WEG CFW-11 Communications Manual
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Summary of Contents for WEG CFW-11
- Page 1 CANopen Communication Manual Frequency Inverter Series: CFW-11 Language: English Document: 0899.5747 / 02 04/2008...
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Page 3: Table Of Contents
Summary ABOUT THIS MANUAL ..............................5 ......................5 BBREVIATIONS AND EFINITIONS .............................. 5 OCUMENTS INTRODUCTION TO THE CANOPEN COMMUNICATION................. 6 CAN .............................. 6 1.1.1 Data Frame ............................. 6 1.1.2 Remote Frame ............................6 1.1.3 Access to the Network ........................6 1.1.4 Error Control ............................ - Page 4 4.2.2 Compound Types ..........................24 4.2.3 Extended Types ........................... 24 – C ..............24 OMMUNICATION ROFILE OMMUNICATION BJECTS – CFW-11 S ..............25 ANUFACTURER PECIFIC PECIFIC BJECTS – COMMON O ................ 26 EVICE ROFILE BJECTS FOR RIVES COMMUNICATION OBJECTS DESCRIPTION....................27 .......................
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Page 5: About This Manual
About this Manual This manual provides the necessary information for the operation of the CFW-11 frequency inverter using the CANopen protocol. This manual must be used together with the CFW-11 user manual. Abbreviations and Definitions Controller Area Network CAN in Automation... -
Page 6: Introduction To The Canopen Communication
1 Introduction to the CANopen Communication In order to operate the CFW-11 frequency inverter in a CANopen network, it is necessary to know how the communication is performed. Therefore, this section brings a general description of the CANopen protocol operation, containing the functions used by the CFW-11. For a detailed description of the protocol, refer to the CANopen documentation indicated in the previous section. -
Page 7: Canopen Network Characteristics
The CFW-11 frequency inverter uses an interface isolated from the network. The power supply for the CANopen interface is shared with the digital and analog inputs and outputs present on the CFW-11 control board. The component responsible for the transmission and reception of the signals is denominated transceiver, which complies with the specified by the ISO 11898. -
Page 8: Communication Objects - Cob
There is a specific set of objects that are responsible for the communication among the network devices. Those objects are divided according to the type of data and the way they are sent or received by a device. The CFW-11 supports the following communication objects (COB): Table 1.1 - Types of Communication Objects (COB) -
Page 9: Eds File
CANopen Network. The EDS configuration file for the CFW-11 is supplied together with the product, and it can also be obtained from the website http://www.weg.net. It is necessary to observe the inverter software version, in order to use an EDS file... -
Page 10: Optional Kits
2.1.4 Power Supply The CFW-11 CAN interface needs an external power supply between pins 1 and 5 of the network connector. In order to avoid problems of voltage difference among the devices, it is recommended that the network be fed at only one point, and that the supply be taken to all the devices through the cable. -
Page 11: Termination Resistor
CANopen network depends on the length of the cable used in the installation. The next table shows the baud rates available for the CFW-11, and the maximum cable length that can be used in the installation, according to the CiA recommendation. - Page 12 The cable for the connection of the CAN_L and CAN_H signals must have a characteristic impedance of approximately 120 Ohm, and a maximum propagation delay of 5ns/m. Other characteristics depend on the cable length, which must be according to the next table. Resistance per meter Conductor cross section Cable length (m)
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Page 13: Inverter Programming
These parameters are used in the configuration of the source of commands for the local and remote mode of the inverter CFW-11. So that the inverter is controlled through the CANopen interface, one of the available ‘CANopen/DNet’ in the parameters options must be selected. -
Page 14: P0680 - Logical Status
Table 3.1 - Values for parameter P0313 Options Description 0 = Off No action is taken and the inverter remains in the existing status. 1 = Ramp Stop A stop command with deceleration ramp is executed and the motor stops according to the programmed deceleration ramp. -
Page 15: P0681 - Motor Speed In 13 Bits
Table 3.2 - P0680 bit functions Bits Values Bits 0 to 4 Reserved Bit 5 0: The inverter is configured to use as acceleration and deceleration ramp for the motor, the Second Ramp first ramp, programmed at the parameters P0100 and P0101. 1: The inverter is configured to use as acceleration and deceleration ramp for the motor, the second ramp, programmed at the parameters P0102 and P0103. -
