.E$M EDSPMIO1000 13360344 L-force Controls Software manual I/O system 1000 L-force I/O System 1000 I Parameter setting & configuration L
L-force Controls | I/O System 1000 Contents 1 2 3 4 5 6 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.1 Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.2 Validity information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
L-force Controls | I/O System 1000 7 4 6.5 Electronic modules - analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.5.1 "AOx 12Bit" electronic modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 44 6.6 Electronic modules - counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.6.1 Parameters tab . . . . . . . . . . . . . . . . . . . . . . . .
L-force Controls | I/O System 1000 8 9 10 Error management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 8.1 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1.1 Monitoring time for receive objects (0x2400). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1.2 Heartbeat protocol . . . . . . . . . . . . . .
L-force Controls | I/O System 1000 About this documentation Target group 1 About this documentation This documentation provides information on the L-force I/O system 1000. Read the I/O system 1000 system manual before you start working. The system manual includes safety instructions which must be observed! Documentation on the I/O system 1000 can be found in the download area at http://www.Lenze.com 1.
L-force Controls | I/O System 1000 About this documentation Conventions used 1.4 Conventions used This documentation uses the following conventions to distinguish between different types of information: Type of information Identification Examples/notes Numbers Decimal separator Point The decimal point is generally used. For instance: 1234.56 Text Version information Program name Window Blue text colour »« The Message window ... / The Options dialog box ... bold The OK button ...
L-force Controls | I/O System 1000 About this documentation Terminology used 1.5 8 Terminology used Term Meaning »Engineer« Software provided by Lenze that supports the entire life cycle of a machine from planning stage to maintenance. Code "Container" for one or more parameters which are used to parameterise or monitor the controller. Subcode If a code contains several parameters, these are stored in so-called subcodes.
L-force Controls | I/O System 1000 About this documentation Definition of notes used 1.
L-force Controls | I/O System 1000 Product description Features of the I/O system 1000 2 Product description 2.1 Features of the I/O system 1000 The I/O system 1000 is suitable for the implementation of complex automation applications, consisting of the following components: CAN bus coupler, electronic modules, and backplane bus. The process data exchange via CAN is executed via the CAN bus coupler.
L-force Controls | I/O System 1000 Product description Device architecture 2.2 Device architecture 0 1 ... ... 64 4 [2-1] 2.0 EN - 11/2010 CAN bus coupler module Electronic modules, max. 64 n System bus (CAN), connected via a 9-pole Sub-D plug o Internal backplane bus for the communication between CAN bus coupler module and electronic modules • Side-by-side mounting of the module feet provides for the electrical connection to the CAN bus coupler module.
L-force Controls | I/O System 1000 Product description Available modules 2.
L-force Controls | I/O System 1000 Product description Station behaviour after switch-on 2.4 Station behaviour after switch-on The sequence diagram shows the check routine of the I/O system after every switch-on of the supply voltage. Save parameter settings and station structure ( 64) Load Lenze setting ( 64) 2.
L-force Controls | I/O System 1000 Configuring the station structure Search for connected devices 3 Configuring the station structure 3.1 Search for connected devices Instead of starting with an empty project, you can let the »Engineer« search for devices that can be accessed online. When the search is completed, you can select in the start-up wizard which devices of the ones identified are to be transferred to the project.
L-force Controls | I/O System 1000 Configuring the station structure Search for connected devices How to create a new project for a connected device: 1. If the start-up wizard has not been displayed yet, click the FileNew... command to call the start-up wizard. icon or select the Step 1 - What would you like to do? 2. Select the New project (upload data from system) option. 3. Press Next. Step 2 - Properties 4.
L-force Controls | I/O System 1000 Configuring the station structure Search for connected devices Step 3 - Storage location 6. The Name entered before is suggested as project name. If required, change the suggestion accordingly. • The project name is also the name for the project directory to be created. 7. Enter the filing location for the project directory in the Directory input field. • If the indicated directory is not available, it will be recreated.
