Lenze L-force Communication 8400 motec Series Communications Manual
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Lenze L-force Communication 8400 motec Series Communications Manual

Lenze L-force Communication 8400 motec Series Communications Manual

Canopen communication unit
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EDS84DMOTCAN
13395082
L-force
Communication
8400 motec
E84DGFCCxxx
CANopen communication unit
Communication Manual
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Summary of Contents for Lenze L-force Communication 8400 motec Series

  • Page 1 L-force Communication EDS84DMOTCAN 13395082 Communication Manual 8400 motec E84DGFCCxxx CANopen communication unit...
  • Page 2 EDS84DMOTCAN EN 3.0 - 11/2011...

  • Page 3: Table Of Contents

    ..........Settings in the Lenze »Engineer«...
  • Page 4 Communication manual 8400 motec CANopen Contents Data transfer ..............Structure of the CAN data telegram .
  • Page 5 Communication manual 8400 motec CANopen Contents Parameter reference............. . . 12.1 Communication-relevant parameters of the operating system.

  • Page 6: About This Documentation

    Communication manual 8400 motec CANopen About this documentation About this documentation Contents This documentation exclusively describes the system bus (CAN) and the CANopen-specific functions of the Inverter Drive 8400 motec.  Note! This documentation supplements the mounting instructions and the hardware manual "Inverter Drives 8400 motec"...
  • Page 7 This documentation is intended for all persons who plan, install, commission and maintain the networking and remote service of a machine.  Tip! Information and software updates for Lenze products can be found in the Download area at: www.Lenze.com Information regarding the validity...

  • Page 8: Document History

    These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product. If you have suggestions for improvement, please e-mail us to: feedback-docu@Lenze.de Thank you for your support. Your Lenze documentation team EDS84DMOTCAN EN 3.0 - 11/2011...

  • Page 9: Conventions Used

    Point The decimal point is always used. Example: 1234.56 Text Program name » « PC software Example: Lenze »Engineer« Control element Bold The OK button... / The Copy command... / The Properties tab... / The Name input field... Hyperlink Underlined Optically highlighted reference to another topic.

  • Page 10: Terminology Used

    Terminology used Terminology used Term Meaning Controller Lenze frequency inverter of the "Inverter Drives 8400 motec" product series Standard device Drive unit The 8400 motec controller consists of the following modules: "drive unit", "communication unit", and "wiring unit". Communication unit •...

  • Page 11: Notes Used

    Communication manual 8400 motec CANopen About this documentation Notes used Notes used The following signal words and symbols are used in this documentation to indicate dangers and important information: Safety instructions Structure of safety instructions:  Pictograph and signal word! (characterise the type and severity of danger) Note (describes the danger and suggests how to avoid the danger)

  • Page 12: Safety Instructions

    – The procedural notes and circuit details described in this document are only proposals. It is up to the user to check whether they can be adapted to the particular applications. Lenze does not take any responsibility for the suitability of the procedures and circuit proposals described.

  • Page 13: Device And Application-Specific Safety Instructions

    Safety instructions Device and application-specific safety instructions  Only qualified personnel may work with and on Lenze drive and automation components. In accordance with IEC 60364 and CENELEC, these are persons ... – who are familiar with the installation, assembly, commissioning, and operation of the product.

  • Page 14: Product Description

    Communication manual 8400 motec CANopen Product description Application as directed Product description Application as directed The CANopen communication unit ...  is a unit that can only be used in conjunction with the following modules: Product series Type designation Inverter Drives 8400 motec E84DGDVxxxxxxxx Drive unit Inverter Drives 8400 motec...

  • Page 15: Product Features And Variants

     Setting of the CAN node address and baud rate is possible via DIP switch or code.  Communication with the Lenze »Engineer« (access to all Lenze parameters) is preferably carried out via the CAN bus. Furthermore communication can be effected via the diagnostic interface of the drive unit.
  • Page 16 Communication manual 8400 motec CANopen Product description Product features and variants The system bus (CANopen) of the Inverter Drives 8400 motec is the advanced version of the system bus (CAN) and includes the following features:  Full compatibility according to CANopen DS301, V4.02. ...

