CANopen Communications Module CB16 · 2015-01-21 · 6.5. CONTROLWORD 6040h ... Figure 5-1: CB16 Front Panel Mounting ... Trained and authorised to energise, de-energise, clear, ground

Operating Instructions forCANopen Communications Modulefor Siemens MICROMASTER Vector /MIDIMASTER Vector (6SE32…)General Purpose Inverters.

CANopen Communications ModuleCB16

Operating Instructions

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English CONTENTS

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List of Contents

WARNING AND CAUTION NOTES 5

FOREWORD 6

1. GENERAL 6

2. INFORMATION SOURCES 6

3. OVERVIEW 73.1. Product Description and Features ..................................................................................................... 73.2. Application on a CANopen network ................................................................................................... 7

4. INSTALLATION 84.1. Connecting the Bus Cable ................................................................................................................. 84.1.1. Terminals................................................................................................................................. 84.1.2. Bus Cabling ............................................................................................................................. 94.2. EMC Measures .................................................................................................................................. 94.2.1. Shielding.................................................................................................................................. 94.2.2. Equipotential Bonding ............................................................................................................. 94.2.3. Cable Installation..................................................................................................................... 94.2.4. Inverter Installation.................................................................................................................. 94.3. CAN Bus Termination ...................................................................................................................... 10

5. DEVICE MOUNTING 11

6. STEP BY STEP PROCEDURE FOR SETTING UP THE CB16 126.1. Before starting.................................................................................................................................. 126.2. Getting Started Procedure ............................................................................................................... 126.3. Running an Inverter with CAN for the First Time............................................................................. 136.3.1. Test CAN communication ..................................................................................................... 136.3.2. Using SDO messages:.......................................................................................................... 136.3.3. Using PDO messages:.......................................................................................................... 146.4. Running an Inverter with CAN following Power Failure ................................................................... 156.5. CONTROLWORD 6040h..................................................................................................................... 166.6. STATUSWORD 6041h ........................................................................................................................ 166.7. Speed............................................................................................................................................... 17

7. PARAMETER INFORMATION 187.1. Local / Remote Control .................................................................................................................... 187.2. System Parameters ......................................................................................................................... 187.2.1. CAN communication related parameters in the drive ........................................................... 187.2.2. CANopen Parameter Set ...................................................................................................... 197.2.3. Fault codes............................................................................................................................ 207.2.4. Process Data Objects (PDO) for CB16................................................................................. 207.2.5. Service Data Objects (SDO) for CB16.................................................................................. 217.2.6. Inverter Parameter Access via CANopen ............................................................................. 217.2.7. CB16 Performance Times..................................................................................................... 217.2.8. Network Management Services ............................................................................................ 217.2.9. Layer Management Services ................................................................................................ 217.2.10. Distribution Control Services................................................................................................. 227.2.11. Synchronisation Messages ................................................................................................... 227.2.12. Emergency Messages........................................................................................................... 227.2.13. Explanation of CAN Parameters ........................................................................................... 237.2.14. Additional Inverter Parameters ............................................................................................. 24

English CONTENTS

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List of Contents

8. REFERENCE : CANOPEN OBJECTS 258.1. Supported CANopen Objects........................................................................................................... 258.2. Emergency messages ..................................................................................................................... 25

9. EXAMPLES OF CANOPEN MESSAGES 26

List of FiguresFigure 4-1: CB16 CANbus Connections ....................................................................................................... 8Figure 5-1: CB16 Front Panel Mounting ..................................................................................................... 11Figure 6-1: CB16 Getting Started Procedure.............................................................................................. 12Figure 7-1: Standard CANopen Boot - up................................................................................................... 22

List of TablesTable 4-1 : CB16 CANbus Transmission Rates and Cabling ....................................................................... 9Table 6-1 : CB16 CANbus Pre - start Checks ............................................................................................ 12Table 6-2 : CB16 Control word ................................................................................................................... 16Table 6-3 : CB16 Status word..................................................................................................................... 16Table 7-1 : CB16 CANopen Parameter Set................................................................................................ 20Table 7-2 : Process Data Object (PDO) for CB16 ...................................................................................... 20Table 7-3 : CB16 CANbus Baudrate........................................................................................................... 23

English WARNINGS AND CAUTIONS

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WARNING AND CAUTION NOTES

WARNINGHazardous voltages are present in this electrical equipment during operation.Non-observance of the safety instructions can result in severe personal injury ordeath.Only qualified personnel should work on or around this equipment after becomingthoroughly familiar with all warnings, safety notices and maintenance procedurescontained herein.The successful and safe operation of this equipment is dependent on proper handling,installation, operation and maintenance.

Definitions-Qualified Person

For the purposes of this manual and product labels, a qualified person is one who is familiarwith the installation, construction, operation and maintenance of this equipment and with thehazards involved. In addition, the person must be:

(1) Trained and authorised to energise, de-energise, clear, ground and tag circuitsand equipment in accordance with established safety practices.

