0x2216)

+Datalink A2 Out 16-bit (0x2218)

3 Datalink B1 Out 16-bit (0x221A)

4 Datalink C1 Out 16-bit (0x221E)

5 Datalink D1 Out 16-bit (0x2222)

(1)

Important:For a 32-bit drive, PDO mapping must be changed from their

TIP: If a 32-bit drive parameter is mapped to a Datalink pair, it is not

recommended to map part of the pair (that is, A1 or A2) to two different PDOs since this can give data inconsistency.

+Datalink B2 Out 16-bit (0x221C)

+Datalink C2 Out 16-bit (0x2220)

+Datalink D2 Out 16-bit (0x2224)

Table 5.H shows the transmission types for the PDO.

default values.

Yes No 254 (Asynchronous, COS)

No Yes 253 (Asynchronous, RTR)

(1)

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5-10 Using I/O Messaging

Receive PDO Mapping

The Receive PDOs have a default mapping as shown in Table 5.G. The mapping can be changed if desired. Since every PDO can contain up to eight bytes of data, it is possible to map, for example, Datalink A1, A2, C1, and C2 to the same PDO number when using a drive with 16-bit Datalinks.

Table 5.G Default Receive PDO Mapping

TPDO # Default Mapping Enabled Remap Initial Transmission Type

1 Product Logic Command (0x2200)

2 Datalink A1 In 16-bit (0x2206)

3 Datalink B1 In 16-bit (0x220A)

4 Datalink C1 In 16-bit (0x220E)

5 Datalink D1 In 16-bit (0x2212)

(1)

TIP: If a 32-bit drive parameter is mapped to a Datalink pair, it is not recommended to map part of the pair (that is, A1 or A2) to two different PDOs since this can give data inconsistency.

+Reference 16-bit (0x2202)

+Datalink A2 In 16-bit (0x2208)

+Datalink B2 In 16-bit (0x220C)

+Datalink C2 Out 16-bit (0x2210)

+Datalink D2 In 16-bit (0x2214)

Table 5.H shows the transmission types for the PDO. For RPDOs, only the transmission is important

(synchronous or asynchronous).

Yes No 254 (Asynchronous)

No Yes 254

(1)

Table 5.H PDO Transmission Types

Transmission

(1)

Type

0 ✓✓ 1…240 ✓✓ 241…251 Reserved 252 ✓✓ 253 ✓✓ 254 ✓ 255 ✓

(1)

Transmission type 255 is not used in this application.

Cyclic Acyclic Synchronous Asynchronous RTR Only

PDO Transmission

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Chapter 6

Using Service Data Objects

This chapter provides information and examples that explain how to use Service Data Objects (SDOs) to configure and monitor the adapter and connected PowerFlex 7-Class drive.

Topic Page

About Service Data Objects Running Service Data Objects 6-2 CANopen DPI Parameter Access 6-2 CANopen DPI Full Parameter Access 6-3

ATTENTION: Risk of injury or equipment damage exists. The examples in this publication are intended solely for purposes of

ATTENTION: Risk of equipment damage exists. If Explicit Messages are programmed to write parameter data to

Non-Volatile Storage (NVS) frequently, the NVS will quickly exceed its life cycle and cause the drive to malfunction. Do not create a program that frequently uses Explicit Messages to write parameter data to NVS. Datalinks do not write to NVS and should be used for frequently changed parameters.

6-1

About Service Data Objects

Service Data Objects (SDOs) use asynchronous data transmission and are used to access objects without mapping them to an I/O (PDO) connection. With SDOs, you can configure and monitor a slave device’s parameters on the CANopen network.

SDO data transmission is much slower, working around the process data channels, to read/write parameters to a drive. This handles one parameter at a time and the user has access to all CANopen objects in the adapter. SDO messages can transfer more than 8-bytes, which is the PDO limit.

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6-2 Using Service Data Objects

Running Service Data Objects

There are five basic events in the Service Data Objects process. The details of each step will vary depending on the type of controller. Refer to the documentation for your controller.

Important:There must be a request message and a response message for all

SDOs, whether you are reading or writing data.

Figure 6.1 Service Data Objects Process

Set up and send Service

➊

Data Objects Request

Complete Service

➎

➍

Event Description

➊

➋

➌ ➍

➎

Data Objects

Retrieve Service Data

Objects Response

Network

You format the required data and set up a PLC program to send an SDO request to the CANopen network adapter (download).

The CANopen network adapter transmits the SDO Request to the slave device over the network.

The slave device transmits the SDO Response back to the CANopen network. The data is stored in the CANopen network buffer.

The controller retrieves the SDO Response from the CANopen network’s buffer (upload).

The SDO is complete.

➋➌

CANopen DPI Parameter Access

An adapter parameter can be accessed by using the CANopen objects 0x2228 and 0x2229. The parameter request is written to object 0x2228. When the acknowledgement is received, the response to the message is placed in object 0x2229 and the response can be read.

Table 6.A Data Description for Object 0x2228 DPI Parameter Send

Sub Index Meaning Type

1 Parameter Access (00 = read, 01 = write byte,

2 DPI Port (0…6) Byte 3 Parameter Number 16-bit Word 4 Parameter value (for writing) 32-bit Word

Table 6.B Data Description for Object 0x2229 DPI Parameter Receive

Sub Index Meaning Type

1 Response Status:

2 Parameter value 32-bit Word

02 = write word, 03 = write 32-bit word)

0 = No Error 1 = Write only 2 = Value out of range 3 = Parameter does not exist 4 = Other error

Byte

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Using Service Data Objects 6-3

CANopen DPI Parameter Access Communication Example

This example describes how to read adapter Parameter 1 - [DPI Port]:

1. Fill out the data structure for CANopen object 0x2228 (DPI Parameter

Send) as follows, filling in sub index 1 last.

Sub Index Value

1 0x00 (Read) 2 0x05 (DPI Port 5) 3 0x01 (Parameter)

2. Send the message by writing to sub index 1.

3. Wait for the acknowledgement.

CANopen DPI Full Parameter Access

4. Read the response in object 0x2229 (DPI Parameter Receive).

Sub Index Value

1 0x00 (Service OK) 2 0x00000005 (Parameter value)

With the CANopen objects 0x2226 and 0x2227, all DPI objects can be accessed. The request is written to object 0x2226. When the acknowledgment is received, the response to the message is placed in object 0x2227 and the response can be read.

The DPI full object access supports messages up to 96 data bytes. That is, all explicit DPI messages (except flash download) are able to be transmitted/received.

Table 6.C Data Description for Object 0x2226 DPI Object Send

Sub Index Meaning Type

1 Service (0x00 = Get Attribute, 0x04 = Set Attribute) Byte 2DPI Port (0…6) Byte 3Class Byte 4 Instance 16-bit Word 5 Attribute Byte 6 Length of request data in bytes (Count starts at sub index 7) Byte 7Data (First byte) Byte

…

102 Data (Last byte) Byte

…

Table 6.D Data Description for Object 0x2227 DPI Object Receive

Sub Index Meaning Type

1 Service (0x00 = OK, 0xFF = Error) Byte 2 Length of response data in bytes (Count starts at sub index 3) Byte 3 Data (First byte) / Error Status Value Byte

…

98 Data (Last byte) Byte

…

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…

6-4 Using Service Data Objects

CANopen DPI Full Access Communication Example

This example describes how to read adapter Parameter 1 - [DPI Port]:

1. Fill out the data structure for CANopen object 0x2226 (DPI Object

Send) as follows, filling in sub index 1 last.

