L-force Controls Ä.
L DMS 4.
Control technology | CANopen communication manual Contents 1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.
Control technology | CANopen communication manual 8 4 Commissioning the CANopen Logic bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 8.1 Overview of the commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 8.2 Creating a project folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 8.3 Commissioning of field devices . .
Control technology | CANopen communication manual 9 Commissioning the CANopen Motion bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 9.1 Overview of the commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 9.2 Commissioning of field devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 9.3 Creating a PLC program. . . . . . . . . . . . . .
Control technology | CANopen communication manual About this documentation 1 About this documentation This documentation ... provides detailed information on how to commission, configure and diagnose the CANopen bus system in the field of Lenze control technology.
Control technology | CANopen communication manual About this documentation Further technical documentations for Lenze components More information about Lenze components that can be used together with "PC-based Automation" can be found in the following documents: Mounting & wiring Legend: MAs for the Inverter Drives 8400 Printed documentation MAs for the Servo Drives 9400 Online Help/PDF MA EPM-Txxx (I/O system IP20) Abbreviations used: MA EPM-Sxxx (I/O system 1000) SHB System manual
Control technology | CANopen communication manual About this documentation Document history Target group This documentation is intended for all persons who plan, install, commission and maintain the networking of devices in the field of control technology. 1.1 Document history Material no. Version Description - 1.0 06/2008 TD17 First edition - 2.0 09/2008 TD17 Amended by chapter "CANopen with PROFIBUS" ( 85). 13296254 3.0 06/2009 TD17 General revision 13317281 4.
Control technology | CANopen communication manual About this documentation Conventions used 1.2 Conventions used This documentation uses the following conventions to distinguish between different types of information: Type of information Writing Examples/notes Spelling of numbers Decimal separator Point The decimal point is always used. For example: 1234.56 Text Version information Program name Window Blue text colour »« The Message window... / The Options dialog box... Bold The OK button...
Control technology | CANopen communication manual About this documentation Terminology used 1.3 Terminology used Term Meaning »Engineer« Lenze engineering tools supporting you during the entire life cycle of a machine - from the planning phase to maintenance. »Global Drive Control« (GDC) »PLC Designer« 10 Code "Container" for one or several parameters used for Lenze Servo Drives parameter setting or monitoring. Subcode If a code contains several parameters, they are stored in "subcodes".
Control technology | CANopen communication manual About this documentation Notes used 1.
Control technology | CANopen communication manual Safety instructions 2 Safety instructions Please observe the following safety instructions when you want to commission a controller or system using the Industrial PC.
Control technology | CANopen communication manual The "PC-based Automation" system 3 The "PC-based Automation" system Industrial PCs (IPCs) become more and more important in the field of automation technology. Due to their scaling options and various combinations of visualisation and control on one device, Industrial PCs provide clear advantages for many applications.
Control technology | CANopen communication manual The "PC-based Automation" system Engineering tools for the Engineering PC – The Engineering PC communicates with the IPC via Ethernet. – Different engineering tools serve to configure and parameterise the system. Fieldbuses Field devices 14 L DMS 4.
Control technology | CANopen communication manual System bus (CAN) / CANopen CANopen (Logic) / CANopen (Motion) 4 System bus (CAN) / CANopen Lenze device series 8200 vector, 9300 and ECS have an on-board system bus (CAN) connection. The protocol used there is a subset of CANopen. Thus the devices are not CANopen-conform but can be driven by a CANopen-compatible control under "L-force Controls" - also in connection with other CANopen-compatible nodes. 4.
Control technology | CANopen communication manual System bus (CAN) / CANopen CANopen (Logic) / CANopen (Motion) CANopen (Logic) The Logic bus is used to operate controllers which carry out simple movements, do not have a Motion functionality, are controlled via PLC functionalities only. CANopen (Motion) The Motion bus is used to control controllers which carry out e.g. synchronised movements.
Control technology | CANopen communication manual System bus (CAN) / CANopen CANopen (Logic) / CANopen (Motion) 4.1.
Control technology | CANopen communication manual System bus (CAN) / CANopen CANopen Hardware for your Industrial PC 4.2 CANopen Hardware for your Industrial PC Communication card MC-CAN2 The MC-CAN2 communication card is a plug-in card to connect an Industrial PC to a CAN fieldbus. It has two independent CAN bus connections. A Front panel B Board C Coding D Connection E Fieldbus connection MC-CAN2-001 Technical data of the MC-CAN2 communication card ( 21) 18 L DMS 4.
