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CANopen OPTE6
User Manual
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Vacon CANopen OPTE6 User Manual

vacon
ac drives
canopen option board opte6
user manual
®
vacon • 3
TABLE OF CONTENTS
Document: DPD01091C
Release date : 13092017
1. Safety...............................................................................................................5
1.1 Danger................................................................................................................................5
1.2 Warnings ............................................................................................................................6
1.3 Earthing and earth fault protection ...................................................................................7
2. CANopen option board OPTE6 - General ..........................................................8
2.1 Overview .............................................................................................................................8
2.2 Software .............................................................................................................................8
2.2.1 CAN.....................................................................................................................................8
2.2.2 CANopen.............................................................................................................................8
3. CANopen protocol description .........................................................................9
3.1 NMT ....................................................................................................................................9
3.2 Node control protocols ....................................................................................................10
3.3 Error control protocols ....................................................................................................11
3.3.1 Heartbeat protocol ...........................................................................................................11
3.3.2 Node guarding protocol ...................................................................................................12
3.3.3 EMCY object......................................................................................................................12
3.4 SDO protocol ....................................................................................................................14
3.5 PDO protocol ....................................................................................................................15
3.5.1 PDO communication parameter record ..........................................................................15
3.5.2 COB ID ..............................................................................................................................16
3.5.3 Transmission type............................................................................................................17
3.5.4 PDO parameter mapping record .....................................................................................18
3.6 SYNC protocol ..................................................................................................................19
3.6.1 SYNC with counter ...........................................................................................................19
3.7 Communication objects ...................................................................................................21
3.7.1 0X1000 - Device Type .......................................................................................................21
3.7.2 0X1001 - Error Register ...................................................................................................21
3.7.3 0X1003 - Pre-defined Error Field ....................................................................................22
3.7.4 0X1005 - COB ID SYNC .....................................................................................................22
3.7.5 0X100C - Guard Time .......................................................................................................22
3.7.6 0X100D - Life Time Factor ...............................................................................................22
3.7.7 0X1014 - COB ID EMCY.....................................................................................................23
3.7.8 0X1016 - Heartbeat Consumer Entries............................................................................23
3.7.9 0X1017 - Producer Heartbeat Time .................................................................................24
3.7.10 0X1018 - Identify Object ...................................................................................................24
3.7.11 0X1019 - Synchronous counter overflow value ...............................................................24
3.7.12 0X1029 - Error behaviour.................................................................................................25
3.8 Saving and restoring the object dictionary ......................................................................25
3.8.1 0X1010 Store parameter field ..........................................................................................25
3.8.2 0X1011 Restore default parameters................................................................................25
4. CANopen option board OPTE6 - technical data...............................................27
4.1 General.............................................................................................................................27
4.2 CAN cable.........................................................................................................................27
4.2.1 Isolated ground connection .............................................................................................28
4.2.2 Recommended cable .......................................................................................................29
5. OPTE6 layout and connections .......................................................................30
5.1 Layout and connections ...................................................................................................30
5.2 LED Indications ................................................................................................................32
5.3 Jumpers ...........................................................................................................................33
6. Installation.....................................................................................................35
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6.1 Installation in VACON® 100.............................................................................................35
6.2 Prepare for use through fieldbus ....................................................................................37
6.3 Installation in VACON® 20...............................................................................................40
6.3.1 Frames MI1, MI2, MI3 ......................................................................................................40
6.3.2 Frames MI4, MI5 ..............................................................................................................43
6.4 Installation in VACON® 20 X and 20 CP ..........................................................................47
6.5 Installation in VACON® 100 X (Frames MM4-MM6)........................................................49
7. Commissioning ..............................................................................................53
7.1 OPTE6 panel parameters.................................................................................................53
7.1.1 OPTE6 additional panel parameters................................................................................54
7.1.2 Panel parameter change reaction ...................................................................................57
7.1.3 Parameter restore ...........................................................................................................58
7.2 OPTE6 Panel Monitor Values ...........................................................................................59
7.3 Updating the firmware of OPTE6 option board................................................................60
7.4 Quick instructions for controlling the motor...................................................................64
8. CANopen option board interface .................................................................... 65
8.1 Supported drive modes....................................................................................................65
8.2 Velocity mode ...................................................................................................................66
8.2.1 PDS State machine ..........................................................................................................66
8.2.2 CiA-402 objects ................................................................................................................69
8.2.3 PDO configuration ............................................................................................................71
8.3 Bypass mode ....................................................................................................................75
8.3.1 PDO configuration ............................................................................................................75
8.4 Default process data application mapping ......................................................................79
8.4.1 FB Control Word ..............................................................................................................80
8.4.2 FB Control Word Extension (general control word) ........................................................80
8.4.3 FB Speed Reference ........................................................................................................81
8.4.4 FB Process data Input 1...8..............................................................................................81
8.4.5 FB Processdata Input mapping in application ................................................................81
8.4.6 FB Status Word ................................................................................................................82
8.4.7 FB Status Word Extension (general status word) ...........................................................82
8.4.8 FB Actual Speed...............................................................................................................82
8.4.9 FB Processdata Output 1...8 ............................................................................................83
8.4.10 FB Processdata Output mapping in application..............................................................83
8.5 VACON anyparameter service .........................................................................................85
8.5.1 Error responses ...............................................................................................................85
8.5.2 Examples..........................................................................................................................85
9. Fault tracing...................................................................................................87
9.1 Typical fault conditions ....................................................................................................87
9.2 Fieldbus timeout fault (F53).............................................................................................88
9.3 Detailed fault code ...........................................................................................................89
10. Appendix A: Object dictionary ........................................................................90
10.1 Communication segment.................................................................................................90
10.2 Manufacturer Segment....................................................................................................94
10.3 Device Profile Segment....................................................................................................95
11. Appendix B - Fieldbus parametrization .........................................................97
11.1 Fieldbus control and reference selection .......................................................................97
11.1.1 Controlling fieldbus parameter .......................................................................................98
11.2 Response to fieldbus fault ...............................................................................................99
12. Appendix C - Fieldbus Process Data mapping and scaling ...........................100
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
Safety vacon • 5
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1. SAFETY

