KEB COMBIVERT G6 Programming Manual
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KEB COMBIVERT G6 Programming Manual

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COMBIVERT
CAN in AUTOMATION
Programming Manual
Control Circuit
CANopen
Translation of original manual
Document
Part
Version
20100573
GBR
00

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Summary of Contents for KEB COMBIVERT G6

  • Page 1 COMBIVERT CAN in AUTOMATION Programming Manual Control Circuit CANopen Translation of original manual Document Part Version 20100573...

  • Page 3: Table Of Contents

    Table of Contents Table of Contents Preface ......................5 Information on special measures ..................5 Documentation ........................5 Validity and liability ......................5 Copyright ..........................6 1.5 Specified application ......................6 Product description ......................7 1.6.1 Overview of functions ......................7 1.6.2 Safety function ........................7 1.6.3 Corresponding documentation ....................8 Part code ..........................8 Basics of the CAN BUS ................
  • Page 4 Table of Contents Fieldbus Parameters ..................34 General control card parameters (operator functionality) ......45 Initiator Interface ..................51 LCD Parameters .................... 53 Parameter to set the LCD display ..................53 10. Annex ......................56 10.1 CAN-Bit-Timing ........................56 10.2 Compact summary of CAN communication ..............57...

  • Page 5: Preface

    Precondition for all further steps is the knowledge and observance of the safety and operating instructions. This is provided accompanied by the de- vice or by the download site of www.keb.de. Non-observance of the safety and operating instructions leads to the loss of any liability claims.

  • Page 6: Copyright

    Karl E.Brinkmann GmbH agency. Copyright The customer may use the instruction manual as well as further documents or parts from it for internal purposes. Copyrights are with KEB and remain valid in its entirety. , COMBIVERT , COMBICONTROL...

  • Page 7: Product Description

    The operation of our products outside the indicated limit values of the technical data leads to the loss of any liability claims. Product description The product family COMBIVERT G6 with safety function STO has been developed for the use in safety-oriented applications. The basic standards as well as application and coun- try-specific standards must be observed furthermore. The manual refer to standards that are...

  • Page 8: Corresponding Documentation

    Step 1 Read the material number (Mat.No.) from nameplate Input the material number at "www.keb.de => Service => Downloads" and click "search". Downloads Step 2 Search for specific material numbers Please enter a comlete (11-digit) material number.
  • Page 9 Preface xx G6 x x x - x x x x Control/keyboard/display (not valid at customer/special version) Open-loop without key- Open-loop without key- G6K-G G6-G board/display board/display Open-loop with keyboard/ Open-loop with key- G6K-G G6-G display board/display G6P-S SCL (Sensorless Closed Loop) without keyboard/display G6P-S SCL (Sensorless Closed Loop) with keyboard/display ASCL (Asynchronous Sensorless Closed Loop) G6L-M...

  • Page 10: Basics Of The Can Bus

    The term logical CAN master used in the following, refers to the CAN user, who is responsible for the control of the entire CAN system. Even if there are physically only masters at CAN, in most applications there will be one or several users who exercise control. In this combination the KEB frequency inverter is considered as recipient of orders (logical slave).

  • Page 11: Functions

    CAN Node ID = CAN Node ID (fb00) Parameter „Node ID“ (os07) is always equal to parameter „inverter Info address“ (sy06). On delivery all KEB frequency inverters have the inverter address „1“. In case several KEB frequency inverters shall be networked over CAN, Attention they all must first receive different inverter addresses. This is done e.g. via the parameter interface or the optional keyboard of the control.

  • Page 12: Broadcast Objects

    Basically the function of the SDO is completely sufficient to control Info the KEB G6 frequency inverter by CAN. Each parameter value in the inverter can be changed or inquired herewith. The SDO channel is continuous operated independent of the process data transfer. The cycle...