Control technology | CANopen communication manual System bus (CAN) / CANopen CANopen Hardware for your Industrial PC Possible applications The MC-CAN2 communication card can be plugged into slot 1 and slot 2 of the Industrial PC. Your Industrial PC can have several CANopen communication cards. Example: The EL x8xx Industrial PC with MC-CAN2 in slots 1 and 2 EL x8xx CAN1 CAN2 l l CAN3 CAN4 MC-CAN2 MC-CAN2_ELx8xx Legend EL x8xx Industrial PC of the EL x8xx series CAN1 ...
Control technology | CANopen communication manual Technical data General data 5 Technical data 5.1 General data 20 Field Values Communication profile CANopen (DS301, V4.02) Standards CAN, ISO 11898 / EN 50325-4 Network topology Line, terminated at both ends with 120 Ω (e.g. terminated with Sub-D plug of type EWZ0046) Max. number of nodes 127 Adjustable node addresses 1 ...
Control technology | CANopen communication manual Technical data Technical data of the MC-CAN2 communication card 5.2 Technical data of the MC-CAN2 communication card Field Values Type within the network Master or slave Max. number of nodes 63 Max. baud rate [kbit/s] 1000 Bus length See Bus cable length ( 22) Connection SUB-D, 9-pole plug CANopen bus connection (SUB-D, 9-pole plug) View 5.
Control technology | CANopen communication manual Technical data Bus cable length 5.4 Bus cable length 5.4.1 Note! • It is absolutely necessary to comply with the permissible cable lengths. • Observe the reduction of the total cable length due to the signal delay of the repeater. Check use of repeater ( 24) • If the total cable lengths of the nodes are different at the same baud rate, the smaller value must be used to determine the max. cable length.
Control technology | CANopen communication manual Technical data Bus cable length 5.4.2 Segment cable length The segment cable length is determined by the used cable cross-section and the number of nodes. Repeaters divide the total cable length into segments. Without a repeater, the segment cable length corresponds to the total cable length. Max. number of nodes per segment Cable cross-section (interpolation is permissible) 0.25 mm2 (AWG 24) 0.50 mm2 (AWG 21) 0.75 mm2 (AWG 19) 1.
Control technology | CANopen communication manual Technical data Bus cable length 5.4.3 Check use of repeater Compare the values from the tables Total cable length ( 22) and Segment cable length ( 23). If the total segment cable length is shorter than the total cable length to be implemented, either repeaters must be used or the cable cross-section must be increased. If, due to the use of repeaters, the max.
Control technology | CANopen communication manual Planning the CANopen network 6 Planning the CANopen network Before establishing a CANopen network, create a plan of your Logic bus and/or your Motion buses. For this purpose, create an overview screen of the planned CANopen network with all field devices to be implemented. Start with the Industrial PC and arrange the other field devices below it. (see Example of an overview screen ( 28)).
Control technology | CANopen communication manual Planning the CANopen network Observe device-specific information on CAN configuration provided in the documentation of the field devices to be integrated. COB-IDs acc.
Control technology | CANopen communication manual Planning the CANopen network The COB-IDs for your CANopen network can be calculated according to the following formula: COB-ID = basic identifier + node address Basic identifier - 9400 Servo Drives ( 30) Basic identifier - 8400 Inverter Drives ( 31) Basic identifier - I/O system IP20 (EPM-Txxx) ( 32) Basic identifier - I/O system 1000 (EPM-Sxxx) ( 33) Basic identifier - 8200 vector with fieldbus function module CANopen E82ZAFUC0xx ( 34) Basic i
Control technology | CANopen communication manual Planning the CANopen network Example of an overview screen 6.1 Example of an overview screen The illustration shows you an example of an overview screen for planning a CANopen network: 28 L DMS 4.
Control technology | CANopen communication manual Planning the CANopen network Device specifications of the field devices 6.2 Device specifications of the field devices When planning your CANopen network, consider the device specifications of the implemented field devices.
Control technology | CANopen communication manual Planning the CANopen network Device specifications of the field devices 6.2.1 Special features of the Servo Drives 9400 The parameter data channel 1 is always active. The optional parameter data channels 2 ... 10 can be activated via the subcodes of the codes Cxx372 and Cxx373.
