Siemens SINAMICS S120 Installation And Start-Up Manual
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Siemens SINAMICS S120 Installation And Start-Up Manual

Canopen interface
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  • Page 1 sinamics...
  • Page 3 Preface Add infeed Prerequisites for commissioning SINAMICS Commissioning SINAMICS S120 CANopen interface Diagnosis Communication objects Commissioning Manual Parameters, faults and alarms, function diagrams, terminology Inner title infofield 12.2004 Edition 6SL3097-2AA00-0BP1...
  • Page 4 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
  • Page 5 All obligations entered into by Siemens result from the respective contract of sale that contains the complete and sole valid warranty arrangements. These contractual warranty provisions are neither extended nor curbed as a result of the statements made in this documentation.
  • Page 6 Preface Objective Note "SINAMICS S120 CANopen Interface" describes the steps involved in commissioning a CANopen interface in the SINAMICS S120 drive line-up. This Installation and Start-Up Manual extends the description of "Initial commissioning using servo as an example" to include a description of the initial commissioning procedure for the CANopen communication interface with the CBC10 Communication Board.
  • Page 7 Fax: +49 (0) 9131 98 - 2176 Fax form: See feedback page at the end of this publication E-mail: motioncontrol.docu@erlf.siemens.de Internet Address Up-to-date information about our products can be found on the Internet at the following address: http://www.siemens.com/motioncontrol...
  • Page 8 Preface ESD notices Caution Electrostatic sensitive devices (ESDs) are individual components, integrated circuits, or boards that may be damaged by either electrostatic fields or electrostatic discharge. Regulations for handling ESD components: When handling components, make sure that personnel, workplaces, and packaging are well earthed.
  • Page 9 Preface Safety guidelines Danger Commissioning must not start until you have ensured that the machine in which the components described here are to be installed complies with Directive 98/37/EC. SINAMICS S equipment must only be commissioned by suitably qualified personnel. Personnel must take into account the information provided in the technical customer documentation for the product, and be familiar with and observe the specified danger and warning notices.
  • Page 10 Preface Caution As part of routine tests, SINAMICS equipment with three-phase motors will undergo a voltage test in accordance with EN 50178. Before the voltage test is performed on the electrical equipment of industrial machines to EN 60204-1, Section 19.4, all connectors of SINAMICS equipment must be disconnected/unplugged to prevent the equipment from being damaged.

  • Page 11: Table Of Contents

    What are SDO services? ......................1-18 1.13 What is a BICO interconnection in conjunction with CANopen? ..........1-19 1.14 How does SINAMICS S120 behave during ramp-up with the CANopen Communication Board? ..............................1-20 1.15 What does network management (NMT service) mean? ............1-21 Prerequisites for commissioning ......................
  • Page 12 Table of contents 3.4.2 Determining the component topology and configuration of the drive unit automatically ... 3-8 3.4.3 Configuring the motor....................... 3-11 3.4.4 Configuring the interface for the CBC10 Option Board on the Control Unit ......3-14 3.4.4.1 CAN interface........................... 3-14 3.4.4.2 PDO message frame........................

  • Page 13: Table Of Contents

    Table of contents Table 2-1 CAN bus interface X451 ......................2-3 Table 2-2 CAN bus interface X452 ......................2-3 Table 2-3 Diagnostics LED OPT -> red (CANopen error LED)..............2-6 Table 2-4 Diagnostics LED -> green (CANopen RUN LED)..............2-7 Table 3-1 CANopen initial commissioning ....................

  • Page 15: Add Infeed

    - CiA DR-303-3 V1.0 (Indicator Specification) Commissioning options Introduction In the SINAMICS S120 drive line-up, the STARTER commissioning tool offers two options for commissioning a CANopen interface: • Via predefined message frames ("predefined connection set") • Via free PDO mapping (user-defined message frames) CANopen interface Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1...

  • Page 16: Terminology

    Add infeed 1.3 Terminology Terminology When using a CANopen profile via the CAN bus, you will encounter the following common terms and abbreviations: CAL (CAN application layer) Communication layer above the CAN bus designed for CAN bus applications in open communication systems.
  • Page 17 CiA as a basis for developing CANopen drive profile CiA DSP 402. EMCY (Emergency) SINAMICS S120 features an emergency object to inform other nodes on the CANopen bus of internal device faults or CAN bus faults. It is assigned a high priority and provides important information about the status of the drive unit.
  • Page 18 Add infeed 1.3 Terminology Node ID (node identification) Uniquely identifies a device in the CANopen network. For this reason, all the devices must have a unique node ID (bus address). The default distribution (standard setting) of the COB IDs is derived from the node ID. In this documentation, node IDs are always specified as hexadecimal values.
  • Page 19 Add infeed 1.3 Terminology SYNC (synchronization) SYNC is a special message frame that synchronizes the CAN devices with each other. This message frame has a very high priority. TPDO (transmit PDO) PDO transmitted by the drive (contains the actual position value, for example). Variable All the drive and CANopen functions can be accessed via variables.