  • Page 17: Connections And Interfaces

    Communication manual 8400 motec CANopen Product description Connections and interfaces Connections and interfaces E84DG002 [3-1] CANopen communication unit Pos. Description DIP switch Possible settings via DIP switch ( 32) CANopen input (M12 pins, 5-pole) CANopen connection ( 29) CANopen output (M12 socket, 5-pole) CANopen connection (...
  • Page 18 Communication manual 8400 motec CANopen Product description Connections and interfaces  By default, the CANopen connectors are already pre-assembled and wired with the terminal strip X3.  The CANopen connections and further connections (e.g. digital inputs) can be freely designed at the positions A1 ... A4 and B1 ... B4.. ...

  • Page 19: Technical Data

    Communication manual 8400 motec CANopen Technical data General data and operating conditions of the CANopen Technical data  "Inverter Drives 8400 motec" hardware manual Here you will find the ambient conditions and information on the electromagnetic compatibility (EMC) that also apply to the communication unit. General data and operating conditions of the CANopen Field Values...

  • Page 20: Supported Protocols

    Communication manual 8400 motec CANopen Technical data Supported protocols Supported protocols Protocols Standard PDO protocols PDO write PDO read SDO protocols SDO download SDO download initiate SDO download segment SDO upload SDO upload initiate SDO upload segment SDO abort transfer SDO block download SDO block download initiate SDO block download end...

  • Page 21: Communication Time

    Communication manual 8400 motec CANopen Technical data Communication time Communication time The communication time is the time between the start of a request and the arrival of the corresponding response. The communication times in a CANopen network depend on ... ...

  • Page 22: Installation

    Communication manual 8400 motec CANopen Installation Installation  Stop! Electrostatic discharge Electronic components within the communication unit can be damaged or destroyed by electrostatic discharge. Possible consequences: • The communication unit is defective. • Communication via the fieldbus is not possible or faulty. •...

  • Page 23: Mechanical Installation

    Communication manual 8400 motec CANopen Installation Mechanical installation Mechanical installation  Mounting instructions for "Inverter Drives 8400 motec" Here you will find detailed information on the installation. 0.37 ... 3.0 kW 4.0 ... 7.5 kW E84DG023a E84DG023b [5-1] Mechanical installation of the 8400 motec components Legend for Fig.

  • Page 24: Electrical Installation

    Communication manual 8400 motec CANopen Installation Electrical installation Electrical installation  "Inverter Drives 8400 motec" hardware manual Here you'll find detailed information on ... • the digital and analog inputs and outputs; • the relay output; • the integrated safety system (safety option); •...

  • Page 25: Bus Termination

    Communication manual 8400 motec CANopen Installation Electrical installation A CAN network consisting of several segments contains repeaters (R) for connecting the segments. The repeaters are provided with integrated bus terminations. Consider the use of repeaters ( 28) E94YCPM012b [5-3] CAN network with repeaters If no repeater is to be used at the end of the segment, the bus must be terminated by a bus terminating resistor at the last node (S).

  • Page 26: Specification Of The Bus Cable

    Communication manual 8400 motec CANopen Installation Electrical installation 5.2.3 Specification of the bus cable We recommend the use of CAN cables in accordance with ISO 11898-2: CAN cable in accordance with ISO 11898-2 Cable type Paired with shielding Impedance 120 Ω (95 ... 140 Ω) Cable resistance/cross-section Cable length ≤...
  • Page 27 Specification of the bus cable ( 26) • Number of nodes: • Repeater: Lenze repeater, type 2176 (cable reduction: 30 m) Based on the given specifications, the following cable lengths/number of repeaters result for a maximum of 63 nodes: Baud rate [kbps] 1000 Max.
  • Page 28  A cable length of 450 m is not possible without installing a repeater.  After 360 m (step 2), a repeater must be installed. Result:  The Lenze repeater, type 2176 (cable reduction: 30 m), is used  Calculation of the max. cable length: – First segment: 360 m –...

  • Page 29: Canopen Connection

    Communication manual 8400 motec CANopen Installation Electrical installation 5.2.5 CANopen connection  Input: M12 pins, 5-pole, A-coded  Wiring at terminal strip X3  Output: M12 socket, 5-pole, A-coded  Wiring at terminal strip X3 CANopen connection Signal Description Not assigned Not assigned CAN GND potential CAN-High data line...

