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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