L-force Controls | I/O System 1000 Configuring the station structure Search for connected devices Step 4 - Read online data 9. Select the interface to be used from the Bus connection list field. 10. Click the Start Search button to start the search for connected devices. • The Find online devices dialog box appears with status messages regarding the search.
L-force Controls | I/O System 1000 Configuring the station structure Creating a new project (select component from catalogue) 3.2 Creating a new project (select component from catalogue) You can create a new project in the »Engineer« without being online. After having configured the project, go online with the I/O system 1000 to transfer parameters. How to create a new project with components: 1. If the start-up wizard has not been displayed yet, click the FileNew...
L-force Controls | I/O System 1000 Configuring the station structure Creating a new project (select component from catalogue) Step 2 - Properties 4. Enter the corresponding properties of the projects into the input fields (name, order number, etc.). • You can always change the properties subsequently. • Later you will find the name as project name in the Project view. 5. Press Next. Step 3 - Storage location 6. The Name entered before is suggested as project name.
L-force Controls | I/O System 1000 Configuring the station structure Creating a new project (select component from catalogue) 7. Enter the filing location for the project directory in the Directory input field. • If the indicated directory is not available, it will be recreated. • You can optionally select an available directory via the Browse... button. • If you select the Always save projects here option, the indicated directory will be the standard memory location for new projects. 8. Press Complete.
L-force Controls | I/O System 1000 Configuring the station structure Creating a new project (select component from catalogue) Step 5 - Device modules 12. Use the Select New Module button to insert the first electronic module. 2.
L-force Controls | I/O System 1000 Configuring the station structure Creating a new project (select component from catalogue) 13. Add more electronic modules. • Use the Select New Module button to put the selected electronic module to the end. • Use the Insert Module button to insert the selected electronic module in front of the marked module. • Use the Cut button to remove the marked electronic module. • Use the Paste button to insert the electronic module cut before in front of the marked module.
L-force Controls | I/O System 1000 Communication via system bus (CAN) Establishing a connection between the PC and the device 4 Communication via system bus (CAN) The PC and the I/O system 1000 communicate via the system bus interface at the CAN bus coupler module. Establishing a connection between the PC and the device The system bus interface serves to e.g. exchange process data and parameter values between nodes.
L-force Controls | I/O System 1000 Communication via system bus (CAN) Setting the communication path 4.2 Setting the communication path Note! The communication settings need to be made only once when the connection to the device is established for the first time. If the Go online command is executed again, the communication path dialog box will not be displayed again, and an online connection will be established immediately via the bus connection set for the device.
L-force Controls | I/O System 1000 Communication via system bus (CAN) Setting the communication path 4. Click the Search/Enter... button to check the bus connection selected from the Bus connection list field. • The Select Device Access Path dialog box is displayed: 5. Select the corresponding device in the upper Field devices located list field. 6. Click OK. • The Select Device Access Path dialog box is closed.
L-force Controls | I/O System 1000 Communication via system bus (CAN) Establishing an online connection 4.3 Establishing an online connection How to establish an online connection via the system bus adapter: 1. Go to the Project view and select the I/O system 1000 to be connected online: 2. Click the icon. If the changes you have made on the project have not been accepted yet, first a query on whether an update is to be carried out is effected.
L-force Controls | I/O System 1000 Navigation Tree topology in the project view 5 Navigation 5.1 Tree topology in the project view Similar to the folder view in the Windows Explorer the elements of the current project are shown in a hierarchical tree structure in the Project view of the »Engineer«. Legend 2.
L-force Controls | I/O System 1000 Navigation Tabs of the modules 5.2 Tabs of the modules The different tabs in the workspace show the properties and settings of the module currently selected in the Project view and can also be changed here. Depending on the module selected in the Project view, different tabs are available in the workspace. When clicking a tab located in the upper position of an index card, you bring the corresponding index card to the fore.
L-force Controls | I/O System 1000 Parameter setting 6 Parameter setting The objects of the I/O system 1000 are created dynamically in the Engineer. Depending on the configured electronic modules, only those objects you need for parameter setting are displayed. • Comfortable parameter setting of electronic modules by selecting the corresponding module from the project view and making the settings in the workspace.