  • Page 20: Can Bus Structure For Sinamics

    The following diagram shows an example of how the hardware and software are arranged when a CANopen interface is commissioned. The diagram shows the following: • How a master application of a CANopen user is connected to a SINAMICS S120 drive line-up. • The CAN bus interface of the CBC10 Communication Board.

  • Page 21: What Does The Canopen Slave Software Describe

    Introduction In the CANopen slave software, a separate expert list is created – among other things – for each module in the SINAMICS S120 drive line-up. The expert list reflects – among other things – the CANopen object directory. Example The data value for the control word of the object directory index from the CANopen object directory is entered in parameter r8795 in the expert list.

  • Page 22: Canopen Object Directory

    (values are hexadecimal). Note In the section "Communication objects", a table is provided listing the communication objects of CANopen and SINAMICS S120 parameters that are used in SINAMICS S120 for communication via the CANopen interface. These are: - Drive-independent CU320 communication objects...
  • Page 23 Add infeed 1.6 CANopen object directory Parameter hex plus 2000 hex Can be selected (see also following via switch diagram in next p8630 [0] section) Figure 1-3 CANopen object directory CANopen interface Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1...

  • Page 24: Manufacturer-Specific Objects

    Add infeed 1.7 Manufacturer-specific objects Manufacturer-specific objects Introduction Manufacturer-specific objects contain the data values for the SINAMICS S120 parameters. Example The following diagram shows the breakdown of manufacturer-specific objects in the object directory. Figure 1-4 Manufacturer-specific objects CANopen interface 1-10...
  • Page 25 CANop en profile. This means that all SINAMICS S120 parameters can be addressed via the objects 2000 hex to 5FFF hex. The SDO->parameter channel converts manufacturer-specific objects to parameters internally. 2000 hex is added to the parameter number converted to a hexadecimal value.

  • Page 26: What Is The Maximum Number Of Pdos (Channels) That Can Be Created

    Add infeed 1.8 What is the maximum number of PDOs (channels) that can be created? What is the maximum number of PDOs (channels) that can be reated? Introduction PDOs (process data objects) are process data that allow fast, real-time access to s elected data.

  • Page 27: Which Transmit And Receive Message Frames For Process Data Are Required

    Which transmit and receive message frames for process data are required? Introduction In the SINAMICS S120 drive line-up, the STARTER c ommissioning tool offers two options for commissioning a CANopen interface: • Via predefined message frames ("predefined connection set") and COB IDs •...
  • Page 28 Add infeed 1.9 Which transmit and receive message frames for process data are required? Type Process data Message frame TPDO4 6041 hex+6083 hex Note For each drive object in the expert list, the process data obj ects for mapping the message frames begin as follows: For receive message frames: as of parameter p8710 For transmit message frames: as of...

  • Page 29: What Is Pdo Mapping

    Add infeed 1.10 What is PDO mapping? 1.10 What is PDO mapping? Introduction PDO mapping is used to map drive objects (process data (e.g. setpoints or actual value from the object directory for each PDO service as a message frame. The PDO itself transfers the data values for these objects.

  • Page 30: What Is A Cob Id

    • drive line-up. Each additional drive object begins with the description in an offset of 40 hex (with Tx/Rx, the x stands for the relevant SINAMICS S120 drive object, T = transmit, R = receive). CANopen interface 1-16 Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1...
  • Page 31 In the predefined connection set, the COB IDs are incremented by +1 for each additional SINAMICS S120 drive object. Example: for the first SINAMICS S120 drive object, 180 hex + node ID applies for TPDO1; for the second SINAMICS S120 drive object, 180 hex + node ID plus 1 applies for TPDO1.

  • Page 32: What Are Sdo Services

    Add infeed 1.12 What are SDO services? 1.12 What are SDO services? Introduction SDO services allow you to access the object directory for the connected drive unit. An SDO connection is a peer-to-peer connection between an SDO client and a server. The drive unit and its object directory is an SDO server.

  • Page 33: What Is A Bico Interconnection In Conjunction With Canopen

    Add infeed 1.13 What is a BICO interconnection in conjunction with CANopen? 1.13 What is a BICO interconnection in conjunction with CANopen? Introduction Each drive unit con tains a large number of interconnectable input and output variables as well as internal control variables. BICO technology ( binector connector technology) allows the drive to be adapted to a wide variety of conditions.

  • Page 34: How Does Sinamics S120 Behave During Ramp-Up With The Canopen Communication Board

    Add infeed 1.14 How does SINAMICS S120 behave during ramp-up with the CANopen Communication Board? 1.14 How does SINAMICS S120 behave during ramp-up with the CANopen Communication Board? Introduction SINAMICS S120 only ramps up as a CANopen slave when the CANopen Communication Board is inserted.

  • Page 35: What Does Network Management (Nmt Service) Mean

    NMT services can be used to initialize, start, monitor, reset, or stop nodes. AMICS S120 is an NMT slave. Overview e following diagram shows a status diagram of a CANopen node with a SINAMICS S120 interface. This is followed by a table listing the NMT services that are available for controlling status transitions.
  • Page 36 Add infeed 1.15 What does network management (NMT service) mean? Note In the "Pre-operational" status, only SDO communication is possible; PDO communication is inhibited. In the "Operational" status, PDO communication also takes place. The diagnostics LED -> green (CANopen RUN LED) indicates the status. NMT services The following table lists the NMT services that are available for controlling the status transitions.

