Lenze L-force CANopen EMF2178IB Communications Manual
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Lenze L-force CANopen EMF2178IB Communications Manual

Lenze L-force CANopen EMF2178IB Communications Manual

Communication module
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Summary of Contents for Lenze L-force CANopen EMF2178IB

  • Page 1 EDSMF2178IB L−force Communication .Li| Communication Manual CANopen EMF2178IB Communication module...

  • Page 2: Table Of Contents

    Contents About this documentation ..........Document history .
  • Page 3 ..........9.3.1 Process data signals of Lenze controllers ......
  • Page 4 ..........13.1 Reference between CANopen object and Lenze code .

  • Page 5: About This Documentation

    (CAN in Automation): www.can−cia.org. © 2013 Lenze Drives GmbH, Postfach 10 13 52, D−31763 Hameln No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drives GmbH. All information given in this documentation has been selected carefully and complies with the hardware and software described.
  • Page 6 This documentation is intended for all persons who plan, install, commission and maintain the networking and remote service of a machine. Tip! Information and auxiliary devices related to the Lenze products can be found in the download area at http://www.Lenze.com...

  • Page 7: 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 EDSMF2178IB EN 3.0...

  • Page 8: Conventions Used

    About this documentation Conventions used Conventions used This documentation uses the following conventions to distinguish between different types of information: Type of information Identification Examples/notes Spelling of numbers Decimal separator Point In general, the decimal point is used. For instance: 1234.56 Decimal Standard notation Example: 1234...

  • Page 9: Terminology Used

    Lenze controllers that can be used with the communication module. ^ 13 Drive »Global Drive Control« / PC software from Lenze which supports you in "engineering" (parameter setting, diagnosing, and configuring) during the entire life cycle, i.e. from planning to »GDC« maintenance of the commissioned machine.

  • Page 10: Notes Used

    About this documentation Notes used Notes used The following pictographs and signal words are used in this documentation to indicate dangers and important information: Safety instructions Structure of safety instructions: Danger! (characterises the type and severity of danger) Note (describes the danger and gives information about how to prevent dangerous situations) Pictograph and signal word Meaning...

  • Page 11: Safety Instructions

    The manufacturer does not accept any liability for the suitability of the specified procedures and circuit proposals. Only qualified skilled personnel are permitted to work with or on Lenze drive and ƒ...

  • Page 12: Device− And Application−Specific Safety Instructions

    Safety instructions Device− and application−specific safety instructions Device− and application−specific safety instructions During operation, the communication module must be securely connected to the ƒ standard device. With external voltage supply, always use a separate power supply unit, safely ƒ separated in accordance with EN 61800−5−1 in every control cabinet (SELV/PELV). Only use cables that meet the given specifications.

  • Page 13: Product Description

    Product description Application as directed Product description Application as directed The communication module ... enables communication with Lenze controllers over the CAN bus with the CANopen ƒ communication profile. is a device intended for use in industrial power systems. ƒ...

  • Page 14: Identification

    Product description Identification Identification Type Id.-No. Prod.-No. Ser.-No.  E82AF000P0B201XX 99371BC013  W Type code 33.2178IB Series Hardware version Software version EDSMF2178IB EN 3.0...

  • Page 15: Product Features

    Product description Product features Product features Attachable communication module for the basic Lenze devices 8200 vector, 93XX, ƒ 9300 Servo PLC, Drive PLC, ECSXX Front DIP switches for setting the ... ƒ – CAN node address (max. 127 nodes) – baud rate (10, 20, 50, 125, 250, 500 and 1000 kbit/s) Bus expansion without repeater up to 7450 m ƒ...

  • Page 16: Connections And Interfaces

    Product description Connections and interfaces Connections and interfaces EMF2178IB Address CANopen 2178 2178CAN003 2102LEC007 Legend for fold−out page Pos. Description Detailed information Connection status to standard device (two−colour LED) ^ 89 Connection status to fieldbus (two−colour LED) Operating status of standard device (green and red Drive LED) Fixing screw ^ 24 Plug connector with double screw connection, 5−pole...

  • Page 17: Technical Data

    I = 100 mA GND: Reference potential for external voltage supply Documentation for Lenze series of devices 8200 vector, 9300 and ECS Here you can find the ambient conditions and the electromagnetic compatibility (EMC) specifications applying to the communication module.

  • Page 18: Protective Insulation

    Protective insulation Protective insulation Danger! Dangerous electrical voltage If Lenze controllers are used on a phase earthed mains with a rated mains voltage ³ 400 V, protection against accidental contact is not ensured without implementing external measures. Possible consequences: Death or serious injury ƒ...

  • Page 19: Communication Time

    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 CAN bus communication times depend on ... the processing time in the controller (see documentation of the controller) ƒ...

