SEW Eurodrive UFO11A User Manual

CANopen UFO11A Fieldbus Interface

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Edition

11/2002

Manual

1054 1217 / EN

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1 Unit Structure ....................................................................................................4

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1.1 Front view ................................................................................................. 4

2 Installation and Operation without a PC.........................................................5

2.1 Installation notes ....................................................................................... 5

2.2 Setting the inverter parameters (MOVITRAC® 07)................................... 8

2.3 Autosetup.................................................................................................. 8

2.4 Setting the UFO DIP switches................................................................... 9

3 Installation and Operation with a PC............................................................. 10

3.1 Installation notes ..................................................................................... 10

3.2 Setting the inverter parameters (MOVITRAC® 07)................................. 13

3.3 Startup software...................................................................................... 14

3.4 Setting the UFO DIP switches................................................................. 14

4 CANopen Interface..........................................................................................15

4.1 Configuring the CANopen interface ........................................................ 15

4.2 SYNC object ........................................................................................... 23

4.3 Emergency object ................................................................................... 24

4.4 Guarding and heartbeat .......................................................................... 26

4.5 Parameter access via SDOs................................................................... 28

5 Error Response ...............................................................................................30

5.1 Fieldbus timeout...................................................................................... 30

5.2 SBus timeout........................................................................................... 30

5.3 Unit errors ............................................................................................... 30

6 LEDs................................................................................................................. 31

6.1 COMM LED............................................................................................. 31

6.2 GUARD LED ........................................................................................... 31

6.3 STATE LED ............................................................................................ 31

6.4 BUS-F LED ............................................................................................. 32

6.5 SYS-F LED ............................................................................................. 32

6.6 USER LED .............................................................................................. 32

7 DIP Switches.................................................................................................... 33

7.1 CANopen address................................................................................... 33

7.2 Baud rate of the CANopen bus ............................................................... 34

7.3 Number of process data items to be transmitted via the CANopen bus . 34

7.4 Autosetup................................................................................................ 35

7.5 DIP switch F1.......................................................................................... 35

8 Using the Interface..........................................................................................36

9 Object List........................................................................................................ 38

10 Parameter List ................................................................................................. 43

11 List of Errors.................................................................................................... 44

12 Technical Data................................................................................................. 45

13 Dimensions...................................................................................................... 46

14 Index................................................................................................................. 47

Startup of UFO11A fieldbus interface:

• without PC: section 2

• with PC: section 3

Manual – UFO11A Fieldbus Interface

3

1

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1 Unit Structure

1.1 Front view

Unit Structure

Fig. 1: Arrangement of LEDs, connectors and DIP switches

X1 CANopen and electrical power supply
X2 SBus
X3 Diagnostic interface
S1 DIP switch
S2 DIP switch
COMM Communication on the CANopen interface
GUARD Status display for timeout on the CANopen bus
STATE CANopen operating status of the UFO11
BUS-F Bus fault on the CANopen interface
SYS-F System fault
USER Expert mode

4

05790AXX

Manual – UFO11A Fieldbus Interface

Installation and Operation without a PC

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2 Installation and Operation without a PC

2.1 Installation notes

Mounting

Pin assignment

The unit can be mounted using the pre-installed DIN rail mounting option or directly onto
a switch cabinet wall using the four holes integrated into the back wall of the housing.
Basically, there are no restrictions regarding positioning in relation to the inverters to be
connected (e.g. MOVITRAC

®

07). In laying out the system, consider the maximum cable
length and the fact that the gateway must be the first or last node on the system bus
(SBus).