  • Page 30: Commissioning

    During commissioning, system-related data such as motor parameters, operating parameters, responses, and parameters for fieldbus communication are defined for the controller. For Lenze devices, this is done via the codes. The codes of the controller and communication are saved non-volatilely as a data set in the memory module.

  • Page 31: Configuring The Host

    Communication manual 8400 motec CANopen Commissioning Configuring the host (master) Configuring the host (master) First you have to configure the host (master) for the communication with the controller. Defining the user data length  The CANopen communication unit supports the configuration of max. 8 process data words (max.

  • Page 32: Possible Settings Via Dip Switch

     ( 32) Setting the CAN node address  ( 33) (switches: 1 ... 64) Lenze setting: All switches OFF [6-1] DIP switch  Note! • The DIP switches can only be accessed when the drive unit is detached from the communication unit.

  • Page 33: Setting The Can Node Address

    = Sum of the values = 16 + 4 + 2 + 1 = 23 The current address setting of the DIP switches is displayed in C00349. DIP switch positions for setting the CAN node address ( 106) Settings in the Lenze »Engineer« ( 34) EDS84DMOTCAN EN 3.0 - 11/2011...

  • Page 34: Settings In The Lenze »Engineer

    Communication manual 8400 motec CANopen Commissioning Settings in the Lenze »Engineer« Settings in the Lenze »Engineer« The following settings can be made in the »Engineer« under the Settings tab:  CAN node address (C00350) – The node address can only be parameterised if the node address "0" is set via the DIP switches.
  • Page 35 Communication manual 8400 motec CANopen Commissioning Initial switch-on Initial switch-on Establishing communication  To establish communication, the controller must be supplied with mains voltage.  All parameters (codes) and DIP switch settings are read in when the device is switched ...

  • Page 36: Data Transfer

    Communication manual 8400 motec CANopen Data transfer Structure of the CAN data telegram Data transfer Via the system bus interface, for instance process data and parameter values can be exchanged between the nodes. In addition, the interface enables the connection of additional modules such as distributed terminals, keypads and input devices or external control systems and hosts (masters).

  • Page 37: Identifier

    (SDO1) are defined in the CANopen protocol and cannot be changed.  In the Lenze setting, the basic identifiers of the PDOs are preset according to the "Predefined connection set" of DS301, V4.02 and can be changed via parameters/ indexes, if required.
  • Page 38 Communication manual 8400 motec CANopen Data transfer Structure of the CAN data telegram Object Direction Lenze-Base-ID CANopen-Base-ID from device to device Network management (NMT) Sync Emergency PDO1 TPDO1 (Process data channel 1) RPDO1 PDO2 TPDO2 (Process data channel 2) RPDO2...

  • Page 39: User Data

    Parameter data (SDOs – service data objects)  Parameter data are the CANopen indexes or, in the case of Lenze devices, the codes.  Parameters are, for instance, used for one-off plant setting during commissioning or when the material on a production machine is changed.

  • Page 40: Communication Phases/Network

    Communication manual 8400 motec CANopen Data transfer Communication phases/network management Communication phases/network management With regard to communication via the system bus, the controller distinguishes between the following states: Status Explanation "Initialisation" After switch-on, an initialisation run is carried out. (Initialisation) •...
  • Page 41 Communication manual 8400 motec CANopen Data transfer Communication phases/network management 7.2.1 State transitions [7-2] NMT state transitions in the CAN network Transition NMT command Status after Effects on process/parameter data after status change change Initialisation Initialisation starts automatically at mains connection. •...

  • Page 42: Network Management Telegram (Nmt)

    Communication manual 8400 motec CANopen Data transfer Communication phases/network management 7.2.2 Network management telegram (NMT) The telegram for the network management contains the identifier "0" and the command included in the user data, which consists of the command byte and the node address: [7-3] Network management telegram for changing over the communication phases Command specifier (cs)

  • Page 43: Parameterising The Inverter Drives 8400 Motec As Can Master

    NMT telegram. Only in this communication status data can be exchanged via process data objects.  A delay time can be set in C00356/1, which must expire after mains switching before the controller transmits the "Start remote node" NMT telegram. Parameter Info Lenze setting Value Unit C00352 CAN slave/master Slave C00356/1...