This manual contains clearly marked cautions and warnings that are intended for your personal safety and to avoid any unintentional damage to the product or connected appliances.
Please read the information included in cautions and warnings carefully.
The cautions and warnings are marked as follows:
= DANGER! Dangerous voltage
= WARNING or CAUTION
= Caution! Hot surface

1.1 Danger

The components of the power unit are live when the drive is connected to mains potential. Coming into contact with this voltage is extremely dangerous and may cause death or severe injury.
The motor terminals U, V, W and the brake resistor terminals are live when the AC drive is connected to mains, even if the motor is not running.
After disconnecting the AC drive from the mains, wait until the indicators on the keypad go out (if no keypad is attached, see the indicators on the cover). Wait 5 more minutes before doing any work on the connections of the drive. Do not open the cover before this time has expired. After expiration of this time, use a measuring equipment to absolutely ensure that no
ensure absence of voltage before starting any electrical work!
The control I/O-terminals are isolated from the mains potential. However, the relay outputs and other I/O-terminals may have a dangerous control voltage present even when the AC drive is disconnected from mains.
Before connecting the AC drive to mains make sure that the front and cable covers of the drive are closed.
During a ramp stop (see the Application Manual), the motor is still generating voltage to the drive. Therefore, do not touch the components of the AC drive before the motor has completely stopped. Wait until the indicators on the keypad go out (if no keypad is attached, see the indicators on the cover). Wait additional 5 minutes before starting any work on the drive.
voltage is present.
Always
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vacon • 6 Safety
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1.2 Warnings

The AC drive is meant for fixed installations only.
Do not perform any measurements when the AC drive is connected to the mains.
The earth leakage current of the AC drives exceeds 3.5mA AC. According to standard EN61800-5-1, a reinforced protective ground connection must be ensured. See Chapter 1.3.
If the AC drive is used as a part of a machine, the machine manufacturer is responsible for providing the machine with a supply disconnecting device (EN 60204-1).
Only spare parts delivered by the manufacturer can be used.
At power-up, power break or fault reset the motor will start immediately if the start signal is active, unless the pulse control for
Start/Stop logic has been selected Furthermore, the I/O functionalities (including start inputs) may change if parameters, applications or software are changed. Disconnect, therefore, the motor if an unexpected start can cause danger.
.
The motor starts automatically after automatic fault reset if the auto restart function is activated. See the Application Manual for more detailed information.
Prior to measurements on the motor or the motor cable, disconnect the motor cable from the AC drive.
Do not touch the components on the circuit boards. Static voltage discharge may damage the components.
Check that the EMC level of the AC drive corresponds to the requirements of your supply network.
Wear protective gloves when you do mounting, cabling or maintenance operations. There can be sharp edges in the AC drive that can cause cuts.
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
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Safety vacon • 7
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1.3 Earthing and earth fault protection

CAUTION!
The AC drive must always be earthed with an earthing conductor connected to the earthing terminal marked with .
The earth leakage current of the drive exceeds 3.5mA AC. According to EN61800-5-1, one or more of the following conditions for the associated protective circuit must be satisfied:
0) The protective conductor must have a cross-sectional area of at least 10 mm Al, through its total run.
a) Where the protective conductor has a cross-sectional area of less than 10 mm
2
Al, a second protective conductor of at least the same cross-sectional area must be
mm provided up to a point where the protective conductor has a cross-sectional area not less than 10 mm
2
Cu or 16 mm2 Al.
b) Automatic disconnection of the supply in case of loss of continuity of the protective
conductor.
2
Cu or 1 6 mm2
2
Cu or 16
The cross-sectional area of every protective earthing conductor which does not form part of the supply cable or cable enclosure must, in any case, be not less than:
-2.5mm
-4mm
2
if mechanical protection is provided or
2
if mechanical protection is not provided.
The earth fault protection inside the AC drive protects only the drive itself against earth faults in the motor or the motor cable. It is not intended for personal safety.
Due to the high capacitive currents present in the AC drive, fault current protective switches may not function properly.
Do not perform any voltage withstand tests on any part of the AC drive. There is a certain procedure according to which the tests must be performed. Ignoring this procedure can cause damage to the product.
NOTE! You can download the English and French product manuals with applicable safety, warning and caution information from
http://drives.danfoss.com/knowledge-center/technical-documentation/.
REMARQUE Vous pouvez télécharger les versions anglaise et française des manuels produit contenant l’ensemble des informations de sécurité, avertissements et mises en garde applicables sur le site http://drives.danfoss.com/knowledge-center/technical-documentation/ .
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vacon • 8 CANopen option board OPTE6 - General

