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Communication manual 8400 motec CANopen Contents Contents 1 2 3 4 5 6 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication manual 8400 motec CANopen Contents 7 8 9 10 11 4 Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 7.1 Structure of the CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.1 Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1.
Communication manual 8400 motec CANopen Contents 12 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 12.1 Communication-relevant parameters of the operating system. . . . . . . . . . . . . . . . . . . . . 75 12.2 Parameters for CANopen communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 12.3 Table of attributes . . . . . . . . . . . . . . . . . . . . . . .
Communication manual 8400 motec CANopen About this documentation 1 About this documentation Contents This documentation exclusively describes the system bus (CAN) and the CANopen-specific functions of the Inverter Drive 8400 motec. Note! This documentation supplements the mounting instructions and the hardware manual "Inverter Drives 8400 motec" supplied with the controller. The features of the system bus (CAN) and CANopen-specific functions for the Inverter Drive 8400 motec are described in detail.
Communication manual 8400 motec CANopen About this documentation Target group This documentation is intended for all persons who plan, install, commission and maintain the networking and remote service of a machine. Tip! Information and software updates for Lenze products can be found in the Download area at: www.Lenze.
Communication manual 8400 motec CANopen About this documentation Document history 1.1 Document history Version Description 1.0 09/2010 TD17 First edition 2.0 01/2011 TD17 Update of the ... • Parameters for CANopen communication ( 76) (version 02.00) • »Engineer« screenshots 3.0 11/2011 TD17 General revision Your opinion is important to us! These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product.
Communication manual 8400 motec CANopen About this documentation Conventions used 1.2 Conventions used This manual uses the following conventions to distinguish between different types of information: Type of information Writing Examples/notes Numbers Decimal Hexadecimal Binary • Nibble Decimal separator Standard notation 0x[0 ... 9, A ... F] In inverted commas Point Point Example: 1234 Example: 0x60F4 Example: ’100’ Example: ’0110.0100’ The decimal point is always used. Example: 1234.
Communication manual 8400 motec CANopen About this documentation Terminology used 1.3 Terminology used Term Meaning Controller Lenze frequency inverter of the "Inverter Drives 8400 motec" product series Standard device Drive unit Communication unit Wiring unit The 8400 motec controller consists of the following modules: "drive unit", "communication unit", and "wiring unit". • The drive unit is available in various power classes.
Communication manual 8400 motec CANopen About this documentation Notes used 1.
Communication manual 8400 motec CANopen Safety instructions General safety and application instructions 2 Safety instructions Note! Always observe the specified safety measures to avoid severe injury to persons and damage to property! Always keep this documentation to hand in the vicinity of the product during operation. 2.1 General safety and application instructions Danger! Disregarding the following basic safety measures may lead to severe personal injury and damage to material assets.
Communication manual 8400 motec CANopen Safety instructions Device and application-specific safety instructions Only qualified personnel may work with and on Lenze drive and automation components. In accordance with IEC 60364 and CENELEC, these are persons ... – who are familiar with the installation, assembly, commissioning, and operation of the product. – who have the corresponding qualifications for their work.
Communication manual 8400 motec CANopen Product description Application as directed 3 Product description 3.1 Application as directed The CANopen communication unit ... is a unit that can only be used in conjunction with the following modules: Product series Type designation Inverter Drives 8400 motec Drive unit E84DGDVxxxxxxxx Inverter Drives 8400 motec Wiring unit E84DGVNxx is a device intended for use in industrial power systems.
Communication manual 8400 motec CANopen Product description Product features and variants 3.2 Product features and variants The CANopen communication unit is available in the following versions: z z E84DGFCC9NP z z E84DGFCCAJP z z E84DGFCC9JP z z Safety E84DGFCCANP I/O: M12 Inverter Drives 8400 motec CANopen communication unit I/O: Terminal Features CANopen M12 Type designation Enclosure IP 65 Product series z z z z z z The CANopen communication unit ...
Communication manual 8400 motec CANopen Product description Product features and variants The system bus (CANopen) of the Inverter Drives 8400 motec is the advanced version of the system bus (CAN) and includes the following features: Full compatibility according to CANopen DS301, V4.02. Support of the "Heartbeat" NMT slave function (DS301, V4.02). Number of parameterisable server SDO channels: – Max. 2 channels with 1 ... 8 bytes – Because of the 2 server SDO channels, the address range from 1 ...
Communication manual 8400 motec CANopen Product description Connections and interfaces 3.3 Connections and interfaces E84DG002 [3-1] CANopen communication unit Pos.
Communication manual 8400 motec CANopen Product description Connections and interfaces By default, the CANopen connectors are already pre-assembled and wired with the terminal strip X3. The CANopen connections and further connections (e.g. digital inputs) can be freely designed at the positions A1 ... A4 and B1 ... B4.. The connections can be equipped with 5-pole M12 connectors, or optionally with cable glands (cable cross-section max. 1.0 mm2, AWG 18).