  • Page 44: Process Data Transfer

    Communication manual 8400 motec CANopen Process data transfer Process data transfer [8-1] PDO data transfer from / to the higher-level host (master) The CANopen communication unit is provided with two separate process data channels (PDO1 and PDO2) for transmitting process data. Each process data channel can transmit up to four words (8 bytes) at a maximum.
  • Page 45 Communication manual 8400 motec CANopen Process data transfer Definitions  Process data telegrams between the host (master) and the controllers (slaves) are distinguished in terms of direction as follows: – Process data telegrams to the device (RPDO) – Process data telegrams from the device (TPDO) ...

  • Page 46: Access To Process Data / Pdo Mapping

    LP_Network_Out. These port blocks are also called process data channels.  The port/function block interconnection of the process data objects (PDO) takes place via the Lenze »Engineer«. [8-2] External and internal data transfer between the bus system, controller, and application ...

  • Page 47: Port Interconnection Of The Process Data Objects (Pdo)

    Communication manual 8400 motec CANopen Process data transfer Port interconnection of the process data objects (PDO) Port interconnection of the process data objects (PDO)  Note! The »Engineer« screenshots shown on the following pages are only examples for the setting sequence and the resulting screens. Depending on the software version of the controller and of the »Engineer«...
  • Page 48 Communication manual 8400 motec CANopen Process data transfer Port interconnection of the process data objects (PDO) 3. Click the port to be configured and press the Edit port ... button. EDS84DMOTCAN EN 3.0 - 11/2011...
  • Page 49 Communication manual 8400 motec CANopen Process data transfer Port interconnection of the process data objects (PDO) 4. Via the button, you can assign signals to the process data words in the Signal assignment --> Function Block dialog box.  Select the signals and then confirm the selection with the OK button. EDS84DMOTCAN EN 3.0 - 11/2011...
  • Page 50 Communication manual 8400 motec CANopen Process data transfer Port interconnection of the process data objects (PDO) For some process data words, you can also assign signals to the individual bits via buttons.  Select the signals and then confirm the selection with OK. The current interconnection is only displayed if the following has been set for the control mode in code C00007 = 40: Network (MCI/CAN).

  • Page 51: Identifiers Of The Process Data Objects

    Identifiers of the process data objects Identifiers of the process data objects In the Lenze setting, the identifier for the process data objects PDO1 and PDO2 consists of a basic identifier (CANBaseID) and the node address set in C00350: Identifier (COB-ID) = basic identifier + node address (node ID) ...

  • Page 52: Transmission Type

    Communication manual 8400 motec CANopen Process data transfer Transmission type Transmission type Process data objects can be transmitted in an event-controlled or time-controlled manner. The below table shows that it is possible to combine the different methods by means of logic operations (AND, OR): ...
  • Page 53 Transmission type The communication parameters such as the transmission mode and cycle time can be set freely for every PDO and independently of the settings of other PDOs: Parameter Info Lenze setting Value Unit C00322/1 Transmission mode CAN1 OUT C00322/2...

  • Page 54: Pdo Synchronisation Via Sync

    1 ... 240. If the Rx mode is 254 or 255, the data are accepted in the next device cycle, irrespective of the sync telegram. Short overview: Parameters for the synchronisation via sync telegram Parameter Info Lenze setting Assignment Value Unit Sync Sync...

  • Page 55: Parameter Data Transfer

    Parameter data transfer [9-1] Parameter data transfer via the available parameter data channels Parameters are values stored in codes on Lenze controllers. Two parameter data channels are available for parameter setting, enabling the simultaneous connection of different devices for configuration purposes.

  • Page 56: Identifiers Of The Parameter Data Objects

    Identifiers of the parameter data objects Identifiers of the parameter data objects In the Lenze setting, the basic identifiers of the SDOs are preset according to the "Predefined Connection Set". The identifiers for the parameter data objects SDO1 and SDO2 are generated from the...

  • Page 57: User Data

    Communication manual 8400 motec CANopen Parameter data transfer User data User data Structure of the user data of the parameter data telegram 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Index Subindex Data 1 Data 2...

