SEW-Eurodrive Movidrive DFO11A Manual
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SEW-Eurodrive Movidrive DFO11A Manual

SEW-Eurodrive Movidrive DFO11A Manual

Canopen fieldbus interface
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®
MOVIDRIVE
CANopen Fieldbus Interface
DFO11A
10/2000
open
Manual
09187111 / EN

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Summary of Contents for SEW-Eurodrive Movidrive DFO11A

  • Page 1 Edition ® MOVIDRIVE CANopen Fieldbus Interface DFO11A 10/2000 open Manual 09187111 / EN...
  • Page 2 SEW-EURODRIVE...

  • Page 3: Table Of Contents

    Contents 1 Introduction ....................... 4 2 Assembly/Installation ..................6 Types of Units Supported ................. 6 Installation of Option PCB ................. 6 Connector Wiring and Connector Pin Assignment........6 Shielding and Routing of Bus Cables............7 Setting the DIP Switches ................8 Display Elements ..................

  • Page 4: Introduction

    Introduction Contents of this This manual pertains to the CANopen fieldbus interface DFO11A and describes the manual installation of the CANopen option pcb DFO11A into the drive inverter and the startup ® of MOVIDRIVE on the CANopen fieldbus . It also contains an explanation of all settings for the fieldbus option and the different types of connections with CANopen in the form of small startup examples.
  • Page 5 Startup The CANopen option is designed so that the fieldbus-specific settings for the Slave ID and Baud Rate can be adjusted by means of a hardware switch on the option pcb. Using this manual setting, the drive inverter can be quickly integrated into the CANopen environment and switched on.

  • Page 6: Assembly/Installation

    Types of units supported Assembly/Installation Types of units supported The DFO11A option for connection to CANopen can be used with all drive inverters in ® the MOVIDRIVE series. Installation of option pcb Before you begin • Take appropriate ESD measures (anti-static band, conductive shoes, etc.) before touching the option pcb.

  • Page 7: Shielding And Routing Of Bus Cables

    Shielding and routing of bus cables Connector pin Figure 3 shows the pin assignment of the 9-pin Sub-D coupling. This connector pin assignment assignment corresponds to the CiA (CAN in Automation) recommendations. In order to avoid EMC problems, connectors with metallic connector housings or metallized housings must be used to connect the inverter to the CAN bus.

  • Page 8: Setting The Dip Switches

    Setting the DIP Switches Setting the DIP Switches The CANopen DFO11A pcb has 16 DIP switches. One DIP switch is used to connect the terminating resistor, two DIP switches are used to set the baud rate, and 7 DIP switches are used to set the CANopen slave ID (node address).
  • Page 9 Setting the DIP Switches CAN bus DIP switch "R" can be used to connect a terminating resistor for the CAN bus to the terminating system. This terminating resistor must be switched on at the first and the last device on resistor the CAN bus and must be switched off at all other devices.

  • Page 10: Display Elements

    Display elements Display elements The display elements consist of 4 two-colored LEDs. Function Abbreviation CAN bus status BUSOFF CANopen status STATE Node guarding GUARD Send or receive COMM BUSOFF LED Status Meaning NO ERROR The number of bus errors is within the normal range (Error-Active-State). BUS WARNING Flashes red (approx.

  • Page 11: Project Planning/Startup

    Data exchange with CANopen Project Planning/Startup Data exchange with CANopen Unit status and The CANopen option pcb supports the "minimum capability device", that is, it supports NMT services "pre-operational", "operational," and "stopped" statuses. In the "pre-operational" status, the unit can communicate via SDOs only (see Section [Project Planning/Startup] / [Data Exchange with CANopen] / [SDOs and Their Services]).
  • Page 12 Data exchange with CANopen Structure of CAN CAN messages are structured as follows: messages NMT service Byte 1 Byte 2 Node_Start 0x0000 0x01 Node ID Node_Stop 0x0000 0x02 Node ID Enter_Pre-Operational_State 0x0000 0x80 Node ID Reset_Node 0x0000 0x81 Node ID Reset_Communication 0x0000 0x82...
  • Page 13 Data exchange with CANopen Example: Read The following example shows a read access to the entry "Device Type" in the inverter access "Device with the CANopen address = 3 as set by the DIP switches: Type" Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...
  • Page 14 Data exchange with CANopen Faulty service If an error occurs, the DFO11A transmits an Abort message. The Abort message operation contains an error code that describes the cause of the error. Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8...
  • Page 15 Data exchange with CANopen TX-PDO TX-PDOs are transmitted by the inverter. The TX-PDO is transmitted only upon reception of an RX-PDO or reception of an RTR-TX-PDO. An RTR-TX-PDO causes the inverter to place its process input data on the CAN bus without requiring new process output data to the inverter.
  • Page 16 Data exchange with CANopen Node-guarding The CANopen option pcb supports two types of node guarding. For one, the network master can check whether the individual nodes are still operational. To accomplish this, a node guarding object with set RTR bit must be sent to the nodes (example for node ID "3"): Message length 0x700+Node ID= 0x703...
  • Page 17 Data exchange with CANopen Node Event Node guarding is active in all operating states following the first reception of a "Node Event" from the master. With this CANopen option pcb, the Node Event can be chosen freely from the following events: •...