  • Page 37: Prerequisites For Commissioning

    S120 drive line-up are described in the List Manual SINAMICS S120 /LH1/. Prerequisites for commissioning Overview To commission a CAN bus in a SINAMICS S120 drive line-up, the following hardware and software components are required: • CBC10 Option Board (CAN Communication Board) •...

  • Page 38: Cbc10 Communication Board For Can Bus

    CBC10 Communication Board for CAN bus Introduction The CBC10 Option Board (CAN Communication Board) is used to connect drives in the SINAMICS S120 drive system to higher-level automation systems with a CAN bus. Figure 2-1 View of the CBC10 Option Board The CANopen Option Board uses two 9-pin Sub D connectors for the connection to the CAN bus system.
  • Page 39 Prerequisites for commissioning 2.2 CBC10 Communication Board for CAN bus CAN bus interface X451 The X451 CAN bus interface has the following socket assignments: Table 2-1 CAN bus interface X451 Designation Technical specifications Reserved CAN_L CAN signal (dominant low) CAN_GND CAN ground Reserved CAN_SHLD...

  • Page 40: Cbc10 Installation

    Prerequisites for commissioning 2.2 CBC10 Communication Board for CAN bus 2.2.1 CBC10 Installation Mounting and installation steps The CBC10 Communication Board is installed on the option slot on Control Unit CU320 as follows (see diagram below): 1. Unscrew and remove the protective cover. 2.

  • Page 41: Canopen Functionality

    The CBC10 firmware supports profile velocity mode. Node guarding SINAMICS S120 waits a certain time (node life time) for message frames from the master application and permits a specific number (life time factor) of failures within a specified time interval (node guard time).

  • Page 42: Diagnostics Led "Opt

    Prerequisites for commissioning 2.2 CBC10 Communication Board for CAN bus 2.2.3 Diagnostics LED "OPT" Overview The diagnostics LED "OPT" on the Control Unit CU320 indicates the status of the CANopen node on the device. Figure 2-3 Overview of the LEDs on the Control Unit The diagnostics LED "OPT"...
  • Page 43 Prerequisites for commissioning 2.2 CBC10 Communication Board for CAN bus Diagnostics LED OPT -> green Table 2-4 Diagnostics LED -> green (CANopen RUN LED) ERROR LED Status Meaning flashing frequency Single flash Stopped The node is in the STOPPED status. Flashing PRE- The node is in the PRE-OPERATIONAL status.

  • Page 44: Starter Commissioning Tool

    Prerequisites for commissioning 2.3 STARTER commissioning tool STARTER commissioning tool Start To launch STARTER, click the STARTER icon or choose Start > SIMATIC >STARTER in the Windows Start menu. 2.3.1 The STARTER user interface You can use STARTER to create the sample project. The different areas of the user interface are used for different configuration tasks (see diagram below): •...

  • Page 45: Bico Interconnection Procedure In Starter

    Prerequisites for commissioning 2.3 STARTER commissioning tool 2.3.2 BICO interconnection procedure in STARTER Introduction You can parameterize the drive settings on the Motor Module in OFFLINE mode via STARTER by means of BICO interconnection. Parameterization can be carried out via the following means: •...
  • Page 46 Prerequisites for commissioning 2.3 STARTER commissioning tool Figure 2-6 Interconnect 2 4. A list from which you can select the available r parameters is now displayed. Figure 2-7 Interconnect 3 5. Open the 16 bit of r parameter r8890. CANopen interface 2-10 Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1...
  • Page 47 Prerequisites for commissioning 2.3 STARTER commissioning tool Figure 2-8 Interconnect 4 6. Double-click r8890: Bit0. Figure 2-9 Interconnect 5 7. In the expert list, you can now see that p0840 has been interconnected with r parameter r8890[0]. CANopen interface 2-11 Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1...
  • Page 48 Prerequisites for commissioning 2.3 STARTER commissioning tool Graphical screen interface When carrying out BICO interconnection via the graphical screen interface, proceed as follows: For the set velocity, which is a 32-bit data type, you want to interconnect p parameter p1155 [0] for "Speed setpoint 1"...
  • Page 49 Prerequisites for commissioning 2.3 STARTER commissioning tool Figure 2-12 Interconnection via graphical screen interface 3 list from which you can select the available r parameters is now displayed. Figure 2-13 Interconnection via graphical screen interface 4 4. Double-click r8860: Bit1. CANopen interface 2-13 Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1...
  • Page 50 Prerequisites for commissioning 2.3 STARTER commissioning tool Figure 2-14 Interconnection via graphical screen interface 5 5. In the graphical screen interface, you can now see that p1155 has been interconnected with r parameter r8860[1]. See also What is a BICO interconnection in conjunction with CANopen? (Page 1-19) Interconnecting the receive and transmit buffe rs (overview) (Page 3-37)

  • Page 51: Entering Parameter Values In The Expert List

    Prerequisites for commissioning 2.3 STARTER commissioning tool 2.3.3 Entering parameter values in the expert list Introduction Note Parameters can be entered and displayed in the expert list as decimal or hexadecimal values. Example If you want to process decimal values as hexadecimal or binary values, use the calculato r on your PC and carry out the following: 1.