Communication manual 8400 motec CANopen Technical data General data and operating conditions of the CANopen 4 Technical data 4.1 "Inverter Drives 8400 motec" hardware manual Here you will find the ambient conditions and information on the electromagnetic compatibility (EMC) that also apply to the communication unit. General data and operating conditions of the CANopen Field Values Order designation • E84DGFCCxNx (CANopen) • E84DGFCCxJx (CANopen + Safety) Communication profile CANopen, DS301 V4.
Communication manual 8400 motec CANopen Technical data Supported protocols 4.
Communication manual 8400 motec CANopen Technical data Communication time 4.3 Communication time The communication time is the time between the start of a request and the arrival of the corresponding response. The communication times in a CANopen network depend on ... the processing time in the controller; the telegram runtime (baud rate / telegram length); the nesting depth of the network. Processing time in the controller Data Processing time Process data Approx. 2 ms update cycle + 0 ...
Communication manual 8400 motec CANopen Installation 5 Installation Stop! Electrostatic discharge Electronic components within the communication unit can be damaged or destroyed by electrostatic discharge. Possible consequences: • The communication unit is defective. • Communication via the fieldbus is not possible or faulty. • I/O signals are faulty. • The safety function is faulty. Protective measures • Discharge electrostatic charges before touching the communication unit.
Communication manual 8400 motec CANopen Installation Mechanical installation 5.1 Mechanical installation Mounting instructions for "Inverter Drives 8400 motec" Here you will find detailed information on the installation. 0.37 ... 3.0 kW 4.0 ... 7.5 kW E84DG023a E84DG023b [5-1] Mechanical installation of the 8400 motec components Legend for Fig. [5-1] 1 Drive unit 2 Communication unit 3 Wiring unit A Cover of the drive unit EDK84DG...
Communication manual 8400 motec CANopen Installation Electrical installation 5.2 Electrical installation "Inverter Drives 8400 motec" hardware manual Here you'll find detailed information on ... • the digital and analog inputs and outputs; • the relay output; • the integrated safety system (safety option); • the wiring of the connections. Observe the notes and wiring instructions given in the documentation. 5.2.1 Network topology The following examples show two simple CAN networks.
Communication manual 8400 motec CANopen Installation Electrical installation A CAN network consisting of several segments contains repeaters (R) for connecting the segments. The repeaters are provided with integrated bus terminations. Consider the use of repeaters ( 28) M Z Z R Z Z R Z Z S S S 1 S 2 S 3 E94YCPM012b [5-3] CAN network with repeaters If no repeater is to be used at the end of the segment, the bus must be terminated by a bus terminating resistor at the last node (S).
Communication manual 8400 motec CANopen Installation Electrical installation 5.2.3 Specification of the bus cable We recommend the use of CAN cables in accordance with ISO 11898-2: CAN cable in accordance with ISO 11898-2 Cable type Paired with shielding Impedance 120 Ω (95 ... 140 Ω) Cable resistance/cross-section Cable length ≤ 300 m ≤ 70 mΩ/m / 0.25... 0.34 mm2 (AWG22) Cable length 301 ... 1000 m ≤ 40 mΩ/m / 0.
Communication manual 8400 motec CANopen Installation Electrical installation Segment cable length 2. Check that the segment cable length is not exceeded The segment cable length is determined by the number of nodes and the cable cross-section used. Without a repeater, the segment cable length corresponds to the total cable length. [5-2] Maximum number of Cable cross-section nodes per segment 0.25 mm2 0.5 mm2 0.
Communication manual 8400 motec CANopen Installation Electrical installation Consider the use of repeaters Note! The use of an additional repeater is recommended as: • Service interface – Advantage: Trouble-free connecting during ongoing bus operation is possible. • Calibration interface – Advantage: Calibration/programming units remain electrically isolated. Given • Baud rate: 125 kbps • Cable cross-section: 0.
Communication manual 8400 motec CANopen Installation Electrical installation 5.2.5 CANopen connection Input: M12 pins, 5-pole, A-coded Wiring at terminal strip X3 Output: M12 socket, 5-pole, A-coded Wiring at terminal strip X3 CANopen connection Pin Signal Description 1 - Not assigned 2 - Not assigned 3 CG CAN GND potential 4 CH CAN-High data line 5 CL CAN-Low data line EDS84DMOTCAN EN 3.
Communication manual 8400 motec CANopen Commissioning Before initial switch-on 6 Commissioning During commissioning, system-related data such as motor parameters, operating parameters, responses, and parameters for fieldbus communication are defined for the controller. For Lenze devices, this is done via the codes. The codes of the controller and communication are saved non-volatilely as a data set in the memory module. In addition, other codes are also available for diagnosing and monitoring the nodes.