L-force Controls | I/O System 1000 Parameter setting CAN bus coupler 6.1 CAN bus coupler The All parameters tab contains lists of the available objects for setting the parameters of the I/O system 1000. How to work with the object lists: 1. Select the I/O system 1000 in the project view. 2. Click the All parameters tab in the workspace. 3. Select the desired range of objects.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital input 6.2 Electronic modules - digital input 6.2.1 "DIx, DC24V" and "DIx NPN, DC24V" electronic modules Use the Parameters tab to select the settings for the electronic module. In addition, the channel status is indicated. How to parameterise the electronic module: 1. Select the electronic module in the project view. 2. Click the Parameters tab in the workspace. 3. Make settings for each channel. 2.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital input 6.2.2 "DI2 TimeStamp" electronic module 6.2.2.1 Parameters tab Use the Parameters tab to select the settings for the electronic module. In addition, the channel status is indicated. How to parameterise the electronic module: 1. Select the electronic module in the project view. 2. Click the Parameters tab in the workspace. 3. Make settings for each channel.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital input 6.2.2.2 Legend Description Index Edge evaluation rising edge Selection of the signal edge of the input signal for the generation of a TimeStamp entry. Click the input field to open the drop down menu. • Inhibit – In the case of a rising edge, no TimeStamp entry is generated. • Enable – In the case of a rising edge, a TimeStamp entry is generated.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital input Function DI1 Digital input 1 The TimeStamp entry for edge evaluation is generated with a rising edge. DI2 Digital input 2 The TimeStamp entry for edge evaluation is generated with a falling edge. Channel status Running number (RN) Counts from 0 … 127 and then starts with 0 again. The RN presents the time sequence of the edges. Ticker value [6-1] 34 Storage of the TimeStamp entries L 2.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital input Process data The electronic module creates 15 subindex entries which provide a history over the last 15 state changes of the inputs. The input status (channel status) is stored in the first subindex. With every further state change, the entry is shifted to the next subindex entry.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital output 6.3 Electronic modules - digital output 6.3.1 "DOx, DC24V" and "DOx NPN, DC24V" electronic modules Use the Parameters tab to select the settings for the electronic module. In addition, the channel status is indicated. How to parameterise the electronic module: 1. Select the electronic module in the project view. 2. Click the Parameters tab in the workspace. 3. Make settings for each channel.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital output 6.3.2 "DO2 Timestamp" electronic module 6.3.2.1 Parameters tab Use the Parameters tab to select the settings for the electronic module. In addition, the channel status is indicated. How to parameterise the electronic module: 1. Select the electronic module in the project view. 2. Click the Parameters tab in the workspace. 3. Make settings for each channel.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital output TimeStamp function, the operating times of the outputs can be exactly calculated up to 1 μs. Electronic modules with TimeStamp function are equipped with an internal ticker. To make sure that all tickers always have the same time base, they are synchronised within a station via the backplane bus of the CAN bus coupler. The ticker works with a resolution of 1 μs.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital output Process data Via the output area, up to 15 TimeStamp entries can be transferred to the FIFO memory. The process image shows the status of the FIFO memory and the processing status. See also: 2.0 EN - 11/2010 PDO mapping ( 66) PDO mapping for digital modules with TimeStamp function ( 68) Index Bit Description 0x5440 0…5 Running number of the TimeStamp entry last written to the FIFO memory.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital output 6.3.3 "DO2 PWM" electronic module 6.3.3.1 Parameters tab Use the Parameters tab to select the settings for the electronic module. In addition, the channel status is indicated. How to parameterise the electronic module: 1. Select the electronic module in the project view. 2. Click the Parameters tab in the workspace. 3. Make settings for each channel.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital output 6.3.3.2 PWM function Description Both outputs of the electronic module are supported by the PWM function (pulse width modulation). Through the selection of the time parameters, a pulse sequence with the required duty cycle will be output.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - digital output Process data See also: PDO mapping ( 66) PDO mapping for digital modules with PWM function ( 70) Index Bit 0x5420/x 0 Reserved 1 PWM status. • 0: PWM output is stopped • 1: PWM output is active 2 Output status. • 0: Push/pull output • 1: Highside output 3 … 15 Reserved Index Bit Description 0x5620/x 0 … 32 Selection of the pulse duration.