  • Page 53: Commissioning

    This s ection shows you how to carry out initial commissioning for the CANopen interface in the SINAMICS S120 drive line-up using the STARTER commissioning tool. This section first looks at the initial commissioning procedure and descri bes a sample configuration.

  • Page 54: Initial Commissioning Procedure

    3.1 Initial commissioning procedure Initial commissioning procedure Initial commissioning The following steps must be carried out during the initial comm issioning procedure for the Nope n interface in the SINAMICS S120 driv e line-up: le 3-1 CANopen initial commissioning Step Procedure Make the hardware settings on CBC10.

  • Page 55: Sample Configuration

    The co mmissioning p rocedure described here is b ased on the sam ple configuration (as illustrated in the diagram below) in a SINAMICS S120 drive line-up for: - One infeed (Active Line Module) - Two d rive s (Single Motor Module) For a more detailed description of this configuration, see the section "Initial commissioning...

  • Page 56: Making The Hardware Settings On Cbc10

    Commissioning 3.3 Making the hardware settings on CBC10 Making the hardware settings on CBC10 Initial commis sioning: procedure In the table below, the current commissioning step is highlighted in bold: Table 3-2 CANopen initial commissioning Step Procedure Make the hardware settings on CBC10. Configure the drive unit using the STARTER commissioning tool in ONLINE mode.
  • Page 57 Commissioning 3.3 Making the hardware settings on CBC10 Table 3- 2-pin SMD DIL switch ID on the boa Switch Function Switch position Default Bus terminating Inactive resistor (120Ω) Active Operation Ground-free with/without operation ground Operation with ground Note a line-up comprising more than one drive unit (bu s nodes), switch S1 must be set to On for the last bus node and Off for the preceding bus node.

  • Page 58: Configuring The Drive Unit Using The Starter Commissioning Tool

    – CAN interface – PDO message frame – Monitoring • Load the project to the drive unit. Note When carrying out these steps, refer to the Installation and Start-Up Manual /IH1/ for SINAMICS S120. CANopen interface Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1...

  • Page 59: Searching For The Drive Unit Online

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.1 Sear ching for the drive unit ONLINE Introduction The SINAMICS firmware is able to recognize the actual topology automatically and store it in the appropriate parameters. Steps To ensure that the drive unit configuration is identified automatically, open a new project in STARTER: Proceed as follows: 1.

  • Page 60: Determining The Component Topology And Configuration Of The Drive Unit Automatically

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.2 Determining the component topology and configuration of the drive unit automatically Introduction Once you have created the project and entered the drive unit with its bus address (e.g. 126) ONLINE, you have to enter the associated component topology and drive unit configuration LINE.
  • Page 61 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 7. In the project navigator, double-click Automatic configuration under the drive unit. Figure 3-5 Automatic configuration 8. In the "Automatic configuration" dialog box, click Start automatic configuration. STARTER automatically searches for all drive unit components that are connected properly and then uploads them.
  • Page 62 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 11. Another message is output to inform you that the motors also have to be configured. Confirm this message by choosing OK. re 3-7 Message prompting you to configure the motor 12.

  • Page 63: Configuring The Motor

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.3 Configuring the motor Introduction In the previous steps, you automatically determined the component topology and configuration of the drive unit and integrated the data in the STARTER project. Steps In the following steps, you will be shown how to configure the drive motor and encoder.
  • Page 64 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 4. In the dialog box that is displayed (see screenshot below), you can define whether or not the drive object (function module) is operated with or without an extended setpoint channel.
  • Page 65 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 7. Click Continue > until you reach the point at which you configure the encoder. 8. Choose the motor en coder and work through the Wizard by choosing Continue > until the dialog box cont aining a summary is displayed.

  • Page 66: Configuring The Interface For The Cbc10 Option Board On The Control Unit

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.4 Configuring the interface for the CBC10 Option Board on the Control Unit Prerequisite You have configured the drive unit with the CBC10 Option Board in STARTER and connected the drive OFFLINE with STARTER. In the project navigator, double-click Drive unit_Adr_126 >...

  • Page 67: Can Interface

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 1. Select the CAN i nterface tab (see screenshot below). Figure 3-13 CAN interface 2. Enter a transmission rate of 1 MBit/s for commissio ning, for example. The factory setting is 20 kBit/s. wo options are available for the bus address/node ID: –...
  • Page 68 The factory settings are "ON" or "OFF" for all switches. While the SINAMICS S120 is being ramped up, the address switch is queried first in order to set the bus address. If the switch setting is 0 or 127, the address can be set via parameter p8620.0.