Communication manual 8400 motec CANopen Commissioning Configuring the host (master) 6.2 Configuring the host (master) First you have to configure the host (master) for the communication with the controller. Defining the user data length The CANopen communication unit supports the configuration of max. 8 process data words (max. 64 bytes). The user data length is defined during the initialisation phase of the master. The user data lengths for process input data and process output data are the same.
Communication manual 8400 motec CANopen Commissioning Possible settings via DIP switch 6.3 Possible settings via DIP switch The DIP switches serve to ... Setting the baud rate ( 32) (switches: a ... c) Setting the CAN node address ( 33) (switches: 1 ... 64) Lenze setting: All switches OFF [6-1] DIP switch 6.3.1 Note! • The DIP switches can only be accessed when the drive unit is detached from the communication unit. Loosen the four fixing screws at the drive unit.
Communication manual 8400 motec CANopen Commissioning Possible settings via DIP switch 6.3.2 Setting the CAN node address The node addresses must differ from each other in the case of several networked CANopen nodes. The node address can be set via DIP switches 1 ... 64 or via the »Engineer« with code C00350. For the setting with C00350 DIP switches 1 ... 64 must be set to OFF. Note! • The valid address range is 0 ... 63. • If DIP switch 64 = ON (node address > 63), always node address 63 is used.
Communication manual 8400 motec CANopen Commissioning Settings in the Lenze »Engineer« 6.4 Settings in the Lenze »Engineer« The following settings can be made in the »Engineer« under the Settings tab: CAN node address (C00350) – The node address can only be parameterised if the node address "0" is set via the DIP switches. – A change of the node address will only become effective after a CAN reset node.
Communication manual 8400 motec CANopen Commissioning Initial switch-on 6.5 Initial switch-on Establishing communication To establish communication, the controller must be supplied with mains voltage. All parameters (codes) and DIP switch settings are read in when the device is switched on. If an error occurs, the error message "CE04: MCI communication error" (error no. 01.0127.00002) is output.
Communication manual 8400 motec CANopen Data transfer Structure of the CAN data telegram 7 Data transfer Via the system bus interface, for instance process data and parameter values can be exchanged between the nodes. In addition, the interface enables the connection of additional modules such as distributed terminals, keypads and input devices or external control systems and hosts (masters). The system bus interface transfers CAN objects following the CANopen communication profile (CiA DS301, version 4.
Communication manual 8400 motec CANopen Data transfer Structure of the CAN data telegram 7.1.1 Identifier The principle of CAN communication is based on a message-oriented data exchange between a transmitter and many receivers. All nodes can virtually transmit and receive simultaneously. The identifier, also called COB-ID (abbr. for communication object identifier), is used to control which node is to receive a transmitted message.
Communication manual 8400 motec CANopen Data transfer Structure of the CAN data telegram Object Direction from device Lenze-Base-ID to device Network management (NMT) Sync 1) Emergency 1) PDO1 (Process data channel 1) TPDO1 PDO2 (Process data channel 2) RPDO2 SDO1 (Parameter data channel 1) RSDO1 SDO2 (Parameter data channel 2) TSDO1 TSDO2 hex dec hex 0 0 0 0 128 80 128 80 z 128 80 128 80 z 384 180 384 180 512 200 512 200 640 280 640 280 641 281 768 300 1408 5
Communication manual 8400 motec CANopen Data transfer Structure of the CAN data telegram 7.1.2 User data All nodes communicate by exchanging data telegrams via the system bus. The user data area of the CAN telegram either contains network management data, or parameter data, or process data: Network management data (NMT data) Control information on start, stop, reset, etc. of communication to specific nodes or to all nodes of the CAN network.
Communication manual 8400 motec CANopen Data transfer Communication phases/network management 7.2 Communication phases/network management With regard to communication via the system bus, the controller distinguishes between the following states: Status Explanation "Initialisation" (Initialisation) After switch-on, an initialisation run is carried out. • During this phase, the controller is not involved in the data exchange via the bus. • The standard values are re-written to all CAN-relevant parameters.
Communication manual 8400 motec CANopen Data transfer Communication phases/network management 7.2.1 State transitions ,QLWLDOLVDWLRQ 3UH 2SHUDWLRQDO 6WRSSHG [7-2] 2SHUDWLRQDO NMT state transitions in the CAN network Transition NMT command Status after change Effects on process/parameter data after status change (1) - Initialisation Initialisation starts automatically at mains connection.
Communication manual 8400 motec CANopen Data transfer Communication phases/network management 7.2.
Communication manual 8400 motec CANopen Data transfer Communication phases/network management 7.2.3 Parameterising the Inverter Drives 8400 motec as CAN master If the initialisation of the system bus and the associated status change from "Preoperational" to "Operational" is not effected by a higher-level host, the Inverter Drive 8400 motec can instead be defined to be a "quasi" master to execute this task. The controller is configured as CAN master in C00352.