2. CANOPEN OPTION BOARD OPTE6 - GENERAL

2.1 Overview

OPTE6 is a CANopen adapter board for VACON® AC drives. The board allows the AC drive to be controlled by using the CANopen protocol. The board implements the AC drive profile with the velocity mode.
The option board firmware implements the following protocol specifications:
• CiA-301 CANopen communication specification version 4.2
• CiA-402 CANopen Profile for Drives and Motion Controller version 3.2
Device: AC drive
Operation mode: velocity mode
• CiA-303-3 CANopen indicator specification, implemented by using 2 CANopen status led indicators

2.2 Software

2.2.1 CAN

The CAN data link layer protocol is standardised in ISO 11898. The standard describes mainly the data link layer composed of the logical link control (LLC) sub layer and the media access control (MAC) sub layer, and some aspects of the physical layer of the OSI reference model.

2.2.2 CANopen

CANopen is an application layer protocol on top of the CAN bus.
The protocol specification describes:
• Set of bit rates to support
• Network Management (NMT)
• Service data transmission (SDO)
• Process data transmission (PDO)
• Error message transmission (EMCY)
• Node status monitoring (heartbeat and node guarding)
• Identity information
• Parameter saving and restoring
2
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
CANopen protocol description vacon • 9
(1)
(2) (11)
(4) (5) (10)
(7)
(3)
(14)
(13)
(12) (8) (9)
Power on or hardware reset
Pre-operational
Initialisation
Operational
Stopped
11651_uk

3. CANOPEN PROTOCOL DESCRIPTION

3.1 NMT

NMT network management manages CANopen, and is a mandatory, common feature for all devices. The protocol describes several node control services and the state machine.
1 = When the power is on, the NMT state is entered autonomously
2= The NMT state initialisation is finished, the NMT pre-operational state is entered automatically
3 = NMT service starts with remote node indication or by local control
4 and 7 = NMT service enters pre-operational indication
5 and 8 = NMT service stops remote node indication
6 = NMT service starts remote node indication
9, 10 and 11 = NMT resets node indication
12, 13 and 14 = Indication of NMT service reset communication
Boot-up protocol
After a node starts, it will enter automatically into the pre-operational state. Always when this transition occurs, a boot-up message is sent into the bus.
Table 1: Boot-up message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA 5 DATA 6 DATA7
Figure 1. NMT state machine
0x700 + Node ID
10
3
vacon • 10 CANopen protocol description

3.2 Node control protocols

Protocol start remote node
The start remote node message sets the node(s) into operational state. See Figure 1. NMT state machine. If the node ID in the message is set to ‘0’, the message affects all nodes (broadcast).
Table 2: Start remote node message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x0 0x2 0x1
NODE ID
Protocol stop remote node
The stop remote node message sets the node(s) into stopped state. See Figure 1 NMT state machine. If the node ID in the message is set to ‘0’, the message affects all nodes (broadcast). When the node is in stopped state, it will not answer to SDO or PDO messages.
Table 3: Stop remote node message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x0 0x2 0x2
NODE ID
Protocol enter pre-operational
The enter pre-operational message sets the node(s) into pre-operational state. See Figure 1. NMT state machine. If the node ID in the message is set to ‘0’, the message affects all nodes (broadcast). When the node is in pre-operational state, it will not answer to PDO messages.
Table 4: Enter pre-operational message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x0 0x2 0x80
NODE ID
Protocol reset node
The reset node message makes the node(s) apply application reset. See Figure 1. NMT state machine. Application reset sets the whole object dictionary back to the default or previously saved values. If the node ID in the message is set to ‘0’, the message affects all nodes (broadcast). After the node has made the application reset, it will enter the pre-operational state automatically from the initialising state. This also creates a boot-up event and the boot-up message is sent after the reset.
Table 5: Reset node message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x0 0x2 0x81
NODE ID
3
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
CANopen protocol description vacon • 11
Protocol reset communication
The reset communication message makes the node(s) apply communication reset. See Figure 1. NMT state machine. Communication reset does not affect the object dictionary values. If the node ID in the message is set to ‘0’, the message affects all nodes (broadcast). After the node has made the communication reset, it will enter the pre-operational state automatically from the initialising state. This also creates a boot-up event and the boot-up message is sent after the reset.
Table 6: Reset communication message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x0 0x2 0x82
NODE ID

3.3 Error control protocols

It is not allowed to use guarding protocol and heartbeat protocol on one NMT slave at the same time. If the heartbeat producer time is unequal 0, the heartbeat protocol is used.