  • Page 69: Pdo Message Frame

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.4.2 PDO message frame Introduction This description of the initial commissioning procedure uses a predefined setting ("predefined connection set") with a fixed assignment of SDOs and PDOs as an example, whereby the device features the following for each SINAMICS drive object (in this case, the Single Line Module):...
  • Page 70 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool Commissioning in ONLINE mode Figure 3-16 Activating the channels Note Once you have entered the channel assignments in ONLINE mode, confirm them in this log box by choosing Channel assignm ent (see screenshot above).

  • Page 71: Monitoring

    CAN bus to the master application. Node guarding: • SINAMICS S120 waits a certain time (node life time) for message frames from the ma ster application and permits a specific number (life time factor) of failures within a specified time interval (node guard time).
  • Page 72 ONLINE m ode, carry out the following steps. Note SINAMICS S120 para meters p8609 and p8641 govern the behavior of the drive/CAN node in the event of a CAN communication error or device malfunction. These parameters have the following factory settings: p8609 = 1, =>...

  • Page 73: Activating The "Predefined Connection Set

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.5 Activating the "predefined connection set" Introduction Note The STARTER commissioning tool is in OFFLINE mode. Activating the "predefined connection set" To activate the "predefined connection set", carry out the following steps: 1.

  • Page 74: Loading The Project To The Drive Unit

    Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3.4.6 Loading the project to the drive unit Introduction To load the project to the drive unit, proceed as follows: Steps 1. Click Connect to target system. An ONLINE connection is established and an ONLINE/OFFLINE comparison takes place.
  • Page 75 Commissioning 3.4 Configuring the drive unit using the STARTER commissioning tool 3. Discrepancies were identified again during the ONLINE/OFFLINE comparison. Now click Load to PG --> (see screenshot below). Figure 3-21 Load to PG 4. Load the new data from the drive unit to the PG. Carry out the following: –...

  • Page 76: Interconnecting The Infeed

    2. Interconnect the p parameter with r parameter r8890 bit 15 = PZD 1 from Drive_1 (SERVO_3). Note Please also refer to the commissioning instructions in the Installation and Start-Up Manual SINAMICS S120 /IH1/ (e.g. the DC link must be activated before the Motor Module is switched on). CANopen interface 3-24...

  • Page 77: Configuring The Cob Ids And Process Data Objects For The Receive And Transmit Message Frames

    Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. Configuring the COB IDs and process data objects for the receive and transmit message frames. Initial commissioning: procedure In the table below, the current commissioning step is highlighted in bold: Table 3-5 CANopen initial c ommissioning...

  • Page 78: Predefined Cob Ids And Process Data Objects For The Drive Objects

    Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. 3.5.1 Predefined COB IDs and process data objects for the drive objects Introduction Before you start commissioning free PDO mapping, open the expert lists for the individual drive objects as follows: 1.
  • Page 79 Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. COB IDs and mappe d process data objects for drive object 1 e following screenshots show the predefined COB IDs and mapped process data obje transmitting and receiving drive object 1 in the expert list in STARTER.
  • Page 80 Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. igure 3-25 COB IDs and mapped process data objects for receive message frames: drive object 2 igure 3 COB IDs and mapped pro cess dat a objects for transmit message frames: drive object 2 CANopen interface...

  • Page 81: Activating "Free Pdo Mapping

    Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. 3.5.2 Activating "free PDO mapping" Steps To activate "free PDO mapping" in SINAMICS drive object 2 (Single Motor Module 2), ca out the following: 1.
  • Page 82 Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. 3.5.3 Assig ning COB IDs and mapping parameters for free PDO mapping Introduction If you are in ONLINE mode and want to assign free COB IDs and mapping parameters, you have the following options: COB IDs: •...
  • Page 83 Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. Steps An example is used to illustrate the procedure described below (in this example: RPDO1 for drive object 2). Setting the COB ID to "invalid" 1.
  • Page 84 Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. Note The RPDOs and TPDOs described below serve to illustrate the free PDO mapping process. You can decide for yourself how you want to map your own process data objects for transmission message frames.
  • Page 85 Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. Mapping RP When you choose the process data object for the control word and the set velocity from the "Objects in drive profile DSP402" table, this yields the following values, which you enter in parameters p8711 [0] to p8711 [3] for RPDO2 mapping (see the "Resulting hexadecimal value"...
  • Page 86 Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. Mapping RPDO4 When you choose the process data object for the control word, the set velocity, and the set que from the "Objects in driv e profile DSP402"...
  • Page 87 Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. Mapping TPDO2 en you choose the process data objec t for the CBC status word and the set velocity from "Objects in drive profile DSP402" table , this yields the following values, which you enter in parameters p8731 [0] to p8731 [3] for TPDO2 mapping (see the "Resulting hexadecimal lue"...

  • Page 88: Interconnecting The Receive And Transmit Buffers

    Commissioning 3.5 Configuring the COB IDs and process data objects for the receive and transmit message frames. Mapping TPDO4 When you choose the process data object for the CBC status word and the encoder actual position value from the "Objects in drive profile DSP402" table, this yields th e following values, which you enter in parameters p8733 [0] to p8733 [3] for TPDO4 mappin g (see the...