  • Page 13: Out/In-Identifier (Pdo)

    Out/In-Identifier (PDO) The CAN master can give the frequency inverter unaddressed and unconfirmed data via the Out identifier. The identification Out is based on the data direction from master to slave. The frequency inverter transfers new data unaddressed and unconfirmed to the CAN master via the In-identifier. This function is called Process Data Object (PDO) by the communication profile. Three pro- cess data objects (PDOs) with two object parts Out/In are available at COMBIVERT G6 and they are addressed as follows: PDO1(rx) = Out-Identifier 200h + CAN Node ID PDO1(tx) = IN-Identifier 180h + CAN Node ID PDO2 (rx) = Out-Identifier...
  • Page 14 Functions domain download (parameter write) and domain upload (parameter read) is already activat- ed. Only the process data communcation is still inactive in this status. It is released by the NMT command Start_Remote_Node() (Fig.). The target of this start sequence is the operat- ing condition operational. In this status the communication is completely activated. With the NMT protocol certain CAN nodes are addressed by the above mentioned CAN Node-ID.

  • Page 15: Bootup Message

    Identifier = 0 Node ID Node_Id = 0 (all NMT slaves are addressed ) or Node_Id = inverter-address + 1 (only 1 frequency inverter is addressed) Reset_Node(): During the execution of this function a software reset is carried out in the KEB CAN interface connection. CAN-telegram: : Identifier = 0 Node ID Node_Id = 0 (all NMT slaves are addressed ) or...

  • Page 16: Node Guarding

    Functions Node guarding Provided protocol with which a CAN node can inquire the current status of any node. It be- longs to the network management functionality (NMT) of the CAN node and is referred to as node guarding. The G6 CAN control board supports the Node-Guarding. The node guarding request is deposited on the node guarding identifier by a remote frame. The response arrives as data telegram with 1 byte data on the same identifier. The data byte contains the node status plus one toggle bit (MSBit), which is inverted from message to message.

  • Page 17: Emergency Object

    Functions 3.10 Emergency object The CANopen communication profile DS301 defines a mechanism, after which the nodes signal independently, if the important events incidents. This emergency message supports also the G6 CAN control. If no error is detected, the CANopen control changes af- Start ter initialization into status "error free".

  • Page 18: Producers Heartbeat

    Functions NO_ERROR GENERIC_ERROR (LT Communication timeout) MANUFACTURER_SPECIFIC (Info LT ru.00) 3.11 Producers heartbeat The heartbeat protocol provides additional monitoring of the CAN bus without knowledge of the heartbeat producer via the connected user. A heartbeat producer sends cyclically a heartbeat message. The time when the message is sent, is adjustable.

  • Page 19: Coding Of The Data In The Four Can Telegram Types

    Via this telegram the logical CAN master can inquire (read) or change (write) the value of a parameter. In the communication profile a write-service is referred to as domain download and a read service as domain upload. The KEB CAN interface connection supports only the short form of these two services, thus only one telegram can be exchanged for the service request and another for the service acknowledgement between logical CAN master and the G6 CAN control.

  • Page 20: Initiate Domain Download Request (Write Request Of The Master)

    Coding of the data in the four CAN telegram types 4.1.1 Initiate domain download request (write request of the master) 7…0 7…0 15…8 7…0 7…0 15…8 23…16 31…24 Data Index 0010nn1s index Only valid with s=1: Contains the number of bytes of the data field, that con- tains no data. If it is equal 1, then nn contains the number of bytes in the data field, that con- tains no data. Otherwise no display of the data length in nn. Index: 16 bit (unsigned) addressing of the parameter (see above).

  • Page 21: Initiate Domain Upload Response (Read Confirmation From The Fi)

    Coding of the data in the four CAN telegram types 4.2.2 Initiate domain upload response (read confirmation from the FI) This response is transmitted by the G6 CAN control, if the requested read service was exe- cuted error-free. see above 7…0 7…0 15…8 7…0 7…0 15…8 23…16 31…24 see above Data Index: see above 0100nn1s Index index Subindex: see above Data: see above 4.2.3 Abort domain transfer (error response from the FI) This response is transmitted by the G6 CAN control, if the requested write or read service...

  • Page 22: Rpdo1

    Coding of the data in the four CAN telegram types RPDO1…3 telegram With this telegram the logical CAN master transfers new process output data to the inverter. The length and assignment of the RPDO1 ... 3 telegram can be changed by different commu- nication parameters.