3.3.1 Heartbeat protocol

Heartbeat protocol defines the producer and consumer. The producer node sends its NMT status that is then available for any consumer node. The consumer node is the receiver of heartbeat messages. The producer node has a timing parameter that indicates how often the heartbeat message should be sent. The consumer node has a relative parameter that indicates how often the heartbeat message should be received. If the consumer does not receive the heartbeat message within the time defined in the heartbeat object entry, an error event occurs.
Table 7: Node status description
Value Description
0x0 Boot-up
0x4 Stopped
0x5 Operational
0x7F Pre-operational
Table 8: Heartbeat message
CAN ID LENGTH DATA0 DATA 1 DATA2 DATA3 DATA4 DATA 5 DATA6 D ATA7
0x700 + Node ID
0x1 Status
Table 9: Heartbeat-related objects in OD
Index Description
0x1016 Consumer heartbeat time
0x1017 Producer heartbeat time
0x1029 Error behaviour
3
vacon • 12 CANopen protocol description

3.3.2 Node guarding protocol

Node guarding protocol is a NMT master driver protocol, where the master sends a remote transmission request, which is answered by the slave. The slave response includes one data byte that consists of a NMT slave state, and a toggle bit that toggles every response.
NOTE! The CiA application note 802 recommends that the node guarding protocol should not be used, because of different handling of RTR frames in CAN controllers.
OPTE6 option board does not have a hardware-triggered automatic response to the RTR frame. RTR information is handled by software, and the response data always consists of updated information.
Table 10: Node guarding RTR frame (remote request)
CAN ID LENGTH RTR DATA0 DATA1 DATA2 DATA3 DATA 4 DATA5 DATA6 DATA7
0x700 + Node ID
Table 11: Node guarding response
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x700 + Node ID
0x0 1
0x1 t Status
Table 12: Node guarding slave status
Status
Value Description
0x4 Stopped
0x5 Operational
0x7F Pre-operational
3
Table 13: Node guarding related objects in OD
Index Description
0x100C Guard time
0x100D Life time factor

3.3.3 EMCY object

Option board works as an EMCY producer. The EMCY object is transmitted when a fault occurs in the drive or option board. To switch off the EMCY producer, disable the EMCY COB-id by writing MSB to 1 (object 0x1014).
When an error occurs, the EMCY message is transmitted with the current value of the error register and the error code is inserted into the pre-defined error field list. The newest error code is
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
CANopen protocol description vacon • 13
always the first sub-index on the error field list. When all active errors are cleared, an empty EMCY object is transmitted.
If a drive-internal fault occurs, the MSEF field contains the drive fault code. See the application and user manual for possible fault codes. The ER field holds a bit coded value of the error type. See object 0x1001 for more details.
Table 14: EMCY message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x80 + Node ID
0x8 EEC ER MSEF
Table 15: EMCY message data fields
EEC Emergency error code
ER Error register value
MSEF
Manufacturer-specific error code
Table 16: Used EMCY error codes and description MSEF fields
DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x0000
0x1000 Drive fault codes
0x8110 -
0x8120 -
0x8130
ER
0x8140 -
3: N umb er of remai ning error s ource s
3: Heartbeat consumer subindex
4: Heartbeat consumer node-ID
0x8210 -
0x8220 -
0x8240 -
0x8250 -
Table 17: Description and behavior of different error situations
EEC Description Error behaviour Err LED
0x0000
0x1000
0x8120
0x8130
Error Reset or No Error
Generic Error
CAN in Error Passive Mode
Life Guard Error
Heartbeat Error
If MSEF field is empty all error sources are cleared and drive fault is cleared.
Drive fault codes have changed. -
EMCY is sent after CAN driver goes back to active state. This also clears the fault.
Error is reset when a RTR is received or either of the life guard objects (0x100C, 0x100D) is written to zero.
Error is reset when a HB message is received by the HB con­sumer, or the consumer entry is changed (either Node-ID or Heartbeat Time).
Single flash
-
Double
flash
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vacon • 14 CANopen protocol description
Table 17: Description and behavior of different error situations
0x8140 Recovered from Bus-Off
0x8250
PDO timer expired
EMCY is sent after CAN driver goes back to active state. This also clears the fault.
Error is cleared when a PDO is received (in expired PDO).
On
Quadruple
flash
All communication errors are reset if a reset command is given. This does not however reset drive faults if there are active error sources.
EMCYs are also created in some cases, even though a fault is not created. These are for notification only.
Table 18: Notification EMCY objects
EEC Description
0x8110 CAN overrun (objects lost)
0x8210 PDO not processed due to length error
0x8220 PDO length exceeded
0x8240 Unexpected SYNC data length
Table 19: EMCY-relate objects in OD
Index Description
0x1001 Error register
0x1003
0x1014 EMCY object COB-ID
Pre-defined error field list

3.4 SDO protocol

The Option board contains one SDO server. The SDO protocol provides a direct access to the object entries of the object dictionary of the CANopen device. Each message is acknowledged by the server. The protocol is mostly used to set and read parameters from the object dictionary at the pre-operational state. Some objects have limitations for SDO usage at the operational state.
Up to four bytes can be transferred by using the expedited transfer, where the data fits into one CAN message. For bigger than 4-byte object sizes, segmented transfer must be used. Optionally, block transfer is also possible with bigger data types. Block transfer is most efficient with big data sizes.
Table 20: SDO-related objects in OD
Index Description
3
0x1200
SDO server parameter object
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
CANopen protocol description vacon • 15