Control technology | CANopen communication manual Planning the CANopen network Device specifications of the field devices 6.2.
Control technology | CANopen communication manual Planning the CANopen network Device specifications of the field devices 6.2.3 Special features for the I/O-System IP20 (EPM-Txxx) EPM T110 V1.2 has fixed parameter data channels, in CANopen mode as well. EPM T110 V1.3 has only one parameter data channel in CANopen mode.
Control technology | CANopen communication manual Planning the CANopen network Device specifications of the field devices 6.2.
Control technology | CANopen communication manual Planning the CANopen network Device specifications of the field devices 6.2.
Control technology | CANopen communication manual Planning the CANopen network Device specifications of the field devices 6.2.
Control technology | CANopen communication manual Planning the CANopen network Device specifications of the field devices Basic identifier - ECS servo system The default setting of the basic identifier is as follows: Object Direction from the drive Basic identifier to the drive dec hex NMT 0 0 Sync 128 80 384 180 512 200 640 280 z 641 281 768 300 z 769 301 1408 580 z 1536 600 1472 5C0 PDO1 (process data channel 1) PDO2 (process data channel 2) PDO3 (process data channel 3
Control technology | CANopen communication manual Preparing the field devices Installing field devices 7 Preparing the field devices 7.1 Installing field devices Install the field devices according to the data given in the device-specific mounting instructions. Make sure that ... the CANopen installation complies with your overview screen. all devices are supported by the control technology system on the Logic bus and Motion bus.
Control technology | CANopen communication manual Preparing the field devices Connecting the Engineering PC to the Industrial PC 7.3 Connecting the Engineering PC to the Industrial PC To commission the field devices, an online connection is required between the Engineering PC and the field device.
Control technology | CANopen communication manual Preparing the field devices Connecting the Engineering PC to the Industrial PC The communication speed with the field devices, when being commissioned, mainly depends on whether the control is running or stopped. In the latter case, the total bandwidth of the bus is available for the gateway so that the speed advantage in case of direct coupling would only be marginal.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Overview of the commissioning steps 8 Commissioning the CANopen Logic bus This chapter provides information on commissioning the Lenze control system using the CANopen Logic bus. Depending on the field devices used, the following Lenze engineering tools are required: »PLC Designer« »Engineer« »Global Drive Control« (GDC) Tip! For using other fieldbus systems, you may require further engineering software.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Creating a project folder 8.2 Creating a project folder Create a project folder on the engineering PC.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 8.3 Commissioning of field devices Parameterise the Lenze field devices connected to the CANopen bus either with the »Engineer« or with the »GDC«, depending on the device. The CANopen is exclusively configured with the »PLC Designer« ( 54). Observe the information on commissioning provided in the documentation of the field devices.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 8.3.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 8.3.2 Commissioning the Servo Drives 9400 How to commission the Servo Drives 9400: 1. Start the »Engineer«. 2. Open and create an »Engineer« project. • Enter an axis consisting of Servo Drive 9400, device modules, application, and motor. Type and version of the planned device must comply with the real device. 3. Set the intended node address and baud rate.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 7. Connect the signal which are to be communicated with the IPC with ports via the FB Editor of the »Engineer«. If possible, use the predefined multiplexers and ports for this purpose. • If the possible settings of the predefined multiplexers are not sufficient for your purposes, activate the FB Editor and draw lines.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 8. Export the EDS file. • To clearly identify the EDS file in the »PLC Designer« during import, clearly rename the device before export in the »Engineer«. (you can e.g. manually precede each device name in the »Engineer« with the project name.) • The »PLC Designer« only displays the device name contained in the EDS file.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 8.3.3 Commissioning of 8400 Inverter Drives Note! The basic identifiers for calculating the PDO COB-IDs do not comply with the DS301 profile. In this case, adapt the COB-IDs accordingly. Basic identifier - 8400 Inverter Drives ( 31) How to commission the Inverter Drives 8400: 1. Start the »Engineer«. 2. Open or create an »Engineer« project.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 6. Set "CAN" under the Application Parameters tab in the Control mode field: 48 L DMS 4.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 7. Export the EDS file. • To clearly identify the EDS file in the »PLC Designer« during import, clearly rename the device before export in the »Engineer«. (you can e.g. manually precede each device name in the »Engineer« with the project name.) • The »PLC Designer« only displays the device name contained in the EDS file.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 8.3.4 Commissioning of I/O system IP20 (EPM-Txxx) Note! CAN settings must be made in the »PLC Designer« since the settings are transferred from the control to the I/O system. The I/O system can be parameterised in three ways: Parameter setting with the »Engineer« 1. Start the »Engineer«. 2. Open or create an »Engineer« project. 3. Insert the I/O system as component. 4.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 8.3.5 Commissioning of I/O system 1000 (EPM-Sxxx) Note! CAN settings must be made in the »PLC Designer« since the settings are transferred from the control to the I/O system. The I/O system can be parameterised in two ways: Parameter setting with the »Engineer« 1. Start the »Engineer«. 