Sub Index Value

1 0x00 (Service Get Attribute) 2 0x05 (DPI Port 5) 3 0x03 (Parameter Class) 4 0x0001 (Instance, Parameter 01) 5 0x09 (Attribute - Parameter value) 6 0x00 (Number of bytes that follows)

2. Send the message by writing to sub index 1.

3. Wait for the acknowledgement.

4. Read the response in CANopen object 0x2227 (DPI Object Receive).

Sub Index Value

1 0x00 (Service OK) 2 0x01 (Length of response data in bytes;

count starts at sub index 3)

3 0x05 (Attribute value)

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Chapter 7

Troubleshooting

This chapter provides information for diagnosing and troubleshooting potential problems with the adapter and network.

Topic Page

Understanding the Status Indicators PORT Status Indicator 7-2 MOD Status Indicator 7-2 NET A (CAN RUN) Status Indicator 7-3 NET B (CAN ERR) Status Indicator 7-3 Viewing Adapter Diagnostic Items 7-4 Viewing and Clearing Events 7-5

7-1

Understanding the Status Indicators

The adapter has four status indicators. They can be viewed on the adapter or through the drive cover. See Figure 7.1

Figure 7.1 Status Indicators (location on drive may vary)

➊ ➋

➌

➍

➊ ➋ ➌ ➍

Item Status Indicator Description Page

PORT DPI Connection Status 7-2

➊

MOD Adapter Status 7-2

➋

NET A (CAN RUN) CANopen Run Status 7-3

➌

NET B (CAN ERR) CANopen Error Status 7-3

➍

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7-2 Troubleshooting

PORT Status Indicator

This red/green bicolor LED indicates the status of the adapter’s connection to the drive as shown in the table below.

Status Cause Corrective Action

Off The adapter is not powered or is not

properly connected to the drive.

Flashing Red The adapter is not receiving a ping

message from the drive.

Steady Red The drive has refused an I/O

connection from the adapter.

Another DPI peripheral is using the same DPI port as the adapter.

Steady Orange The adapter is connected to a product

Flashing Green The adapter is establishing an I/O

Steady Green The adapter is properly connected and

that does not support Allen-Bradley DPI communications.

connection to the drive or [DPI I/O Cfg] is configured for all I/O disabled.

is communicating with the drive.

• Securely connect the adapter to the drive using the

Internal Interface (ribbon) cable.

• Apply power to the drive.

• Verify that cables are securely connected and not

damaged. Replace cables if necessary.

• Cycle power to the drive. Important: Cycle power to the drive after making any

of the following corrections:

• Verify that all DPI cables on the drive are securely

connected and not damaged. Replace cables if necessary.

• Verify that the DPI drive supports Datalinks.

• Configure the adapter to use a Datalink that is not

already being used by another peripheral.

Connect the adapter to a product that supports Allen-Bradley DPI communications (for example, a PowerFlex 7-Class drive).

• No action required. This indicator will turn steady

green or steady red.

• Ver if y Parameter 12 - [DPI I/O Cfg] settings.

• Normal behavior if no DPI I/O is enabled.

No action required.

MOD Status Indicator

This red/green bicolor LED indicates the status of the adapter as shown in the table below.

Status Cause Corrective Action

Off The adapter is not powered or is not

properly connected to the drive.

Flashing Red The adapter has failed the firmware

test or the Node Address switch setting is invalid.

Steady Red The adapter has failed the power-on

Flashing Green The adapter is operational, but is not

Steady Green The adapter is operational and

Bad CRC of adapter parameters or the adapter is being flash upgraded.

diagnostics test (hardware failure).

transferring I/O data. Normal operation, device in stopped state or pre-operational state.

transferring I/O data.

• Securely connect the adapter to the drive using the

Internal Interface (ribbon) cable.

• Apply power to the drive.

• Clear faults in the adapter.

• Cycle power to the drive.

• If cycling power does not correct the problem, the

adapter parameter settings may have been corrupted. Reset defaults and reconfigure the adapter.

• If resetting defaults does not correct the problem,

flash the adapter with the latest firmware release.

• Cycle power to the drive.

• Replace the adapter.

• Place the PLC in RUN mode.

• Program the controller to recognize and transmit I/O

to the adapter.

• Configure the adapter for the program in the

controller.

• Normal behavior if no DPI I/O is enabled. No action required.

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Troubleshooting 7-3

NET A (CAN RUN) Status Indicator

Status Cause Corrective Actions

Off The adapter and/or network is not

Single Flash Green

Flashing Green (about 2.5 Hz)

Steady Green The adapter is properly connected and

(1)

NET B (CAN ERR) Status Indicator

Status Cause Corrective Actions

Off No error. No action required. Single Flash

Green

Double Flash Green

Steady Green The CAN controller is bus off. • Check network hardware and connections for wiring

(1)

(2)

This green LED indicates the status of the network connection as shown in the table below.

• Securely connect the adapter to the drive using the

powered or the adapter is not properly connected to the network.

(1)

The device is in stopped mode. Place the PLC in RUN mode.

The adapter is properly connected, but is not communicating with any devices on the network.

communicating on the network.

Single flash is one short flash (about 200 ms) followed by a long off phase (about 1000 ms).

This green LED indicates the status of the adapter transmitting on the network as shown in the table below.

(1)

At least one of the error counters of the CAN controller has reached or exceeded the warning error (too many error frames).

(2)

A guard event has occurred. The drive is not responding to the controller within the

Single flash is one short flash (about 200 ms) followed by a long off phase (about 1000 ms). Double flash is two short flashes (about 200 ms each) separated by an off phase (about 200 ms), and then followed by a long

off phase (about 1000 ms).

Internal Interface (ribbon) cable and to the network using a CANopen cable.

• Correctly connect the CANopen cable to the

CANopen 9-pin plug.

• Apply power to the drive.

• Place the controller in RUN mode.

• Program the controller to recognize the adapter and

transmit I/O.

• Configure the adapter for the program in the

controller.

No action required.

• Check controller configuration and connections to

the adapter.

• Cycle power to the drive and the network.

specified Guard time.

• Check controller configuration and connections to

the adapter.

• Cycle power to the drive and the network.

problems.

• Check for duplicate node addresses.

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7-4 Troubleshooting

Viewing Adapter Diagnostic Items

Table 7.A Adapter Diagnostic Items

No. Name Description

1 Common Logic Cmd The present value of the Common Logic Command being transmitted to the drive by this adapter. 2 Product Logic Cmd The present value of the Product Logic Command being transmitted to the drive by this adapter. 3 Reference The present value of the Reference being transmitted to the drive by this adapter. If the drive indicates a 16-bit

Reference size, the Reference value appears in the least significant 16 bits of this diagnostic item, and the most

significant 16 bits of this diagnostic item are zero (0). 4 Common Logic Sts The present value of the Common Logic Status being received from the drive by this adapter. 5 Product Logic Sts The present value of the Product Logic Status being received from the drive by this adapter. 6 Feedback The present value of the Feedback being received from the drive by this adapter. If the drive indicates a 16-bit

7 Datalink A1 In The present value of respective Datalink In being transmitted to the drive by this adapter. If not using a Datalink, 8 Datalink A2 In 9 Datalink B1 In 10 Datalink B2 In 11 Datalink C1 In 12 Datalink C2 In 13 Datalink D1 In 14 Datalink D2 In 15 Datalink A1 Out The present value of respective Datalink Out being received from the drive by this adapter. If the drive indicates 16 Datalink A2 Out 17 Datalink B1 Out 18 Datalink B2 Out 19 Datalink C1 Out 20 Datalink C2 Out 21 Datalink D1 Out 22 Datalink D2 Out 23 Field Flash Cnt Number of times the adapter has been flash updated. (This value is set to zero before the adapter is shipped.) 24 DPI Rx Errors The present value of the DPI CAN Receive error counter. 25 DPI Tx Errors The present value of the DPI CAN Transmit error counter. 26 COPN Rx Errors The present value of the COPN CAN Receive error counter. 27 COPN Tx Errors The present value of the COPN CAN Transmit error counter.