  • Page 20: Dimensions

    Technical data Dimensions Dimensions Address CANopen 2178 2178CAN003 Fig. 4−1 Dimensions of the communication module (all dimensions in mm) EDSMF2178IB EN 3.0...

  • Page 21: Installation

    Installation Installation Danger! Inappropriate handling of the communication module and the standard device can cause serious personal injury and material damage. Observe the safety instructions and residual hazards described in the documentation for the standard device. Stop! The device contains components that can be destroyed by electrostatic discharge! Before working on the device, the personnel must ensure that they are free of electrostatic charge by using appropriate measures.

  • Page 22: Mechanical Installation

    Installation Mechanical installation Mechanical installation 2102LEC014 Fig. 5−1 Attaching the communication module Plug the communication module onto the standard device (here: 8200 vector). ƒ Tighten the communication module to the standard device using the fixing screw in ƒ order to ensure a good PE connection. Note! For the internal supply of the communication module by the 8200 vector frequency inverter the jumper has to be adjusted within the interface opening...

  • Page 23: Electrical Installation

    Installation Electrical installation Wiring according to EMC (CE−typical drive system) Electrical installation 5.2.1 Wiring according to EMC (CE−typical drive system) For wiring according to EMC requirements observe the following points: Note! Separate control cables/data lines from motor cables. ƒ Connect the shields of control cables/data lines at both ends in the case of ƒ...

  • Page 24: Wiring With A Host (Master)

    Installation Electrical installation Wiring with a host (master) 5.2.2 Wiring with a host (master) Danger! An additional electrical isolation is required if a safe electrical isolation (reinforced insulation) to EN 61800−5−1 is necessary. For this purpose for instance an interface module for the master computer with an additional electrical isolation can be used (see respective manufacturer information).

  • Page 25: Wiring System Bus (Can)

    CANopen objects. – With both parameter data channels, two masters can be connected to a standard device. A PC (e.g. with the Lenze software "Global Drive Control") or an operator terminal serve to change parameters directly at the standard device during operation of a system connected to PLC.

  • Page 26: Specification Of The Transmission Cable

    Installation Electrical installation Specification of the transmission cable EMF2178IB 2178CAN002 Fig. 5−3 Connection to the plug connector 5.2.4 Specification of the transmission 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 120 W (95 ...

  • Page 27: Bus Cable Length

    Installation Electrical installation Bus cable length 5.2.5 Bus cable length Note! It is absolutely necessary to comply with the permissible cable lengths. ƒ If the total cable lengths of the CAN nodes differ for the same baud rate, the ƒ smaller value must be used to determine the max.
  • Page 28 Installation Electrical installation Bus cable length 5.2.5.2 Segment cable length The segment cable length is determined by the cable cross−section used and by the number of nodes. Repeaters divide the total cable length into segments. If no repeaters are used, the segment cable length is identical to the total cable length.
  • Page 29 Number of nodes Cable cross−section 0.50 mm (AWG 20) Baud rate 125 kbps Repeater used Lenze repeater EMF2176IB Reduction of the max. total cable length per 30 m repeater (EMF2176IB) Results Max. total cable length 630 m (see Tab. 5−1 Total cable length (^ 27)) Max.

  • Page 30: Voltage Supply

    For internal voltage supply place the jumper on the position indicated ƒ below. In the case of all other device series (9300, ECS), voltage is always supplied from the standard device. Lenze setting Internal voltage supply (Only external voltage supply possible.) External voltage supply Note!
  • Page 31 Installation Electrical installation Voltage supply Terminal data Area Values Electrical connection Plug connector with screw connection Possible connections rigid: 1.5 mm (AWG 16) flexible: without wire end ferrule 1.5 mm (AWG 16) with wire end ferrule, without plastic sleeve 1.5 mm (AWG 16) with wire end ferrule, with plastic sleeve 1.5 mm...

  • Page 32: Commissioning

    In Lenze devices, this is done via codes. The codes are stored in numerically ascending order in the Lenze controllers and in the plugged−in communication/function modules. In addition to these configuration codes, there are codes for diagnosing and monitoring the bus devices.

  • Page 33: Setting Node Address And Baud Rate

    The Lenze setting of all DIP switches is OFF. Note! Settings via codes In the Lenze setting ˘ Address switches 1 ... 7 = OFF ˘, the values are ƒ accepted from the codes C1850/C2350 (node address) and C1851/C2351 (baud rate).
  • Page 34 Commissioning Setting node address and baud rate Node address setting Address OPEN 1 2 3 4 5 6 7 8 910 Fig. 6−1 Address assignment via DIP switch If several devices are connected to the CAN network, the node addresses must differ ƒ...
  • Page 35 Commissioning Setting node address and baud rate Baud rate setting Address OPEN 1 2 3 4 5 6 7 8 910 Fig. 6−2 Baud rate setting The baud rate must be the same for all CAN nodes. ƒ The following baud rates can be set: ƒ...