(2) Trained in the proper care and use of protective equipment in accordance withestablished safety practices.

(3) Trained in rendering first aid.

-DANGERFor the purposes of this manual and product labels, DANGER indicates that loss of life,severe personal injury or substantial property damage WILL result if proper precautions arenot taken.

-WARNINGFor the purposes of this manual and product labels, WARNING indicates that loss of life,severe personal injury or substantial property damage CAN result if proper precautions arenot taken.

-CAUTIONFor the purposes of this manual and product labels, CAUTION indicates that minor personalinjury or property damage CAN result if proper precautions are not taken.

-NoteFor the purposes of this manual, and product labels, Notes merely call attention toinformation that is especially significant in understanding and operating the drive.

English FOREWORD

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FOREWORD

1. GENERALThe purpose of this document is to describe the functionality and the use of the CANopenCommunication Module (CB16) for the MICROMASTER Vector / MIDIMASTER Vector(6SE32 products). The information is intended for the end-user as operating manual and as atechnical reference manual.

It is asssumed that the user of this manual has a prior knowledge of CANopen standards andterminology. A list of the relevant standards documents are detailed in Section 2.

IMPORTANT

2. INFORMATION SOURCESAs reference material the following documents can be used:

1. CAN Controller Area Network (CAN) for high speed communication ISO-DIS118982. Can Physical Layer DS 102 Version 2.0 dated 20 April 1994 (CiA)3. CAL-based Communication Profile for industrial systems. DS 301 Version 3.0 dated

October 1996. (CiA)4. Device Profile for Drives and Motion Control DS402 Version 1.0 dated May 1997. (CiA)5. MICROMASTER / MIDIMASTER Vector Operating instructions Ref.: 6SE3286-4AB66

(Release 04/08/99).

Technical Data, selection and ordering data (order numbers), accessories & availabilityare subject to change without prior notice.

English OVERVIEW

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3. OVERVIEW3.1. Product Description and Features

The CANopen module is a device that allows control and parameterisation of an inverter on a CANopennetwork or fieldbus. The module is suitable for use with the MICROMASTER Vector and MIDIMASTERVector 6SE32 product range.

Features• Retains the ability to access the internal parameter set of the inverter.• Allows high speed cyclical and acyclical communication over a CANopen network.• Ability to control up to 100 inverters using the CANopen protocol.• Provides open communication conforming to all relevant aspects of DS301 version 3.0 and DS402

version 1.0 as defined by the CAN in Automation Group (CiA). It may be used with any otherCANopen compliant peripheral on the bus.

• Easy to install.• Easy to configure with CANopen network configuration tools (Electronic Datasheet included).• Output frequency (and hence motor speed) can be controlled by one of five methods:

(1) Digital frequency setpoint.(2) Analogue setpoint (voltage or current input).(3) Motor potentiometer.(4) Fixed frequency.(5) Remote data transmission via the CANopen network.

The RS485 serial link is not available while the CB16 is connected to the inverter.

IMPORTANT

3.2. Application on a CANopen networkCANopen is defined as a draft standard in DS102 and DS301. The CB16 is a Class 2 CANopen Slaveand meets the requirements of DS402. Data communication with the CB16 conforms to the specificationsin the DS402 `Device Profile for Drives and Motion Control' guideline. This defines the user data structurethrough which the drives can be accessed. The user data structure is subdivided into two areas that canbe transmitted in each message frame:

Process Data Objects (PDO)PDOs are used for communicating the speed and drive status. PDOs are designed for real-time messageprocessing. Two PDOs are mandatory according to DS402. In addition to these two, there are threeadditional PDOs implemented in the CB16.

Service Data Objects (SDO)SDOs are used for communicating drive parameters that are not implemented as PDO, for reading outfaults or information on the attributes of a parameter, such as minimum/maximum limits, etc.

For more Parameter information, see chapter 7 of this document.

English INSTALLATION

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7

6

8

9

2

3

4

CANLow

Shield

CANHigh

5

4. INSTALLATION

Incorrect operation of the serial bus system can lead to an inverter being switched onCommissioning work must only be carried out by personnel who are qualified in installingsystems. Additionally, the guidelines associated with the installation of the inverter itselffollowed (see section 2 of the inverter's

)

WARNING

Fix the CB16 to the front of the inverter by mating the D-type connectors together and then securing inposition by pressing the module onto the inverter. The CB16 is powered directly from the inverter andtherefore needs no additional external supply.

The inverter must be switched off before the CB16 is either connected ordisconnected.

SAFETY NOTE

4.1. Connecting the Bus Cable

4.1.1. TerminalsThe CAN connection must be made using the D-type plug on the front of the CB16. Connections to thisplug are as follows:

Pin 2 CAN Low connectionPin 7 CAN High connection

Additionally, the cable shield should be connected tothe shell of the D-type connector, which is connectedto protective earth via the CB16 and inverter. Theconnector must be screwed securely to the CB16 to ensure bothmechanical strength and earth continuity.