  • Page 58: Addressing By Means Of Index And Subindex

    High word Low byte High byte Low byte High byte A parameter (a Lenze code) is addressed as per the following formula: Index = 24575 - (Lenze code number) Example The C00011 parameter (motor reference speed) is to be addressed. Calculation: ...
  • Page 59 ( 87) all Lenze parameters. The scaling factor is relevant to the transfer of parameter values which have one or more decimal positions in the parameter list. If the scaling factor is > 1, the value must be multiplied by the indicated scaling factor prior to transmission to be able to transfer the value as an integer.

  • Page 60: Error Messages

    Communication manual 8400 motec CANopen Parameter data transfer User data 9.2.4 Error messages 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Index Subindex Error code 0x80 Low byte High byte Low word High word (128) Low byte...
  • Page 61 Communication manual 8400 motec CANopen Parameter data transfer User data Meaning of the error codes The error codes are standardised according to DS301, V4.02. Error code Explanation 0x0503 0000 Toggle bit not changed 0x0504 0000 SDO protocol expired 0x0504 0001 Invalid or unknown client/server command specifier 0x0504 0002 Invalid block size (only block mode)

  • Page 62: Parameter Data Telegram Examples

    Communication manual 8400 motec CANopen Parameter data transfer Parameter data telegram examples Parameter data telegram examples 9.3.1 Reading parameters Task: The heatsink temperature of 43 °C (code: C00061, data format: INTEGER32, scaling factor: 1) of the controller with node address "5" is to be read. Telegram to the drive Identifier User data...

  • Page 63: Write Parameters

    Communication manual 8400 motec CANopen Parameter data transfer Parameter data telegram examples 9.3.2 Write parameters Task: The rated current of the connected motor is to be entered with I = 10.20 A (code C00088) into the controller with node address "2". Data 1 ...

  • Page 64: Reading Block Parameters

    Communication manual 8400 motec CANopen Parameter data transfer Parameter data telegram examples 9.3.3 Reading block parameters Task: The firmware version (code C00099) is to be read from the parameter set of the controller with node address "12". The firmware version has a length of 11 ASCII characters which are transmitted as a block parameter.
  • Page 65 Communication manual 8400 motec CANopen Parameter data transfer Parameter data telegram examples Telegram 2 to the drive: Request of the 1st data block Identifier User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Data 1...
  • Page 66 Communication manual 8400 motec CANopen Parameter data transfer Parameter data telegram examples Telegram 3 to the drive: Request of the 2nd data block Identifier User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Data 1...

  • Page 67: Monitoring

    Communication manual 8400 motec CANopen Monitoring Monitoring of the RPDOs for data reception Monitoring 10.1 Monitoring of the RPDOs for data reception RPDO1 and RPDO2 have a parameterisable monitoring time within which the RPDO must arrive. The following settings can be made in the »Engineer« under the Monitoring tab: ...

  • Page 68: Integrated Error Detection

    Communication manual 8400 motec CANopen Monitoring Integrated error detection 10.2 Integrated error detection If a node detects an error, it rejects the CAN telegram bits received so far and transmits an error flag. The error flag consists of 6 consecutive bits with the same logic value. The following errors are detected: Bit error The sending node monitors the bus and interrupts the transmission if it receives a different...

  • Page 69: Heartbeat Protocol

    Communication manual 8400 motec CANopen Monitoring Heartbeat protocol 10.3 Heartbeat protocol The heartbeat protocol can be used for node monitoring purposes within a CAN network. Basic workflow r: Reserved (always 0) s: Status of the producer (0: Boot-up, 4: Stopped, 5: Operational, 127: Pre-operational) [10-1] Heartbeat protocol 1.

  • Page 70: Parameter Setting

    Communication manual 8400 motec CANopen Monitoring Heartbeat protocol 10.3.2 Parameter setting Short overview of the parameters for the "Heartbeat" monitoring function: Parameter Info Lenze setting Assignment Value Unit Consumer Producer C00347/1...n CAN status of heartbeat producer 1 C00381 Heartbeat producer time 0 ms C00385/1...n...
  • Page 71  The NMT master receives an emergency telegram containing emergengy error code 0x8130.  The response parameterised in C00592/5 is activated (Lenze setting: "No response").  Note! The heartbeat monitoring will not start until the first heartbeat telegram of a monitored producer has been received successfully and the "Pre-operational"...