  • Page 18: Startup

    Startup ® Writing to object 0x2066 triggers the MOVILINK service. Objekt 0x2066 (UNSIGNED32) is structured as follows: Bit 31 - Bit 24 Bit 23 - Bit 16 Bit 15 - Bit 8 Bit 7 - Bit 0 Management Reserved Index high Index low The exact meaning of the management byte is described in the fieldbus device profile, ®...
  • Page 19 Startup Inverter control After installing the CANopen option pcb and setting the baud rate, node ID, and number ® mode fieldbus of process data (via DIP switches), the MOVIDRIVE inverter can be parameterized without further settings via the fieldbus system. For example, after power-up, all drive parameters from the higher-level programmable controller can be downloaded directly using CANopen.
  • Page 20 Startup ® Procedure for Procedure for startup of the inverter MOVIDRIVE with fieldbus interface: startup 1. Switch drive inverter to ENABLE on the terminal side. Connect input terminal DI00 (Function/CONTROLLER INHIBIT) to a +24 V signal (via wire jumper). X13: DI00 DI01 ®...
  • Page 21 Startup 2. Control mode = FIELDBUS Switch over control and setpoint value processing of the inverter with parameter P100 and P101 to FIELDBUS. 3. Input terminal DI01... DI05 = WITHOUT FUNCTION Program the functionality of input terminals DI01 through DI05 with parameters P600 through P604 to WITHOUT FUNCTION.
  • Page 22 Startup Project planning The DIP switches for the number of process data words of DFO11A must be set in for one process accordance with Section [Assembly/Installation] / [Setting of the DIP Switches] / data word [Number of Process Data] to PD0=off, PD1=off, PD2=off. This setting is displayed in the operating software or the DBG via parameter "PD Configuration"...
  • Page 23 Startup Project planning The DIP switches for the number of process data words of DFO11A must be set in for two process accordance with Section [Assembly/Installation] / [Setting of the DIP Switches] / data words [Number of Process Data] to PD0=on, PD1=off, PD2=off. This setting is displayed in the operating software or the DBG via parameter "PD Configuration"...
  • Page 24 Startup Project planning The DIP switches for the number of process data words of DFO11A must be set in for three process accordance with Section [Assembly/Installation] / [Setting of the DIP Switches] / data words [Number of Process Data] to PD0=off, PD1=on, PD2=off. This setting is displayed in the operating software or the DBG via parameter "PD Configuration"...
  • Page 25 Startup Project planning The DIP switches for the number of process data words of DFO11A must be set in for four process accordance with Section [Assembly/Installation] / [Setting of the DIP Switches] / data words [Number of Process Data] to PD0=on, PD1=on, PD2=off. This setting is displayed in the operating software or the DBG via parameter "PD Configuration"...
  • Page 26 Startup Project planning The DIP switches for the number of process data words of DFO11A must be set in for five process accordance with Section [Assembly/Installation] / [Setting of the DIP Switches] / data words [Number of Process Data] to PD0=off, PD1=off, PD2=on. This setting is displayed in the operating software or the DBG via parameter "PD Configuration"...

  • Page 27: Application Example

    Positioning with five process data Application Example This section contains several examples that illustrate the operating principle of IPOS programs together with the CANopen fieldbus. For simpler examples with up to three process data that use only the SEW fieldbus profile, it is not necessary to include an IPOS.
  • Page 28 Positioning with five process data Procedure • Set the DIP switches of DFO11A according to the following table. Designation of the DIP switch Position on, if applicable, if this node is installed at the end of the CAN bus ® •...
  • Page 29 Positioning with five process data plus® • The following IPOS program must be compiled with the IPOS compiler, loaded into the inverter and started. /*============================================= IPOS source file ===============================================*/ #include <const.h> // Help for the predefined structures with // F1 GSPODATA10 Po10;...
  • Page 30 Positioning with five process data // Process data no. 5 is the positioning ramp // left and right in ms Ramp.Up = Po10.PO5; Ramp.Down = Po10.PO5; _SetSys(SS_POSRAMP, Ramp); // and now approach TargetPosition (TargetPos is // defined in const.h) TargetPos = Pos32; // now set the process input words // process input words 1 through 3 are // adjusted to the desired size using the...

  • Page 31: Appendix

    Positioning with five process data Appendix The following object directory lists the index, subindex, data type, and access type of the objects supported by the CANopen option pcb. Index Subindex Function Data type Access Default 0x1000 device type UNSIGNED32 0x1001 error register UNSIGNED8 0x1002...
  • Page 32 Positioning with five process data Index Subindex Function Data type Access Default fourth mapped object UNSIGNED32 20200810 0x1800 TX PDO 1 communication parameter UNSIGNED8 COB-ID UNSIGNED32 transmission type UNSIGNED8 0x1801 TX PDO 2 communication parameter UNSIGNED8 COB-ID UNSIGNED32 transmission type UNSIGNED8 0x1A00 TX PDO 1 mapping parameter...

  • Page 33: Index

    Index Abort message 14 LED BUSOFF 10 Access type 31 LED COMM 10 Address 9 LED GUARD 10, 16 Application example 27 LED STATE 10 LEDs 10 Lifeguarding 16 Baud rate 8, 9 Bus cables, shielding, and routing 7 BUS ERROR, BUSOFF LED 10 Module ID 8, 9 Bus termination 7 BUS WARNING, BUSOFF LED 10...

  • Page 34: Terminating Resistor S2

    Subindex 31 Sync Object 17 Terminals 7 Terminating resistor 8, 9 Timeout period 16 TX-PDO 15 Write access, example 13 Write volatile, example 18 Manual Fieldbus Interface DFO11A CANopen...
  • Page 35 Notes 09/2000...
  • Page 36 SEW-EURODRIVE GmbH & Co · P.O.Box 30 23 · D-76642 Bruchsal/Germany · Tel. +49- 72 51-75-0 Fax +49-72 51-75-19 70 · http://www.SEW-EURODRIVE.com · sew @ sew-eurodrive.com SEW-EURODRIVE around the world Tel. (0 33 27) 45 72 84 Tel. (07) 3 54 57 07 Argentina Malaysia 1619 Garin...

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