Feedback size, the Feedback value appears in the least significant 16 bits of this diagnostic item, and the most

significant 16 bits of this diagnostic item are zero (0).

this parameter should have a value of zero. If the drive indicates a 16-bit Datalink size, the Datalink value

appears in the least significant 16 bits of this diagnostic item, and the most significant 16 bits of this diagnostic

item are zero (0).

a 16-bit datalink size, the value appears in the least significant 16 bits of this diagnostic item, and the most

significant 16 bits of this diagnostic item are zero (0).

If you encounter unexpected communications problems, the adapter’s diagnostic items may help you or Rockwell Automation personnel troubleshoot the problem. Adapter diagnostic items can be viewed using an LCD PowerFlex 7-Class HIM (Diagnostics/Device Items), DriveExplorer software (version 4.01 or higher), or DriveExecutive software (version 3.01 or higher).

Using the HIM to View Adapter Diagnostic Items

Step Example Screen

1. Access parameters in the adapter. Refer to Using the PowerFlex

7-Class HIM on page 3-2.

2. Press the or key to scroll to Diagnostics.

3. Press the (Enter) key to display the Diagnostics menu in the adapter.

4. Repeat steps 2 and 3 to enter the Device Items option.

5. Press the or key to scroll through the items.

Main Menu:

Diagnostics

Parameter Device Select

Device Item # 3 Reference

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Troubleshooting 7-5

Viewing and Clearing Events

The adapter has an event queue to record significant events that occur in the operation of the adapter. When such an event occurs, an entry is put into the event queue. You can view the event queue using an LCD PowerFlex 7-Class HIM, DriveExplorer (4.01 or higher) software, or DriveExecutive (3.01 or higher) software.

The event queue can contain up to 32 entries. Eventually the event queue will become full, since its contents are retained through adapter resets. At that point, a new entry replaces the oldest entry. Only an event queue clear operation or adapter power cycle will clear the event queue contents.

Resetting the adapter to defaults has no effect on the event queue.

The adapter event queue is mapped to the CANopen objects 0x2101…0x2108. Event 1 in the event queue is object 0x2101, event 2 is object 0x2102, etc.

Using the HIM to View and Clear Events

Step Example Screen Viewing Events

1. Access parameters in the adapter. Refer to Using the PowerFlex

7-Class HIM on page 3-2.

2. Press the or key to scroll to Diagnostics.

3. Press the (Enter) key to display the Diagnostics menu in the adapter.

4. Repeat steps 2 and 3 to enter the Events option and then View Event Queue option.

5. Press the or key to scroll through events. The most recent event is Event 1.

Clearing Events

1. Access parameters in the adapter. Refer to Using the PowerFlex

7-Class HIM on page 3-2.

2. Press the or key to scroll to Diagnostics.

3. Press the (Enter) key to display the Diagnostics menu in the adapter.

4. Repeat steps 2 and 3 to enter the Events option and then the Clear Event option or Clr Event Queue option. A message will pop up to confirm that you want to clear the message or queue.

5. Press the (Enter) key to confirm your request. If Clr Event Queue was selected, all event queue entries will then display “No Event.”

Main Menu:

Diagnostics

Parameter Device Select

Event Q: 1 E3 Ping Time Flt

Dgn: Events View Event Queue Clear Event

Clr Event Queue

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7-6 Troubleshooting

Code Event Description

1 No Event Empty event queue entry. 2 DPI Bus Off Flt 3 Ping Time Flt 4 Port ID Flt 5 Port Change Flt 6 Host Sent Reset 7 EEPROM Sum Flt 8 Online @ 125kbps The adapter detected that the drive is communicating at 125 kbps. 9 Online @ 500kbps The adapter detected that the drive is communicating at 500 kbps. 10 Bad Host Flt 11 Dup Port Flt 12 Type 0 Login The adapter has logged in for Type 0 control. 13 Type 0 Time Flt 14 DL Login The adapter has logged into a Datalink. 15 DL Reject Flt

16 DL Time Flt 17 Control Disabled The adapter has sent a “Soft Control Disable” command to the drive. 18 Control Enabled The adapter has sent a “Soft Control Enable” command to the drive. 19 Message Timeout 20 DPI Fault Msg 21 DPI Fault Clear A fault was cleared in the adapter. 22 Normal Startup The adapter successfully started up. 23 NET Comm Flt 24 Flt Cfg Error

25 COPN Guard Err

26 COPN Operational The adapter has received a “Start_Remote_Node” message from the bus. 27 COPN Stopped 28 COPN Pre-Oper 29 COPN Reset Comm 30 COPN Reset Node 31 Lang CRC Bad The language text memory segment is corrupt.

Adapter Actions Upon Events:

(1)

The adapter is reset.

(2)

The adapter awaits a reconfiguration and a reset.

(3)

The adapter is locked in the state where the PORT status indicator is steady orange and waits a reset.

(4)

The adapter is locked in a fault state and awaits reset.

(5)

As many I/O connections as possible are completed. The adapter waits a reconfiguration and a reset.

(6)

An event is logged. (Client-Server is not used for control, so it does not need to be a fault.)

(7)

The communication fault action specified in Parameter 10 - [Comm Flt Action] is performed.

(8)

The drive is forced to fault and, thereafter, only “No Operation” commands are sent to the drive until the fault configuration data has been corrected.

(9)

The idle fault action specified in Parameter 11 - [Idle Flt Action] is performed.

(10)

The communication fault action specified in Parameter 10 - [Comm Flt Action] is performed and the CANopen communication parameters are set to their default values.

Events

Many events in the event queue occur under normal operation. If you encounter unexpected communications problems, the events may help you or Allen-Bradley personnel troubleshoot the problem. The following events may appear in the event queue:

Table 7.B Adapter Events

(1)

(3)

(4)

(1)

(5)

(1)

(7)

(8)

(9)

A bus-off condition was detected on DPI. This event may be caused by loose or broken cables or by noise. A ping message was not received on DPI within the specified time. The adapter is not connected to a correct port on a DPI product.

(1)

The DPI port changed after start up.

(1)

The drive sent a reset event message.

(2)

The EEPROM in the adapter is corrupt.

The adapter was connected to an incompatible product. Another peripheral with the same port number is already in use.

The adapter has not received a Type 0 status message within the specified time.

The drive rejected an attempt to log in to a Datalink because the Datalink is not supported or is used by another peripheral.

The adapter has not received a Datalink message within the specified time.

(6)

A Client-Server message sent by the adapter was not completed within 1 sec.

The adapter detected a communications fault on the network. The adapter detected a 32-bit fault configuration reference when the drive supports only a 16-bit reference,

or the adapter detected a 32-bit fault configuration Datalink value when the drive supports only 16-bit Datalinks.

(7)

The node has not been guarded by an NMT master with the Guard Time x LifeTime Factor period. (Enabled if Guard Time <> 0.)

The adapter has received a “Stop_Remote_Node” message from the bus.

(9)

The adapter has received a “Enter_PRE-OPERATIONAL_State” message from the bus.

(10)

The adapter has received a “Reset_Communication” message from the bus.

(1)

The adapter has received a “Reset_Node” message from the bus.

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Specifications

Appendix A

Communications

Electrical

Appendix A presents the specifications for the adapter.