Communication manual 8400 motec CANopen Process data transfer 8 Process data transfer [8-1] PDO data transfer from / to the higher-level host (master) The CANopen communication unit is provided with two separate process data channels (PDO1 and PDO2) for transmitting process data. Each process data channel can transmit up to four words (8 bytes) at a maximum.
Communication manual 8400 motec CANopen Process data transfer Definitions Process data telegrams between the host (master) and the controllers (slaves) are distinguished in terms of direction as follows: – Process data telegrams to the device (RPDO) – Process data telegrams from the device (TPDO) The CANopen process data objects are designated as seen from the node's view: – Receive PDOs (RPDOx): Process data object received by a node – Transmit PDOs (TPDOx): Process data object sent by a node Not
Communication manual 8400 motec CANopen Process data transfer Access to process data / PDO mapping 8.1 Access to process data / PDO mapping The process data are transferred via the MCI/CAN interface. Max. 8 words (16 bits/word) per direction can be exchanged. – 2 x 4 words via the input ports CAN1_IN and CAN2_IN – 2 x 4 words via the output ports CAN1_OUT and CAN2_OUT The process data are accessed via the port blocks LP_Network_In and LP_Network_Out.
Communication manual 8400 motec CANopen Process data transfer Port interconnection of the process data objects (PDO) 8.2 Port interconnection of the process data objects (PDO) Note! The »Engineer« screenshots shown on the following pages are only examples for the setting sequence and the resulting screens. Depending on the software version of the controller and of the »Engineer« software installed, the screenshots may deviate from your »Engineer« representation.
Communication manual 8400 motec CANopen Process data transfer Port interconnection of the process data objects (PDO) 3. Click the port to be configured and press the Edit port ... button. 48 L EDS84DMOTCAN EN 3.
Communication manual 8400 motec CANopen Process data transfer Port interconnection of the process data objects (PDO) 4. Via the button, you can assign signals to the process data words in the Signal assignment --> Function Block dialog box. Select the signals and then confirm the selection with the OK button. EDS84DMOTCAN EN 3.
Communication manual 8400 motec CANopen Process data transfer Port interconnection of the process data objects (PDO) For some process data words, you can also assign signals to the individual bits via the and buttons. Select the signals and then confirm the selection with OK. The current interconnection is only displayed if the following has been set for the control mode in code C00007 = 40: Network (MCI/CAN). 50 L EDS84DMOTCAN EN 3.
Communication manual 8400 motec CANopen Process data transfer Identifiers of the process data objects 8.3 Identifiers of the process data objects In the Lenze setting, the identifier for the process data objects PDO1 and PDO2 consists of a basic identifier (CANBaseID) and the node address set in C00350: Identifier (COB-ID) = basic identifier + node address (node ID) The basic identifiers of the PDOs comply with the "Predefined connection set" of DS301, V4.02.
Communication manual 8400 motec CANopen Process data transfer Transmission type 8.4 Transmission type Process data objects can be transmitted in an event-controlled or time-controlled manner. The below table shows that it is possible to combine the different methods by means of logic operations (AND, OR): Event-controlled The PDO is sent when a certain device-internal event has occurred, e.g.
Communication manual 8400 motec CANopen Process data transfer Transmission type The communication parameters such as the transmission mode and cycle time can be set freely for every PDO and independently of the settings of other PDOs: Parameter Info Lenze setting C00322/1 Transmission mode CAN1 OUT 254 C00322/2 Transmission mode CAN2 OUT 254 C00323/1 Transmission mode CAN1 IN 254 C00323/2 Transmission mode CAN2 IN 254 C00324/1 Inhibit time for emergency telegrams 0 ms C00324/2 CAN1_OUT
Communication manual 8400 motec CANopen Process data transfer PDO synchronisation via sync telegram 8.5 PDO synchronisation via sync telegram During cyclic transmission, one or more PDOs are transmitted/received in fixed time intervals. An additional specific telegram, the so-called sync telegram, is used for synchronising cyclic process data.
Communication manual 8400 motec CANopen Parameter data transfer 9 Parameter data transfer [9-1] Parameter data transfer via the available parameter data channels Parameters are values stored in codes on Lenze controllers. Two parameter data channels are available for parameter setting, enabling the simultaneous connection of different devices for configuration purposes.
Communication manual 8400 motec CANopen Parameter data transfer Identifiers of the parameter data objects 9.1 Identifiers of the parameter data objects In the Lenze setting, the basic identifiers of the SDOs are preset according to the "Predefined Connection Set".
Communication manual 8400 motec CANopen Parameter data transfer User data 9.2 User data Structure of the user data of the parameter data telegram 1st byte 2nd byte Command 3rd byte Index 4th byte 5th byte 6th byte 7th byte 8th byte Subindex Data 1 Data 2 Data 3 Data 4 Low byte High byte Low word Low byte High byte High word Low byte High byte Note! For the user data, the Motorola format is used.