Figure 4-1: CB16 CANbus Connections

Notes1. As the network nodes must be 'daisy-chained' together (except for the stations at either

end of the bus), there must be two cables into the D-type connector - one from theprevious station and one to the next station.

2. Typical D Type Bus Connectors : ERbicCAN connector Type No.: 103 668

3. Typical Bus Cable: JobarcoFlex CKYMax temp 70dec.C, 2x2 STP

This bus topology means that a station may be disconnected from the bus or powered down while stillconnected without affecting bus operation.


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4.1.2. Bus CablingThe maximum allowed cable length depends on the configuration of the network. Cable and connectionquality and the type of transceiver circuit that is used on the different network nodes restrict the length.The following table can be used as a guideline for maximum allowed cable length.

CAN Bitrate Max. Cable length1Mbit/s 40m.500 kbit/s 100m.250 kbit/s 250m.125 kbit/s * 500m.50 kbit/s 1200m.20 kbit/s 1200m.10 kbit/s ** 1200m.

* Most Commonly Used Bus Speed -recommended** CIA Recommended Bus Speed – (drive default)

Table 4-1 : CB16 CANbus Transmission Rates and Cabling

4.2. EMC Measures

The following measures are required for interference-free operation of a CAN network.

4.2.1. ShieldingThe conductors of the bus cables must be twisted together, shielded and installed separately from thepower cables with a minimum clearance of 200 mm. The shield for the bus cable should be connected toprotective earth at both ends. For the CB16, this is achieved using the P-clip provided with the module asshown in the enclosed instruction sheet.Bus and power cable crossings should be installed at an angle of 90º.

4.2.2. Equipotential BondingIf the cable shields are earthed at different sections of the system then equipotential bonding cables canbe used to reduce current flow in the screen between the network nodes.The following equipotential cables are recommended:

16 mm2 Cu for equipotential bonding conductors up to 200 m in length25 mm2 Cu for equipotential bonding conductors over 200 m in length

Use a large contact surface connection between the equipotential bonding conductors and the protectiveground conductor.

4.2.3. Cable InstallationObserve the following rules when installing cables:

• Bus cables (signal cables) may not be installed directly adjacent to power cables.• Signal cables (and equipotential bonding cables) should be connected across the shortest

possible path.• Power cables and signal cables must be installed in separate cable runs.• Shields should have large contact surface connections.

4.2.4. Inverter InstallationRefer to section 1.2 of the Inverter Operating Instruction Manual. A good EMC earth connection is veryimportant for MICROMASTERs as no earthing takes place via the plastic case.


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4.3. CAN Bus TerminationFor interference-free operation of the CAN network, the bus cable must be terminated at both ends withbus terminating resistors. The bus cable from the first CAN node to the last device in the network shouldbe treated as a single bus cable, so that the CAN network should be terminated twice.

NoteEnsure that you only connect the bus terminator to the first network station and the last networkstation.

English DEVICE MOUNTING

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5. DEVICE MOUNTING

The CB16 is mounted on the front panel of the MM3V Inverter (Frame Size A).

Jog

O

I

P

Figure 5-1: CB16 Front Panel Mounting

MICROMASTERInverter

CB16 Module FrontPanel Mounted

Female 9-pinD - Type Connector

English SETTING UP THE CB16

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6. STEP BY STEP PROCEDURE FOR SETTING UP THE CB166.1. Before startingPlease make the following pre-requisite checks:Item Pre-Requisite Expected result1 The Inverter is of type MICROMASTER Vector /

MIDIMASTER VectorOrder Number: 6SE32…..

2 Inverter Software version (Check Param.922= xx.yy) For 6SE32 : ≥ V2.043 Issue no. of the CB16 (at the backside) It should be issue B or laterPlease determine the following CANopen settingsItem CANopen Settings Proposal1 What is the selected CANopen Bus speed? 125k most commonly used2 What is the preferred module (node) ID number? No. 1 suggested3 Is more than one module to be configured? Ensure ID no.’s are different

Table 6-1 : CB16 CANbus Pre - start Checks

6.2. Getting Started ProcedureAssumptionsIn the following procedure steps it is assumed thata) all parameters, start/stop control and motor speed will be accessible via CAN.b) speed and start stop control is set by PDO’s.c) The module identifier = 1.