2

Fig. 2: Pinout

Supply voltage

X1:5: V+
X1:1: GND

Manual – UFO11A Fieldbus Interface

CANopen

X1:4: CAN_H
X1:3: CAN_GND
X1:2: CAN_L

05789AXX

SBus

X2:3: SC12
X2:2: SC11
X2:1: 0V5-I

5

2

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Installation and Operation without a PC

System bus
connection

Fig. 3: System bus connection

UFO11A

V+ = Supply voltage
CAN_H = CAN bus high
CAN_GND = CAN bus reference
CAN_L = CAN bus low
0V5-I = System bus reference
SC11 = System bus high
SC12 = System bus low

Please note:

• Use a 2-core twisted and shielded copper cable (data transmission cable with

• The permitted total cable length depends on the baud rate setting of the SBus:

05791AXX

MOVITRAC® 07

GND = System bus reference
SC22 = System bus outgoing low
SC21 = System bus outgoing high
SC12 = System bus incoming low
SC11 = System bus incoming high
S12 = System bus terminating resistor

braided copper shield). Connect the shield at either end to the electronics shield
clamp of MOVITRAC

®

07 or the UFO11A and also connect the ends of the shield to
GND/0V5-I. The cable must meet the following specifications (CAN bus or DeviceNet
cables are suitable, for example):

– Conductor cross section 0.75 mm

2

(AWG18)

– Cable resistance 120 Ω at 1 MHz
– Capacitance per unit length ≤ 40 pF/m (12 pF/ft) at 1 kHz

– 125 kbaud: 320 m (1056 ft)
– 250 kbaud: 160 m (528 ft)
– 500 kbaud: 80 m (264 ft)
– 1000 kbaud: 40 m (132 ft)

6

Manual – UFO11A Fieldbus Interface

Installation and Operation without a PC

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• Switch on the system bus terminating resistor (S12 = ON) of the node end of the
system bus. Switch off the terminating resistor on the other units (S12 = OFF). The
UFO11A gateway must always be the first or last node on the system bus. It has an
integrated terminating resistor.

• There must not be any potential difference between the units connected to the SBus.
Take suitable measures such as connecting each unit’s ground lug to a central
grounding point in the cabinet to avoid potential differences.

• Point-to-point cabling is not permitted.

2

Shielding and
routing of the bus
cables

The CANopen interface supports RS-485 transmission technology and requires the
cable type A to EN 50170 specified as the physical medium for CANopen. This cable
must be a shielded, twisted-pair two-core cable.

In practice, cables such as the Unitronic BUS CAN 2 × 2 × 0.22 made by Lapp have
proven effective even under harsh conditions. The CAN signals are carried along one
pair of conductors. The other pair of conductors is used for CAN ground and any supply
voltage which is also carried. Yellow – CAN high / Green – CAN low / Brown – CAN
GND.

This setup offers the advantage that the necessary compensating current of the bus
drivers does not have to be carried along the shield. As a result, no parasitic EMC
interference is carried into the shield and ultimately the electronics.

Having the bus cable correctly shielded cuts out parasitic interference which can occur
in an industrial environment. The following measures ensure the best possible shielding:

• Finger-tighten the retaining screws of plugs, modules and equipotential bonding
conductors.

• Use only connectors with a metal housing or a metallized housing.

• Maximize the contact area between the shield and the connector housing.

• Shield the bus cable on both ends.

• Do not route the signal and bus cables in parallel with the power cables (motor
leads); use separate cable ducts if possible.

• Use only grounded metal cable trays in industrial environments.

• Join the signal cables and the associated equipotential bonding together at closely
spaced intervals by the shortest route.

• Avoid using plug connections to extend bus cables.

• Route the bus cables closely adjacent to available grounding surfaces.

In the event of fluctuations in the ground potential, a compensating current may flow
along the shield which is connected at both ends and to the ground potential (PE). In this
case, make adequate provision for equipotential bonding in accordance with the
relevant VDE regulations.

Bus termination

Manual – UFO11A Fieldbus Interface

No bus termination is provided on the UFO electronics. External bus termination must
be used if the UFO module is used as the first or last unit in the CANopen branch. To do
this, connect the supplied 120 Ω resistor between CAN high and CAN low (terminals
X1:2 and X1:4) as well.

7

2

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Installation and Operation without a PC

2.2 Setting the inverter parameters (MOVITRAC® 07)

• Switch on the voltage supply for the UFO and all connected inverters.

