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 atwww.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 ChangesPage
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
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
.
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
P-2About 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.
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
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™.
Status IndicatorsFour LEDs that indicate the status of the DPI, the adapter, and
➊
DPI ConnectorA 20-pin, single-row shrouded male header. An Internal Interface
➋
CANopen ConnectorA 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 SwitchSwitch 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.
20-COMM-K CANopen Adapter User Manual
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1-2Getting 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
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Getting Started1-3
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)
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
1-4Getting 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.
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Getting Started1-5
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 ActionRefer to…
1Review the safety precautions for the adapter.Throughout This Manual
2Verify that the PowerFlex drive is properly installed. Drive User Manual
3Install 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.
4Commission 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.
5Apply 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.
6Configure 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
7Configure 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.
8Create 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 2,
Installing the Adapter
7,
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
,
4,
5,
,
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
1-6Getting 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 1.2Status 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
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Chapter 2
Installing the Adapter
This chapter provides instructions for installing the adapter in a PowerFlex
7-Class drive.
TopicPage
Preparing for an Installation
Commissioning the Adapter2-1
Connecting the Adapter to the Drive2-4
Connecting the Adapter to the Network2-7
Applying Power2-8
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
!
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).
on page 1-3.
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
2-2Installing 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 2.1Setting Adapter Node Address Switches
2
3
1
0
9
8
4
5
6
7
Te ns
Digit
2
8
Ones
Digit
3
7
1
0
9
SettingDescription
00…99Node 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.
4
5
6
on page 3-3.
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Installing the Adapter2-3
Setting the Data Rate
Set the adapter Data Rate switch (Figure 2.2) by rotating the switch to the
desired setting.
Figure 2.2Setting Adapter Data Rate Switch
125K
50K
250K
20K
10K
PGM 1M
SettingDescription
10Kbps, 20Kbps,
50Kbps, 125Kbps,
250Kbps, 500Kbps,
800Kbps or 1Mbps
PGMThe 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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2-4Installing 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).
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Figure 2.3DPI Ports and Internal Interface Cables
Installing the Adapter2-5
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
ItemDescription
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.
X2
X1
➍
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
2-6Installing the Adapter
Figure 2.4Mounting 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
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
0.9 N•m
(8.0 lb•in)
4 Places
X2
X1
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 Adapter2-7
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
Figure 2.5Connecting 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
PinNameFunction
2CAN_LCAN low bus line
3CAN_GNDCAN ground
5CAN_SHLDCAN shield
6GNDGround (not used)
7CAN_HCAN 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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2-8Installing 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.
on
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 2.6Drive 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
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Installing the Adapter2-9
Table 2.A Drive and Adapter Start-Up Status Indications
Item NameColorState
STS
➊
(Status)
PORTGreenFlashingNormal Operation. The adapter is establishing a
➋
MODGreenFlashingNormal 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
GreenFlashingDrive ready but not running, and no faults are
YellowFlashing,
RedFlashingA fault has occurred.
GreenFlashingNormal Operation. The adapter is properly
SteadyNormal Operation. The adapter is operating and
SteadyNormal Operation. The adapter is properly
SteadyNormal 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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Publication 20COMM-UM012B-EN-P
2-10Installing 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.
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Chapter 3
Configuring the Adapter
This chapter provides instructions and information for setting the
parameters to configure the adapter.
TopicPage
Configuration Tools
Using the PowerFlex 7-Class HIM3-2
Setting the Node Address3-3
Setting the Data Rate3-3
Setting the I/O Configuration3-4
Selecting COS, Cyclic or RTR I/O Data Exchange3-5
Setting a Fault Action3-7
Resetting the Adapter3-9
Viewing the Adapter Status Using Parameters3-10
Flash Updating the Adapter3-10
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:
ToolRefer to…
PowerFlex HIMpage 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
.
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
3-2Configuring 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
StepExample 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
StepExample 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-> StoppedAuto
0.00Hz
Main Menu:
Diagnostics
Parameter
Device Select
Port 5 Device
20-COMM-K
Main Menu:
Diagnostics
Parameter
Device Select
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Configuring the Adapter3-3
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 3.1Example 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
01
1 <> 127
Default = 1
Figure 3.2Example COPN Rate Cfg LCD HIM Screen
Port 5 Device
20-COMM-K
Parameter #: 05
COPN Rate Cfg
5
500K
2. Reset the adapter (see Resetting the Adapter on page 3-9).
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 3.3Example DPI I/O Cfg LCD HIM Screen
Port 5 Device
20-COMM-K
Parameter #: 12
DPI I/O Cfg
xxxxxxxxxxx0000
Cmd/Refb00
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.
BitDescription
0Logic Command/Reference (Default)
1Datalink A
2Datalink B
3Datalink C
1
4Datalink 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).
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
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