Note : ‘Module’ ID is the same as ‘Node’ ID (CANopen Terminology)

Figure 6-1: CB16 Getting Started Procedure

Connect power to the drive

Reset parameters back tofactory default values

P944 = 1

Enable access to allparameters

P009 = 3

Connect motor and setmotor parameters (seeInverter manual)

ParameterP080 …P085

Give access to CAN-parameters

P99 = 2

Activate a receive PDO todefault value [identifier769]

P903 = 1

Activate a transmit PDO todefault value [identifier 641]

P904 =1

Set CAN Module ID no. = 1 P918 = 1

Set Receive PDO timer to120 ms

P909 =120

Set CAN speed on 125k P906 =5

Transmit a PDO after achange of content (speedor status)

P966 = 1

Activate CAN module (togo on the CANbus)

P960 = 1

Allow drive control andspeed via CAN

P928 = 1

Allow parameter access viaCAN

P927 = 1


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Notes:

• Changing parameters via keypad is only possible after putting back P927 = 0.• If CAN related parameters are changed, the changes will only be effective after the CAN module is

(re)activated - ie P960 has to be changed from 0 to 1.• As a simple check for communication between the CB16 and the inverter, disconnect the CB16 from

the front of the inverter – within a few seconds, the error message F031 should be displayed.

6.3. Running an Inverter with CAN for the First Time

When the Inverter and CB16 are being set up for the first time, there are some standard initialisationmessages which are sent to the CB16, which are detailed below:

6.3.1. Test CAN communication

a) Send a test SDO message

The operation of the CB16 module can be checked by sending the following SDO test message. If theCB16 has already been initialised, the response message shown will be returned onto the bus, showingthat the CB16 is available for SDO communication:

Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 RemarkTest Message: Read Parameter Value

60xhex* 8 40 0D 20 00 00 00 00 00 Receive SDO Test message :

Response :58xhex * 8 42 0D 20 00 00 00 ?? ?? Transmit SDO Response message

* x relates to the respective CB16 Node address.

6.3.2. Using SDO messages:The following SDO messages are transmitted onto the CANopen bus. These messages provide thefollowing commands:

Procedure to Ramp up the inverter:a) Initialiseb) Startc) Set the Speed Setpoint of the Inverterd) Stop

Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 RemarkWrite Parameter Value

60xhex * 8 22 40 60 00 00 00 7E 0C Control(6040) = 0C7Ehex Initialise /Stop60xhex * 8 22 40 60 00 00 00 7F 0C Control(6040) = 0C7Fhex Start60xhex * 8 22 40 60 00 00 00 23 01 Speed Reference(6042) = 123hex (RPM)60xhex *

(1537 dec)

8 22 40 60 00 00 00 7E 0C Control(6040) = 0C7Ehex Initialise /Stop


Notes:• For CANopen, words are given in Motorola format. Ie the Most Significant Byte is on right of the Least Significant Byte.)• For explanation and decoding of the CONTROL- and STATUS- WORDs, refer to Sections 6.5 / 6.6 below

For transmit SDO, the CAN message identifier is always based on the node ID. :Message ID = 600hex + P918 (1536 + node id)

For the reply SDO, the following message identifier is received:Message ID = 580hex + P918 (1408 + node id)


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6.3.3. Using PDO messages:

PDO messages can only be used when the CANopen module has entered the ‘Operational’state. To enter this state the Network Management (NMT) messages ‘Enter Pre-operationalState’ and ‘Start Node’ must be sent.

NOTE

a) Send NMT Messages

If the procedure described in section 6.3.1 part b) above has been followed, it will not be necessary to send thefollowing NMT messages, as the CB16 will already be in ‘Operational’ state.

Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remarkwrite Node ID Value

000 2 81 01 RESET Node000 2 80 01 Enter Pre-operational State000 2 01 01 Start Node

b) Send PDO Messages

The following PDO messages are transmitted onto the CANopen bus. These messages provide thefollowing commands:

Procedure to Ramp up the inverter:a) Initialiseb) Start & Speed Referencec) Stop

Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark30xhex * 2 7E 0C Control(6040) = 0C7Ehex Initialise / Stop30xhex * 4 7F 0C 23 01 Control(6040) = 0C7Fhex Start

Speed Ref.(6042) = 0123hex (RPM)30xhex *

(769 dec)

2 7E 0C Control(6040) = 0C7Ehex Initialise / Stop


Notes:• For CANopen, words are given in Motorola format. Ie the Most Significant Byte is on right of the Least Significant Byte.)• For explanation and decoding of the CONTROL- and STATUS- WORDs, refer to Sections 6.5/6.6 below


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6.4. Running an Inverter with CAN following Power Failure

The procedures for running the Inverter following a power failure are similar to those described in section6.3 above for running an inverter for the first time. In order to ensure correct functioning of the CB16, thestep-by step procedure shown below should be followed:

a) Wait for the CANbus to re-establish itselfFollowing power up, wait ca. 30 seconds for the CAN network to re-initialise

b) Re-initialise the CB16 to ‘Operational’ StateSend the NMT messages: ‘Enter Pre-operative State’ & ‘Start Remote Node’ – see section 6.3.3.

c) Send PDO message – ‘Initialise / Stop’

Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark30xhex * 2 7E 0C Initialise / Stop* x = Node ID is the unique CANbus module address

d) Send PDO message – ‘Start Drive & Speed Reference’

Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark30xhex * 4 7F 0C ?? ?? Control(6040) = 0C7Fhex (ON)

Speed Ref. (6042) = ????hex (RPM)* x = Node ID is the unique CANbus module address

e) Send PDO message – ‘Initialise / Stop’

Message ID Length D0 D1 D2 D3 D4 D5 D6 D7 Remark30xhex * 2 7E 0C Initialise / Stop

* x = Node ID is the unique CANbus module address


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6.5. CONTROLWORD 6040h

The CONTROLWORD used to start and stop the drive. It is a bit oriented word,The following table provides the meaning for each bit and common commands for controlling the inverter:

Bit Name Initialise /Stop &Reset Fault

Start Initialise /Stop

0CFEhex 0C7Fhex 0C7Ehex

0 Switch ON O 1 01 Disable Voltage(OFF2) 1 1 12 Quick Stop(OFF3) 1 1 13 Enable operation 0 1 14 Ramp disable o/p 1 1 15 Ramp stop 1 1 16 Ramp zero i/p 1 1 17 Reset Fault 1 0 08 Reserved (0) 0 0 09 Reserved (0) 0 0 010 Reserved (1) 1 1 111 direction right 1 1 112 direction left 0 0 013 manufacturer specific (0) 0 0 014 manufacturer specific (0) 0 0 015 manufacturer specific (0) 0 0 0

Table 6-2 : CB16 Control word

6.6. STATUSWORD 6041h

The STATUSWORD gives information about the internal state of the drive. It is bit oriented and is read-only. The following table provides the meaning for each bit and common inverter states.

Bit Name Driveoff

Rampingup tospeed

Atsetpointspeed

0B31hex 0B37hex 0F37hex

0 Ready to Switch ON 1 1 11 Switched ON 0 1 12 Operation Enabled 0 1 13 Fault 0 0 04 No OFF 2 1 1 15 No OFF 3 1 1 16 Switch On Disabled 0 0 07 Warning 0 0 08 (Always 1) 1 1 19 Remote Control 1 1 110 Speed Reached 0 0 111 Direction Right 1 1 112 Direction Left 0 0 013 Reserved 0 0 014 Manufacturer Specific 0 0 015 Manufacturer Specific 0 0 0

Table 6-3 : CB16 Status word


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6.7. Speed

The Speed (setpoint) reference (6042) gives the setpoint of the drive.The Actual speed (6044) gives the speed of the motor.

Both parameters are given in RPM and available via SDO.

Note:

The CANBUS protocol defines speed references in RPM, whereas the MICROMASTER takes afrequency reference in Hertz. The reference in Hertz is calculated as follows:

Frequency Reference = Speed reference transmitted value (decimal) x Parameter 094 __________________________________________________________________________

Parameter 082

Where:

Parameter 082 is the motor nameplate RPM

Parameter 094 is the system setpoint frequency (Hz) – The value entered represents 100%.

Example:

For:Motor nameplate RPM = 1350P094 = 50 HzSpeed Ref. transmitted value = 1012 RPM (= 3F4 hex)

Then:Frequency Reference = 37.5 Hz

If P094 = 25Hz, then Frequency would be 18.7Hz

Due to the 2 s complement method use to calculate the frequency reference in the USS protocol,speed reference transmitted value/P82 must not exceed 199%.200% or more will cause reverse rotation !

IMPORTANT NOTE

English PARAMETER INFORMATION

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7. PARAMETER INFORMATION

The following CANopen parameters are applicable to the MICROMASTER Vector (6SE32…) productrange with SW Version 2.04 or higher.The user can determine the inverter SW Version number using Parameter 922.

7.1. Local / Remote Control

For Local Control, the inverter will operate a motor in an identical manner to that described in theoperating instructions for the inverter.

An on/off switch must always be fitted to allow the motor to be switched on and off locally.

SAFETY NOTE

For Remote Control, using CB16 modules, multiple inverters can be controlled over the CAN network

7.2. System ParametersThe basic parameter set used by the CB16 is identical to that used for the inverter. However, someparameters cannot be accessed because either they are not required or they have been replaced byCANopen parameters.

7.2.1. CAN communication related parameters in the driveThe CAN Module specific parameters will be stored in the EEPROM of the Inverter. These parameterscan be altered by the end-user in the same way as other drive parameters.


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7.2.2. CANopen Parameter SetThis Parameter set is activated when Inverter Parameter P99 is set to 2 (for CANopen).Further explanation of these parameters are given in section 7.2.13 of this document.