2. Open or create an »Engineer« project. 3. Insert the I/O system as component. 4.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 8.3.6 Commissioning of 8200 vector frequency inverter Note! • For CAN communication, plug on the fieldbus function module CANopen (E82ZAFUCxxx). • CAN settings must be made in the »PLC Designer« since the settings are transferred from the control to the 8200 vector frequency inverter. Parameter setting with the »Global Drive Control« 1. Start the »GDC«. 2.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Commissioning of field devices 8.3.7 Commissioning of ECS devices Note! • In the ECS servo system, each device has a parameter memory which is only created once when the parameter setting is created via the »Global Drive Control«. This is the difference to CANopen devices where the parameterisation is written into the field device at each system start.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Creating a PLC program 8.4 Creating a PLC program The »PLC Designer« serves to illustrate the field device topology in the control configuration. Tip! The »PLC Designer« serves to configure CANopen nodes and nodes on other fieldbus systems. CANopen with PROFIBUS ( 85) How to create a PLC program in the »PLC Designer«: 1. Create a new »PLC Designer« project: • Menu command: FileNew 2.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Creating a PLC program 4. Create a block: DMS 4.2 EN 07/2011 TD17 Note! The block must contain at least one instruction to function properly.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Creating a PLC program 5. Create the control configuration: • Open the Resources dialog box: • Open the PLC Configuration dialog box: Setting Description Automatic calculation of addresses Every newly added module automatically gets an address which results from the address of the module integrated before and the size of this module.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Configuring the CAN master 8.5 Configuring the CAN master Note! An Industrial PC in the CANopen network must be configured in the »PLC Designer« since the complete configuration of the IPC is written to the Servo Drives 9400 when the IPC is started. During this process, previous »Engineer« settings are overwritten. 1.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Configuring the CAN master Note! The baud rate set in »PLC Designer« overwrites the baud rate set for the field devices via »WebConfig«/»Engineer«/»Global Drive Control«. In a CANopen network, set the same baud rate for all nodes. • Set the planned baud rate and node address (node ID). • If you want to use the CAN synchronisation at the Logic bus, set a checkmark in the "Activate" input field.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Integrating field devices (slaves) into the PLC program 8.6 Integrating field devices (slaves) into the PLC program Note! • EDS files regarding the I/O system IP20 (EPM-Txxx), the I/O system 1000 (EPM-Sxxx), Frequency Inverters 8200 with CANopen fieldbus function modules (E82ZAFUCxxx), and other ECS devices can be found on the Internet in the Services & Downloads area of the Lenze homepage.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Setting of CAN parameters and CAN mapping 8.7 Setting of CAN parameters and CAN mapping How to set CAN parameters and CAN mapping: 1. Change to the CAN parameters tab of the corresponding slave: – Set the CAN node address and baud rate in accordance with the settings of the field devices. – Set node guarding, emergency telegram, and communication cycle if you need them for your application.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Setting of CAN parameters and CAN mapping 2. Change to the Receive PDO-Mapping / Send PDO-Mapping tab: • Here, configure the PDOs the field device is to receive and transmit. Define the transmission properties. • The ports of the application are on the left, the available PDOs of the used interface are on the right. Define suitable transmission properties for the PDOs to be filled.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Setting of CAN parameters and CAN mapping Cross communication between the slaves When the CAN bus is used for control, a cross communication between the slaves is possible. For this purpose, you must configure the CAN communication and the PDO mapping in the »Engineer« or in the »Global Drive Control« and write it into the controller.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Setting of CAN parameters and CAN mapping 8.7.1 Special features of the 9400 Servo Drives The mapping required for cross-communication between the control and the slaves must be created in the »PLC Designer«. When the PLC is started, the complete configuration / PDO mapping is written to the Servo Drives 9400. During this process, previous mapping entries from the »Engineer« are overwritten.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Setting of CAN parameters and CAN mapping 8.7.5 Special features of the ECS servo system 1. Set the process data transfer in the ECS device.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Creating a program code to control the device 8.8 Creating a program code to control the device Note! All program blocks which are operated with an SDO communication must be called up in a Logic task. Otherwise, jobs will get lost. 1. Create the program code to control the field device. The device must be used in the program code so that the SDO initialisation can take place.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Creating a program code to control the device 8.8.3 Special features of the I/O system IP20 (EPM-Txxx) The I/O modules support the system bus (CAN) and CANopen operating modes. In connection with the control technology, set CANopen. When the program starts, the control initialises the I/O system. It changes to the "Operational" state.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Creating a program code to control the device 8.8.6 Special features of the ECS servo system When the program is started, the control initialises the ECS device: – The control transmits, as common for CANopen, the CAN settings. However, the device as a Lenze system bus device does not accept these settings. – The control transmits the SDOs of the Service Data Objects tab if you changed anything there.