  • Page 89: Interconnecting Process Data In The Receive And Transmit Buffers

    The process data objec ts for the tr ansmi on message frames must be interconne cted b means of BICO interconnection for the interface between SINAMICS S120 and the CAN bus. During initial commissio g, proceed as lows: Read the im...

  • Page 90: Reading The Image Of The Individual Process Data Objects For The Receive And Transmit Buffers

    Commissioning 3.6 Interconnecting process data in the receive and transmit buffers 3.6.1 Reading the image of the individual process data objects for the receive and transmit buffers Introduction Once you have parameterized PDO mapping, STA RTER automatically recognizes how the individual process data objects have to be distributed to the PZD receive and PZD transmit words.
  • Page 91 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers Steps (using drive o bject 2 as an example) In the project navigator, call up the expert list for drive object 2: Drives > Drive_2 > ri ght- click > Expert > Expert list. 2.
  • Page 92 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers 4. Search for r parameter r8751[0] with the image of the 16-bit process data objects in the transmit buffer. In this example, the following are mapped (see also screenshot below): –...

  • Page 93: Interconnecting Process Data For Transmission Message Frames

    Commissioning 3.6 Interconnecting process data in the receive and transmit buffers 3.6.2 Interconnecting process data for transmission message frames Prerequisite On the basis of the image read in the previous s ection, note the following: The followi are interconnected: • The SINAMICS source and target parameters for the process data objects The receiv e/transmit words in the rec eive/transmit buffer...

  • Page 94: Interconnecting The Receive Buffer

    Commissioning 3.6 Interconnecting process data in the receive and transmit buffers 3.6.2.1 Interconnecting the receive buffer Introduction In the recei e buffer, the following are int erconnected for the transmission message frames: Control wo rd (PZD 1) • Set v elocity (PZD 2+3) •...
  • Page 95 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers Figure 3-30 Excerpt of function diagram: receive buffer Note You can now interconnect the process data objects listed below. CANopen interface 3-43 Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1...
  • Page 96 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers Control word (PZD 1 16 bit) The control word is interconnected automatically with source parameter p8890 as a SINAMIC S target parameter during initial commissioning. You do not have to interconnect the control word. Set velocity (PZD 2+3 32 bit) The followin table shows the p param eter for the set velocity, which has to be...

  • Page 97: Interconnecting The Transmit Buffer

    Commissioning 3.6 Interconnecting process data in the receive and transmit buffers Note To ensure that the set torque becomes active, it still has to be interconnected with a free bit of the control word. This can be carried out in this dialog box by choosing Speed/torque control >...
  • Page 98 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers Figure 3-31 Excerpt of function diagram: transmit buffer Note You can now interconnect the process data objects listed below. CANopen interface 3-46 Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1...
  • Page 99 Commissioning 3.6 Interconnecting process data in the receive and transmit buffers CBC status word (PZD1 16 bit) The following table shows the p parameter for the CBC status word, which has to be interconnected with the corresponding source. Table 3-19 Interconnect the CBC status word Target (sink) Source...

  • Page 100: Interconnecting An Additional Drive Object

    Commissioning 3.6 Interconnecting process data in the receive and transmit buffers Actual torque (PZD 4 16 bit) The following table shows the p parameter for the actual torque, which has to be interconnected with the corresponding source. Table 3-21 Interconnect the actual torque Target (sink) Source Meaning...

  • Page 101: Load The Projects From The Drive Unit To The Pc/Pg In Online Mode And Save Them

    Commissioning 3.7 Load the projects from the drive unit to the PC/PG in ONLINE mode and save them Load the projects from the drive unit to the PC/PG in ONLINE mode and save them Initial commissioning: procedure In the table below, the current commissioning step is highlighted in bold: Table 3-23 CANopen initial commissioning Step...
  • Page 102 Commissioning 3.7 Load the projects from the drive unit to the PC/PG in ONLINE mode and save them Steps To store the data configured ONLINE in the STARTER project on the PG/PC, proceed as follows: 1. In the project navigator, select Drive unit_126. Click the Load to PG function key (see screenshot below).
  • Page 103 Commissioning 3.7 Load the projects from the drive unit to the PC/PG in ONLINE mode and save them Note This completes i nitia l commiss ioning for th e CAN open interfa CANopen interface 3-51 Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1...

  • Page 105: Diagnosis

    When an error occurs, an error message frame is sent to the identifier set in object 1014 hex. In CANopen, errors are assigned error codes which, in turn, are sub-divided into current errors, voltage errors, and so on. SINAMICS S120 outputs the same code for each error (generat error 1000). CANopen interface...

  • Page 106: Drive-Unit-Internal Error List ("Predefined Error Field")

    Reserved Reserved register object numb The CANopen error code is in byte 0 and 1. In SINAMICS S120, this is always generic error 000 hex. Byte 3 contains the number of t he drive objec t from which the e...
  • Page 107 Diagnosis 4.3 Error register CANopen SINAMICS 120 can only display "Generic Error 1000 hex" errors. CANopen interface Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1...
  • Page 109 Comm nica tion objec s Section content his section contains a table of the objects (data values) that are used in SINAMICS S120 for com munication via the CANopen interface. This includes: Drive-independen t CU320 communication objects • Drive-dependent c mmunication objects •...