L-force Controls | I/O System 1000 Parameter setting Electronic module - analog input 6.4 Electronic module - analog input 6.4.1 "AIx 12Bit" and "AIx 16Bit" electronic modules Use the Parameters tab to select the settings for the electronic module. In addition, the channel status is indicated. How to parameterise the electronic module: 1. Select the electronic module in the project view. 2. Click the Parameters tab in the workspace. 3. Make settings for each channel. 2.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - analog output 6.5 Electronic modules - analog output 6.5.1 "AOx 12Bit" electronic modules Use the Parameters tab to select the settings for the electronic module. In addition, the channel status is indicated. How to parameterise the electronic module: 1. Select the electronic module in the project view. 2. Click the Parameters tab in the workspace. 3. Make settings for each channel. 44 L 2.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - analog output 2.0 EN - 11/2010 Legend Description Index Accept module parameter Changed settings will not be accepted until the function has been executed. 0x31FF Click the input field to open the drop down menu. • 255: Accept module parameters Channel status Display of the current output signal of 0 ... 10 V. 0x6411 Signal function Signal function of the channel. Click the input field to open the drop down menu. • 16: 0..
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters 6.6 Electronic modules - counters The parameter setting is exemplified using a counter which includes all possible functions. The available range of functions depends on which counter has been selected. 6.6.1 Parameters tab Use the Parameters tab to select the settings for the electronic module. How to parameterise the electronic module: 1. Select the electronic module in the project view. 2.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters Legend Description Accept module parameter Changed settings will not be accepted until the function has been executed. 0x31FF Click the input field to open the drop down menu. • 255: Accept module parameters Input frequency Selection of a filter via an input frequency for inputs 1 (track A), 4 (latch), 5 (track B), 7 (reset), and 8 (HW gate). • Filters can e.g. be used to filter signal peaks due to impure input signals.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters Legend Description Index Start value Selection of a count value (max. 32 bits) where the counting process is to be started. Final value Selection of a count value (max. 32 bits) where the counting process is to be stopped. Set value Hysteresis Hysteresis for the prevention of frequent switching operations of the output and triggering the alarm if the count value is in the range of the comparison value.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters 6.6.2 Control of the counter The counter is controlled via the hardware gate (HW gate) and the software gate (SW gate). The HW gate and the SW gate are combined with an AND operation. The HW gate is controlled via the signal at input 8 of the counter module.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters 6.6.3 Continuous counting Limits Counting range Lower counting limit -2 147 483 648 (-231) Upper counting limit +2 147 483 647 (-231-1) Function: The counter starts counting from the start value in the counting range.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters 6.6.4 Counting only once: No main counting direction Limits Counting range Lower counting limit -2 147 483 648 (-231) Upper counting limit +2 147 483 647 (-231-1) Function: The counter starts counting up or down only once within a defined counting range.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters 6.6.5 Counting only once: Main counting direction - counting up Limits Counting range Final value -2 147 483 646 (-231+1) … +2 147 483 646 (-231-1) Lower counting limit +2 147 483 648 (-231) Function: The counter starts counting up from the start value. If the counter reaches the final value -1 in the positive direction, it jumps to the start value with the next count pulse and the counter will stop automatically.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters 6.6.6 Counting only once: Main counting direction - counting down Limits Counting range Final value -2 147 483 646 (-231+1) … +2 147 483 646 (-231-1) Upper counting limit +2 147 483 646 (-231-1) Function: The counter starts counting down from the start value.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters 6.6.7 Periodic counting: No main counting direction Limits Counting range Lower counting limit -2 147 483 648 (-231) Upper counting limit +2 147 483 647 (-231-1) Function: The counter starts counting up or down from the start value in the counting range. In the case of an overflow / underflow of the counting limit values, the counter jumps to the start value and continues counting from there. [6.