3.5 PDO protocol

Process data objects PDOs are used to transmit real-time data with no protocol overhead. Each PDO has its mapping and communication parameter record.
There are two different types of PDOs. Transmit PDOs for producing data into network and Receive PDOs for consuming data from network. OPTE6 board supports 3 receive and 3 transmit PDOs.
Table 21: PDO-related objects in OD
Index Description
0x1400 1st rxPDO communication parameter record
0x1401 2nd rxPDO communication parameter record
0x1402 3rd rxPDO communication parameter record
0x1600 1st rxPDO mapping parameter record
0x1601 2nd rxPDO mapping parameter record
0x1602 3rd rxPDO mapping parameter record
0x1800 1st txPDO communication parameter record
0x1801 2nd txPDO communication parameter record
0x1802 3rd txPDO communication parameter record
0x1A00 1st txPDO mapping parameter record
0x1A01 2nd txPDO mapping parameter record
0x1A02 3rd txPDO mapping parameter record

3.5.1 PDO communication parameter record

PDO communication parameter record defines the COB-id, transmission type and how often the PDO is transmitted. The fields can be modified during the pre-operational state.
Table 22: PDO communication parameter record
Indexes Sub-index Name Data type RX PDO TX PDO
0 Highest sub-index supported UNSIGNED8 ro ro
1 COB ID UNSIGNED32 r/w r/w 0x1400 0x1401 0x1402 0x1800 0x1801 0x1802
2 Transmission type UNSIGNED8 r/w r/w
3 Inhibit time UNSIGNED16 ro r/w
4 Reserved UNSIGNED8 ro ro
5 Event timer UNSIGNED16 r/w r/w
6 SYNC start value UNSIGNED8
Not available
r/w
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vacon • 16 CANopen protocol description

3.5.2 COB ID

COB ID determines whether the PDO is valid (active) and using 11-bit or 29-bit frames.
Table 23: COB ID
31 30 29 28 11 10 0
Valid Reserved Frame
Table 24: COB ID data fields
Bit(s) Value Description
Valid
Reserved x Not applicable
Frame
29-bit CAN-ID x
11-bit CAN-ID x
0x00000 11-bit CAN-ID
29-bit CAN-ID
0 PDO exists / enabled
1
0 11-bit CAN-ID valid
1 20-bit CAN-ID valid
PDO does not exist / disabled
29-bit CAN-ID of the CAN extended frame
11-bit CAN-ID of the CAN base frame
3
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
CANopen protocol description vacon • 17

3.5.3 Transmission type

Table 25: PDO transmission types
Value Description
0x00
0x01
0x02
0x03
0x04
... ...
0xF0
0xF1
... ... - -
0xFB
0xFC
0xFD
0xFE
Synchronous (acyclic)
Synchronous (cyclic every sync)
Synchronous (cyclic every 2nd sync)
Synchronous (cyclic every 3rd sync)
Synchronous (cyclic every 4th sync)
Synchronous (cyclic every 240th sync)
Reserved
Reserved
RTR-only (synchronous)
RTR-only (Event-driven)
Event-driven (manufacturer-specific)
Receive PDO
XX
X
1
X
1
X
1
X
1
X
1
X
1
--
--
-X
-X
XX
Transmit PDO
X
X
X
X
X
X
0xFF
For receive PDO, each sync transmission mode equals the same. Each sync always activates the latest
1
Event-driven (device and application profile)
XX
received PDO value.
Synchronous means that the PDO is transmitted after the SYNC. The CANopen device starts sampling the data with the reception of the SYNC. If the transmission mode of the PDO is acyclic, the CANopen device gives an internal event, the sampling starts with the next SYNC and the PDO is transmitted afterwards. If the transmission mode is cyclic, the sampling starts with the reception of every SYNC, every second SYNC, every third SYNC etc. depending on the given value, and the PDO is transmitted afterwards.
RTR-only means that the PDO is requested via RTR. If the transmission mode of the PDO is synchronous, the CANopen device starts sampling with the reception of every SYNC and will buffer the PDO. If the mode is event-driven, the CANopen device starts the sampling with the reception of the RTR and transmits the PDO immediately.
Event-driven means that the PDO can be transmitted at any time based on the occurrence of the internal event of the CANopen device. An event that triggers the OPTE6 transmission occurs when the data mapped into the PDO is changed. Also, an event timer can be used to create transmit events.
Inhibit time
For transmit PDOs, the inhibit time defines the minimum transmission interval, when 0xFE or 0xFF transmission types are selected. For receive PDOs, the inhibit time is disabled. The inhibit time is 16bit unsigned value that is given as multiple of 100μs. Zero value means that the inhibit time is disabled.
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vacon • 18 CANopen protocol description
Event timer
For a transmit PDO event, the timer defines the maximum interval between the transmissions, if the transmission type is set to 0xFE or 0xFF.
For a receive PDO event, the timer activates the deadline monitoring. The deadline monitoring is activated at the first received PDO. If the time between the after the last PDO received is longer than defined in the event timer, a fault will occur.
Event timer is 16bit unsigned value that is given as multiple of 1ms. Zero value means that the event timer is disabled.
Sync start value
Sync start value gives the possibility to compensate network peak traffic in case of sync transmission mode. If the sync start value is zero, the normal sync behaviour for the PDO is used. If the sync start value is greater than zero, the PDO waits for the SYNC message that contains the counter value. When the counter value of a SYNC message equals the SYNC start value, the first SYNC message is regarded as received. The sync start value must not be changed while the PDO exists. See the SYNC message format in Table 29.