Topic Page

Communications Electrical A-1 Mechanical A-1 Environmental A-1 Regulatory Compliance A-2

Network

Drive

limin

Protocol Data Rates

Pre

Consumption Grounding

A-1

CANopen (per CANopen DS301 specification) 10 Kbps, 20 Kbps, 50 Kbps, 125 Kbps, 250 Kbps, 500 Kbps,

800 Kbps or 1 Mbps

DPI 125 Kbps or 500 Kbps

500 mA at 5 VDC supplied by the drive Grounding according to CAN specification is established via two

mounting holes in the PCB when connected to the drive.

Mechanical

Environmental

Dimensions

Height Length Width

Weight 85 g (3 oz.)

19 mm (0.75 inches) 86 mm (3.39 inches)

78.5 mm (3.09 inches)

Preliminary

Temperature

Operating Storage

Relative Humidity 5…95% non-condensing Atmosphere Important: The adapter must not be installed in an area where

-10…50°C (14…122°F)

-40…85°C (-40…185°F)

the ambient atmosphere contains volatile or corrosive gas, vapors or dust. If the adapter is not going to be installed for a period of time, it must be stored in an area where it will not be exposed to a corrosive atmosphere.

relimin

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A-2 Specifications

Regulatory Compliance

Certification Specification

UL UL508C cUL CAN / CSA C22.2 No. 14-M91 CE EN50178 and EN61800-3 CTick EN61800-3

NOTE: This is a product of category C2 according to IEC 61800-3. In a domestic environment this product may cause radio interference in which case supplementary mitigation measures may be required.

limin

Pre

Preliminary

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relimin

Appendix B

Adapter Parameters

Appendix B provides information about the adapter parameters.

Topic Page

About Parameter Numbers B-1 Parameter List B-1

About Parameter Numbers

Parameter List

The parameters in the adapter are numbered consecutively. However, depending on which configuration tool you use, they may have different numbers.

Configuration Tool Numbering Scheme

• HIM

• DriveExplorer

• DriveExecutive

Parameter No. Name and Description Details

01 [DPI Port]

Displays the port to which the adapter is connected. This will usually be port 5.

02 [DPI Data Rate]

Displays the data rate used by the drive. This data rate is set in the drive and the adapter detects it.

03 [COPN Addr Cfg]

Sets the CANopen node address used by the adapter if the Node Address switches (Figure 2.1 to “0.”

04 [COPN Addr Act]

Displays the CANopen node address actually used by the adapter.

05 [COPN Rate Cfg]

Sets the network data rate at which the adapter communicates if the Data Rate switch (Figure 2.2 set to “PGM.” (Updates Parameter 06 - [COPN Rate Act] after a reset.)

The adapter parameters begin with parameter 01. For example, Parameter 01 - [DPI Port] is parameter 01 as indicated by this manual.

Default: 5 Minimum: 0 Maximum: 7 Type: Read Only

Default: 0 = 125 kbps

) are both set

) is

Values: 0 = 125 kbps

Type: Read Only Default: 1

Minimum: 1 Maximum: 127 Type: Read/Write Reset Required: Yes

Default: 0 Minimum: 0 Maximum: 255 Type: Read/Write Reset Required: Yes

Default: 5 = 500 Kbps Values: 0 = 10 Kbps

Type: Read/Write Reset Required: Yes

1 = 500 kbps

1 = 20 Kbps 2 = 50 Kbps 3 = 125 Kbps 4 = 250 Kbps 5 = 500 Kbps 6 = 800 Kbps 7 = 1 Mbps

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B-2 Adapter Parameters

Parameter No. Name and Description Details

06 [COPN Rate Act]

Displays the network data rate actually used by the adapter.

07 [Ref/Fdbk Size]

Displays the size of the Reference/Feedback. The drive determines the size of the Reference/Feedback.

08 [Datalink Size]

Displays the size of each Datalink word. The drive determines the size of Datalinks.

09 [Reset Module]

No action if set to “0” (Ready). Resets the adapter if set to “1” (Reset Module). Restores the adapter to its factory default settings if set to “2” (Set Defaults). This parameter is a command. It will be reset to “0” (Ready) after the command has been performed.

Default: 5 = 500 Kbps Values: 0 = 10 Kbps

Type: Read Only Default: 0 = 16-bit

Values: 0 = 16-bit

Type: Read Only Default: 0 = 16-bit

Values: 0 = 16-bit

Type: Read Only Default: 0 = Ready

Values: 0 = Ready

Type: Read/Write Reset Required: No

1 = 20 Kbps 2 = 50 Kbps 3 = 125 Kbps 4 = 250 Kbps 5 = 500 Kbps 6 = 800 Kbps 7 = 1 Mbps

1 = 32-bit

1 = Reset Module 2 = Set Defaults

10 [Comm Flt Action]

11 [Idle Flt Action]

ATTENTION: Risk of injury or equipment damage exists. If the adapter is transmitting I/O that controls the drive, the drive may fault when you reset the

adapter. Determine how your drive will respond before resetting a connected adapter.

Sets the action that the adapter and drive will take if the adapter detects that CANopen communications have been disrupted. This setting is effective only if I/O that controls the drive is transmitted through the adapter.

ATTENTION: Risk of injury or equipment damage exists. Parameter 10 - [Comm Flt Action] lets you determine the action of the adapter and connected drive if I/O

communications are disrupted. By default, this parameter faults the drive. You can set this parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage. When commissioning the drive, verify that your system responds correctly to various situations (for example, a disconnected cable).

Sets the action that the adapter and drive will take if the adapter is put in the Pre-Operational State.

Default: 0 = Fault Values: 0 = Fault

1 = Stop 2 = Zero Data 3 = Hold Last

4 = Send Flt Cfg Type: Read/Write Reset Required: No

Default: 0 = Fault Values: 0 = Fault

1 = Stop

2 = Zero Data

3 = Hold Last

4 = Send Flt Cfg Type: Read/Write Reset Required: No

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Parameter No. Name and Description Details

12 [DPI I/O Cfg]

Sets the I/O that is transferred through the adapter.

Default: xxx0 0001 Bit Values: 0 = I/O disabled

Type: Read/Write Reset Required: Yes

Bit Definition

Default x x x 0 0 0 0 1 Bit 76543210

Adapter Parameters B-3

1 = I/O enabled

Not Used

Datalink D

Datalink C

Datalink B

Datalink A

Cmd/Ref

13 [DPI I/O Act]

Displays the I/O that the adapter is actively transmitting. The value of this parameter will usually be equal to the value of Parameter 12 - [DPI I/O Cfg].

14 [Flt Cfg Logic]

Sets the Logic Command data that is sent to the drive if any of the following is true:

• Parameter 10 - [Comm Flt Action] is set to “4”

(Send Flt Cfg) and I/O communications are disrupted.

• Parameter 11 - [Idle Flt Action] is set to “4” (Send

Flt Cfg) and the adapter is put in the Pre-Operational State.

The bit definitions will depend on the product to which the adapter is connected. See Appendix documentation for the drive being used.

15 [Flt Cfg Ref]

Sets the Reference data that is sent to the drive if any of the following is true:

• Parameter 10 - [Comm Flt Action] is set to “4”

(Send Flt Cfg) and I/O communications are disrupted.

• Parameter 11 - [Idle Flt Action] is set to “4” (Send

Flt Cfg) and the adapter is put in the Pre-Operational State.