Communication manual 8400 motec CANopen Parameter data transfer User data More precisely, the command byte comprises the following information: Command 1st byte Command specifier (cs) Write request Toggle (t) Length* e s Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 1 0 0/1 0/1 1 1 Write response 0 1 1 0 0 0 0 0 Read request 0 1 0 0 0 0 0 0 Read response 0 1 0 0 0/1 0/1 1 1 Error response 1 0 0 0 0 0 0 0 *Bit coding of the length: 00 = 4 byte
Communication manual 8400 motec CANopen Parameter data transfer User data 9.2.3 Data 1 ... data 4 1st byte 2nd byte Command 3rd byte Index 4th byte 5th byte 6th byte 7th byte 8th byte Subindex Data 1 Data 2 Data 3 Data 4 Low byte High byte Low word Low byte High word High byte Low byte High byte Maximally 4 bytes are available for parameter value entries.
Communication manual 8400 motec CANopen Parameter data transfer User data 9.2.4 Error messages 1st byte Command 0x80 (128) 2nd byte 3rd byte Index Low byte 4th byte 5th byte 6th byte Subindex High byte 7th byte 8th byte Error code Low word Low byte High word High byte Low byte High byte In the event of an error, the node addressed generates a telegram with the "Error response" (0x80) command. The telegram includes the index and subindex of the code where the error occurred.
Communication manual 8400 motec CANopen Parameter data transfer User data Meaning of the error codes The error codes are standardised according to DS301, V4.02.
Communication manual 8400 motec CANopen Parameter data transfer Parameter data telegram examples 9.3 Parameter data telegram examples 9.3.1 Reading parameters Task: The heatsink temperature of 43 °C (code: C00061, data format: INTEGER32, scaling factor: 1) of the controller with node address "5" is to be read.
Communication manual 8400 motec CANopen Parameter data transfer Parameter data telegram examples 9.3.2 Write parameters Task: The rated current of the connected motor is to be entered with IN = 10.20 A (code C00088) into the controller with node address "2". Data 1 ... 4 Calculation Value for motor current, (data type U16; display factor 1/100) 10.
Communication manual 8400 motec CANopen Parameter data transfer Parameter data telegram examples 9.3.3 Reading block parameters Task: The firmware version (code C00099) is to be read from the parameter set of the controller with node address "12". The firmware version has a length of 11 ASCII characters which are transmitted as a block parameter. Depending on the block, the data width from the 2nd to 8th byte is assigned within the user data.
Communication manual 8400 motec CANopen Parameter data transfer Parameter data telegram examples Telegram 2 to the drive: Request of the 1st data block Identifier 0x060C User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Explanations on the telegram to the drive Command = 0x60 = "Read segment request" (request: read data block) • Bit 4 = 0 (toggle bit)
Communication manual 8400 motec CANopen Parameter data transfer Parameter data telegram examples Telegram 3 to the drive: Request of the 2nd data block Identifier 0x060C User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Explanations on telegram 3 to the drive Command = 0x70 = "Read segment request" (request: read data block) • Bit 4 = 1 (toggle bit) Re
Communication manual 8400 motec CANopen Monitoring Monitoring of the RPDOs for data reception 10 Monitoring 10.1 Monitoring of the RPDOs for data reception RPDO1 and RPDO2 have a parameterisable monitoring time within which the RPDO must arrive.
Communication manual 8400 motec CANopen Monitoring Integrated error detection 10.2 Integrated error detection If a node detects an error, it rejects the CAN telegram bits received so far and transmits an error flag. The error flag consists of 6 consecutive bits with the same logic value. The following errors are detected: Bit error The sending node monitors the bus and interrupts the transmission if it receives a different logic value than the value transmitted.
Communication manual 8400 motec CANopen Monitoring Heartbeat protocol 10.3 Heartbeat protocol The heartbeat protocol can be used for node monitoring purposes within a CAN network.
Communication manual 8400 motec CANopen Monitoring Heartbeat protocol 10.3.2 Parameter setting Short overview of the parameters for the "Heartbeat" monitoring function: Parameter Info Lenze setting Assignment Value Unit Consumer - z C00347/1...n CAN status of heartbeat producer 1 C00381 Heartbeat producer time 0 ms C00385/1...n CAN node address of heartbeat producer 1 0 z C00386/1...n Heartbeat consumer time for heartbeat producer 1 0 ms z C00592/5 Resp.
Communication manual 8400 motec CANopen Monitoring Heartbeat protocol Heartbeat event The "Heartbeat event" is activated in the consumer if it does not receive any heartbeat telegram from the producer within the heartbeat consumer time: The consumer changes from the "Operational" communication status to the "Preoperational" communication status. The NMT master receives an emergency telegram containing emergengy error code 0x8130.