  • Page 110: Communication Objects

    U320 communica n objects . The colum n "S INAMICS pa ram ter" shows the parameter nge in which they a re located for SINAMICS S120. Table 5-1 Drive-ind ependent CU 320 communication objects OD index Sub- Object name SINAMICS...
  • Page 111 Communication objects 5.1 Drive-independent CU320 communication objects OD ind Sub- Object name SINAMICS Transmissi D ata type Default read/ (hex) index parameter values write (hex) module 7 p8611.57 Number of errors: p8611.58 Unsigned32 module 8 3B-41 Standard error field: p8611.59- Unsigned32 module 8 p8611.65...
  • Page 112 Communication objects 5.1 Drive-independent CU320 communication objects OD index Sub- Object name SINAMICS Transmissi Data type Default read/ (hex) index parameter values write (hex) 1027 Module list Number of entries r0102 Unsigned16 – Module ID p0107 Integer1 [0...15] 1029 Error behavior No.

  • Page 113: Drive-Dependent Communication Objects

    Communication objects 5.2 Drive-dependent communication objects Drive-dependent communication objects Introduction Eight trans mit/receiv DOs c an be parameteriz ed for each driv e, whereby a total of 25 Os (channels) mu st not be eeded h PDO contains Commun ication parameters •...
  • Page 114 Communication objects 5.2 Drive-dependent communication objects 5.2.1 Table: communication objects recei ve PD Overview e following table lists the object directory with the index of the individual drive-dependent mmunication obje cts for the receive PDOs of the first drive object: Table 5-2 Drive-dep endent communicati...
  • Page 115 Communication objects 5.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmiss Data type Predefined read/ (hex) index parameter connection set write (hex) argest sub- index Unsigned8 upported OB ID used by 8704.0 Unsigned32 0 06E0 hex ransmission type p8704.1 Unsig ned8...
  • Page 116 Communication objects 5.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmiss Data type Predefined read/ (hex) index parameter connection set write (hex) be mapped 1601 eceive PDO 2 mapping parameter umber of mapped Unsigned8 pplication objects n PDO DO mapping for p8711.0 Unsigned32...
  • Page 117 Communication objects 5.2 Drive-dependent communication objects OD in Object name SINAMICS Tran smiss Data type Predefined read/ (hex) ndex parameter connection set write (hex) application object to be mapped PDO mapping for p8713.2 Unsigned32 6071 hex the third application object to be mapped PDO mapping for p8713.3 Unsigned32...
  • Page 118 Communication objects 5.2 Drive-dependent communication objects OD index bject name INAMICS nsmiss Data type Prede fined read/ (hex) arameter conne ction set write umber of mapp Unsigned8 application objects in PDO DO mapping 8716.0 Unsigned32 the first application object to be mapped PDO mapping for 8716.1 Unsigned32...

  • Page 119: Table: Communication Objects For Transmit Pdos

    Communication objects 5.2 Drive-dependent communication objects 5.2.2 Table: communication objects for transmit PDOs Overview The following table lists the object directory with the index of th e individual drive-depe ndent ommunication objects for the transmit PDOs of the first drive object: Table 5-3 Drive-dependent communication objects for transmit PDOs OD index...
  • Page 120 Communication objects 5.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmissio Data type Predefined read/ (hex) index parameter connection set write (hex) Largest sub-index Unsigned8 supported COB ID used by p8723.0 Unsigned32 480 hex + node ID Transmission type p8723.1 Unsigned8 FE hex...
  • Page 121 Communication objects 5.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmissio Data type Predefined read/ (hex) index parameter connection set write (hex) supported COB ID used by p8727.0 Unsigned32 C000 06E0 hex Transmission type p8727.1 Unsigned8 FE hex Inhibit time p8727.2 Unsigned16...
  • Page 122 Communication objects 5.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmissio Data type Predefined read/ (hex) index parameter connection set write (hex) PDO mapping for p8731.3 Unsigned32 the fourth application object to be mapped 1A02 Transmit PDO 3 mapping parameter Number of mapped...
  • Page 123 Communication objects 5.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmissio Data type Predefined read/ (hex) index parameter connection set write (hex) mapping parameter Number of mapped Unsigned8 application objects in PDO PDO mapping for p8742.0 Unsigned32 the first application object to be mapped PDO mapping for...
  • Page 124 Communication objects 5.2 Drive-dependent communication objects OD index Sub- Object name SINAMICS Transmissio Data type Predefined read/ (hex) index parameter connection set write (hex) PDO mapping for p8752.0 Unsigned32 the first application object to be mapped mapping for p8752.1 Unsigned32 the se cond application object...