D or the

Default: xxx0 0001 Bit Values: 0 = I/O disabled

Type: Read Only

Bit Definition

Default x x x 0 0 0 0 1 Bit 76543210

Default: 0000 0000 0000 0000 Minimum: 0000 0000 0000 0000 Maximum: 1111 1111 1111 1111 Type: Read/Write Reset Required: No

Default: 0 Minimum: 0 Maximum: 4294967295 Type: Read/Write Reset Required: No

Important: If the drive uses a 16-bit Reference, the most significant word of this value must be set to zero (0) or a fault will occur.

1 = I/O enabled

Not Used

Datalink D

Datalink C

Datalink B

Datalink A

Cmd/Ref

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B-4 Adapter Parameters

Parameter No. Name and Description Details

[Flt Cfg A1 In]

[Flt Cfg A2 In]

[Flt Cfg B1 In]

[Flt Cfg B2 In]

[Flt Cfg C1 In]

[Flt Cfg C2 In]

[Flt Cfg D1 In]

[Flt Cfg D2 In]

Sets the data that is sent to the Datalink in the drive if any of the following is true:

• Parameter 10 - [Comm Flt Action] is set to “4”

(Send Flt Cfg) and I/O communications are disrupted.

• Parameter 11 - [Idle Flt Action] is set to “4” (Send

Flt Cfg) and the adapter is put in the Pre-Operational State.

These are 32-bit values. When using a 16-bit Datalink, only the least significant word will be used. If the 32-bit value is out of range for the 16-bit Datalink, a configuration error will force a correction before I/O can be enabled.

24 [PDO1 Trigger]

Sets the transmission type for TPDO1 (Status/ Feedback) if transmission type “0” or “254” is configured.

25 [COS Status Mask]

Sets the mask for the 16-bit Logic Status word. Unless they are masked out, the bits in the Logic Status word are checked for changes (if transmission type “0” or “254” is used).

If the mask bit is 0 (Off), the bit is ignored. If the mask bit is 1 (On), the bit is checked.

Important: The bit definitions in the Logic Status word will depend on the drive. See Appendix documentation for the drive being used.

26 [COS Fdbk Change]

Sets the hysteresis band to determine how much the Feedback word can change before it is reported as a Change of State.

27 [Cyc Interval]

Sets amount of time between transfers used for cyclic transmission if transmission type “0” or “254” is configured and Parameter 24 - [PDO1 Trigger] is set to “1” (Cyclic).

D or the

Default: 0 Default: 0 Default: 0 Default: 0 Default: 0 Default: 0 Default: 0 Default: 0 Minimum: 0 Maximum: 4294967295 Type: Read/Write Reset Required: No

Important: If the drive uses 16-bit Datalinks, the most significant word of this value must be set to zero (0) or a fault will occur.

Default: 0 = COS Values: 0 = COS

1 = Cyclic Type: Read/Write Reset Required: Yes

Default: 0000 0000 0000 0000 Minimum: 0000 0000 0000 0000 Maximum: 1111 1111 1111 1111 Values: 0 = Ignore bit

1 = Check bit Type: Read/Write Reset Required: No

Default: 1 Minimum: 1 Maximum: 4294967295 Type: Read/Write Reset Required: No

Default: 0.02 seconds Minimum: 0.02 seconds Maximum: 655.35 seconds Type: Read/Write Reset Required: No

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Appendix C

CANopen Objects

Appendix D presents information about the CANopen objects implemented in this adapter.

Topic Page

CANopen Object Tables Emergency Object C-4

C-1

CANopen Object Tables

The tables in this section describe the implemented CANopen objects.

Table C.A Table C.B

Table C.A Communication Profile Area

Index Sub Index Type Access Name and Description

0x1000 0 U32 Read Device Type.

0x1001 0 U8 Error register Bit 0.

0x1003 0 U8 Read/Write Number of errors.

0x1005 0 U32 Read/Write COB-ID Sync.

0x1008 0 Visible

0x100A 0 Visible

0x100C 0 U16 Read/Write Guard time

0x100D 0 U8 Read/Write Life time factor.

0x1014 0 U32 Read/Write COB-ID EMCY.

0x1400… 0x1404

0x1600… 0x1604

describes the objects for the communication profile and describes the manufacturer specific objects.

Describes the type of device.

Indicates that a generic error has occurred.

Writing a 0 to this sub index clears the list. The error list starts at sub index 1.

1…5 U32 Read Pre-defined error field.

A list of errors that have occurred. Sub index 1 contains the most recent error.

This is the ID for the sync message.

Read Manufacturer device name

string

Read Manufacturer software version (Product revision from

string

0 U8 Read Receive PDO parameter.

1 U32 Read/Write COB ID used by PDO 2 U8 Read/Write Transmission type 0 U8 Read/Write Receive PDO mapping.

1…N U32 Read/Write Mapped object #N

(Family text from DPI Device object)

DPI Device object as “SW V.MAJOR.MINOR” string)

This parameter is used together with Life time factor for the Life guarding protocol. The NMT master guards the node at this period in milliseconds.

If the node has not been guarded in the time period Life-time factor x Guard time, a “Guard Error” event is logged and a remote node error is indicated through the “Life Guarding event” service.

This is the ID for the Emergency object

Number of entries (= 2)

Number of mapped application objects (N)

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C-2 CANopen Objects

Index Sub Index Type Access Name and Description

0x1800… 0x1804

0x1A00… 0x1A04

0 U8 Read Tr a ns mi t PD O parameter.

Number of entries (= 2) 1 U32 Read/Write COB ID used by PDO 2 U8 Read/Write Transmission type 0 U8 Read/Write Transmit PDO mapping.

Number of mapped application objects (N) 1…N U32 Read/Write Mapped object #N

Table C.B Manufacturer Specific Area

Index Sub index Type Access Name and Description

0x2001… 0x201B

0x2101… 0x2108

0x2200 0 U16 Read/Write Product Logic Command 0x2201 0 U16 Read Product Logic Status 0x2202 0 S16 Read/Write Reference 16-bit 0x2203 0 S32 Read/Write Reference 32-bit 0x2204 0 S16 Read Feedback 16-bit 0x2205 0 S32 Read Feedback 32-bit 0x2206 0 S16 Read/Write Datalink A1 In 16-bit 0x2207 0 S32 Read/Write Datalink A1 In 32-bit 0x2208 0 S16 Read/Write Datalink A2 In 16-bit 0x2209 0 S32 Read/Write Datalink A2 In 32-bit 0x220A 0 S16 Read/Write Datalink B1 In 16-bit 0x220B 0 S32 Read/Write Datalink B1 In 32-bit 0x220C 0 S16 Read/Write Datalink B2 In 16-bit 0x220D 0 S32 Read/Write Datalink B2 In 32-bit 0x220E 0 S16 Read/Write Datalink C1 In 16-bit 0x220F 0 S32 Read/Write Datalink C1 In 32-bit 0x2210 0 S16 Read/Write Datalink C2 In 16-bit 0x2211 0 S32 Read/Write Datalink C2 In 32-bit 0x2212 0 S16 Read/Write Datalink D1 In 16-bit 0x2213 0 S32 Read/Write Datalink D1 In 32-bit 0x2214 0 S16 Read/Write Datalink D2 In 16-bit 0x2215 0 S32 Read/Write Datalink D2 In 32-bit 0x2216 0 S16 Read Datalink A1 Out 16-bit 0x2217 0 S32 Read Datalink A1 Out 32-bit 0x2218 0 S16 Read Datalink A2 Out 16-bit 0x2219 0 S32 Read Datalink A2 Out 32-bit

0 U8 Read DPI Event objects.

1 U16 Read Fault code 2 U8 Read Fault Source - DPI Port Number 3 U8 Read Fault Source - Device Object Instance 4 U8 Read Fault Time Stamp - Least Significant Byte 5 U8 Read Fault Time Stamp 6 U8 Read Fault Time Stamp 7 U8 Read Fault Time Stamp 8 U8 Read Fault Time Stamp 9 U8 Read Fault Time Stamp 10 U8 Read Fault Time Stamp 11 U8 Read Fault Time Stamp - Most Significant Byte 12 U16 Read Fault Time Stamp - Timer Descriptor

(1) (1)

Parameter mapping.