• Set an individual SBus address (P813) on the inverters. Recommendation: Assign
the addresses starting from address 1 and working in ascending order according to
the arrangement of inverters in the switch cabinet. Do not assign address 0 since this
is used by the UFO.

• Set the setpoint source (P100) to SBus (value 10 on MOVITRAC

• Set the control signal source (P101) to SBus (value 3 on MOVITRAC

• Set the terminal assignment of the binary inputs (P60-). Set unrequired binary inputs
to "No function." For safety reasons, the inverter must be enabled on the terminal
side. Refer to the appropriate unit documentation for information about this. For
MOVITRAC
following assignment:

– DI01 CW/STOP (applied to 24 V, enable CW direction of rotation)
– DI02 CCW/STOP (no function)
– DI03 FIX SETPT SW.OV (not connected)
– DI04 n11/n21 (not connected)
– DI05 n12/n22 (not connected)

• Set the SBus timeout delay (P815) to a value other than 0, for example 1 s, to
activate the monitoring process.

• If necessary, change the default values of the process data assignments (P870 –
P875). This step must be performed before Autosetup (see Sec. "Autosetup").

®

07, parameter P60- can be set to the value 0. This corresponds to the

2.3 Autosetup

You can start up the UFO without a PC with the Autosetup function. It is activated with
the Autosetup DIP switch. Turning on the Autosetup DIP switch will execute the function
once. The function can be executed once again by turning the switch off and on again.
Upon activation of the Autosetup feature, the UFO automatically searches for inverters
on the lower-level SBus and indicates this activity with a brief blinking of the SYS-F LED.
Each drive inverter on the SBus must be assigned a unique SBus address (P813). To
avoid confusion with data assignments, it is recommended to assign the addresses from
address 1 and working in ascending order according to the arrangement of inverters in
the control cabinet. The process image on the fieldbus side will be extended by three
words for each located inverter. The SYS-FLT LED stays on if no drive inverters are
found. A maximum of eight inverters can be configured. Following the search, the UFO
cyclically exchanges three process data words with each connected drive inverter. The
process output data are collected from the fieldbus, divided into blocks of three and sent.
The process input data are read by the drive inverters, assembled and sent to the field­bus master.

®

07).

®

07).

8

Manual – UFO11A Fieldbus Interface

Installation and Operation without a PC

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Autosetup has to be executed only once. The detected configuration will be saved in the
non-volatile memory. Important: Execute Autosetup again in case you change the
process data assignment of the drive inverters connected to the UFO, because the UFO
saves these values once only during Autosetup. Likewise, the process data
assignments of the connected drive inverters must not be altered dynamically either, for
example by an IPOS program, following Autosetup. Failure to comply with this
instruction could prevent a fault response if there is a fieldbus timeout.

2.4 Setting the UFO DIP switches

• For project planning, set an individual CANopen address using the DIP switches on
the UFO (see Sec. "DIP Switches"). Address 0 is not permitted in CANopen.

• Set the DIP switches for the number of process data items (see Sec. "DIP Switches").
The following applies: Number of process data items = Number of connected
inverters times 3.

• Set the DIP switch for the baud rate of the CANopen bus (see Sec. "DIP Switches").

Changes to the DIP switches do not come into effect until the UFO has been switched
off and on.

2

Manual – UFO11A Fieldbus Interface

9

3

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Installation and Operation with a PC

3 Installation and Operation with a PC

3.1 Installation notes

Mounting

Pin assignment

The unit can be mounted using the pre-installed DIN rail mounting option or directly onto
a switch cabinet wall using the four holes integrated into the back wall of the housing.
Basically, there are no restrictions regarding positioning in relation to the inverters to be
connected (e.g. MOVITRAC
length and the fact that the gateway must be the first or last node on the system bus
(SBus).