Communication manual 8400 motec CANopen Monitoring Heartbeat protocol 10.3.3 Commissioning example Task A controller (node 2) which is configured as heartbeat consumer is to monitor another controller (heartbeat producer, node 1). The heartbeat producer is to transmit a heartbeat telegram to the heartbeat consumer every 10 ms. The heartbeat consumer monitors the heartbeat telegram for arrival. A response is to be activated in the event of an error. Parameterising the heartbeat producer (node 1) 1.
Communication manual 8400 motec CANopen Monitoring Emergency telegram 10.
Communication manual 8400 motec CANopen Diagnostics 11 Diagnostics Diagnostics with the »Engineer« In the »Engineer« under the Diagnostics tab, various system bus (CANopen) diagnostics information is displayed. 74 L EDS84DMOTCAN EN 3.
Communication manual 8400 motec CANopen Parameter reference Communication-relevant parameters of the operating system 12 Parameter reference This chapter complements the parameter list and table of attributes in the software manual and the »Engineer« online help for the Inverter Drive 8400 motec by the parameters for CANopen communication. 12.1 Software manual/»Engineer« online help "Inverter Drives 8400 motec" Here you can find general information on parameters.
Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication 12.2 Parameters for CANopen communication This chapter lists the CANopen parameters of the communication unit in numerically ascending order. C00322 Parameter | Name: Data type: UNSIGNED_8 Index: 24253d = 5EBDh C00322 | Transmission mode CAN TxPDOs TPDO transmission type according to DS301 V4.02 • The following transmission modes are supported: – 0: Synchronous and acyclic – 1 ...
Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00324 Parameter | Name: Data type: UNSIGNED_16 Index: 24251d = 5EBBh C00324 | CAN Tx inhibit time Inhibit time for the transmission of the emergency telegram and the process data Note: If the "Asynchronous - manufacturer-specific/device profile-specific" transmission time is set, the transmission cycle timer is reset to 0 if the transmission has been triggered in an event-controlled manner.
Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00347 Parameter | Name: Data type: UNSIGNED_8 Index: 24228d = 5EA4h C00347 | CAN status HeartBeat producer Display of the heartbeat producer's CAN status Heartbeat protocol ( 69) Selection list 0 Boot-up 4 Stopped 5 Operational 127 Pre-operational 250 Failed 255 NoResponse Subcodes Info C00347/1 Status node 1 ; Read access Write access CINH PLC-STOP ; No transfer PDO_MAP_RX PDO_MAP_TX ; COM MOT C
Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00350 Parameter | Name: Data type: UNSIGNED_8 Index: 24225d = 5EA1h C00350 | CAN node address Setting of the node address via parameters • The node address can only be parameterised if the node address "0" is set via the DIP switches. • A change of the node address will only become effective after a CAN reset node. Setting the CAN node address ( 33) Setting range (min. value | unit | max.
Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00353 Parameter | Name: Data type: UNSIGNED_8 Index: 24222d = 5E9Eh C00353 | CAN IN/OUT COBID source Identifier allocation procedure for the CANx_IN/OUT process data Selection list Info 0 COBID = C0350 + LenzeBaseID COBID = device address + LenzeBaseID 1 COBID = C0350 + CANBaseID COBID = device address + CANBaseID (C00354/x) 2 COBID = C0354/x COBID = direct setting from C00354/x Subcodes Lenze setting
Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00356 Parameter | Name: Data type: UNSIGNED_16 Index: 24219d = 5E9Bh C00356 | CAN time settings Different time settings for the CAN interface Setting range (min. value | unit | max.
Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00360 Parameter | Name: Data type: UNSIGNED_16 Index: 24215d = 5E97h C00360 | CAN telegram counter Number of received and sent CAN telegrams Display area (min. value | unit | max.
Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00366 Parameter | Name: Data type: UNSIGNED_8 Index: 24209d = 5E91h C00366 | Number of CAN SDO channels Available from firmware version 02.00. Selection of the number of active parameter data channels • In the Lenze setting in accordance with CANopen, only parameter data channel 1 is activated. To activate both parameter data channels, set the selection "2 SDO Lenze".
Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00372 Parameter | Name: Data type: UNSIGNED_8 Index: 24203d = 5E8Bh C00372 | CAN_Tx_Rx_Error Display of CAN transmission and reception errors Display area (min. value | unit | max.
Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00389 Parameter | Name: Data type: UNSIGNED_8 Index: 24186d = 5E7Ah C00389 | PDO valid / not valid Validity of the PDOs Selection list (Lenze setting printed in bold) 0 PDO available/valid 1 PDO not available/invalid Subcodes Lenze setting Info C00389/1 0 PDO valid / invalid CAN1_IN C00389/2 0 PDO valid / invalid CAN1_OUT C00389/3 0 PDO valid / invalid CAN2_IN C00389/4 0 ; Read access ; Write
Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00592 Parameter | Name: Data type: UNSIGNED_8 Index: 23983d = 5DAFh C00592 | Resp.