0x2001 = Comm. adapter parameter 0x01,

0x2002 = Comm. adapter parameter 0x02, etc.

The parameter value is mapped.

Number of entries (= 12)

(2)

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CANopen Objects C-3

Index Sub index Type Access Name and Description

0x221A 0 S16 Read Datalink B1 Out 16-bit 0x221B 0 S32 Read Datalink B1 Out 32-bit 0x221C 0 S16 Read Datalink B2 Out 16-bit 0x221D 0 S32 Read Datalink B2 Out 32-bit 0x221E 0 S16 Read Datalink C1 Out 16-bit 0x221F 0 S32 Read Datalink C1 Out 32-bit 0x2220 0 S16 Read Datalink C2 Out 16-bit 0x2221 0 S32 Read Datalink C2 Out 32-bit 0x2222 0 S16 Read Datalink D1 Out 16-bit 0x2223 0 S32 Read Datalink D1 Out 32-bit 0x2224 0 S16 Read Datalink D2 Out 16-bit 0x2225 0 S32 Read Datalink D2 Out 32-bit 0x2226 0 U8 Read DPI Object Send.

Number of entries (= 0x66) 1 U8 Read/Write Service 2 U8 Read/Write Port 3 U8 Read/Write Class 4 U16 Read/Write Instance 5 U8 Read/Write Attribute 6 U8 Read/Write Length of request in bytes.

7…102 U8 Read/Write Data

0x2227 0 U8 Read DPI Object Receive.

1 U8 Read Service 2 U8 Read Length of response in bytes.

3…98 U8 Read Data

0x2228 0 U8 Read DPI Parameter send.

1 U8 Read/Write Access (00 = Read, 01 = Write) 2 U8 Read/Write DPI Port 3 U16 Read/Write Parameter number 4 U32 Read/Write Parameter value

0x2229 0 U8 Read DPI Parameter receive.

1 U8 Read Response status 2 U32 Read Parameter value

(1)

Value depends on the mapped communication adapter parameters.

(2)

If the drive is a 32-bit drive, this object contains 16 bits of the 32-bit value and should not be used.

(Count starts at sub index 7)

Number of entries (= 0x62)

(Count starts at sub index 3)

Number of entries (= 0x04)

Number of entries (= 0x02)

(2)

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C-4 CANopen Objects

Emergency Object

The emergency object consists of a total of 8 data bytes. The first three bytes are defined by the CANopen specification, and the remaining 5 bytes are manufacturer specific.

Table C.C Emergency Object Format

Byte01234567 Content Emergency error

code (See Tabl e C . D

Table C.D Implemented Emergency Error Codes

Emergency Error Code

00XX Error reset or no error No 10XX Generic Error Yes (If fault in DPI adapter, DPI fault code is included.)

Emergency error codes are specified for a number of events, but since the DPI communication adapter is a generic module, all errors are reported as “Generic error.” For faults in the communication adapter itself, the DPI fault code is supplied as manufacturer-specific data.

Meaning Manufacturer specific info

Error

)

Manufacturer specific error files; Byte 3 and Byte 4 = 0, Byte 5 = DPI Port, Byte 6 and 7 = DPI fault code (Byte 6 = LSB)

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Appendix D

Logic Command/Status Words

Appendix D presents the definitions of the Logic Command and Logic Status words that are used for some products that can be connected to the adapter. If the Logic Command/Logic Status for the product that you are using is not listed, refer to your product’s documentation.

PowerFlex 7-Class Drives (except PowerFlex 700S)

Logic Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Command Description

x x Decel Rate 00 = No Command

x x x Reference Select

x MOP Decrement 0 = Not Decrement

(1)

A “0 = Not Stop” condition (logic 0) must first be present before a “1 = Start” condition will start the drive. The Start command acts as a momentary Start command. A “1” will start the drive, but returning to “0” will not

(2)

This Start will not function if a digital input (parameters 361-366) is programmed for 2-Wire Control (option 7, 8 or 9).

(3)

This Reference Select will not function if a digital input (parameters 361-366) is programmed for “Speed Sel 1, 2 or 3” (option 15, 16 or 17). Note that Reference Select is “Exclusive Ownership” – see drive User Manual for more information.

Logic Command Word

x Stop

xStart

x Jog 0 = Not Jog (Par. 100)

x Clear Faults 0 = Not Clear Faults

x x Direction 00 = No Command

x Local Control 0 = No Local Control

x MOP Increment 0 = Not Increment

x x Accel Rate 00 = No Command

stop the drive.

(1)

(1)(2)

0 = Not Stop 1 = Stop 0 = Not Start 1 = Start

1 = Jog

1 = Clear Faults

01 = Forward Command 10 = Reverse Command 11 = Hold Direction Control

1 = Local Control

1 = Increment

01 = Accel Rate 1 Command (Par. 140) 10 = Accel Rate 2 Command (Par. 141) 11 = Hold Accel Rate

01 = Decel Rate 1 Command (Par. 142) 10 = Decel Rate 2 Command (Par. 143) 11 = Hold Decel Rate

(3)

000 = No Command 001 = Ref A Select (Par. 90) 010 = Ref B Select (Par. 93) 011 = Preset 3 (Par. 103) 100 = Preset 4 (Par. 104) 101 = Preset 5 (Par. 105) 110 = Preset 6 (Par. 106) 111 = Preset 7 (Par. 107)

1 = Decrement

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D-2 Logic Command/Status Words

Logic Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status Description

x x x x Reference 0000 = Ref A Auto (Par. 90)

(1)

See “Owners” in drive User Manual for further information.

Logic Status Word

x Ready 0 = Not Ready (Par. 214)

x Active 0 = Not Active (Running)

x Command

Direction

x Actual Direction 0 = Reverse

x Accel 0 = Not Accelerating

x Decel 0 = Not Decelerating

x Alarm 0 = No Alarm (Par. 211 & 212)

x Fault 0 = No Fault (Par. 243)

x At Speed 0 = Not At Reference

x x x Local Control

1 = Ready

1 = Active 0 = Reverse

1 = Forward

1 = Accelerating

1 = Decelerating

1 = Alarm

1 = Fault

1 = At Reference

(1)

000 = Port 0 (TB) 001 = Port 1 010 = Port 2 011 = Port 3 100 = Port 4 101 = Port 5 110 = Port 6 111 = No Local

0001 = Ref B Auto (Par. 93) 0010 = Preset 2 Auto 0011 = Preset 3 Auto 0100 = Preset 4 Auto 0101 = Preset 5 Auto 0110 = Preset 6 Auto 0111 = Preset 7 Auto 1000 = Term Blk Manual 1001 = DPI 1 Manual 1010 = DPI 2 Manual 1011 = DPI 3 Manual 1100 = DPI 4 Manual 1101 = DPI 5 Manual 1110 = DPI 6 Manual 1111 = Jog Ref

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Logic Command/Status Words D-3

