Vacon NX OPTC6 User Manual

vacon nx

ac drives

optc6

canopen option board

user manual

INDEX

1.

GENERAL ........................................................................................................................... 3

2.

CANOPEN OPTION BOARD TECHNICAL DATA .................................................................... 4

3.

CANOPEN ........................................................................................................................... 5

4.

CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS .................................................. 6

5.

INSTALLATION OF VACON NX CANOPEN BOARD ............................................................. 13

6.

COMMISSIONING .............................................................................................................. 16

7.

CANOPEN-VACON NX INTERFACE ................................................................................... 19

8.

Service Data (SDO) ........................................................................................................... 31

9.

Node Guarding Protocol ................................................................................................... 42

10.

Electronic Data Sheet, EDS-file ....................................................................................... 43

11.

APPENDICES .................................................................................................................... 44

Document code: DPD00896A

Date: 17.01.2012

2.1 General ..................................................................................................................................... 4

2.2 CanOpen cable .......................................................................................................................... 4

4.1 CanOpen option board .............................................................................................................. 6

4.2 Bus terminal resistors ............................................................................................................. 6

4.3 LED indications ......................................................................................................................... 7

4.4 Connection of CanOpen bus cable ............................................................................................ 8

5.1 Board information sticker ...................................................................................................... 15

7.1 CanOpen message frame ....................................................................................................... 19

7.2 Network Management (NMT) ................................................................................................. 21

7.3 Process data (PDO) ................................................................................................................. 22

7.4 Transmission types ................................................................................................................ 23

7.5 Controlling the drive via PDO messages with Drive Profile ................................................... 24

7.6 Using manufacturer specific PDOs with ByPass modes ........................................................ 27

7.7 Drive Monitoring ..................................................................................................................... 29

7.8 Anyparameter service ............................................................................................................ 30

appendix a - device profile for drives ..................................................................................................... 44

appendix b – sdo messages .................................................................................................................... 45

appendix c – process data contents ....................................................................................................... 46

appendix d .............................................................................................................................................. 47

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general vacon • 3

1

1. GENERAL

DANGER

NOTE!

[e-mail].

Vacon NX frequency converters can be connected to the CanOpen system using a fieldbus board. The
converter can then be controlled, monitored and programmed from the Host system.

The CanOpen fieldbus board shall be installed in slot E on the control board of the frequency
converter.

Internal components and circuit boards are at high potential when the frequency
converter is connected to the power source. This voltage is extremely dangerous
and may cause death or severe injury if you come into contact with it.

When experiencing problems with fieldbus functionalities, please contact

NOTE! You can download the English and French product manuals with applicable safety,
warning and caution information from www.vacon.com/downloads

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 www.vacon.com/downloads

.

.

24-hour support [phone] • Email: [e-mail]

4 • vacon canopen

2. CANOPEN OPTION BOARD TECHNICAL DATA

2.1 General

2.2 CanOpen cable

Baudrate [Kbit/s]

Max. Bus length [m]

30

CanOpen
connections

Communications CanOpen CiA DS-301

Environment The specifications of the drive are applicable.
Safety Fulfils EN50178 standard

Table 2-1. CanOpen technical data

Interface Open Style Connector (Pluggable connector, 5.08mm)
Data transfer
method
Transfer cable 2 wire twisted shielded cable
Electrical isolation 500 VDC

Baud rate 10 kBaud

Addresses 1 – 127

CAN (ISO 11898)

CiA DSP-402

20 kBaud
50 kBaud
100 kBaud
125 kBaud
250 kBaud
500 kBaud
1000 kBaud

According to the ISO 11898 standard, cables to be chosen for CAN bus lines should have a nominal
impedance of 120Ω, and a specific line delay of nominal 5 ns/m. Line termination has to be provided
through termination resistors of 120Ω located at both ends of the line. The length related resistance
should have 70 mΩ/m. All these mentioned AC and DC parameters are suitable for a 1 Mbit/s
transmission rate.

The table below shows practical bus length for CANopen networks with less than 64 nodes:

1000
800 50
500 100
250 250
125 500
50 1000
20 2500

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3

CanOpen Option Board Vacon • 5

3. CANOPEN

Velocity Mode

CANopen is a networking system based on the serial bus Controller Area Network (CAN). The
CANopen Communication Profile (CiA DS-301) supports both direct access to device parameters and
time-critical process data communication. CANopen device profiles (CiA DS-40x) define standards for
basic device functionality while providing ample scope for additional vendor-specific device features.
CANopen leashes the full power of CAN by allowing direct peer to peer data exchange between nodes
in an organised and, if necessary, deterministic manner. The network management functions
specified in CANopen simplify project design, implementation and diagnosis by providing standard
mechanisms for network start-up and error management.
CANopen supports both-cyclic and event-driven communication. This makes it possible to reduce the
bus load to a minimum but still maintaining extremely short reaction times. High communication
performance can be achieved at relatively low baud rates, thus reducing EMC problems and
minimising cable costs.
CANopen is the ideal networking system for all types of automated machinery. One of the
distinguishing features of CANopen is its support for data exchange at the supervisory control level as
well as accommodating the integration of very small sensors and actuators on the same physical
network. This avoids the unnecessary expense of gateways linking sensor/actuator bus systems with
higher communication networks and makes CANopen particularly attractive to original equipment
manufacturers.

Device Profile Drives and Motion Control (CiA DSP-402)

document represents the standardised
CANopen Device Profile for digital controlled motion products like servo controllers, frequency
converters or stepper motors. All the above-mentioned devices use communication techniques which
conform to those described in the CANopen Application Layer and Communication Profile. The
starting and stopping of the drive and several mode specific commands are executed by the
statemachine. The operation mode defines the behaviour of the drive. The following modes are
defined in this profile:

Homing Mode
Profile Position Mode
Interpolated Position Mode
Profile Velocity Mode
Profile Torque Mode
Velocity Mode

Vacon CanOpen Option Board supports the

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