®

07). In laying out the system, consider the maximum cable

05789AXX

SBus

X2:3: SC12
X2:2: SC11
X2:1: 0V5-I

Manual – UFO11A Fieldbus Interface

10

Fig. 4: Pinout

Supply voltage

X1:5: 24 V
X1:1: 0 V

CANopen

DC

DC

X1:4: CAN H
X1:3: CAN GND
X1:2: CAN L

System bus

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connection

Installation and Operation with a PC

3

Fig. 5: System bus connection

UFO11A

V+ = Supply voltage
CAN_H = CAN bus high
CAN_GND = CAN bus reference
CAN_L = CAN bus low
0V5-I = System bus reference
SC11 = System bus high
SC12 = System bus low

Please note:

• Use a 2-core twisted and shielded copper cable (data transmission cable with

• The permitted total cable length depends on the baud rate setting of the SBus:

05095AXX

MOVITRAC® 07

GND = System bus reference
SC22 = System bus outgoing low
SC21 = System bus outgoing high
SC12 = System bus incoming low
SC11 = System bus incoming high
S12 = System bus terminating resistor

braided copper shield). Connect the shield at both ends to the electronics shield
clamp of MOVITRAC

®

07 or the UFO11A and ensure a large area of contact
between the shield and the clamp. Also connect the ends of the shield to GND/0V5­I. The cable must meet the following specifications (CAN bus or DeviceNet cables
are suitable):

– Core cross section 0.75 mm

2

(AWG18)

– Cable resistance 120 Ω at 1 MHz
– Capacitance per unit length ≤ 40 pF/m (12 pF/ft) at 1 kHz

– 125 kbaud: 320 m (1056 ft)
– 250 kbaud: 160 m (528 ft)
– 500 kbaud: 80 m (264 ft)
– 1000 kbaud: 40 m (132 ft)

Manual – UFO11A Fieldbus Interface

11

3

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Installation and Operation with a PC

• Switch on the system bus terminating resistor (S12 = ON) at the end of the system
bus. Switch off the terminating resistor on the other units (S12 = OFF). The UFO11A
gateway must always be the first or last node on the system bus. It has an integrated
terminating resistor.

• There must not be any potential difference between the units connected to the SBus.
Take suitable measures such as connecting each unit’s ground lug to a central
grounding point in the cabinet to avoid potential differences.

• Point-to-point cabling is not permitted.

Shielding and
routing of the bus
cables

The CANopen interface supports RS-485 transmission technology and requires the
cable type A to EN 50170 specified as the physical medium for CANopen. This cable
must be a shielded, twisted-pair two-core cable.

In practice, cables such as the Unitronic BUS CAN 2 × 2 × 0.22 made by Lapp have
proven effective even under harsh conditions. The CAN signals are carried along one
pair of conductors. The other pair of conductors is used for CAN ground and any supply
voltage which is also carried. Yellow – CAN high / Green – CAN low / Brown – CAN
GND.

This setup offers the advantage that the necessary compensating current of the bus
drivers does not have to be carried along the shield. As a result, no parasitic EMC
interference is carried into the shield and ultimately the electronics.

Having the bus cable correctly shielded cuts out parasitic interference which can occur
in an industrial environment. The following measures ensure the best possible shielding:

• Finger-tighten the retaining screws of plugs, modules and equipotential bonding
conductors.

• Use only connectors with a metal housing or a metallized housing.

• Maximize the contact area between the shield and the connector housing.

• Shield the bus cable on both ends.

• Do not route the signal and bus cables in parallel with the power cables (motor
leads); use separate cable ducts if possible.

• Use only grounded metal cable trays in industrial environments.

• Join the signal cables and the associated equipotential bonding together at closely
spaced intervals by the shortest route.

• Avoid using plug connections to extend bus cables.

• Route the bus cables closely adjacent to available grounding surfaces.

In the event of fluctuations in the ground potential, a compensating current may flow
along the shield which is connected at both ends and to the ground potential (PE). In this
case, make adequate provision for equipotential bonding in accordance with the
relevant VDE regulations.

Bus termination

12

No bus termination is provided on the UFO electronics. External bus termination must
be used if the UFO module is used as the first or last unit in the CANopen branch. To do
this, connect the supplied 120 Ω resistor between CAN high and CAN low (terminals
X1:2 and X1:4) as well.