  • Page 72: Commissioning Example

    Communication manual 8400 motec CANopen Monitoring Heartbeat protocol 10.3.3 Commissioning example Task A controller (node 2) which is configured as heartbeat consumer is to monitor another controller (heartbeat producer, node 1).  The heartbeat producer is to transmit a heartbeat telegram to the heartbeat consumer every 10 ms.

  • Page 73: Emergency Telegram

    Low byte High byte Low byte High byte See table below • For emergency error code 0xF000: Lenze error number (value displayed in C00168) • All other emergency error codes have a value of "0" here. Emergency error code Error register...

  • Page 74: Diagnostics

    Communication manual 8400 motec CANopen Diagnostics Diagnostics Diagnostics with the »Engineer« In the »Engineer« under the Diagnostics tab, various system bus (CANopen) diagnostics information is displayed. EDS84DMOTCAN EN 3.0 - 11/2011...

  • Page 75: Parameter Reference

    C01501 | Resp. to communication error with MCI Configuration of monitoring modes for the communication unit Selection list 0 No Reaction 1 Fault 4 WarningLocked Subcodes Lenze setting Info C01501/1 1: Fault Resp. to MCI error 1 • Response to a communication error. C01501/2 1: Fault Resp.

  • Page 76: Parameters For Canopen Communication

    • The basic setting for all PDOs is the "asychronous - manufacturer-specific" setting (254). • Mapping of the CANopen objects I-1800/2 I-1801/2 (see DS301 V4.02). Setting range (min. value | unit | max. value) Subcodes Lenze setting Info C00322/1 Transmission mode CAN1 OUT C00322/2 Transmission mode CAN2 OUT Read access Write access...
  • Page 77 • Mapping of the CANopen objects I-1800/3 I-1801/3 (see DS301 V4.02). Setting range (min. value | unit | max. value) 6500 Subcodes Lenze setting Info C00324/1 0 ms Inhibit time for emergency telegrams C00324/2 0 ms CAN1_OUT inhibit time C00324/3...
  • Page 78 Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00347 Parameter | Name: Data type: UNSIGNED_8 Index: 24228 = 5EA4 C00347 | CAN status HeartBeat producer Display of the heartbeat producer's CAN status Heartbeat protocol ( 69) Selection list 0 Boot-up 4 Stopped 5 Operational...
  • Page 79 • The baud rate can only be parameterised if the baud rate "0" is set via the DIP switches. • A change of the baud rate will only become effective after a CAN reset node. Setting the baud rate ( 32) Selection list (Lenze setting printed in bold) 0 500 kbps 1 250 kbps 2 125 kbps...
  • Page 80 COBID = device address + LenzeBaseID 1 COBID = C0350 + CANBaseID COBID = device address + CANBaseID (C00354/x) 2 COBID = C0354/x COBID = direct setting from C00354/x Subcodes Lenze setting Info C00353/1 COBID source CAN1_IN/OUT C00353/2 COBID source CAN2_IN/OUT Read access...
  • Page 81 = 5E9B C00356 | CAN time settings Different time settings for the CAN interface Setting range (min. value | unit | max. value) 65000 Subcodes Lenze setting Info C00356/1 3000 ms CAN delay during status change from "Boot-up" to "Operational" C00356/2...
  • Page 82 Communication manual 8400 motec CANopen Parameter reference Parameters for CANopen communication C00360 Parameter | Name: Data type: UNSIGNED_16 Index: 24215 = 5E97 C00360 | CAN telegram counter Number of received and sent CAN telegrams Display area (min. value | unit | max. value) 65535 Subcodes Info...
  • Page 83 Available from firmware version 02.00. Selection of the number of active parameter data channels • In the Lenze setting in accordance with CANopen, only parameter data channel 1 is activated. To activate both parameter data channels, set the selection "2 SDO Lenze".
  • Page 84 • The heartbeat telegram is sent automatically as soon as a time > 0 ms is set. • Mapping of the CANopen object I-1017 (see DS301 V4.02). Heartbeat protocol ( 69) Setting range Lenze setting (min. value | unit | max. value) 65535 0 ms Read access Write access CINH...
  • Page 85 Parameter | Name: Data type: UNSIGNED_8 Index: 24186 = 5E7A C00389 | PDO valid / not valid Validity of the PDOs Selection list (Lenze setting printed in bold) 0 PDO available/valid 1 PDO not available/invalid Subcodes Lenze setting Info C00389/1...
  • Page 86 C00592 | Resp. to CAN bus connection Configuration of monitoring of the CAN interface Selection list 0 No Reaction 1 Fault 2 Trouble 4 WarningLocked Subcodes Lenze setting Info C00592/1 0: No Reaction Response to an incorrect telegram during CAN communication C00592/2 0: No Reaction Response to "BusOff"...