Communication manual 8400 motec CANopen Parameter reference Table of attributes 12.3 Table of attributes How to read the table of attributes: Column Meaning Code Parameter name Cxxxxx Name Parameter short text (display text) Text Index under which the parameter is addressed. The subindex for array variables corresponds to the Lenze subcode number.
Communication manual 8400 motec CANopen Parameter reference Table of attributes Table of attributes Code 88 Name Index Data dec hex DS DA 24253 5EBD A 2 Transmission mode CAN Rx PDOs 24252 5EBC A 2 CAN Tx inhibit time 24251 5EBB A 3 C00345 CAN error status 24230 5EA6 E 1 C00322 Transmission mode CAN TxPDOs C00323 C00324 Data type Access R W 1 ; ; UNSIGNED_8 1 ; ; UNSIGNED_16 1 ; ; UNSIGNED_8 1 ; 1 ; UNSIGNED_8 Factor C00347 CAN status HeartBeat producer
Communication manual 8400 motec CANopen Implemented CANopen objects 13 Implemented CANopen objects Lenze devices can be parameterised with both Lenze codes and manufacturerindependent "CANopen objects". Completely CANopen-compliant communication can only be achieved by solely using CANopen objects for parameter setting. The CANopen objects described in this chapter are defined in the CAN specification DS301 V4.02. Many CANopen objects can be mapped to Lenze codes.
Communication manual 8400 motec CANopen Implemented CANopen objects CANopen object Index Subindex I-1400 RPDO1 communication parameter I-1401 I-1600 I-1601 I-1800 I-1801 I-1A00 I-1A01 90 Relationship to Lenze code Name 0 Highest subindex supported - 1 COB-ID used by RPDO C00355/1 2 Transmission type C00323/1 RPDO2 communication parameter 0 Highest subindex supported - 1 COB-ID used by RPDO C00355/3 2 Transmission type C00323/2 RPDO1 mapping parameter 0 Number of mapped appl
Communication manual 8400 motec CANopen Implemented CANopen objects I-1000 - Device type Index Name: I-1000 Device type Subindex Default setting Display range (min. value | unit | max. value) 0: Device type 0 0 Access Data type 4294967295 ro U32 The CANopen index I-1000 specifies the profile for this device. Furthermore, additional information defined in the device profile itself can be stored here.
Communication manual 8400 motec CANopen Implemented CANopen objects I-1003 - Pre-defined error field Index: Name: I-1003 Predefined error field Subindex Default setting Setting range (min. value | unit | max. value) 0: Number of errors 0 0 255 rw Access 1 ... 10: Standard error field - 0 4294967295 ro Data type U8 U32 Error history This object indicates that an error has occurred in the module and in the standard device. Subindex Meaning 0 Number of saved error messages 1 ...
Communication manual 8400 motec CANopen Implemented CANopen objects I-1005 - COB-ID SYNC message Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) 0: COB-ID SYNC message 0x0000 0080 or 0x8000 0080 0 I-1005 COB-ID SYNC message Access 4294967295 rw Data type U32 This object can be used to activate the generation of sync telegrams and to write the identifier value. This object relates to codes C00367 and C00368.
Communication manual 8400 motec CANopen Implemented CANopen objects I-1006 - Communication cycle period Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) 0: Communication cycle period 0 μs 0 I-1006 Communication cycle period μs Access 65535000 rw Data type U32 Setting the sync telegram cycle time. The cycle time can be selected as "1000" or as an integer multiple of it. If "0 μs" is set (Lenze setting), no sync telegrams are generated.
Communication manual 8400 motec CANopen Implemented CANopen objects I-1016 - Consumer heartbeat time Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: Highest subindex supported 1 - (read access only) ro U16 1 ... n: Consumer heartbeat time 0 0 65535 rw U16 I-1016 Consumer heartbeat time Monitoring time for the nodes to be monitored via heartbeat.
Communication manual 8400 motec CANopen Implemented CANopen objects I-1018 - Identity object Index: Name: Subindex Default setting Display range (min. value | unit | max. value) 0: Highest subindex supported See below 0 I-1018 Identity object Access 4294967295 ro Data type U32 1: Vendor ID 2: Product code 3: Revision number 4: Serial number Subindex Meaning 1 Manufacturer's identification number • The identification number allocated to Lenze by the organisation "CAN in Automation e. V.
Communication manual 8400 motec CANopen Implemented CANopen objects I-1201 - SDO2 server parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: Highest subindex supported 3 - (read access only) ro U8 I-1201 SDO2 server parameter 1: COB-ID client -> server (rx) 0x80000000 0 4294967295 rw U32 2: COB-ID server -> client (tx) 0x80000000 0 4294967295 rw U32 Setting of the identifiers for SDO server channel 2.