  • Page 36: Initial Switch−On

    Commissioning Initial switch−on Initial switch−on Note! Do not change the setting sequence. 1. Switch on the standard device and, if necessary, the external voltage supply of the communication module. – The green LED 0 on the front of the communication module is lit. –...

  • Page 37: Enable Drive Via The Communication Module

    Procedure Comments Set C0005 to th value The value "xxx3" of the Lenze parameter C0005 (control of the controller via "xxx3" CANopen) can be set with the GDC, keypad XT or directly via CANopen. Example for the first commissioning with the signal configuration "1013": Write (C0005 = 1013) Index = 0x5FFA (resulting from: 0x5FFF −...
  • Page 38 − in some cases − even not allowed. The restart behaviour of the controller can be set in C0142: C0142 = 0 (Lenze setting) ƒ – The controller remains inhibited (even if the fault is no longer active).

  • Page 39: Replacing The Emf2172Ib Communication Module (Can)

    Replacing the EMF2172IB communication module (CAN) Replacing the EMF2172IB communication module (CAN) Observe the following information when replacing the EMF2172IB (CAN) communication module by EMF2178IB (CANopen): The communication modules feature different plug connectors for connecting the ƒ voltage supply and the system bus (CAN). The DIP switches of the communication modules feature different assignments for ƒ...
  • Page 40 Replacing the EMF2172IB communication module (CAN) DIP switch settings Note! On the EMF2178IB communication module, the switch S1 = OFF(Lenze setting) must remain set. (An address setting > 63 was not possible for EMF2172IB.) Address 7 8 10 1 - 3...
  • Page 41 Replacing the EMF2172IB communication module (CAN) Activate the 2. SDO channel Depending on the standard device used, set code C1865/1 or C2365/1 to activate the 2. SDO channel. Settings via the GDC/XT keypad for these standard devices: EVS 93xx−ES EVS 93xx−EI EVS 93xx−EP EVS 93xx−ET EVS 93xx−EK...

  • Page 42: Data Transfer

    Data transfer Structure of the CAN telegram Data transfer Master and controller communicate with each other by exchanging data telegrams via the CAN bus. The user data area of the CAN telegram either contains network management data, process dataor parameter data (^ 44). Different communication channels are assigned to parameter and process data in the controller: Process data are transferred via the process data channel.
  • Page 43 SDO2 1472 0x5C0 (parameter data channel 2) 1600 0x640 Lenze setting: not active. Node guarding / heartbeat 1792 0x700 Node address (node ID) Each node of the CAN network must be assigned with a node address (also called node ID) within the valid address range for unambiguous identification.
  • Page 44 (see also chapter "parameter data transfer", ^ 69). – The parameter data channel enables access to all Lenze codes and CANopen indices. – The parameters for instance are set for the initial system set−up during commissioning or when material is changed on the production machine.

  • Page 45: Can Communication Phases / Network Management (Nmt)

    Data transfer CAN communication phases / network management (NMT) CAN communication phases / network management (NMT) Regarding communication, the controller knows the following statuses: Status Description "Initialisation" After the controller is switched on, the initialisation phase is run through. During this phase, the controller is not involved in the data exchange on the bus.
  • Page 46 Data transfer CAN communication phases / network management (NMT) Network management (NMT) The telegram structure used for the network management contains the identifier and the command included in the user data which consists of the command byte and the node address.
  • Page 47 Data transfer CAN communication phases / network management (NMT) State transitions Initialisation (14) (11) Pre-Operational (10) (13) Stopped (12) Operational E82ZAFU004 Fig. 8−3 State transitions in CAN network (NMT) Status Command Network status after Effects on process and parameter data after the status transition change change...

  • Page 48: Process Data Transfer

    Process data transfer Available process data objects Process data transfer Agreements Process data telegrams between host (master) and controller (slave) are ƒ distinguished as follows with regard to their direction: – Process data telegrams to the controller – Process data telegrams from the controller In CANopen, the process data objects are named from the node’s view: ƒ...
  • Page 49 Process data transfer Available process data objects Process data telegram to the controller (RPDO) The identifier of the process data telegram includes the node address of the controller. The telegram has a maximum user data length of 8 bytes. This chapter describes which user data will be evaluated for the controllers.

  • Page 50: Configuring Process Data Channel

    The user himself is able to carry out the interconnection. However, it is recommended to use the preconfigurations provided by Lenze, which are saved in the read−only memory of the controller. The Lenze preconfigurations (code C0005) define which source (terminal, keyboard, communication module) overwrites the frequency setpoint and the control word.