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Preparing the restart 8.9 Preparing the restart In the control technology system you can use the control to transmit the entire parameter setting via SDO initialisation to the field devices when the machine is switched on. According to DS301, the control always initialises the CAN parameters of the field devices. Moreover, it can initialise further parameters.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Preparing the restart 8.9.1 Special features of the Servo Drives 9400 Servo Drives 9400 are not purely parameterisable devices. They require an application download, where several files are transmitted to the memory module. To operate a Servo Drive 9400, plug on the memory module. transmit the application using the »Engineer«. For this, you must keep the original »Engineer« project.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Preparing the restart 8.9.3 Special features of the I/O-System IP20 (EPM-Txxx) Note! For the SDO initialisation of the I/O system, please observe that ... • a factory adjustment sets the I/O system to the system bus mode. – In connection with control technology, set CANopen. • when being in the system bus mode, the I/O system only accepts changed CAN settings after a "reset node" has been executed.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Preparing the restart Automatic with factory adjustment: With an automatic restart, a factory adjustment is executed. – Enter all required parameter values in the Control Configuration under the Service Data Objects tab. – Set the checkmark at "Reset Node" in order that the control executes the factory adjustment. This causes the I/O system to change to the "Lenze System Bus" mode and remains there.
Control technology | CANopen communication manual Commissioning the CANopen Logic bus Preparing the restart Automatic with factory adjustment: With an automatic restart, a factory adjustment is executed. – Enter all required parameter values in the Control Configuration under the Service Data Objects tab. – Set a checkmark at Reset Node for the control to perform the factory adjustment. – Set the "Reset Node" command under the "Service Data Objects" tab.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Overview of the commissioning steps 9 Commissioning the CANopen Motion bus This chapter provides information on commissioning the Lenze control system using the CANopen Motion bus. Depending on the field devices used, the following Lenze engineering tools are required: »PLC Designer« »Engineer« »Global Drive Control« (GDC) Tip! For using other fieldbus systems, you may require further engineering software.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Commissioning of field devices 9.2 Commissioning of field devices Not all parameters required for operating a Motion drive are set automatically via the control.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Creating a PLC program 9.3 Creating a PLC program The »PLC Designer« serves to illustrate the field device topology in the control configuration. Tip! The »PLC Designer« serves to configure CANopen nodes and nodes on other fieldbus systems. CANopen with PROFIBUS ( 85) How to create a PLC program in the »PLC Designer«: 1. Create a new »PLC Designer« project: • Menu command: FileNew 2.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Creating a PLC program 4. Create a block: 76 Note! The block must contain at least one instruction to function properly. L DMS 4.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Creating a PLC program 5. Create the control configuration: • Open the Resources dialog box: • Open the PLC Configuration dialog box: Setting Description Automatic calculation of addresses Every newly added module automatically gets an address which results from the address of the module integrated before and the size of this module.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Creating a Motion task 9.4 Creating a Motion task How to create a Motion task: 1. Go to the »PLC Designer« and change to Task Configuration. 2. Insert a new task and assign an appropriate task name (e.g. "Motion task") • in the "Name" input field and • in the task configurator tree (left window). A mouse-click on "NewTask" will activate the name for editing. 3.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Creating a control configuration 9.5 Creating a control configuration How to create a control configuration: 1. Go to »PLC Designer« and change to control configuration. 2. Add the "BusInterface_CAN " subelement to the "PLC Configuration" basic node. The "BusInterface_CAN" subelement generally represents the fieldbus connection via the CANopen (Motion) interfaces of the IPC. 3.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Creating a control configuration 12. The following control configuration is the result with a minimum configuration with one drive: 13. A single rotary axis Motion drive (type: rotary, 360° / revolution, ratio 1:1) shall then be configured as follows: 80 L DMS 4.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Creating a control configuration When using a linear axis Motion drive (type: linear), you can define the positions of the software limit switches in the "Settings for linear drive" area. DMS 4.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Creating a program code to control the Motion drives 9.6 Creating a program code to control the Motion drives This depends on the automation task, the use of PLCopen blocks or the CNC programming. Note! All SoftMotion function blocks, SoftMotion functions, and the read/write block parameters that access the SoftMotion drives (e.g.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Optimisation of signal propagation delays (for HighLine CiA402 only) 9.8 Optimisation of signal propagation delays (for HighLine CiA402 only) An optimised setting is possible at a low packing density of the telegrams on the fieldbus. An optimised setting serves to achieve shorter signal propagation delays (Control Drive Control) when the packing density is < 0.