  • Page 87: Table Of Attributes

    Name Parameter short text (display text) Text Index Index under which the parameter is addressed. 24575 - Lenze code number Is only required for access via a bus The subindex for array variables corresponds to the system. 5FFF - Lenze code number Lenze subcode number.
  • Page 88 Communication manual 8400 motec CANopen Parameter reference Table of attributes Table of attributes Code Name Index Data Access Data type Factor CINH C00322 Transmission mode CAN TxPDOs 24253 5EBD UNSIGNED_8 C00323 Transmission mode CAN Rx PDOs 24252 5EBC UNSIGNED_8 C00324 CAN Tx inhibit time 24251 5EBB...

  • Page 89: Implemented Canopen Objects

    CANopen objects for parameter setting. The CANopen objects described in this chapter are defined in the CAN specification DS301 V4.02. Many CANopen objects can be mapped to Lenze codes. The "Relationship to Lenze code" column of the following table lists the Lenze codes used.
  • Page 90 Communication manual 8400 motec CANopen Implemented CANopen objects CANopen object Relationship to Lenze code Index Subindex Name I-1400 RPDO1 communication parameter Highest subindex supported COB-ID used by RPDO C00355/1 Transmission type C00323/1 I-1401 RPDO2 communication parameter Highest subindex supported COB-ID used by RPDO...
  • Page 91 Communication manual 8400 motec CANopen Implemented CANopen objects I-1000 - Device type Index Name: I-1000 Device type Subindex Default setting Display range (min. value | unit | max. value) Access Data type 0: Device type 4294967295 ro The CANopen index I-1000 specifies the profile for this device. Furthermore, additional information defined in the device profile itself can be stored here.
  • Page 92 Communication manual 8400 motec CANopen Implemented CANopen objects I-1003 - Pre-defined error field Index: Name: I-1003 Predefined error field Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: Number of errors 255 rw 1 ...
  • Page 93 I-1006. Writing identifiers For the reception of PDOs, the value 0x80 is entered in the Lenze setting (and according to CANopen specification) into the 11 bit identifier. This means that all modules are set to the same sync telegram by default.
  • Page 94 Setting the sync telegram cycle time.  The cycle time can be selected as "1000" or as an integer multiple of it.  If "0 μs" is set (Lenze setting), no sync telegrams are generated.  This object relates to code C00369.
  • Page 95 The parameterised time is rounded down to an integer multiple of 5 ms and must have a greater value than the heartbeat producer time of the node to be monitored. Subindex Meaning Lenze code Number of nodes to be monitored 1 ... n Node ID and heartbeat time of the node to be monitored Node ID:...
  • Page 96 3: Revision number 4: Serial number Subindex Meaning Manufacturer's identification number • The identification number allocated to Lenze by the organisation "CAN in Automation e. V." is "0x0000003B". Product code Main version and subversion of firmware Serial number I-1200 - SDO1 server parameter...
  • Page 97  The server SDO parameter is only valid if bit 31 is set to "0" for both transmission directions (subindex 1 and 2).  In the Lenze setting, SDO server channel 2 is deactivated (bit 31 = "1").  The identifier may only be changed when the SDO is invalid (bit 31 = "1").
  • Page 98 Communication manual 8400 motec CANopen Implemented CANopen objects Example Parameter data channel 2 of the controller with node address 4 is to be activated.  For this, bit 31 must be set to the value "0" (SDO is valid) in subindexes 1 and 2 of object I-1201.
  • Page 99 (11 ... 28)* *) The extended identifier (29 bits) is not supported. Any of these bits must be "0". RTR to this PDO permissible (cannot be set) RTR to this PDO not permissible (Lenze) PDO active PDO not active [13-12] I-1400 / I-1401, subindex 1...
  • Page 100 Communication manual 8400 motec CANopen Implemented CANopen objects Description of subindex 2 PDO transmission Transmission type Explanation cyclic synchronous event-controlled n = 1 ... 240 When a value n is entered, this PDO will be accepted with every nth sync. n = 254 PDO will be accepted immediately.
  • Page 101 Communication manual 8400 motec CANopen Implemented CANopen objects I-1600 - RPDO1 mapping parameter Index: Name: I-1600 RPDO1 mapping parameter Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: Number of mapped application 8 rw objects in PDO 1 ...
  • Page 102 * The extended identifier is not supported - bit 11 ... bit 29 must be set to "0". [13-15] Data telegram assignment Setting Bit 30 0 RTR to this PDO permissible (Lenze). 1 RTR to this PDO not permissible (cannot be set). Bit 31 0 PDO active...
  • Page 103 Communication manual 8400 motec CANopen Implemented CANopen objects Subindex 2 - transmission type PDO transmission Transmission type Explanation cyclic synchronous event- controlled n = 1 ... 240 When a value n is entered, this PDO will be accepted with every nth sync. n = 254 Event-controlled or cyclic Subindex 3 - inhibit time...
  • Page 104 Communication manual 8400 motec CANopen Implemented CANopen objects I-1801 - TPDO2 communication parameter Index: Name: I-1801 TPDO2 communication parameter Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: Highest subindex supported - (read access only) 1: COB-ID used by TPDO 0x280 + node ID 4294967295 rw...
  • Page 105 Communication manual 8400 motec CANopen Implemented CANopen objects I-1A00 - TPDO1 mapping parameter Index: Name: I-1A00 TPDO1 mapping parameter Subindex Default setting Setting range (min. value | unit | max. value) Access Data type 0: Number of mapped application 8 rw objects in PDO 1 ...