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters 6.6.8 Periodic counting: Main counting direction - counting up Limits Counting range Final value -2 147 483 646 (-231+1) … +2 147 483 646 (-231-1) Lower counting limit +2 147 483 648 (-231) Function: The counter starts counting up from the start value.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters 6.6.9 Periodic counting: Main counting direction - counting down Limits Counting range Final value -2 147 483 646 (-231+1) … +2 147 483 646 (-231-1) Upper counting limit +2 147 483 646 (-231-1) Function: The counter starts counting down from the start value.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters 6.6.10 Function of the hysteresis Count value ≥ comparison value The hysteresis is activated if the comparison condition is met. When the hysteresis is activated, the comparison result remains unchanged until the count value drops out of the set hysteresis range. After the count value has exited the hysteresis range, the comparison conditions must be met once more for the hysteresis to be activated again.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters Comparison value with zero pulse duration The hysteresis is activated if the comparison condition is met. When the hysteresis is activated, the comparison result remains unchanged until the count value drops out of the set hysteresis range. After the count value has exited the hysteresis range, the comparison conditions must be met once more for the hysteresis to be activated again.
L-force Controls | I/O System 1000 Parameter setting Electronic modules - counters Comparison value with non-zero pulse duration The hysteresis is activated and a pulse of the parameterised duration is issued if the comparison condition is met. As long as the count value lies within the hysteresis range, no more pulses will be issued. When the hysteresis is activated, the counting direction is saved to the module.
L-force Controls | I/O System 1000 Parameter setting SSI electronic module 6.7 SSI electronic module 6.7.1 Parameters tab Use the Parameters tab to select the settings for the electronic module. In addition, the channel status is indicated. How to parameterise the electronic module: 1. Select the electronic module in the project view. 2. Click the Parameters tab in the workspace. 3. Select the settings.
L-force Controls | I/O System 1000 Parameter setting SSI electronic module Legend Description Sliding direction Information for the orientation of encoder data. Generally, the SSI encoder uses "MSB first". Information on the sliding direction is provided on the encoder data sheet. Click the input field to open the drop down menu.
L-force Controls | I/O System 1000 Parameter setting SSI electronic module 6.7.2 Operating mode Master mode In the master mode, the module is directly connected to an SSI encoder which it also supplies. To evaluate the encoder, the module issues clock pulses to the encoder and provides the received data in the form of a process image. [6.9] 62 Block diagram: Master mode L 2.
L-force Controls | I/O System 1000 Parameter setting SSI electronic module Monitoring operation In monitoring operation, the monitoring module is operated passively on an SSI encoder, along with the master module. In this operating mode, the SSI encoder must be supplied via the master module. During operation, the module monitors the signals of the SSI telegram and provides the received data in the form of a process image.
L-force Controls | I/O System 1000 Parameter setting Save parameter settings and station structure 6.8 Save parameter settings and station structure Parameter | Name: 0×1010/1 | Save All Parameters Parameter settings and station structure are saved to the EEPROM of the bus coupler. Selection list (Lenze setting printed in bold) Information 0 No function Function acc. to CANopen (communication protocol DS301/DS401) 1702257011 Save 6.
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment 7 Networking via CAN system bus 7.1 Port assignment The Ports tab for the CAN bus coupler module shows the input and output ports, the mapping and the application variables. How to show the port assignment: 1. Go to the Project view and select the I/O system 1000 component. 2. Click the Ports tab in the workspace. 2.0 EN - 11/2010 Legend Description Port definition Display of all input PDOs and output PDOs.
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment 7.1.1 PDO mapping A maximum of 64 electronic modules can be connected to a CAN bus coupler module. 10 RPDOs and 10 TPDOs are available for transferring the process data of the electronic modules.