Parameter Function Range[Default]

Description / Notes

P900 reservedP901 Receive PDO 1

CONTROLWORDreceive

0…2000[0]

The PDO number assigned to the control word.1 = Recommended value. The PDO is then 200 hex +

P918 (512 dec + P918)513 - 639 The PDO is as set in P901, allows values in the

range 201-27F hex769 - 895 The PDO is as set in P901, allows values in the

range 301-37F hexOther values PDO not activated

P902 Transmit PDO 1STATUSWORDtransmit

0…2000[0]

The PDO number assigned to the status word.1 = Recommended value. The PDO is then 180 hex

+ P918 (384 dec + P918)385 - 511 The PDO is as set in P902, allows values in the

range 181-1FF hex641 - 767 The PDO is as set in P902, allows values in the

range 281-2FF hexOther values PDO not activated

P903 Receive PDO 2CONTROLWORDand vl_target_velocityreceive

0…2000[0]

The PDO number assigned to the control word with speed reference.1 = Recommended value. The PDO is then 300 hex




P904 Transmit PDO 2STATUSWORD andvl_control_efforttransmit

0…2000[0]

The PDO number assigned to the status word with actual speed value.1 = Recommended value. The PDO is then 280 hex


range 181-1FF hex641 - 767 The PDO is as set in P904, allows values in the

range 281-2FF hexOther values PDO not activated

P905 Receive PDO 3Controlword andvl_target_velocityreceive

0…2000[0]

The PDO number assigned to the control word with speed reference.513 - 639 The PDO is as set in P905, allows values in the



P906 CAN Bitrate 0-8 [7] See table on Page 22P907 Synchronisation

Determines if ReceivePDOs are synchronisedare not. SynchronisedPDOs will be processedafter a SYNC messageis received. (Aka: cyclicoperation).

0…7[0]

0= no messages are synchronised.1= Receive PDO 1 is synchronised2= Receive PDO 2 is synchronised3= Receive PDO 1 and 2 are synchronised4= Receive PDO 3 is synchronised5= Receive PDO 1 and 3 are synchronised6= Receive PDO 2 and 3 are synchronised7= Receive PDO 1, 2 and 3 are synchronised

P908 ReservedP909 Receive PDO Timer 0…1000

[0]Time in ms after which a PZD will be resent when no PDO is received.

NOTE: Recommended Time : 120msP918 CAN Node ID 1-255

[1]CAN Module Address

NOTE : To be different for each InverterP927 Local /Remote

parameter control0…1[0]

0 = Local parameter control1 = Remote parameter control

P928 Local /Remote statecontrol

0…3[0]

0 = Full local control1 = Full remote control2 = Partial local control (remote control of

frequency)3 = Partial remote control (local control of

frequency)


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Parameter Function Range[Default]

Description / Notes

P960 CAN Active Protocol 0-3[0]

0= Disable CAN communication1= CANopen2-3= for future use

P964 CAN Special Bitrate B1 0-255[0] Use supplied Windows programP965 CAN Special Bitrate B2 0-255[0] Use supplied Windows programP966 Interval time for

automatic sendingPDO (ms)

0-65535[0]

0 = only on request,1 = whenever PZD changed (recommended)2 = whenever USS message receivedother values = interval time (ms)

P969 Drive behaviour forCAN Bus Idle or CANBus Off

0-1[0]

0= Stop unconditional, give error F0301= Set drive to fixed frequency (8) as defined in

P049

Table 7-1 : CB16 CANopen Parameter Set

7.2.3. Fault codesWith the use of the CB16 module the following error-codes can occur on the drive.

F030 CANbus communication has timed out.F031 PZD interface has timed out.F032 Irretrievable error in CAN Bus Module.F033 Too many defective CAN messages have been received.

When an error occurs, the reaction of the drive is identical to that for any fault condition, i.e. the drivetrips, reports the fault which is also stored in the fault buffer P930 and waits for acknowledgement of thefault. This with the exception for a F030 condition, which can be self-acknowledging (see P969).

7.2.4. Process Data Objects (PDO) for CB16

PDOs are designed for real-time message processing. They are used for communicating the speed anddrive status.

The CB16 module has 5 fixed PDOs.

PDO Object Name ObjectIndex

Comments Parameter

Receive 1 CONTROLWORD 6040h Controls the statemachine P901Transmit 1 STATUSWORD 6041h Gives status P902Receive 2 CONTROLWORD

and vl_target_velocity6040h6042h

Controls the statemachine andSpeed reference

P903

Transmit 2 STATUSWORD andvl_control_effort

6041h6044h

Gives status andactual speed

P904

Receive 3 CONTROLWORDand vl_target_velocity

6040h6042h

Controls the statemachine andspeed reference

P905

Table 7-2 : Process Data Object (PDO) for CB16

Upon receipt of the PDO messages, they are immediately processed.

Using P907 (Synchronisation), the Receive PDOs can be defined as ‘Synchronised PDOs’. Theprocessing of these PDOs is delayed until a SYNC message is received.

PDO channels 2 and 3 contain the same information.

Using P966 (Interval time for automatic sending PDO), the user can define whether Transmit PDOs aresent periodically, on request (RTR) or automatically after the PDO changes (event driven).Note: In general the best performance is obtained if P966 is set to 1.