Manual – UFO11A Fieldbus Interface

Installation and Operation with a PC

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3

UWS21A

• The UFO is equipped with a 4-pol phone jack on its front panel. The UWS21A option
with part no. 8230773 establishes the connection to a COM interface on your PC.
Connect the desired COM of the PC with the UWS21A via the enclosed serial cable.
Connect the UWS21A to the UFO using the supplied phone cable.

Fig. 6: UWS connection

3.2 Setting the inverter parameters (MOVITRAC® 07)

• Switch on the voltage supply for the UFO and all connected inverters.

• Set an individual SBus address (P813) on the inverters. Recommendation: Assign
the addresses starting from address 1 and working in ascending order according to
the arrangement of inverters in the switch cabinet.

05901AXX

Do not assign address 0 since this is used by the UFO!

Manual – UFO11A Fieldbus Interface

13

3

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3.3 Startup software

Installation and Operation with a PC

• Install the MOVITOOLS® software package on your PC.

• Start the software. Select the COM port to which the UFO is connected and press the
"Update" button. The UFO should appear at address 0 and the connected inverters
on the following addresses. In case you do not see an entry in the window, please
check the COM interface and the connection via the UWS21. If you only see the UFO
as an entry in the window, please check the SBus cabling and the terminating
resistors.

• Select the UFO and start the startup software for the fieldbus gateway.

• Select the menu item "New configuration of fieldbus node."

• Enter your project path and name. -> Next

• Press the "Update" button. You should now see all inverters connected to the UFO.
You can customize the configuration with the "Insert", "Edit" and "Delete" buttons.

-> Next

• Press the "Autoconfiguration" button. You will now see the process image for the
UFO in your control. The process data length is displayed at the bottom. This value
is important for configuration of the fieldbus master. -> Next

• Save the project data and click the "Download" button. If you experience problems
with the download, you have probably set the DIP switch to AUTOSETUP. You need
to turn off the autosetup feature when configuring with a PC.

• You can see the data being exchanged between fieldbus master and UFO with the
process data monitor.

• You will have to enable the unit via the terminals to control the inverters via fieldbus.
You have already connected the terminals DI01 and DI02 (MOVITRAC
the first inverter with address 1 in the window "Connected units" to check the pinout.

• Repeat this step for all inverters listed in the window "Connected units."

®

07). Select

3.4 Setting the UFO DIP switches

• For project planning, set an individual CANopen address using the DIP switches on
the UFO (see Sec. "DIP Switches"). Address 0 is not permitted in CANopen.

• Set the DIP switches for the number of process data items (see Sec. "DIP Switches").
The following applies: Number of process data items = Number of connected
inverters times 3.

• Set the DIP switch for the baud rate of the CANopen bus (see Sec. "DIP Switches").

Changes to the DIP switches do not come into effect until the UFO has been switched
off and on.

14

Manual – UFO11A Fieldbus Interface

4 CANopen Interface

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4.1 Configuring the CANopen interface

General features of the CANopen interface of the UFO:

• 0 to 8 RX PDOs

• 0 to 8 TX PDOs

• Various transmission modes for the PDOs

• Length of the PDOs can be configured dynamically

•1 SDO

• Emergency message

• COB IDs for SYNC, emergency and PDOs can be configured dynamically.

• Heartbeat producer & consumer

• Guarding protocol

CANopen Interface

4

Unit states and
NMT services

The UFO supports what is referred to as the "minimum capability device". This means
the following states are supported: "pre-operational", "operational" and "prepared". In
"pre-operational" status, the device can only communicate via SDOs (see also Sec.
"CANopen Interface" / "Parameter access via SDOs"). PDOs and SDOs can be
exchanged in "operational" status; neither SDOs nor PDOs can be exchanged in
"stopped" status.

Following switch-on, the CANopen option card is always automatically in the "pre­operational" status.

Fig. 7: Status diagram for CANopen devices

05772AXX

Manual – UFO11A Fieldbus Interface

15