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment The following rules for assigning the PDOs apply according to the CANopen communication profile DS401: PDO Assignment RPDO1 Reserved for the first digital input module. TPDO1 Reserved for the first digital output module. RPDO2 Reserved for the first analog input module. TPDO2 Reserved for the first analog output module. FROM PDO3 The PDOs can only be assigned with electronic modules of one module class.
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment 7.1.2 PDO mapping for digital modules with TimeStamp function [7.
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment EPM-S207 2.0 EN - 11/2010 Channel status Running number Bit Designation Function 0 Channel status - DI1 0: FALSE 1: TRUE 1 Channel status - DI2 0: FALSE 1: TRUE 2 ... 7 – Reserved 8 ... 15 Running number (RN) Counter that starts counting from 0 … 127 and then restarts with 0. EPM-S207 Ticker value Bit Designation 0 ...
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment 7.1.3 PDO mapping for digital modules with PWM function [7.12] Default mapping Word 1 EPM-S620 Pulse duration - DO1 2 3 Pulse duration - DO2 4 70 5 Control word - DO1 6 Control word - DO2 7 – 8 – 9 Status word - DO1 10 Status word - DO2 11 – 12 – 13 – 14 – 15 – 16 – L 2.
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment 2.0 EN - 11/2010 EPM-S620 Status word Bit Designation 0 – Reserved 1 PWM status 0: PWM output is stopped 1: PWM output is active 2 Output status 0: Push/pull output 1: Highside output 3 … 15 – Reserved EPM-S620 Control word Bit Designation Function 0 – Reserved 1 – Reserved 2 PWM behaviour • 0: Push/pull output – The output signal is activated at HIGH level and at LOW level.
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment 7.1.4 PDO mapping for counters and encoder evaluation (SSI) [7.
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment Ticker value: After mains connection a ticker is started, which after 65535 s starts with 0 again. With every change of the count value, the ticker value (16 bit) and the count value are stored in the input area.
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment EPM-S601 Status word Bit Designation 0 – Reserved 1 STS_CTRL_COMP Is set if the comparison bit is enabled 2 STS_SW-GATE Software gate status (set if SW gate active) 3 – Reserved 4 – Reserved 5 STS_GATE Status of internal gate (set if internal gate active) 6 STS_COMP Status of comparison bit 7 STS_C_DN Status set for counter direction backwards 8 STS_C_UP Status set for counter direction forwards
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment EPM-S602 Status word Bit Designation 0 STS_SYNC Reset was active 1 STS_CTRL_COMP Is set if the comparison bit is enabled 2 STS_SW-GATE Software gate status (set if SW gate active) 3 STS_RST Status of reset input 4 – Reserved 5 STS_GATE Status of internal gate (set if internal gate active) 6 STS_COMP Status of comparison bit 7 STS_C_DN Status set for counter direction backwards 8 STS_C_UP Status s
L-force Controls | I/O System 1000 Networking via CAN system bus Port assignment EPM-S603 Status word Bit Designation Function 0 – Reserved 1 – Reserved 2 STS_SW-GATE Software gate status (set if SW gate active) 3 – Reserved 4 – Reserved 5 STS_GATE Status of internal gate (set if internal gate active) 6 – Reserved 7 STS_C_DN Status set for counter direction backwards 8 STS_C_UP Status set for counter direction forwards 9 – Reserved 10 – Reserved 11 STS_OFLW 1) Status
L-force Controls | I/O System 1000 Networking via CAN system bus Creating a network 7.2 Creating a network 7.2.1 Insert CAN network How to insert a network: 1. Select the project in which you want to insert a network from the Project view. 2. Click the icon. • The Network dialog box is displayed: Use the InsertNetwork command to open the wizard to insert a network. Step 1 - Network type • The Search results list field displays all networks available. 3.
L-force Controls | I/O System 1000 Networking via CAN system bus Creating a network Step 2 - Node 5. Mark the corresponding node. • The nodes that are not connected are displayed. • Use the Select All and Reset buttons to mark all control fields or remove the marking. 6. Press Next. 78 L 2.