  • Page 23: Parameters Of The Communication Profile

    Parameters of the communication profile Parameters of the communication profile The following parameters are defined by the communication profile. Unit and manufacturer data Parameter Id-Text Name CAN SDO Index co01 DeviceType 1000h Subindex Object type Single variable (var) Data length unsigned Long Access Read only Meaning Decribes the unit type according to CANopen communication profile. Coding No predefinition up to now Standard Notice This parameter is constant, therefore it can be read only. Parameter Id-Text Name...
  • Page 24 Parameters of the communication profile Parameter Id-Text Name CAN SDO Index co04 Identity object 1018h Subindex Object type Structured variable (Struct) Data length unsigned Byte Access Read only Meaning Specifies the number of sub-indices in this object. Number of subindi- zies Notice Manufacturer and production data are stored in the sub-indices of this parameter.

  • Page 25: Process Data

    Parameters of the communication profile Process data Parameter Id-Text Name CAN SDO Index co05 RPDO1 Communication parameter 1400h co06 RPDO2 Communication parameter 1401h co07 RPDO3 Communication parameter 1402h Subindex Object type Structured variable (Struct) Data length unsigned Byte Access Read only Meaning Specifies the number of sub-indices in this object. Number of subindi- zies Notice Subindex 1...
  • Page 26 Parameters of the communication profile Coding 0…240 On receipt of a SYNC command (Identifier = 128d, data length = 0) the current process output data are trans- ferred to the FI control. 241…253 reserved (asynchronous, manufacturer-specific) The process output data are transferred to the FI control as soon as at least one byte has changed. 255 (asynchronous, profile-specific): Standard 254 Notes A changed value takes effect immediately and is stored non-volatile. Parameter Id-Text Name...
  • Page 27 Parameters of the communication profile Notice Writing of this parameter requires that the count (sub-index) is set to 0. The correlation between process output data mapping and the corre- sponding RPDO1…3 telegram structure is shown once more in the default assignment: RPDO telegram 7…0 15…8 7…0 15…8 Control word Setpoint speed ↑ ↑ RPDO1…3 Mapping index ← ←...
  • Page 28 Parameters of the communication profile Subindex 1 Sub-Name COB-ID Data length unsigned Long Access Read/Write Meaning Indicates on which identifier the TPDO for the transfer of the process input data is transferred. Additionally there are control informations for this TPDO contained in the highest bits. A changed value takes effect immediately and is stored non-volatile. Since the identifier assignment of the PDOs is derived directly from the Node_Id, bits 28 to 0 can only be read.
  • Page 29 Parameters of the communication profile Coding 0 synchro- At every receipt of a SYNC a TPDO tele- nous, gram is transmitted on CAN. acyclic 1…240 synchro- In this setting range it is adjusted by means nous, of the value, how many SYNC telegrams must be received, before a TPDO telegram cyclic is transmitted on CAN.
  • Page 30 Parameters of the communication profile Subindex 3 Sub-Name Off time Data length unsigned Word Meaning Describes the minimal temporal distance between two CAN telegrams on this identifier. Coding 0…655350 * 0.1 ms Standard 100 (= 10 ms) Notice A changed value takes effect immediately and is stored non-volatile. The internal resolution for the off-time is 1ms.

  • Page 31: Parameters For The Life Guarding

    Parameters of the communication profile Notice A writing of this parameter causes the automatic deactivation of the process input data processing (Bit31 of index 1800h, (or 1801, 1802) subindex = 1 is set to “1”). The correlation between process input data mapping and the corresponding TPDO1…3 telegram structure is shown once more in the default assignment: TPDO1…3 telegram: 7…0 15…8 7…0 15…8 Subindzies 1...8 can only be written Control word...