Page 16: P0684 - Canopen/Devicenet Control Word
Speed in rpm = 450 rpm Negative values in this parameter indicate motor rotating in counterclockwise sense of rotation. P0684 – CANopen/DeviceNet Control Word Range: 0000h – FFFFh Default: 0000h Proprieties: Access groups via HMI: 01 PARAMETER GROUPS. ∟ 49 Communication ∟... -
Page 17: P0685 - Canopen/Devicenet Speed Reference
P0685 – CANopen/DeviceNet Speed Reference Range: -32768 … 32767 Default: 0 Proprieties: CAN Access groups via HMI: 01 PARAMETER GROUPS. ∟ 49 Communication ∟ 111 Status/Commands. Description: It allows the programming of the speed reference for the inverter via CANopen/DeviceNet interface. This parameter can only be changed via CAN interface (CANopen or DeviceNet protocols). -
Page 18: P0696 - Analog Output Value 1
Program the option “Content P0696” as the function for the analog output 1 in P0254. Using the CAN interface, write in P0696 the desired value for the analog output 1, between 0 and 100%, according to the parameter scale. Refer to the CFW-11 manual for knowing the actual output resolution. -
Page 19: P0700 - Can Protocol
NOTE! If the analog output is programmed for working from -10V to +10V, negative values must be programmed at the specific parameter, so that -32769 to 32767 represent a variation from -10V to +10V at the output. P0700 – CAN Protocol Range: 1 = CANopen Default:... -
Page 20: P0703 - Bus Off Reset
Description: It allows programming the desired baud rate for the CAN interface, in bits per second. This rate must be the same for all the devices connected to the network. Bus Off P0703 – Reset Range: 0 = Manual Default: 1 = Automatic Proprieties: CFG, CAN... -
Page 21: P0706 - Received Can Telegram Counter
P0706 – Received CAN Telegram Counter Range: 0 to 65535 Default: Proprieties: RO, CAN Access groups via HMI: 01 PARAMETER GROUPS. ∟ 49 Communication ∟ 112 CANopen/DeviceNet Description: This parameter works as a cyclic counter that is incremented every time a CAN telegram is received. It informs the operator if the device is being able to communicate with the network. -
Page 22: P0721 - Canopen Communication Status
∟ 112 CANopen/DeviceNet Description: The CFW-11 inverter operates as a slave of the CANopen network, and as such element it has a state machine that controls its behavior regarding the communication. This parameter indicates in which state the device is. -
Page 23: Object Dictionary
4.2.1 Basic Types The following basic data types are supported: Integer with sign: There are three types of integers with sign supported by the CFW-11, INTEGER8, INTEGER16 and INTEGER32, which represent respectively integers with 8, 16 and 32 data bits. Integers with sign are calculated using two’s complement, and in a CAN telegram the least significant byte is always... -
Page 24: Compound Types
UNSIGNED32 Serial Number UNSIGNED32 4.2.3 Extended Types The CFW-11 does not have extended types. Communication Profile – Communication Objects The indexes from 1000h to 1FFFh in the object dictionary correspond to the part responsible for the CANopen network communication configuration. Those objects are common to all the devices, however only a few are... -
Page 25: Manufacturer Specific - Cfw-11 S
1A03h RECORD 4th transmit PDO mapping PDO Mapping The other objects not presented in this list are not used by the CFW-11, otherwise they are in reserved ranges of the dictionary. Manufacturer Specific – CFW-11 Specific Objects For indexes from 2000h to 5FFFh, each manufacture is free to define which objects will be present, and also the type and function of each one. -
Page 26: Device Profile - Common O
The CANopen documentation also includes suggestions for standardization of certain device types. In the case of CiA DPS 402 – Device Profile Drives and Motion Control the CFW-11, it follows the description. This document describes a set of objects that must be common for drives, regardless of the manufacturer. This makes the interaction between devices with the same function easier (as for frequency inverters), because the data, as well as the device behavior, are made available in a standardized manner. -
Page 27: Communication Objects Description
0001h (it has frequency inverter functionalities). Error Register 5.1.2 1001h Object – This object indicates whether or not an error in the device occurred. The type of error registered for the CFW-11 follows what is described in the Table 5.1. Index... -
Page 28: 1018H Object - Identity Object
The vendor ID is the number that identifies the manufacturer at the CiA. The product code is defined by the manufacturer according to the type of product. The revision number represents the equipment firmware version. The sub-index 4 is a unique serial number for each frequency inverter CFW-11 in CANopen network. 5.2 Service Data Objects – SDOS The SDOs are responsible for the direct access to the object dictionary of a specific device in the network. -