L-force Controls | I/O System 1000 Networking via CAN system bus Creating a network Step 3 - Settings 7. Select the Insert machine application and add node control field if all available devices are to be added automatically to the network as a node. • If the control field has been selected, the project is also assigned with a machine application which is displayed in the project tree. The selected applications are already implemented in the machine application.
L-force Controls | I/O System 1000 Networking via CAN system bus Creating a network 7.2.2 Connecting ports of the applications For the exchange of the process data objects (PDO) you must connect the corresponding ports of the applications. How to connect two ports: 1. Select the Machine application element in the Project view. 2. Click the Connections tab. 3. Arrange the logic modules of the applications clearly in the Connections tab. 4.
L-force Controls | I/O System 1000 Networking via CAN system bus Configuring the network 7.3 Configuring the network Select the "CAN OnBoard" component in the Project view. The Workspace then provides you with different tabs which serve to configure the I/O system 1000 in the CAN network. 7.3.1 Settings tab The Settings tab serves to change the node address of the CAN bus coupler module. The address is only important for the configuration within the »Engineer«.
L-force Controls | I/O System 1000 Networking via CAN system bus Configuring the network 7.3.2 Monitoring tab The Monitoring tab serves to set responses that are to be executed in case of communication faults. Settings are immediately active after the transfer. 7.3.3 Legend Selection Description Index LENZE PDO Control 1 ... LENZE PDO Control 10 0 ... 65535 ms Monitoring time for the receive objects (RPDO). 0x2400/1 The I/O system 1000 changes to Pre-Operational ...
L-force Controls | I/O System 1000 Networking via CAN system bus Configuring the network 7.3.4 Process data objects tab The Process data objects tab serves to set the receive objects (RPDO) and transmit objects (TPDO). Settings must be made for each object. Receive objects (RPDO) Legend Selection Description Index Transmission mode 0 ... 240 Sync-controlled transmission • The input data are accepted when the sync telegram is transferred. 0x1400/2 (RPDO1) ... 0x1409/2 (RPDO10) 241 ...
L-force Controls | I/O System 1000 Networking via CAN system bus Configuring the network COB-ID The COB identifier (object 0x1400/1 (RPDO1) ... 0x1409/1 (RPDO1)) can be set individually. How to set the COB identifier: 1. Deactivate "Automatic selection". 2. Click the button. 3. Enter the COB identifier. • Decimal or hexadecimal , binary . 4. Activate bit 31 . 5. Click OK. 6. Open the dialog box again. 7. Deactivate bit 31 . 8. Click OK. • The COB identifier is immediately active. 84 L 2.
L-force Controls | I/O System 1000 Networking via CAN system bus Configuring the network Transmit objects (TPDO) 2.0 EN - 11/2010 Legend Selection Description Index Transmission mode 0 Sync-controlled transmission • The output data is accepted when the sync telegram is transmitted. 0x1800/2 (TPDO1) ... 0x1809/2 (TPDO10) 1...240 Acceptance of the output data after a certain number of sync telegrams has been transmitted. • The output data is accepted after the set number of sync telegrams (1 ...
L-force Controls | I/O System 1000 Networking via CAN system bus Configuring the network COB-ID The COB identifier (object 0x1800/1 (TPDO1) ... 0x1809/1 (TPDO1)) can be set individually. How to set the COB identifier: 1. Deactivate "Automatic selection". 2. Click the button. 3. Enter the COB identifier. • Decimal or hexadecimal , binary . 4. Activate bit 31 . 5. Click OK. 6. Open the dialog box again. 7. Deactivate bit 31 . 8. Click OK. • The COB identifier is immediately active. 86 L 2.
L-force Controls | I/O System 1000 Networking via CAN system bus Network management (NMT) 7.4 Network management (NMT) Via network management, the master is able to make status changes for the entire CAN network. 7.4.1 2.0 EN - 11/2010 Communication phases State Explanation "Initialisation" (initialisation) After the I/O system has been switched on, the initialisation is carried out. During this phase, the I/O system is not involved in the data transfer on the bus.