  • Page 125: 5.3 Objects In Drive Profile Dsp402

    The following table lists the object directory with the index of the individual objects for the drives. The column "SINAMICS parameter" shows the parameter range in which they are located for SINAMICS S120. CANopen currently supports profile velocity mode for SINAMICS S120. Table 5-4 Objects in drive profile DSP402...
  • Page 126 Communication objects 5.3 Objects in drive profile DSP402 OD index Sub- Object name SINAMICS Transmissio Data type Default read/ (hex) index parameter values write (hex) Actual torque 60FF Target velocity Without ramp- SDO/PDO Integer32 – function Set velocity generator -> p1155[0] With ramp- function...

  • Page 127: Parameters, Faults And Alarms, Function Diagrams, Terminology

    List Manual SINAMICS S120 /LH1/. This section describes the parameters, faults, alarms, and function diagrams for CANopen in the SINAMICS S120 line-up that are either not covered or are mentioned only briefly in the List Manual.

  • Page 128: Function Diagrams

    Parameters, faults and alarms, function diagrams, terminology A.3 Function diagrams Func tion diagrams Overview The following function diagrams are relevant for CANopen (see the diagra ms on the following pages): "Predefined connection set" • – CAN 10 Communication Board (CBC10) - receive telegram for predefined connecti –...

  • Page 133: Glossary

    Parameters, faults and alarms, function diagrams, terminology A.4 Glossary Glossary ---------------------- Explanation of this glossary (abridged) -------------------------- Term in German Term in English 1) Abbrev.1) Definition of the term in English 1) -> if available ---------------------- Explanation of this glossary -------------------------- Active Line Module Active Line Module none Controlled, self-commutating feed/feedback unit (with –>...
  • Page 134 Parameters, faults and alarms, function diagrams, terminology A.4 Glossary Antriebsobjekt Drive Object DO A drive object is a self-contained software function with its own –> "Parameter"s and, if necessary, its own –> "Fault"s and –> "Alarm"s. The drive objects may exist by default (e.g. On Board I/O) and may be easy to create (e.g.
  • Page 135 Parameters, faults and alarms, function diagrams, terminology A.4 Glossary - SINAMICS Control Units (e.g. –> "CU320" - SIMOTION Control Units (e.g. –> "D425" and –> "D435" - SINUMERIK Control Units (e.g. NCU710, NCU720, and NCU730) CU320 CU320 none SINAMICS –> "Control Unit" with 4 –> "DRIVE-CLiQ socket"s and 16 digital inputs/outputs. Double Motor Module Double Motor Module keine Two motors can be connected to and operated with a Double Motor Module.
  • Page 136 Parameters, faults and alarms, function diagrams, terminology A.4 Glossary Line Module Line Module none A Line Module is a power component that generates the DC link voltage for one or more – > "Motor Module"s from a 3-phase mains voltage. In SINAMICS, three types of Line Module are available: –>...
  • Page 137 Parameters, faults and alarms, function diagrams, terminology A.4 Glossary parameter. See –> "Visualization Parameter"s and –> "Adjustable Parameter"s. PROFIBUS PROFIBUS none Field bus to IEC 61158, Sections 2 to 6. The abbreviation "DP" is no longer included because PROFIBUS FMS is not standardized and PROFIBUS PA (for Process Automation) is now part of the "general"...
  • Page 138 Parameters, faults and alarms, function diagrams, terminology A.4 Glossary STARTER STARTER none STARTER assists with the startup and parameterization of the drive units. This tool can also be used to execute the diagnostic functions required during servicing (e.g. PROFIBUS diagnostics, function generator, trace). See –>...

  • Page 139: Index

    Index Drive line-up, A-8 Drive object, A-8 drive parameters, A-8 Drive profile, 5-17 Active Line Module, A-7 Drive unit, A-7 Actual encoder position value, 3-48 DRIVE-CLiQ, A-9 Actual torque, 3-48 DRIVECOM, 1-3 Actual velocity, 3-47 Drive-independent CU320 communication objects, 5-2 Basic infeed, A-8 EMCY, 1-3 Basic Line Module, A-8...
  • Page 140 Index Terminal Module, A-12 TPDO, 1-5 Object directory, 1-4, 5-1 Transmit, 1-6 OD, 1-4 Option Board, A-10 Option Slot, A-10 User interface, 2-8 p8604, 3-13, 3-20 p8741, 3-18 p8744, 3-21, 3-29 Variable, 1-5 Parameter, A-10 Vector Control, A-12 PDO, 1-4, 1-12 Predefined connection set, 1-1 Predefined error field, 4-2 Preface, iii...
  • Page 141 Overview of SINAMICS Documentation (12.2004) General Documentation/Catalogs SINAMICS SINAMICS SINAMICS SINAMICS SINAMICS G110 G130/G150 S120 S120 S150 D 21.1 D 21.2 D 11.1 D 21.3 Vector Control Servo Control Converter 0.12- - 3 kW Converter 75- - 800 kW Vector Control Drive System Drive System Chassis Units...
  • Page 142 Siemens AG Automation & Drives Motion Control Systems © Siemens AG 2004 P.O. Box 3180, D -91050 Erlangen Subject to change without prior notice Germany Order no.: 6SL3097-2AA00-0BP1 www.siemens.com/motioncontrol Printed in Germany...

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