Page 29: 1200H Object - Sdo Server
5.2.1 1200h Object – SDO Server The CFW-11 has only one SDO of the server type, which makes it possible the access to its entire object dictionary. Through it, an SDO client can configure the communication, the parameters and the inverter operation. Every SDO server has an object, of the SDO_PARAMETER type (refer to section 4.2.2), for its configuration, having the... -
Page 30: Process Data Objects - Pdos
E.g.: A client SDO requests for a CFW-11 at address 1 the reading of the object identified by the index 2000h, sub-index 0 (zero), which represents an 16-bit integer. The master telegram has the following format:... -
Page 31: Mappable Objects For The Pdos
(ro) can be used only by transmit PDOs, whereas the other parameters can be used only by receive PDOs. The CFW-11 EDS file brings the list of all the objects available for the inverter, informing whether the object is mappable or not. -
Page 32: Receive Pdos
The receive PDOs, or RPDOs, are responsible for receiving data that other devices send to the CANopen network. The CFW-11 has 4 receive PDOs, each one being able to receive up to 8 bytes. Each RPDO has two parameters for its configuration, a PDO_COMM_PARAMETER and a PDO_MAPPING, as described next. - Page 33 Table 5.6 - Description of the type of transmission Type of transmission PDOs transmission Cyclic Acyclic Synchronous Asynchronous • • 1 – 240 • • 241 – 251 Reserved • • • • • • Values 0 – 240: any RPDO programmed in this range presents the same performance. When detecting a message, it will receive the data;...
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Page 34: Transmit Pdos
The transmit PDOs, or TPDOs, as the name says, are responsible for transmitting data for the CANopen network. The CFW-11 has 4 transmit PDOs, each one being able to transmit up to 8 data bytes. In a manner similar to RPDOs, each TPDO has two parameters for its configuration, a PDO_COMM_PARAMETER and a PDO_MAPPING, AS DESCRIBED NEXT. - Page 35 Sub-index Description Number of the last sub-index Access Mappable Range UNSIGNED8 Default value Sub-index Description COB-ID used by the PDO Access Mappable Range UNSIGNED32 Default value 1800h: 180h + Node-ID 1801h: 280h + Node-ID 1802h: 380h + Node-ID 1803h: 480h + Node-ID Sub-index Description Type of transmission...
- Page 36 PDO, and avoiding that other less priority objects transmit their data. The minimum time allowed for this Function in CFW-11 is 2ms. It is important to observe the time between transmissions programmed in the sub-index 3,...
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Page 37: Emergency Object - Emcy
The emergency object (EMCY) is used to signalize the occurrence of an error in the device. Every time that an error occurs in the CFW-11 (short-circuit, overvoltage, communication failure, etc.), this object will send an emergency message to the network. This message can be interpreted by an EMCY consumer (usually the network master), which will be able to take an action according to the programmed for the application, such as performing an error reset or disabling the other devices in the network. -
Page 38: Synchronization Object - Sync
The SYNC message transmitted by the producer does not have any data in its data field, because its purpose is to provide a time base for the other objects. There is an object in the CFW-11 for the configuration of the COB-ID of the SYNC consumer. -
Page 39: Network Management - Nmt
5.6 Network Management – NMT The network management object is responsible for a series of services that control the communication of the device Node in a CANopen network. For the CFW-11 the services of node control and error control are available (using Guarding Heartbeat 5.6.1 Slave State Control... -
Page 40: Error Control - Node Guarding
The transitions indicated in the command code correspond to the state transitions executed by the node after Reset node receiving the command (according to the Figure 5.5). The command makes the CFW-11 execute a Reset communication complete reset of the device, while the command causes the device to reinitialize only the objects pertinent to the CANopen communication. -
Page 41: Error Control - Heartbeat
The 100Ch object allows programming the time necessary (in milliseconds) for a fault occurrence being detected, in case the CFW-11 does not receive any telegram from the master. The 100Dh object indicates how many faults in sequence are necessary until it be considered that there was really a communication error. Therefore, the multiplication of these two values will result in the total necessary time for the communication error detection using this object. - Page 42 The CFW-11 has the producer and consumer of services. As a consumer, it is possible to program up to 4 different producers to be monitored by the inverter.