Control technology | CANopen communication manual Commissioning the CANopen Motion bus Optimisation of signal propagation delays (for HighLine CiA402 only) 9.8.
Control technology | CANopen communication manual CANopen with PROFIBUS 10 CANopen with PROFIBUS The CANopen bus system can be combined with PROFIBUS. This makes sense if not all field devices are available for the same bus system or a Motion bus (CANopen) is required in parallel to the PROFIBUS (as Logic bus). The bus systems are synchronised in the control.
Control technology | CANopen communication manual The function library LenzeCANdrive.lib 11 The function library LenzeCANdrive.lib The LenzeCANdrive.lib function library supports the SoftMotion control to control the "Servo Drives 9400 HighLine CiA402" series and the "ECSxM" axis module.
Control technology | CANopen communication manual Defining the minimum cycle time of the PLC project Calculating the total access time to the peripheral devices (TCorrection) 12 Defining the minimum cycle time of the PLC project This chapter will inform you on how the minimum cycle time of the PLC project can be defined. The calculation of the minimum cycle time is divided into the following steps: 1. Calculating the total access time TCorrection to the peripheral devices.
Control technology | CANopen communication manual Defining the minimum cycle time of the PLC project Detecting the task utilisation of the application (TTask utilisation) 12.2 Detecting the task utilisation of the application (TTask utilisation) The time TTask utilisation cannot be calculated. It is determined in the running system. For this the system is commissioned on the basis of cycle times that are sufficiently long, and afterwards it is optimised.
Control technology | CANopen communication manual Defining the minimum cycle time of the PLC project Detecting the task utilisation of the application (TTask utilisation) 12.2.2 Detecting the task utilisation Initial situation A project has been completely created with, for instance, a Motion task and two tasks of lower priority. How to detect the task utilisation TTask utilisation: 1.
Control technology | CANopen communication manual Defining the minimum cycle time of the PLC project Calculating the minimum cycle time 12.3 Calculating the minimum cycle time Note! A safety factor of 1.5 is included in the calculation of the minimum cycle time. The minimum cycle time Tmin for a system results from the sum of the times detected before, multiplied by the safety factor: Tmin > safety factor x ( TTask utilisation + TCorrection ) Example Configuration: Industrial PC (ATOM 1.
Control technology | CANopen communication manual Defining the minimum cycle time of the PLC project Optimising the system 12.4 Optimising the system How to optimise the system: 1. Log in and load project. 2. Check the task processing times. 3. Optimising cycle times: • If required technologically, the cycle times of the remaining tasks with lower priorities can be decreased.
Control technology | CANopen communication manual Diagnostics Reading codes 13 Diagnostics 13.1 Reading codes The »Engineer« and the »Global Drive Control« contain the corresponding diagnostic codes. 13.2 Viewing the logbook of the IPC In the web browser you have access to the logbook of the PC. Use the display filter to search for entries concerning CANopen. 92 Note! "ClearLog" deletes the complete logbook on the IPC without any prompt. L DMS 4.