  • Page 32: Parameter For The Heartbeat

    Parameters of the communication profile Parameter for the heartbeat Id-Text Name CAN SDO Index Parameter co30 Consumers heartbeat time 1016h Subindex Object type ARRAY Data length unsigned Byte Access Read only Meaning Specifies the number of sub-indices in this object. Number of subindi- zies Sub-Name Consumers heartbeat time Subindex 1 Data length unsigned Long Access Read write Meaning Adjusts the monitoring time and the node-ID of the heartbeat produc- er.
  • Page 33 Parameters of the communication profile Parameter Id-Text Name CAN SDO Index co34 Error behavior 1029h Subinde Object type ARRAY Data length unsigned Byte Access Read only Meaning Specifies the number of sub-indices in this object. Number of subindi- zies Subindex 1 Sub-Name Communication error Data length unsigned Byte Access Read write Meaning Adjusts the behavior of the CAN bus user in case of communication error.

  • Page 34: Fieldbus Parameters

    Fieldbus Parameters Fieldbus Parameters The fieldbus parameters (fb) are defined by KEB. Parameter Id-Text Name CAN SDO Index fb00 CAN Node ID 0x2180 Subindex Object type Variable Data length unsigned Byte Access Read write Meaning Setting of the CANopen node address in the CAN control. Coding The node address is determined from the inverter ad- dress (SY06): CAN Node ID = inverter address + 1 1…127...
  • Page 35 Fieldbus Parameters Parameter Id-Text Name CAN SDO Index fb03 CAN State 0x2183 Subindex Object type Variable Data length unsigned Byte Access Read only Meaning Display of the CANopen slave state Coding Initialization Stopped Operational 127 Preoperational Standard Parameter Id-Text Name Index fb04 LifeGuardTout.Addr 0x2184 Subindex...
  • Page 36 Fieldbus Parameters Parameter Id-Text Name CAN SDO Index fb05 LifeGuardTout.Data 0x2185 Subindex Object type Variable Data length unsigned Long Access Read write Meaning Defines the value of the inverter parameter to be written in case life guarding timeout occurs. Coding 0…4294967294 (depending on the selected parameter) Standard Id-Text Name CAN SDO Index Parameter fb06 SubIdxForISet 0x2186 Subindex Object type Variable...
  • Page 37 Fieldbus Parameters Parameter Id-Text Name CAN SDO Index fb07 buswatchdog activation 0x2187 Subindex Object type Variable Data length unsigned Byte Access Read write Meaning Allows a delayed activation of the fieldbus watchdog after Power On or a reset command via CAN. The fieldbus watchdog is used to bring the drive into the error state when on CAN is no more activity. The real activation and programming of watchdog is adjusted in the FI control. Take the parameters to be adjusted from the instruction manual of the FI control.
  • Page 38 Fieldbus Parameters Parameter Id-Text Name CAN SDO Index fb08 buswatchdog inhibit 0x2188 Subindex Object type Variable Data length unsigned Byte Access Read write Meaning Defines upon which events the fieldbus watchdog is reset. Coding When starting a PDOUT telegram to the FI control the watch- dog is reset. The watchdog is reset when receiving a SDO order. At every receipt of a SYNC telegram the watchdog is reset. At every receipt of a node guard request telegram the watch- dog is reset.
  • Page 39 Fieldbus Parameters Parameter Id-Text Name CAN SDO Index fb11 PD1 out subindex 0x218B fb21 PD2 out subindex 0x2195 fb31 PD3 out subindex 0x219F Subindex Number of subindi- zies Object type ARRAY Data length unsigned Byte Access Read write Meaning Specifies the number of entries in this object. Subindex 1…8 Data length unsigned Word Access Read write Meaning The value of the sub-index determines the parameter set of the se- lected PD parameter.
  • Page 40 Fieldbus Parameters Parameter Id-Text Name CAN SDO Index fb13 PD1 out type 0x218D fb23 PD2 out type 0x2197 fb33 PD3 out type 0x21A1 Subindex Number of subindi- zies Object type ARRAY Data length unsigned Byte Access Read write Meaning Specifies the number of entries in this object. Subindex 1…8 Data length unsigned Byte Access...
  • Page 41 Fieldbus Parameters Parameter Id-Text Name CAN SDO Index fb15 PD1 in index 0x218F fb25 PD2 in index 0x2199 fb35 PD3 in index 0x21A3 Subindex Number of subindi- zies Object type ARRAY Data length unsigned Byte Access Read write Meaning Specifies the number of sub-indices in this object. Subindex 1...8 Data length unsigned Word Access Read write Meaning Setting of up to 8 parameter addresses to be used as process data.
  • Page 42 Fieldbus Parameters Parameter Id-Text Name CAN SDO Index fb17 PD1 in offset 0x2191 fb27 PD2 in offset 0x219B fb37 PD3 in offset 0x21A5 Subindex Number of subindi- zies Object type ARRAY Data length unsigned Byte Access Read write Meaning Specifies the number of sub-indices in this object. Subindex 1...8 Data length unsigned Byte Access...
  • Page 43 Fieldbus Parameters Parameter Id-Text Name CAN SDO Index fb19 PD1 in count 0x2193 fb29 PD2 in count 0x219D fb39 PD3 in count 0x21A7 Subindex Object type Variable Data length unsigned Byte Access Read write Meaning Adjusts the number of PD in objects. Coding 0…8 Standard...
  • Page 44 Fieldbus Parameters Subindex 5 Sub-index name PDO3 counter Data length unsigned Word Access Read write Coding 0…65355 number of received process data telegrams 3. Subindex 6 Sub-index name SDO counter Data length unsigned Word Access Read write Coding 0…65355 number of received SYNC telegrams. Subindex 7 Sub-index name Node guarding counter Data length unsigned Word...