PowerFlex 700S Drives

Logic Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Command Description

x Spd Ref Sel0

x Spd Ref Sel1

x Spd Ref Sel2

Logic Command Word (Phase II Control)

x Normal Stop 0 = Not Normal Stop

xStart

x Jog 1 0 = Not Jog using [Jog Speed 1] (Par. 29)

x Clear Fault

x x Unipolar Direction 00 = No Command

xReserved

x Jog 2 0 = Not Jog using [Jog Speed 2] (Par. 39)

x Current Limit Stop 0 = Not Current Limit Stop

x Coast Stop 0 = Not Coast to Stop

xReserved

(1)

1 = Normal Stop 0 = Not Start

1 = Start

1 = Jog using [Jog Speed 1] (Par. 29)

(2)

0 = Not Clear Fault 1 = Clear Fault

01 = Forward Command 10 = Reverse Command 11 = Hold Direction Control

1 = Jog using [Jog Speed 2] (Par. 39)

1 = Current Limit Stop

1 = Coast to Stop

Bits

14 13 12

0 0 0 = Spd Ref A (Par. 27) 0 0 1 = Spd Ref B (Par. 28) 0 1 0 = Preset 2 (Par. 15) 0 1 1 = Preset 3 (Par. 16) 1 0 0 = Preset 4 (Par. 17) 1 0 1 = Preset 5 (Par. 18) 1 1 0 = Preset 6 (Par. 19) 1 1 1 = Preset 7 (Par. 20)

xReserved

(1)

A Not Stop condition (logic bit 0 = 0, logic bit 8 = 0, and logic bit 9 = 0) must first be present before a 1 = Start condition will start the drive.

(2)

To perform this command, the value must switch from “0” to “1.”

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D-4 Logic Command/Status Words

Logic Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status Description

x Tach Loss Sw 0 = Not Tach Loss Sw

x At Zero Spd 0 = Not At Zero Speed

x At Setpt Spd 0 = Not At Setpoint Speed

x Enable 0 = Not Enabled

(1)

See Parameter 304 - [Limit Status] in the PowerFlex 700S drive User Manual for a description of the limit status conditions.

Logic Status Word (Phase II Control)

x Active 0 = Not Active

1 = Active

x Running 0 = Not Running

1 = Running

x Command

Direction

x Actual Direction 0 = Reverse

x Accel 0 = Not Accelerating

x Decel 0 = Not Decelerating

x Jogging 0 = Not Jogging

x Fault 0 = No Fault (Par. 323, 324, 325)

x Alarm 0 = No Alarm (Par. 326, 327, 328)

x Flash Mode 0 = Not in Flash Mode

x Run Ready 0 = Not Ready to Run (Par. 156)

x At Limit

(1)

0 = Reverse 1 = Forward

1 = Forward

1 = Accelerating

1 = Decelerating

1 = Jogging

1 = Fault

1 = Alarm

1 = In Flash Mode

1 = Ready to Run 0 = Not At Limit (Par. 304)

1 = At Limit

1 = Tach Loss Sw

1 = At Zero Speed

1= At Setpoint Speed

1 = Enabled

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Appendix E

CANopen Network Example

This appendix provides instructions on how to use the IXXAT CANopen Configuration Studio and the Mauell CoDeSys AA programming software to configure the Mauell Telmatic ME-series of PLC hardware.

Topic Page

Example Network Configuring the Network Nodes E-2 Configuring the Communications E-8 Configuring the PLC Variables and Linking E-9 Configuring the PDOs, SDOs, and SYNC E-16 Downloading Configuration E-20 PLC Program E-22

E-1

Example Network

After the adapter is configured, the connected drive and adapter are a single node on the network. This appendix provides the steps that are needed to configure a simple network like the network shown in Figure E.1 CAN-Interface card (for example tinCAN from IXXAT) is needed to configure the CANopen network with the computer. In our example, the drive is configured for using Logic Command/Status, Reference/Feedback and all Datalinks over the network.

Figure E.1 Example CANopen Network

Node 1

Mauell Telmatic PLC

Node 2

Mauell Telmatic Input Module

Computer with IXXAT tinCAN

Node 7

PowerFlex 70 Drive with 20-COMM-K CANopen Adapter

. A PC/

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E-2 CANopen Network Example

Configuring the Network Nodes

1. Start the IXXAT CANopen Configuration Studio and click on New Project.

2. Type in a project name and click OK. A subdirectory is created which

contains all files relevant to this project.

3. The database of the new project has now been created. The icons in the toolbar of the project are plug-ins that can be used with each section of the project. Note that some icons appear dimmed (unavailable).

4. Right click on the project icon and select Network Properties. Change the baud rate to the desired value and click OK.

NOTE: In this example, the baud rate 1000 kBaud has been used, which is the maximum allowable baud rate for CANopen. However, the standard baud rate of the Mauell Telmatic PLC is 500 kBaud.

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CANopen Network Example E-3

5. Right click on the project name and select New Group.

6. Enter the Name and a Description (optional) and select an Icon

(optional) for the new group. Click OK.

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E-4 CANopen Network Example

7. Select the new group and click the Module selection icon.

8. Select the hardware being used (V18 CN32), provide a Name, and

adjust the Node Address and the Baud Rate. In this example, the node address of the PLC is set to 1, and the baud rate is set to 1000 Kbps. Click OK.

9. Click aktualisieren (apply) in the appearing window to build the configuration of the PLC. (Note the status bar at the bottom of the window.) Close the window after completion (no activity).

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CANopen Network Example E-5

10. The project pane now shows the PLC at node 0x1 (hexadecimal

notation). If the PLC is not visible, expand the tree with the (+) sign.

11. Generate a new group for the I/O. To do this, right click on the project

again and select New Group.

12. Enter the Name and a Description (optional), and select an Icon

(optional) for the new group. Click OK.

13. Right click on the new group and select New Device.

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E-6 CANopen Network Example

14. Enter the Name, Node ID, Baudrate, and a Description (optional).

15. Click Select ED

stored. In this example, select C01_de08.eds in the folder …\Eds\C-Module\ for the digital input.

S… and browse to the folder where the EDS files are

16. Click the Icon browse button and select the digital input icon S_de.ico

in the icon folder. Click Offnen (Open) in the Choose Icon window, and then click OK in the Device Properties window.

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CANopen Network Example E-7

17. The project pane now shows the digital input module at address 0x2.

18. Repeat steps 11 through 16 for a new group with the PowerFlex drive

(Node ID 7, 20COMMK301_V101.eds, PF70.ico). The completed project pane is shown below.

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E-8 CANopen Network Example

Configuring the Communications

1. Select the PLC and click the Communications icon.

2. Select Options > Serial Ports.

3. Select the 3964R tab, and uncheck the spontaneous transmission (changed values) and cyclic transmission boxes. Without these

changes, the PLC would switch to error state because of a transmission failure on its own RS232 port.

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4. Click Ok to close the serial ports window.

CANopen Network Example E-9

Configuring the PLC Variables and Linking

1. Select the project and click the Visual Object Linker icon.

2. The Visual Object Linker window has 3 tabs: Link Matrix,

Connection Listing, and PLC Setup. Select the PLC Setup tab and

click Add… to define the internal variables of the PLC. Create these variables carefully because they appear in the PLC program.

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E-10 CANopen Network Example

3. Create a variable to store the digital inputs from the digital input module. Select Unsigned8 and Network O enter a Name. Click Add. The variable appears in the network variables list on the PLC Setup tab.

utput… - Consumer, and

4. Create the remaining network variables as shown in the next screen

below. They are all Unsigned16 and Producers (PLC outputs). To make the program more flexible in case all Datalinks should be used in the future, allocate these links with general variable names, such as DLinkP_C1, where P means producer.

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CANopen Network Example E-11

5. Create the remaining network variables as shown in the next screen

below. They are all Unsigned16 and Consumers (PLC inputs).