L-force Controls | I/O System 1000 Networking via CAN system bus Network management (NMT) 7.4.2 Telegram structure Identifier Value = 0 11 bits [7.1] User data Only contains a command 2 bytes Telegram for the change-over in the communication phase The telegram for the network management contains the identifier and the command from the user data which consists of the command byte and the node address.
L-force Controls | I/O System 1000 Networking via CAN system bus Network management (NMT) 7.4.3 State transitions (1) Initialisation (2) (14) (11) Pre-Operational (7) (4) (13) (10) (5) (3) Stopped (6) (12) (8) (9) Operational [7.2] Network management state transitions State transition Command (hex) Network state after the change Impact on process / parameter data after the state change (1) – Initialisation If the mains is switched on, initialisation is automatically started.
L-force Controls | I/O System 1000 Error management Monitoring 8 Error management 8.1 Monitoring 8.1.1 Monitoring time for receive objects (0x2400) The receive objects (RPDO) are monitored for a correct transmission regarding time. The monitoring time is set individually for each receive object. If no RxPDO has been received within the set time, the I/O system 1000 changes to Pre-Operational. Settings Configuring the network Monitoring tab 90 L 2.
L-force Controls | I/O System 1000 Error management Monitoring 8.1.
L-force Controls | I/O System 1000 Application examples Communication between I/O system 1000 and Inverter Drive 8400 via CAN fieldbus 9 Application examples 9.1 Communication between I/O system 1000 and Inverter Drive 8400 via CAN fieldbus Requirements The I/O system 1000 station is to communicate with an Inverter Drive 8400 via a CAN fieldbus. The "Speed actuating drive" application is to be extended by CANIN2 and CANOUT2.
L-force Controls | I/O System 1000 Application examples Communication between I/O system 1000 and Inverter Drive 8400 via CAN fieldbus 2. Establish a CAN connection to the 8400 controller in the FB Editor. – Insert the "LP_CanIn2" and "LP_CanOut2" port blocks in the FB Editor. 3. Connect the port blocks in the FB Editor. – Connect "bIn1_B0" to "bJogSpeed1". – Connect "bDriveReady" to "bOut_B0". 2.
L-force Controls | I/O System 1000 Application examples Communication between I/O system 1000 and Inverter Drive 8400 via CAN fieldbus 4. Insert CAN network. – Maintain the address settings. – Declare the controller as CAN master. 5. Insert machine application and establish CAN connections. 94 L 2.
L-force Controls | I/O System 1000 Application examples Communication between I/O system 1000 and Inverter Drive 8400 via CAN fieldbus 6. Compile and transmit project to the devices. 7. Execute a ResetNode for the controller via code C0002/26. – The configuration is complete. The CAN fieldbus is ready for operation. 2.
L-force Controls | I/O System 1000 Index 10 Index A DO2 PWM, process data 42 DO2 TimeStamp, description 37 DO2 TimeStamp, function 38 DO2 TimeStamp, process data 39 Document history 6 Application examples 92 Application notes 9 Application, connecting ports 80 C CAN bus coupler module, tab 28 CAN network, insert 77 CAN system bus, establishing a connection to the station 23 Channel status - EPM-S207 69 Channel status - EPM-S310 69 COB-ID, setting 84, 86 Communication path, setting 24 Communication phas
L-force Controls | I/O System 1000 Index R Receive objects 83 Restore All Parameters (0×1011/1) 64 Running number - EPM-S207 69 Running number - EPM-S310 69 S Safety instructions 9 Save All Parameters (0×1010/1) 64 Save, parameter settings 64 Save, station structure 64 Setting the parameters for "Analog input" 43 Setting the parameters for "Analog output" 44 Setting the parameters for "Digital input" 31 Setting the parameters for "Digital output" 36 Setting the parameters for "DO2 PWM" 40 Setting the par
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