  • Page 45: General Control Card Parameters (Operator Functionality)

    General control card parameters (operator functionality) General control card parameters (operator functionality) The operator parameters determine the configuration of the G6 CAN control. The software version and the actual state can also be read out. Id-Text Name CAN SDO Index Parameter os00 Operator identifier 0x2080 Subindex Object type Variable Data length unsigned Long Access Read only Meaning Display of the control card type and software version. Coding 150xxx: G6 e.g.
  • Page 46 General control card parameters (operator functionality) Parameter Id-Text Name CAN SDO Index os04 Diag error count 0x2084 Subindex Object type Variable Data length unsigned Byte Access Read write Meaning Specifies the number of occurred errors on the diagnostic interface. Coding 0…255 Id-Text Name CAN SDO Index Parameter os05 Diag response delay time 0x2085 Subindex Object type Variable Data length unsigned Byte Access Read write...
  • Page 47 General control card parameters (operator functionality) Parameter Id-Text Name CAN SDO Index os08 operator type 0x2088 Subindex Object type Variable Data length unsigned Word Access Read only Meaning Display of the functions implemented in the control card. Coding Initiator 0: without Bit 0 1: with initiator Keyboard/dis- 0: without Bit 1 play 1: with keyboard/LCD display LT image...
  • Page 48 General control card parameters (operator functionality) Parameter Id-Text Name CAN SDO Index os12 operator command 0x208C Subindex Object type Variable Data length unsigned Byte Access Read write Meaning Setting of instructions in accordance with the coding mentioned below Coding 0 non 1 Load default values in all operator sets 2 reinitialize LT image Parameter Id-Text...
  • Page 49 General control card parameters (operator functionality) Parameter Id-Text Name CAN SDO Index os14 store state 0x208E Subindex Object type Variable Data length unsigned Byte Access Read write Meaning By writing of value "0" non-volatile parameters are immediately stored. After the storing the status changes to value "1". If at the end of down- load lists in COMBIVIS first value "0" and then value "1" is written, COMBIVIS transmits the value as long as the inverter has completed the storage.
  • Page 50 General control card parameters (operator functionality) Id-Text Name CAN SDO Index Parameter os18 safety software version 0x2092 Subindex Object type Variable Data length Long Access Read only Meaning Display of the safety module software date. Coding Display of the year before the decimal point, month 0,0000… and day after the decimal point. 2012,0813 means 9999, 3112 13.08.2012.

  • Page 51: Initiator Interface

    Initiator Interface Initiator Interface A initiator input is realized at the CAN control on terminal strip X2A terminal 31. The following parameters are used for the activation and configuration of the initiator input. Parameter Id-Text Name CAN SDO Index ii02 initiator funktionality 0x2382 Subindex Object type Variable Data length unsigned Byte Access Read write Meaning Activation of the initiator input.
  • Page 52 Initiator Interface Parameter Id-Text Name CAN SDO Index ii06 time for speed calculation 0x2386 Subindex Object type Variable Data length unsigned Byte Access Read write Meaning Time to calculate a new speed value. The higher the time, the higher the resolution of the speed. Coding 1 ms 2 ms...