TIP: To get a better overview, sort the table by OD-Index.

TIP: If the program should automatically start after the PLC has been powered up, select Start under the Program State: selections.

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E-12 CANopen Network Example

6. Return to the Link Matrix tab, where the configured variables are listed. As an EDS file has been assigned to each hardware, the various I/Os are also listed in the Producer/Consumer areas. The producer items are shown in left side rows running top to bottom, and the consumer items are in top columns running left to right. Producers have an outgoing arrow (they produce onto the network), and consumers have an incoming arrow (they consume from the network). It is possible to selectively view parts of the project by adjusting the drop down boxes.

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CANopen Network Example E-13

7. Link the Producers to the Consumers. To do so, position the mouse over

a connection point. The connection point appears blue if it is valid, or red if it is invalid. Double click the connection point and it will turn yellow. Click the Calculate Connections icon at the top left of the screen, and if the connection is made, it will turn green.

TIP: The variables are mapped to the PDOs in the order in which the connections are made.

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E-14 CANopen Network Example

8. Make the connections as shown in the next screen below. (InputSwitch has to be linked to BE_02 of the input module.)

TIP: If there are several devices with the same EDS file in the same project (for example, two drives), the names in the Visual Object Linker window must be changed so that there are not two variables with the same name. Therefore, put an index at the end of the producer name. Never put the index in front of the producer name! Otherwise, the CoDeSys tool will not compile the project without any errors.

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CANopen Network Example E-15

9. Confirmation and printout of all connections can be seen on the

Connection Listing tab. Leave the Visual Objects Linker window

open and return to the project.

TIP: Sorting by TxPDO# or RxPDO# will group all Consumers and Producers.

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E-16 CANopen Network Example

Configuring the PDOs, SDOs, and SYNC

1. Select the PowerFlex70 and click the Device Configuration icon in the project toolbar.

2. On the Process Data Objects tab, the Transmission Type of all PDOs can be configured (sub-tab Properties) and the PDO mapping can be checked and adjusted (sub-tab Mapping).

A. Set the Transmission Type of all RPDOs to asynchronous

(Manuf. Event).

B. Set the Transmission Type of the TPDO1 also to asynchronous

(Manuf. Event), so the adapter sends this PDO whenever the state

of the drive has changed.

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C. Set the Transmission Type of the TPDO2 and TPDO3 to

synchronous cyclic and the Transmission Rate to “10,” so these

Datalinks are sent periodically with a cyclic interval of (10 x Communication Cycle Period).

CANopen Network Example E-17

3. On the Predefined Objects tab, check the Device consumes SYNC

message box (sub-tab Synchronisation Message).

4. Select the PLC and click the Device Configuration icon in the project

toolbar.

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E-18 CANopen Network Example

5. On the Process Data Objects tab, set the Transmission Type of the RPDOs to asynchronous (Manuf. Event). For RPDOs, only the transmission mode (synchronous or asynchronous) is relevant.

Leave the Transmission Type of all TPDOs set to asynchronous (Profile Event), so the PDOs are sent when one of its variables has changed in the PLC program.

6. On the Predefined Objects tab, check the Device generates SYNC message box (sub-tab Synchronisation Message). Note that the Communication Cycle Period can be changed on this tab.

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CANopen Network Example E-19

7. Select the Service Data Objects tab and select the Client-SDO type.

Set up the SDO-Channel to the 20-COMM-K by checking the SDO valid box and inserting the COB-IDs. The COB-IDs are calculated as follows:

Client -> Server: 0x600 + Node ID = 0x607 Server -> Client: 0x580 + Node ID = 0x587

8. On the Administration Objects tab, the parameters for Node/Life

Guarding can be changed. See Node/Life Guarding details. Set the Guard Time to 500 ms and the Life Time Factor to “3.” Close the Device Configurator window.

on page 4-5 for

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E-20 CANopen Network Example

Downloading Configuration

1. Select the project and click the CAN-Bus Access icon in the project toolbar.

2. Click Download to Device(s) on the Download/Upload/Verify tab to download the connections made in the linker to the network nodes. This takes a few minutes. The PowerFlex 70 will produce some errors, as it needs to be downloaded separately. (The adapter must be in Pre-Operational State). Close the window when complete.

3. Select the PowerFlex70 and click the CAN-Bus Access icon in the project toolbar.

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CANopen Network Example E-21

4. Select the Common Utilities tab and click Start Scan until node 7

appears, and then click C

ancel.

5. Select Node 7 and click the NMT Module Control tab. Click Enter

re-Operational to put the PowerFlex 70 into the Pre-Operational

State. Return to the Download/Upload/Verify tab.

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E-22 CANopen Network Example

6. Select the option save all parameters and click Download to Device(s). Download must be finished without faults. Otherwise, the

device was not in the pre-operational state for the full time period. If the problem is still pending, power off the PLC and start download again.

PLC Program

1. Return to the Visual Object Linker window, select the PLC Setup tab, and click Run Codesys. Now, the variables from the linker are created and embedded in the PLC program.

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NOTE: If any connections are changed in the project, click Update DCF before clicking Run Codesys.

CANopen Network Example E-23

2. When CoDeSys is launched, the hardware type has to be selected.

Select ME 30 telmatic V/B-Modul.

3. Confirm the defaults by selecting OK.

4. The Program Unit has to be specified. This is the first unit in any

program. It must be a Program and cannot be deleted. ST (Structured Text) has been selected as programming language in this example. Click OK.

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E-24 CANopen Network Example

5. The layout of the screen shows POUs (Program Organization Units) on the left, with the programming area on the right. In the lower left corner are the icon tabs for POUs, Data Types, Visualizations, and

Resources.

6. The file with the variables that are created from the linker is in Global Va ri abl es on the Resources tab.

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Rockwell Automation 20-COMM-K User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Summary of Changes

Table of Contents

Related Documentation

Preface

About This Manual

Rockwell Automation Support

Conventions Used in This Manual

Chapter 1

Getting Started

Components

Features

Compatible Products

Required Equipment

Safety Precautions

Quick Start

Status Indicators

Chapter 2

Installing the Adapter

Preparing for an Installation

Commissioning the Adapter

Connecting the Adapter to the Drive

Connecting the Adapter to the Network

Applying Power

Chapter 3

Configuring the Adapter

Configuration Tools

Using the PowerFlex 7-Class HIM

Setting the Node Address

Setting the Data Rate

Setting the I/O Configuration

Selecting COS, Cyclic or RTR I/O Data Exchange

Setting a Fault Action

Resetting the Adapter

Viewing the Adapter Status Using Parameters

Flash Updating the Adapter

Chapter 4

Configuring the CANopen Network

Network Management (NMT)

CANopen Object Dictionary

CANopen Network Configuration

Chapter 5

Using I/O Messaging

About Process Data Objects

Understanding the I/O Image

Using Logic Command/ Status

Using Reference/Feedback

Using Datalinks

Transmit PDO Mapping

Receive PDO Mapping

Chapter 6

Using Service Data Objects

About Service Data Objects

Running Service Data Objects

CANopen DPI Parameter Access

CANopen DPI Full Parameter Access

Chapter 7

Troubleshooting

Understanding the Status Indicators

PORT Status Indicator

MOD Status Indicator

NET A (CAN RUN) Status Indicator

NET B (CAN ERR) Status Indicator

Viewing Adapter Diagnostic Items

Viewing and Clearing Events

Specifications

Appendix A

Communications

Electrical

Mechanical

Environmental

Regulatory Compliance

Appendix B

Adapter Parameters

About Parameter Numbers

Parameter List

Appendix C