Communication manual 8400 motec CANopen Implemented CANopen objects Example Parameter data channel 2 of the controller with node address 4 is to be activated. For this, bit 31 must be set to the value "0" (SDO is valid) in subindexes 1 and 2 of object I-1201. The master must send the two "write request" commands to the nodes via the basic SDO channel.
Communication manual 8400 motec CANopen Implemented CANopen objects I-1400 - RPDO1 communication parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max.
Communication manual 8400 motec CANopen Implemented CANopen objects Description of subindex 2 PDO transmission cyclic synchronous z z Transmission type Explanation n = 1 ... 240 When a value n is entered, this PDO will be accepted with every nth sync. n = 254 PDO will be accepted immediately. event-controlled z [13-13] I-1400 / I-1401, subindex 2 I-1401 - RPDO2 communication parameter Index: Name: Subindex Default setting I-1401 RPDO2 communication parameter Setting range (min.
Communication manual 8400 motec CANopen Implemented CANopen objects I-1600 - RPDO1 mapping parameter Index: Name: I-1600 RPDO1 mapping parameter Subindex Default setting Setting range (min. value | unit | max. value) 0: Number of mapped application objects in PDO 0 0 8 rw Access 1 ... 4: Application object 1 ... 4 0 0 4294967295 rw Data type U8 U32 Object I-1600 serves to receive parameter data as RPDO1. This object relates to code C00409/1...4.
Communication manual 8400 motec CANopen Implemented CANopen objects I-1800 - TPDO1 communication parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max.
Communication manual 8400 motec CANopen Implemented CANopen objects Subindex 2 - transmission type PDO transmission cyclic synchronous z z z Transmission type Explanation n = 1 ... 240 When a value n is entered, this PDO will be accepted with every nth sync. n = 254 Event-controlled or cyclic eventcontrolled z Subindex 3 - inhibit time Note! The delay time can only be changed when the PDO is not active (see subindex 1, bit 31 = 1). The entered value multiplied by 0.
Communication manual 8400 motec CANopen Implemented CANopen objects I-1801 - TPDO2 communication parameter Index: Name: Subindex Default setting Setting range (min. value | unit | max.
Communication manual 8400 motec CANopen Implemented CANopen objects I-1A00 - TPDO1 mapping parameter Index: Name: I-1A00 TPDO1 mapping parameter Subindex Default setting Setting range (min. value | unit | max. value) 0: Number of mapped application objects in PDO 0 0 8 rw Access 1 ... 4: Application object 1 ... 4 0 0 4294967295 rw Data type U8 U32 Object I-1A00 serves to send parameter data as TPDO1. Subindex Meaning 0 Number of mapped objects 1 ... 4 Mapping entries 1 ...
Communication manual 8400 motec CANopen DIP switch positions for setting the CAN node address 14 DIP switch positions for setting the CAN node address The node address results from the sum of the binary values of switches 1 ... 64. The following table shows the switch positions for the valid address range of 1 ... 63.
Communication manual 8400 motec CANopen DIP switch positions for setting the CAN node address Station address DIP switch 64 32 16 8 4 2 1 39 OFF ON OFF OFF ON ON ON 40 OFF ON OFF ON OFF OFF OFF 41 OFF ON OFF ON OFF OFF ON 42 OFF ON OFF ON OFF ON OFF 43 OFF ON OFF ON OFF ON ON 44 OFF ON OFF ON ON OFF OFF 45 OFF ON OFF ON ON OFF ON 46 OFF ON OFF ON ON ON OFF 47 OFF ON OFF ON ON ON ON 48 OFF ON ON OFF OFF OFF OFF 49 OFF
Communication manual 8400 motec CANopen Index 15 Index A Access to process data 46 Acknowledgement error 68 Active COBID (C00355) 80 Application as directed 14 Application notes (representation) 11 Application of the communication unit 14 Approvals 19 B Baud rate 19 Before initial switch-on 30 Bit error 68 Bus cable 26 Bus cable length 26 Bus termination 25 C C00322 | Transmission mode CAN TxPDOs 76 C00323 | Transmission mode CAN Rx PDOs 76 C00324 | CAN Tx inhibit time 77 C00345 | CAN error status 77 C0
Communication manual 8400 motec CANopen Index D Data transfer 36 Device and application-specific safety instructions 13 Device protection 13 Device type (I-1000) 91 Diagnostics 74 Diagnostics with the »Engineer« 74 DIP switch positions for setting the CAN node address 106 DIP switch settings 32, 106 Document history 8 E Identity object (I-1018) 96 Implemented CANopen objects 89 Initial switch-on 35 Installation 22 Integrated error detection 68 Interface 19 Interfaces 17 L LP_CanIn mapping (C00409) 85
Communication manual 8400 motec CANopen Index R Residual hazards 13 Resp. to CAN bus connection (C00592) 86 Resp. to CANx_IN monitoring (C00593) 86 Resp.
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