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Page 43: Initialization Procedure
5.7 Initialization Procedure Once the operation of the objects available for the frequency inverter CFW-11 is known, then it becomes necessary to program the different objects to operate combined in the network. In a general manner, the procedure for the initialization of the objects in a CANopen network follows the description of the next flowchart: Figure 5.8 - Initialization process flowchart... - Page 44 It is necessary to observe that the CFW-11 communication objects (1000h to 1FFFh) are not stored in the nonvolatile memory. Therefore, every time the equipment is reset or switched off, it is necessary to redo the communication objects parameter setting. The manufacturer specific objects (starting from 2000h that represents...
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Page 45: Description Of The Objects For Drives
INTEGER32 Every time an object of that list is read or written, the CFW-11 will map its functions in the inverter parameters. Thus, by operating the system through these objects, the value of the parameters can be changed according to the... -
Page 46: Device Control - Objects For Controlling The Drive
: Drive with fault. Disabled function, without power being applied to the motor. NOTE! The frequency inverter CFW-11 does not have a switch for disabling / enabling the power section Power disabled supply of the equipment. Therefore, the states described in the group were implemented for a matter of compatibility with the described state machine;... -
Page 47: 6040H Object- Controlword
Quick stop Disable voltage Transition 7: The commands have been received. The state transition is performed, but no action is taken by the CFW-11. Shutdown Transition 8: The command has been received. During the operation of the drive it is disabled, blocking the supply for the motor. -
Page 48: 6041H Object- Statusword
The bits 4, 5, 6 and 8 have different functions according to the used operation mode. The detailed description of the functions of these bits for the velocity mode is presented on the section 6.2.1. 6.1.2 6041h Object– Statusword It indicates the CFW-11 present state. Index 6041h... -
Page 49: 6060H Object- Modes Of Operation
Access Mappable Range INTEGER8 Default value Velocity Mode The only mode supported by the CFW-11 inverter is the , represented by the value 2. 6.1.4 6061h Object– Modes of Operation Display It indicates the CFW-11 operation mode. Index 6061h Name... -
Page 50: Control And State Bits
6.2.1 Control and State Bits The bits 4, 5, 6 and 8 of the control word (6040h object – Control word) have the following functions in the velocity mode: Name Value Description rfg enable Ramp disabling – bit 0 of P0684 = 0 (ramp enabling) Ramp enabling –... -
Page 51: 6046H Object- Vl Velocity Min Max Amount
Access Mappable Range INTEGER16 Default value vl velocity min max amount 6.2.5 6046h Object– It allows programming the value of the minimum and the maximum speed for the inverter. Only positive values are accepted, however the programmed values are also valid for the reverse speed direction. The values are written in rpm. -
Page 52: 6049H Object- Vl Velocity Deceleration
Position control function – Objects for position control Despite not supporting the position control operation mode, the objects related to this function were made available in the CFW-11 inverter. Position actual value* 6063h Object– It informs the encoder pulse counter value. This counter is valid only if the inverter has the accessory for the interface with the encoder. - Page 53 Access Mappable Range 0 up to the encoder number of pulses minus 1 Default value In order to get more information on this function operation, refer to the parameters P0039, P0191 and P0405 in the CFW-11 programming manual.
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Page 54: Faults And Alarms Related To The Canopen Communication
7 Faults and Alarms Related to the CANopen Communication A133/F233 – CAN Interface Without Power Supply Description: It indicates that the CAN interface does not have power supply between the connector pins 1 and 5. Operation: IN order that it be possible to send and receive telegrams through the CAN interface, it is necessary to provide an external supply for the interface circuit. - Page 55 Possible Causes/Correction: Verify the times programmed in both master and slave, for the message exchanging. In order to avoid problems due to transmission delays and differences in the time counting, it is recommended that the values programmed for message exchanging in the master be a little bit shorter than the times programmed for the error detection by the slave.