A1 Appendix A - Configuration Example; A1.1 Master / Follower Drive System - Lenze SMVector Reference Manual

A1 Appendix A - Configuration Example
A1.1 Master / Follower Drive System
The following example shows how to set up for a typical "Master - Follower" drive system using
CANopen as the link between the two drives. The "Master" drive can be controlled by CANopen
or by traditional control elements (relays, switches, potentiometers, etc.), the "Follower" will
receive it's commands (run, speed, etc.) from the "Master" when a contact closure (or jumper) is
made between terminals 4 and 13-A to enable Network Control on the follower drive.
This example is shown for illustrative purposes only. In an actual implementation, additional
safety precautions must be made. Included in these should be the prevention of access to
the "Follower" drive keypad for operational purposes since the "Master" drive may restart the
"Follower" drive even after a local keypad STOP command. As always, system safety is the
responsibility of the machine designer.
Parameters
Master Drive configuration
No. Name
P4 0 CAN address
(Node ID)
1 CAN baud
rate
P 2 CAN Bootup
mode
P 1 Parameter
channel 2
(SDO#2)
P464 TPDO#1
event timer
6 TPDO#1
mapping
CMVCAN01B
Appendix
WARNING!
Network control permits automatic starting and stopping of the inverter drive.
The system design must incorporate adequate protection to prevent personnel
from accessing moving equipment while power is applied to the drive system.
Setting
1
5 500 kbps
1 Operational
2 Disable with default COB
ID
10 ms
5 Status Word matches the
SMV Control word.
Follower Drive configuration
No. Name
P 00 Setpoint source
TB-13A input
function
Any of the TB13 inputs can be used, this
example uses TB-13A
P 0 CAN address
(Node ID)
P 1 CAN baud rate
P4 2 CAN Bootup
mode
13 Parameter
channel 2
(SDO#2)
P4 0 RPDO#1 COB
ID
NOTE: COB ID can only be changed when
P441 = 0
P 4 RPDO#1
enable/disable
P RPDO#1 event
monitoring timer
P 4 RPDO#1 time
out reaction
P RPDO#1
mapping
24
Setting
3 Network Only
9 Network Enable
2
5 500 kbps
1 Operational
3 Disable with programmable
COB ID
385
(P460 from controller #1)
1 Enable
50 ms
1 STOP
2 SMV Control Word +
Network Speed.