Introduction; Overview; Smvector Canopen Implementation Specifications; Module Identification Label - Lenze SMVector Reference Manual

2

Introduction

This reference guide assumes that the reader has a working knowledge of CANopen Fieldbus
Protocol and familiarity with the programming and operation of motion control equipment. This
guide is intended as a reference only.

2.1 Overview

CANopen Fieldbus is an internationally accepted communications protocol designed for
commercial and industrial installations of motion control applications. High data transfer rates
combined with it's efficient data formatting permit the coordination of motion control devices
in multi-axis applications. AC Tech's implementation of the CANopen protocol allows for baud
rates ranging from 10 kbps to 1Mbps.
DSP402 compatible control and status words are available to the user for configuring modes of
operation and altering the drive operating parameters. Additionally, to offer greater interoperability
with the SMVector inverter, a drive specific set of objects are available that offer further drive
profile configuration and allow access to specific modes of operation.
2.2 SMVector CANopen Implementation Specifications
• Supported data rates (bit/s): 1.0M, 800k, 500k, 250k, 125k, 50k, 20k, 10k.
• 2 transmit and 2 receive process data objects (PDOs) supported.
• Synchronous, Asynchronous and Change of State PDO communications modes supported.
• Two Service Data Objects (SDO) provide access to all SMV parameters
• Heartbeat and Node guarding with selectable timeout action
• DSP402 compatible Control and Status Words accessible via PDO and SDO.
To set up the CANopen Master, AC Tech provides the applicable EDS (Electronic Data Sheet).
2.3 Module Identification Label
Figure 1 illustrates the labels on the SMV CANopen communications module. The SMVector
CANopen-DP module is identifiable by:
• Two labels affixed to either side of the module.
• The color coded identifier label in the center of the module.
CMVCAN01B
Introduction
Right-hand Label:
Ratings & Certifications
Fieldbus Identifier:
C = CANopen
Left-hand Label:
Module Data
ESVZAC0-000XX1A10
Figure 1: CANopen Module Labels
COMM I/O ONLY
S/N: 123456789
LISTED
C0
A
SMV CAN
B
TYPE: ESVZAC0
C
ID-NO: 12345678
D
E
4
A: Fieldbus Protocol
B: Model Number
C: Lenze Order Number
D: Firmware Revision
E: Hardware Revision