Control technology | CANopen communication manual Diagnostics Error messages if communication card MC-CAN2 is not available 13.3 Error messages if communication card MC-CAN2 is not available If no communication card MC-CAN2 has been inserted into the industrial PC, error messages occur during the download of the »PLC Designer« project. Remedy: Insert the communication card MC-CAN2 into the industrial PC. 13.4 Searching the CANopen bus for nodes using the Engineering PC 1.
Control technology | CANopen communication manual Diagnostics The global variable wState 13.5 The global variable wState When Motion nodes are used for control, »PLC Designer« displays the current status of the control acceleration in the global variable wState of the "AxisGroup" structure. The value of the wState variable has the following meaning: Status of the AxisGroup State of the system wState = 0 • Initial state • Project loaded • PLC in stop wState = 1...
Control technology | CANopen communication manual Diagnostics The global variable wState Additional information on the type of error occurred are provided in the global variables of the SM_DriveBasic.lib function library. The g_strBootupError variable, for instance, contains an error text: Here, an SDO access of the control has not been responded by the slave. DMS 4.
Control technology | CANopen communication manual Parameter reference 14 Parameter reference This chapter adds the parameters of the MC-CAN2 communication card to the parameter list provided in the online documentation for the Industrial PC: Parameters of the MC-CAN2 communication card in slot 1 ( 97) Parameters of the MC-CAN2 communication card in slot 2 ( 98) Note! • Several MC-CAN2 communication cards can be used per Industrial PC. The designation of the card in the »WebConfig« is MC-CAN2.
Control technology | CANopen communication manual Parameter reference Parameters of the MC-CAN2 communication card in slot 1 14.1 Parameters of the MC-CAN2 communication card in slot 1 The parameters are listed in numerically ascending order.
Control technology | CANopen communication manual Parameter reference Parameters of the MC-CAN2 communication card in slot 2 14.2 Parameters of the MC-CAN2 communication card in slot 2 The parameters are listed in numerically ascending order.
Control technology | CANopen communication manual Appendix »PCAN-View« for diagnostic purposes 15 Appendix This chapter describes how to use the »PCAN-View« program for diagnostics of your CANopen network. »PCAN-View« is the basic version of the »PCAN-Explorer« program for Windows® of PEAK System Technik GmbH. The program permits a simultaneous transmission and receipt of CAN messages which can be sent manually and periodically.
Control technology | CANopen communication manual Appendix »PCAN-View« for diagnostic purposes Now the CAN telegrams are constantly displayed in the "Receive" and "Transmit" windows: On the basis of the IDs displayed and the IDs in your overview you can assign the telegrams to the devices.
Control technology | CANopen communication manual Appendix Use »PCAN-View« to set all nodes to the "Operational" state. 15.2 Use »PCAN-View« to set all nodes to the "Operational" state. Under "New transmit message" create the following CAN message. Select the CAN message in the "Transmit" window and press the once to send it. DMS 4.
Control technology | CANopen communication manual Appendix Notes on visualisation using »VisiWinNET®« 15.3 Notes on visualisation using »VisiWinNET®« Problem description: For visualisation purposes a VWGET timer (1 second) is used to read a variable via the CAN bus (SDO) using the OPC server. If no nodes are connected and no information is returned, a time-out is generated. Waiting for the time-out causes the page-turning function of the visualisation program to slow down.
Control technology | CANopen communication manual Index 16 Index A Addressing the CANopen and PROFIBUS nodes 85 Appendix 99 Application notes (representation) 11 B Basic identifier - 8200 vector with fieldbus function module CANopen E82ZAFUC0xx 34 Basic identifier - 8400 Inverter Drives 31 Basic identifier - 9400 Servo Drives 30 Basic identifier - ECS servo system 36 Basic identifier - I/O system 1000 (EPM-Sxxx) 33 Basic identifier - I/O system IP20 (EPM-Txxx) 32 Baud rates 20 Bus cable length 22 C C10
Control technology | CANopen communication manual Index E G Setting of CAN parameters 60 Setting the baud rate 37 Setting the node addresses 37 Signal propagation delay 20 Standards 20 Sync phasing 84 System bus (CAN) 15 General data 20 Going online 43 T Engineering tools 40, 73 F Field devices 17 I Installing field devices 37 Integrating field devices (slaves) into the PLC program 59 IPC as gateway 38 L Target group 8 Technical data 20 Technical data of the MC-CAN2 communication card 21 Telegram
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