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7.2.5. Service Data Objects (SDO) for CB16SDOs are used for reading and changing parameters of the inverter. SDOs have a lower priority thanPDOs and are processed as non real-time messages.

For the CB16, two SDOs are implemented; one Receive SDO and one Transmit SDO.

Receive SDOThe Receive SDO identifier is: 600h + node ID (1536 + P918)

Transmit SDOThe Transmit SDO identifier is: 580h + node ID (1408 + P918)

7.2.6. Inverter Parameter Access via CANopenIn order to have access to the inverter parameters, manufacturer specific object indexes are specified inthe range 2000h…2FFFh.

All inverter parameters (Pxxx) are available as 2000(hex)+Pxxx.

Example: Fmin is Parameter 12, (P012) and is available on 2000(hex) + 12(dec) = 200C(hex).

Parameter Operators:

Receive DSO: 22 = WRITE Transmit SDO: 42 = Value transmitted40 = READ 80 = Value Changed

Refer to examples in Section 9 of this document.

7.2.7. CB16 Performance TimesPDO Reaction TimeIn synchronous mode the reaction/handling time of the module guaranteed to be less then 5ms andconstant at a sync message interval of 50ms to 1000ms.

In non-synchronous mode, the reaction/handling time is less then 5ms and constant as long as the PDOmessage interval is between 50ms and 1000ms.

SDO Response TimeThe response time for parameter modifications over the CAN Bus link is less than 100ms. This responsetime is defined as the time between a CAN message requesting a parameter change being received bythe module and the reply CAN message informing of the change being sent back from the module.During this time new SDO's should not be transmitted to the module.

Cycle TimeThe minimum cycle time is defined as the shortest allowed time interval between 2 messages sent to themodule. This time is 5ms.

7.2.8. Network Management ServicesThe CB16 communications module is a NMT class 0 slave, and therefore no network managementfacilities are available. Node guarding is implemented.

7.2.9. Layer Management ServicesThe CB16 communications module is a LMT class 0 slave, and therefore no LMT services areimplemented.

The standard boot-up is supported as shown in figure 1 below.


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Power on

Initialisation

Pre- Operational

Operational

Prepared

Initialisation ready, automatic toPre- Operational state

Start RemoteNode

Stop RemoteNode

ResetNodeReset

Communication

Start RemoteNode

Enter Pre-Operational State

Stop RemoteNode

Enter Pre-Operational State

Figure 7-1: Standard CANopen Boot - up

7.2.10. Distribution Control ServicesThe CB16 communications module is a DBT class 0 slave i.e.. the node ID is set by a drive parameter.Default identifier distribution is used.

7.2.11. Synchronisation MessagesSupport for synchronisation messages is implemented to enable a synchronised operation of multipledrives or other network nodes. SYNC messages are only supported by the receive PDOsTransmit PDOs, as well as SDOs, are not synchronised.The use of time stamps is not supported by the CB16 module.

7.2.12. Emergency MessagesEmergency messages are supported. All mandatory error codes are implemented.


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7.2.13. Explanation of CAN Parameters

P099 Activate Option ModuleWith this parameter the Drive is told that an option module is installed.Range: 0-2 (Default: 0)0 = no option module1 = CB15 Profibus option module2 = CB16 CANopen option moduleP099 should be set to 2 in order to enable operation of the module and have access to the CANrelated parameters.

P906 BitrateRange 0 – 8 (Default: 8)This parameter is used to set the CAN bus baudrate. The following values are valid:

Par.value

CAN Bitrate

0 acc. to P694/6951 1Mbit/s2 not recommend3 500 kbit/s4 250 kbit/s5 125 kbit/s *6 50 kbit/s7 20 kbit/s8 10 kbit/s

Table 7-3 : CB16 CANbus Baudrate

* Most Commonly Used Bus Speed –recommended. The Bus speed must be commonly set for allCANopen devices on the Bus.


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P960 Protocol TypeSelects the CANbus protocol.Range 0 – 3 (Default: 0)0 = CAN communication disabled.1 = CANopen communication enabled.2 = CANopen master communication enabled (future).3 = DeviceNet communication enabled (future).When this parameter is changed while the module is active, the module will reinitialise.Selecting 0 will disable CAN communication.

Note: P960 cannot be changed via CAN!

P964 Special CAN Bitrate 1Range 0 - 255If P906 (CAN Bitrate) = 0, P964 will be copied into CAN Timing register 0 (BTR 0)

P965 Special CAN Bitrate 2Range 0 - 255If P906 (CAN Bitrate) = 0, P965 will be copied into CAN Timing register 1 (BTR 1)

P966 PZD Send Interval timeRange 0 – 65535 (Default: 0)The rate in ms at which PDO is transmitted.0 = Values sent only after a remote request1 = Values sent whenever the PZD changes or after a remote request.