3.5.4 PDO parameter mapping record

Each PDO consists of a maximum of 8 bytes of mapped data. To data map the PDO, use a corresponding mapping record that consists of index, sub-index and the length of the mapped object.
Table 26: PDO mapping structure
31 16 15 8 7 0
Index Sub-index Length
Table 27: PDO mapping parameter record
Indexes Sub-index Name Data type Access
0x1600 0x1601 0x1602 0x1A00 0x1A01 0x1A02
0
1
2
3
4
Number of mapped objects in PDO
1st object to be mapped UNSIGNED32 r/w
2nd object to be mapped UNSIGNED32 r/w
3rd object to be mapped UNSIGNED32 r/w
4th object to be mapped UNSIGNED32 r/w
UNSIGNED8 r/w
3
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CANopen protocol description vacon • 19
To data map the PDOs, first disable the related PDO COB ID in the pre-operational state. In the mapping structure, write the sub-index 0 to zero (number of mapped objects). Then write the mapping structures on the mapping parameter record, starting from the sub-index 1. When you have written all the necessary structures, write the sub-index 0 to correspond to the mapped objects.
Example on how to write a dummy object to RPDO1 4th entry (when using Bypass mode) is explained below:
Table 28. RPDO mapping example
Transfer data (hex) Interpretation
23 00 14 01 2F 00 16 00
23 00 16 04
2F 00 16 00 23 00 14 01
01 02 00 80 Write RPDO1 COB-ID (1400:01) to invalid (0x8000 0201) 00 00 00 00 Write RPDO1 mapping number of entries (1600:00) to 0
10 00 06 00
Write RPDO1 4
th
entry (1600:04) to Dummy object (00060010) 04 00 00 00 Write RPDO1 mapping number of entries (1600:00) to 4 01 02 00 00 Write RPDO1 COB-ID (1400:01) as valid (0x201)

3.6 SYNC protocol

Sync protocol is used by PDOs when the transmission is synchronous. The sync object that is defined by COB ID in the object 0x1005 triggers the transmission of the txPDOs, or activates the previously received data of the rxPDO. At the default sync message the CAN-ID is 0x80. The sync message is a zero-length message but optionally it can consist of an 8bit counter.
Table 29: SYNC message
CAN ID LENGTH
0x80 0x0
Table 30: SYNC message with counter
CAN ID LENGTH DATA0
0x80 0x1 Counter

3.6.1 SYNC with counter

When a counter is used in a sync message, the PDOs that have a defined sync start value compare the value against the sync message counter. The sync producer counter will overflow after it reaches the value defined in its ‘synchronous counter overflow value’ at the object 0x1019. Also, the sync consumer has the object 0x1019 even when the value itself is ignored. When the value of the sync consumer is greater than zero, the sync counter handling and expecting of the sync messages with counter are activated.
When the sync start value and the sync counter value match, the first sync message is regarded as received.
The following figure shows an example of SYNC messaging, when the slave is configured with:
• 0x1019 - Synchronous counter 128
• 0x1800,2 - Transmission type = 2 (Cyclic, No. of SYNCs = 2)
• 0x1800,6 - Sync start value = 4
3
vacon • 20 CANopen protocol description
(1) (2) (3) (4) (5) (6) (7) (8)
SYNC
time
txPDO
Figure 2. txPDO responses to SYNC messages
Table 31: Sync-related object in OD
Index Description
0x1005 COB ID SYNC
0x1019 Synchronous counter
0x1014 EMCY object COB ID
0x1400 1st rxPDO communication parameter record
0x1401 2nd rxPDO communication parameter record
0x1402 3rd rxPDO communication parameter record
0x1800 1st txPDO mapping parameter record
0x1801 2nd txPDO mapping parameter record
0x1802 3rd txPDO mapping parameter record
3
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CANopen protocol description vacon • 21

3.7 Communication objects

3.7.1 0X1000 - Device Type

The device type object indicates basic information about the device, including the supported device profile and the profile settings.
Table 32: 0x1000 Device type
Index Sub-index Value Name Data type Access
0x1000 - 0x00010192 Device type UNSIGNED32 const
Value description:
0x0192 = 402 (Drive profile)
0x0001 = AC drive with PDO set for a generic drive device

3.7.2 0X1001 - Error Register

Error register indicates the active error code.
Table 33: 0x1001 Error register
Index Sub-index Value Name Data type Access
0x1001 - 0x0 Error register UNSIGNED8 ro
Table 34: Error register bit descriptions
Bit Meaning
0 Generic error
1Current
2Voltage
3Temperature
4 Communication error (overrun, error state)
5 Device profile-specific*
6Reserved*
7 Manufacturer-specific*
* Not used/supported
3
vacon • 22 CANopen protocol description