  • Page 53: Lcd Parameters

    LCD Parameters LCD Parameters Parameter to set the LCD display The settings of the LCD parameter are only accepted completely fom the LCD display after restarting the device. Parameter Id-Text Name CAN SDO Index dp00 language 0x2780 Subindex Object type Variable Data length unsigned Byte Access Read write...
  • Page 54 LCD Parameters Id-Text Name CAN SDO Index Parameter dp02 front size 0x2782 Subindex Object type Variable Data length unsigned Byte Access Read write Meaning It can be selected between the font sizes 8,10,13,16 and 24 in the display. Exception: see „front size 2“. Coding 8 dpi 10 10 dpi 13 13 dpi 16 16 dpi 24 24 dpi...
  • Page 55 LCD Parameters Parameter Id-Text Name CAN SDO Index dp05 backlight 0x2785 Subindex Object type Variable Data length unsigned Byte Access Read write Meaning The menu item "Lighting" defines the behavior of the backlight of the LCD display. Coding off Lighting of the LCD display generally off. on Lighting of the LCD display generally on. 2 auto If the lighting is set to "Auto", it turns on when you press a key and it turns off after 10 seconds when no key is pressed.

  • Page 56: Annex

    Annex Annex 10.1 CAN-Bit-Timing Regarding the adjusted bit timing the KEB CAN control adhere to the specifications of the CiA standard. The nominal bit timing is as follows: Area for each segment: Bit time = 8 Tq to 25 Tq Bit Time SYNC (1 Tq) TSEG1 (4…16 Tq) TSEG2 (2…8 Tq) Samplepoint Synchronization step width (SJW) = 1…4 Tq Values from TSEG1 and TSEG2: TSEG1 > TSEG2 > SJW For all adjustable baud rates applies: = Base time unit. All segments of the Bit-Timing result in a multiple of this time unit.

  • Page 57: Compact Summary Of Can Communication

    Annex Important warning notice The KEB-CAN control has an isolated CAN interface. The addition- al delay elements (optocoupler) in the waveform, the possible cable length or the possible transmission speed decreases. The possible line length or transmission rate is depending on the delay times of all Attention users in the CAN network.
  • Page 58 Annex Examples for SDO communication: Reading of parameter digital setpoint setting (oP03) in set 4 → index = 2303h, subindex = SDO(rx) telegram (to KEB FI) SDO(tx) telegram (from KEB FI) 40h 03h 23h 05h XXh XXh XXh XXh 43h 03h 23h 05h E8h 03h 00h 00h In this example the read value is = 1000 (03E8h) Write value = 5 to parameter reference source (oP.00) in set 0 → Index = 2300h, subindex = 01h SDO(rx) telegram (to KEB FI) SDO(tx) telegram (from KEB FI) 22h 00h 23h 01h 05h 00h 00h 00h 60h 00h 23h 01h 05h 00h 00h 00h...
  • Page 59 Notes...
  • Page 60 KEB Automation KG Südstraße 38 • D-32683 Barntrup fon: +49 5263 401-0 • fax: +49 5263 401-116 net: .www.keb.de • mail: info@keb.de KEB worldwide… KEB Antriebstechnik Austria GmbH KEB (UK) Ltd. Ritzstraße 8 • A-4614 Marchtrenk Morris Close, Park Farm Industrial Estate fon: +43 7243 53586-0 • fax: +43 7243 53586-21 GB-Wellingborough, NN8 6 XF net: www.keb.at • mail: info@keb.at fon: +44 1933 402220 • fax: +44 1933 400724 net: www.keb.co.uk • mail: info@keb.co.uk KEB Antriebstechnik Herenveld 2 • B-9500 Geraadsbergen KEB Italia S.r.l. fon: +32 5443 7860 • fax: +32 5443 7898 Via Newton, 2 • I-20019 Settimo Milanese (Milano) mail: vb.belgien@keb.de...

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