(This is most commonly used.)2 = Values sent whenever an USS message received from the drive3...65534 = Values sent after the preset time (in ms) or after a remote request

7.2.14. Additional Inverter Parameters

The following parameters are handled by the inverter. The CAN Module does not interact with theseparameters.

P091 USS Slave addressThe USS slave address should be 0 (default). If it is not set to 0, a communication error willfollow.

P092 USS baudrateThe initial baudrate of the inverter must be set to 9600, i.e. P092 = 6.

English REFERENCE CANopen OBJECTS

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8. REFERENCE : CANOPEN OBJECTS8.1. Supported CANopen ObjectsObjectIndex

Description DriveParameter

Description Relation

1000h device type1001h error register1002h manufacturer status register1003h pre-defined error field1004h number o PDOs supported1005h COB-ID SYNC-message 80h1006h communication cycle period 01007h synchronous window length 01008h manufacturer device name “CB16”1009h manufacturer hardware version100Ah manufacturer software version603Fh error_code6040h controlword PZD6041h statusword PZD6042h vl_target_velocity RPM HSW = Obj.6042h * 4000h / P082

Obj.6042h = HSW * P082 / 4000h6043h vl_velocity_demand RPM 6043h = HIW * P082 / 4000h6044h vl_control_effort RPM 6044h = P1356046h vl_velocity_min_max_amount Array of

min vValuemax value

min and maxvalue

6046h:minValue = (P082 / P081) * P0126046h:maxValue = (P082 / P081) * P013

6048h vl_velocity_acceleration Array ofdelta speedand delta time

P002 (16bits)fixed

6048h :delta_speed = P013* 100* P082/ P0816048h : delta_time = P002

6049h vl_velocity_deceleration Array ofdelta speedand delta time

P003 (16bits)fixed

6049h : delta_speed = P013* 100* P082/ P0816049h : delta_time = P003

8.2. Emergency messagesThe following error codes are supported:Drive Fault Code Description EmergencyError Code001 OverVoltage 3110002 Overcurrent 2220003 Overload FF03004 Overheating of motor 4310005 inverter overtemperature 4210007008 USS time out 7510009 Undervoltage 3120010 Init. fault FF10011 internal interface fault FF11012013 Program fault 6100014015 Failure to start on the fly FF15106 Parameter Fault P006 6320112 Parameter Fault P012/P013 6301151 Dig input Parameter Fault FF51152 FF52153 FF53154 FF54188 Automatic calibration failure FF88201 P006=1 while P201=2 6302212 Parameter Fault P211/P212 630330 CAN bus Communication has timed out none31 PZD interface has timed out 751032 Irretrievable error in CAN Bus Module 610033 Too many defective CAN messages have been

receivednone

English EXAMPLES OF CANopen MESSAGES

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9. EXAMPLES OF CANOPEN MESSAGESNOTE: The following examples are all applicable to Slave Address No. 1.

Example 1: Receive PDO 1Receive PDO 1 (P901) enables real-time write access to the CONTROLWORD

MessageID

Length D0 D1 D2 D3 D4 D5 D6 D7 Remark

Control word201hex

(513 dec)

2 7E 0C Control(6040) = 0C7Ehex Initialise /Stop

For CONTROLWORD decoding, refer to Section 6.5 of this document.

Example 2: Receive PDO 2Receive PDO 2 (P903) enables a real-time write access to both the CONTROLWORD andSpeed reference

MessageID


Control word Speed Ref.301hex

(769 dec)

4 7F 0C 25 05 Control(6040) = 0C7Fhex StartSpeed Ref. (6042): = 0525 hex (RPM)

For CONTROLWORD decoding, refer to Section 6.5 of this document.

Example 3: Transmit PDO 2Transmit PDO 2 (P904) enables real-time read access to STATUSWORD and Actual Speed.

MessageID


Status word ActualSpeed

281hex

(641 dec)

4 37 0F 25 05 Status(6041) = 0F37hex At speedSpeed Ref. (6044): = 0525 hex (RPM)

For STATUS WORD decoding, refer to Section 6.6 of this document.

Example 4: SDO – Set P13 to 50Hz (Parameter 13 – Max. Motor Frequency)MessageID


Write Parameter Value601hex 8 22 0D 20 00 00 00 F4 01 Write Parameter 13 to 500

(50Hz)

Byte Swapping: 20 0D hex = P13 dec 01 F4 hex = 500 dec

Example 5: SDO – Read P723 (Digital Input Status)MessageID


Read Parameter Value601hex 8 40 D3 22 00 00 00 00 00 SDO message : Ask for P723

Response :581hex 8 42 D3 22 00 00 00 03 00 Value of P723 =3 i.e. DIN1 and

DIN2 are highByte Swapping: 22 D3 hex = P723 dec

Documents

CANopen Communications Module CB16 · 2015-01-21 · 6.5. CONTROLWORD 6040h ... Figure 5-1: CB16 Front Panel Mounting ... Trained and authorised to energise, de-energise, clear, ground