3.7.3 0X1003 - Pre-defined Error Field

Pre-defined error field is a list of errors signaled with an EMCY object, listing the error history of up to 9 error entries. Sub-index 1 contains the latest error.
Table 35: 0x1003 Pre-defined error field
Index Sub-index Value Name Data type Access
00x0
10x0
0x1003
.. .. .. .. ..
90x0
Number of errors
Sta ndard error field
Sta ndard error field
UNSIGNED8 ro
UNSIGNED32
UNSIGNED32
ro
ro

3.7.4 0X1005 - COB ID SYNC

Defines the synchronisation message COB ID. Receiving the sync message causes actions in the PDOs that have a synchronous transmission mode.
Table 36: 0x1005 COB ID sync
Index Sub-index Value Name Data type Access
0x1005 - 0x00000080 COB ID sync UNSIGNED32 r/w

3.7.5 0X100C - Guard Time

The object contains the guard time in milliseconds. As a default, guarding is disabled.
Table 37: 0x100C Guard time
Index Sub-index Value Name Data type Access
0x100C - 0x0000 Guard time UNSIGNED16 r/w

3.7.6 0X100D - Life Time Factor

Life time factor is used together with guard time, which is multiplied with the life time factor.
Table 38: 0x100D Guard time
Index Sub-index Value Name Data type Access
0x100D - 0x00 Guard time UNSIGNED8 r/w
Node life time = life time factor x guard time. If node life time is zero, guarding is disabled.
3
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CANopen protocol description vacon • 23

3.7.7 0X1014 - COB ID EMCY

The object defines the emergency message COB ID.
Table 39: 0x1014 COB ID EMCY
Index Sub-index Value Name Data type Access
0x1014 -
0x00000080+ node id
COB ID EMCY UNSIGNED32 r/w
Setting MSB (bit 31) to 1 will disable sending of EMCY messages.

3.7.8 0X1016 - Heartbeat Consumer Entries

The device can act as the heartbeat consumer. Up to 8 devices can be monitored, as defined in the table below. If the heartbeat transmission delay of a defined node ID exceeds the heartbeat time, the error behaviour is activated according to the error behaviour object.
Table 40: 0x1016 Heartbeat consumer entries
Index Sub-index Value Name Data type Access
0 0x08 Number of entries UNSIGNED8 ro
1 0x0000 0000
2 0x0000 0000
3 0x0000 0000
Consumer heart beat time 1
Consumer heart beat time 2
Consumer heart beat time 3
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
Consumer heart beat time 4
Consumer heart beat time 5
Consumer heart beat time 6
Consumer heart beat time 7
Consumer heart beat time 8
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
0x1016
4 0x0000 0000
5 0x0000 0000
6 0x0000 0000
7 0x0000 0000
8 0x0000 0000
Table 41: Consumer heartbeat time entry
31 24 23 16 15 0
Not used, must be zeroes.
Node ID Heartbeat time
3
vacon • 24 CANopen protocol description

3.7.9 0X1017 - Producer Heartbeat Time

Heartbeat producer object consists of the time in milliseconds (ms) that it takes to transmit the heartbeat message into the network. If the value is zero, the heartbeat is not used.
Table 42: 0x1017 Producer heartbeat time
Index Sub-index Value Name Data type Access
0x1017 - 0x0000
Table 43: Heartbeat message
CAN ID LENGTH DATA0
0x700 + node 0x1 Node state
Producer heartbeat time
UNSIGNED16 r/w

3.7.10 0X1018 - Identify Object

The object gives information about the option board
Table 44: 0x1018 Identify object
Index Sub-index Value Name Data type Access
0 0x04 Number of entries UNSIGNED8 ro
1 0x90 Vendor ID UNSIGNED32 ro
0x1018
2 - Product code UNSIGNED32 ro
3 - Revision number UNSIGNED32 ro
4 - Serial number UNSIGNED32 ro

3.7.11 0X1019 - Synchronous counter overflow value

The synchronous counter overflow value defines whether a counter is mapped into the SYNC mes­sage, as well as the highest value the counter can reach. 0 disables the sync counter.
Table 45: 0x1019 Synchronous counter
Index Sub-index Value Name Data type Access
0x1019 - 0x00
Synchronous counter
UNSIGNED8 r/w
3
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CANopen protocol description vacon • 25

3.7.12 0X1029 - Error behaviour

Error behaviour allows a change in the default error behaviour if there is a communication error.
Table 46: 0x1029 Error behaviour
Index Sub-index Value Name Data type Access Min Max
0 0x01 Number of entries UNSIGNED8 ro 2 2
0x1029
1 0x00 Communication error UNSIGNED8 r/w 0 2
2 0x01 Internal error UNSIGNED8 r/w 1 1
Table 47: Error behaviour
Value Description
0 Pre-operational
1 No change in state
2 Stopped
3..127 Reserved

3.8 Saving and restoring the object dictionary

CANopen defines a way of restoring the values in an object dictionary to the defaults and saving the values if the modified values must be valid after the power cycle. The manufacturer-specific bypass configuration can be restored to the object dictionary.