  • Page 106: Dip Switch Positions For Setting The Can Node Address

    Communication manual 8400 motec CANopen DIP switch positions for setting the CAN node address DIP switch positions for setting the CAN node address The node address results from the sum of the binary values of switches 1 ... 64. The following table shows the switch positions for the valid address range of 1 ... 63. Setting the CAN node address (...
  • Page 107 Communication manual 8400 motec CANopen DIP switch positions for setting the CAN node address Station address DIP switch EDS84DMOTCAN EN 3.0 - 11/2011...

  • Page 108: Index

    Communication manual 8400 motec CANopen Index Index CAN data telegram CAN error status (C00345) Access to process data CAN heartbeat producer time (C00381) Acknowledgement error CAN IN/OUT COBID source (C00353) Active COBID (C00355) CAN MessageError (C00364) Application as directed CAN monitoring times (C00357) Application notes (representation) CAN node address (C00350) Application of the communication unit...
  • Page 109 Communication manual 8400 motec CANopen Index Identity object (I-1018) Implemented CANopen objects Data transfer Initial switch-on Device and application-specific safety instructions Installation Device protection Integrated error detection Device type (I-1000) Interface Diagnostics Interfaces Diagnostics with the »Engineer« DIP switch positions for setting the CAN node address LP_CanIn mapping (C00409) DIP switch settings Document history...
  • Page 110 Safety instructions (representation) SDO1 server parameter (I-1200) SDO2 server parameter (I-1201) Segment cable length Setting the baud rate Setting the CAN node address Settings in the Lenze »Engineer« Specification of the bus cable Stuff-bit error Supported protocols Sync telegram Table of attributes...
  • Page 111  © 11/2011 Lenze Drives GmbH Service Lenze Service GmbH Postfach 10 13 52 Breslauer Straße 3 D-31763 Hameln D-32699 Extertal Germany Germany +49 (0)51 54 / 82-0 00 80 00 / 24 4 68 77 (24 h helpline) +49 (0)51 54 / 82-28 00 +49 (0)51 54 / 82-11 12 Lenze@Lenze.de...

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