3.8.1 0X1010 Store parameter field

To save the object dictionary, use the object 0x1010 ‘Store Parameter Field’.
The option board only saves the parameters in the object dictionary with a command. Autonomous saving is not supported. To save the parameters in the object dictionary, write the value 0x65766173 (ASCII “save”) into the sub-index by using the SDO protocol.
Table 48: 0x1010 Store parameter field
Index Sub-index Name Data type Access
0x1010
0
1 Save all parameters UNSIGNED32 r/w
Highest sub-index supported
UNSIGNED8 ro

3.8.2 0X1011 Restore default parameters

The object values of the object dictionary are restored to defaults by using the object 0x1011. Option board supports restoring All parameters (sub index 1) and manufacturer-specific Bypass mode de­faults (sub index 4).
3
vacon • 26 CANopen protocol description
To restore parameters, write 0x64616F6C (ASCII "load") into the sub-index by using the SDO protocol. Default object values are selected after reset. Restore all default parameter restores CiA­402 default parameters (refer to Chapter 8.2.2.2). Bypass parameter set is described in Chapter 8.3.
Table 49: 0x1011 Restore default parameters
Index Sub-index Name Data type Access
0 Highest sub-index supported UNSIGNED8 ro
Restore all default parameters
Restore bypass parameter set*
Restore Puller parameter set
Restore Co-Extruder param­eter set
UNSIGNED32 r/w
UNSIGNED32
UNSIGNED32
UNSIGNED32
r/w
r/w
r/w
0x1011
1
4
5
6
* The bypassed set disables the CIA- 402 drive profile and resets the PDO mapping to the vendor specific
configuration. See Chapter 8.2 and Chapter 8.3 for more information.
3
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CANopen option board OPTE6 - technical data vacon • 27

4. CANOPEN OPTION BOARD OPTE6 - TECHNICAL DATA

4.1 General

Table 50. Technical data of CANopen opt ion board
CAN bus electrical isolation
Ambient temperature
Storing temperature As specified in drive specification (-40°C … 70°C)
Humidity 0-95%, non-condensing, corrosive
Vibration and electrical safety
Emission C2 level, EN 61800-3 (2004)
Immunity C2 level, EN 61800-3 (2004)
CAN Interface
500 VDC
As specified in drive specification (-10°C … 40°C)
EN 61800-5-1 (2007) 5… 15.8 Hz 1mm (peak)
15.8 ...150 Hz 1 G
Isolation
Protection
2500 V rms isolation with a less than 10-ns propagation delay
±8kV ESD IEC 61000-4-2 Contact Discharge ±80V Fault Protection greater than ±12V common Mode Range

4.2 CAN cable

The recommended cables for installations are 4 wires twisted and a shielded cable with an impedance of 120 Ohm. The network topology is a 2-wire bus line that is terminated at both ends by resistors representing the characteristic impedance of the bus line. The typical CAN cable impedance is 120 Ohm, and so for the termination resistors of ~120 Ohm must be used. For long networks a higher resistor value must be used (150-300 Ohm).
Table 51. Bus parameter relation to cable length
Cable length Max bit rate [kbit/s]
0-40 m 1000 Max 70
100 m 500
500 m 100
1 km 50
Max cable resistance
[m
Ω/m]
<60
<40
<26
4
vacon • 28 CANopen option board OPTE6 - technical
E6 Option Board E6 Option Board E6 Option Board
9384.emf
E6 Option Board E6 Option Board Non isolated node
9385.emf

4.2.1 Isolated ground connection

The OPTE6 option board is galvanically isolated. In CANopen networks that are completely galvan­ically isolated the CAN ground signal is carried in the cable line. It is connected at only one point into common ground potential. If one CAN device with not galvanically isolated interface is connect­ed to the network, the potential for isolated CAN ground is given. Therefore only one device with not galvanically isolated interface may be connected to the network.
Figure 3. Completely isolated nodes
Figure 4. CAN network with one non-isolated node
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
4
CANopen option board OPTE6 - technical data vacon • 29

4.2.2 Recommended cable

For all OPTE6 installations the use of 4-wire cable is recommended. 4 wires enable the connection of isolated digital grounds with nodes.
VACON
UNITRONIC
Colour-coded in accordance with DIN 47100
Table 52. Cable thickness, length and baud rate relation
®
recommends the following cable:
®
BUS CAN FD P
Figure 5. Recommended cable
Bit rate Min cable thickness
1 Mbit/s 0.25 500 kbit/s 0.25 0.34 250 kbit/s 0.25 0.34 0.6 125 kbit/s 0.25 0.34 0.6 100 kbit/s 0.25 0.34 0.6 0.6
50 kbit/s 0.25 0.34 0.6 0.6
Cable
length
25 100 250 500
4
vacon • 30 OPTE6 layout and connections
M/N A N/M
1 2 3 4 5
6
7
product code
serial no.
9338A_00
Pin 1
Pin 5
9340.emf

5. OPTE6 LAYOUT AND CONNECTIONS

5.1 Layout and connections

OPTE6 has two different hardware revisions with slightly different layout. Layout is different in LED arrangement and termination resistor orientation.
The two hardware revisions are marked with different product codes, and this product code can be located from the sticker on the top side (location marked in Figure 6).
The two hardware revisions are named 70CVB01605 and 70CVB01124.
1 = CAN GND (isolated digital ground reference) 2 = CAN L 3 = SHIELD (shield connector) 4 = CAN H 5 = NC (No connection) 6 = Grounding option jumper 7= Bus termination resistor
5
Figure 6. OPTE6 board layout
Figure 7. CAN connector
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
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