  • Page 51: Cyclic Process Data Objects

    Process data transfer Cyclic process data objects Cyclic process data objects Synchronisation of cyclic process data The "sync telegram" is used to ensure that the process data can be cyclically read by the controller and will be accepted by the controller. The sync telegram is the trigger point for accepting data in the controller and activates the sending process from the controller.

  • Page 52: Process Data Signals Of Lenze Controllers

    Process data transfer Cyclic process data objects Process data signals of Lenze controllers 9.3.1 Process data signals of Lenze controllers 9.3.1.1 Process data signals for 8200 vector frequency inverters A change of code C0001 to 3 preconfigures the process data words in the controller.
  • Page 53 Process data transfer Cyclic process data objects Process data signals of Lenze controllers Device control word AIF−CTRL for 8200 vector (C0135, index 0x5F78) Assignment (Lenze setting) Set under C0410/... C0001 = 3 with C0007 £ 51 C0001 = 3 with C0007 > 51...
  • Page 54 Process data transfer Cyclic process data objects Process data signals of Lenze controllers AIF-IN C0410/x = 10 C0410/x = 11 C0410/x = 12 DCTRL AIF-CTRL DCTRL 16 Bit CINH TRIP-SET .B10 TRIP-RESET .B11 .B12 C0410/x = 22 .B15 C0410/x = 25 AIF-IN.W1...
  • Page 55 Process data transfer Cyclic process data objects Process data signals of Lenze controllers Device status word AIF−STAT for 8200 vector (C0150, index 0x5F69) Assignment Set under C0417/... (Lenze setting) Current parameter set (DCTRL−PAR−B0) Pulse inhibit (DCTRL1−IMP) limit (MCTRL1−IMAX) Output frequency = frequency setpoint (MCTRL1−RFG1=NOUT)
  • Page 56 Process data transfer Cyclic process data objects Process data signals of Lenze controllers 9.3.1.2 Process data signals for 9300 servo inverter The assignment of the process data for the 93XX controller can be changed by reconfiguring the function blocks AIF−IN and AIF−OUT.
  • Page 57 Process data transfer Cyclic process data objects Process data signals of Lenze controllers Control word for 93XX 9300 9300 servo inverter 9300 9300 9300 vector position cam profiler controller C0005 1xx3 4xx3 5xx3 6xx3, 7xx3 2xx3 xxx3 1xxx, 2xxx, 4xx3...
  • Page 58 Process data transfer Cyclic process data objects Process data signals of Lenze controllers A I F - I N * D C T R L A I F - C T R L . B 3 Q S P A I F - C T R L . B 8...
  • Page 59 Process data transfer Cyclic process data objects Process data signals of Lenze controllers Function block AIF−OUT The function block AIF−OUT determines the output data of the controller as data interface for the EMF2178IB communication module. Process data telegram from drive...
  • Page 60 Process data transfer Cyclic process data objects Process data signals of Lenze controllers Status word for 93XX 9300 9300 servo inverter 9300 9300 9300 vector position cam profiler controller C0005 1xx3 4xx3 5xx3 6xx3, 7xx3 2xx3 1xx3 1xxx, 2xxx, 4xxx...
  • Page 61 Process data transfer Cyclic process data objects Process data signals of Lenze controllers 9.3.1.3 Process data signals for 9300 Servo PLC, Drive PLC, ECSxA For more information ... please see the chapter "System blocks, AIF1_IO_AutomationInterface" in the Manuals and Operating Instructions for the 9300 Servo PLC, Drive PLC and ECSxA axis module.
  • Page 62 Process data transfer Cyclic process data objects Process data signals of Lenze controllers Process data telegram to drive Inputs_AIF1 AIF1_wDctrlCtrl Inputs_AIF2 16 Bit AIF1_bCtrlB0_b AIF2_nInW1_a 16 Bit Byte AIF1_bCtrlB1_b AIF1_bCtrlB2_b AIF2_bInB0_b 16 binary AIF1_bCtrlQuickstop_b signals Byte AIF2_bInB15_b AIF1_bCtrlB4_b AIF1_bCtrlB5_b AIF2_nInW2_a...
  • Page 63 Process data transfer Cyclic process data objects Process data signals of Lenze controllers Process data telegram from drive The following data can be assigned to the PIW data (TPDOs): Designation / variable name Explanation Device status word (AIF1_DctrlStat) AIF word 1...
  • Page 64 Process data transfer Cyclic process data objects Process data signals of Lenze controllers Outputs_AIF2 Outputs_AIF1 AIF2_nOutW1_a 16 Bit Byte Byte AIF2_bFDO0_b AIF1_wDctrlStat 16 Bit 16 binary signals AIF2_bFDO15_b Byte Byte AIF2_nOutW2_a 16 Bit Byte Byte AIF2_bFDO16_b AIF1_nOutW1_a 16 Bit 16 binary...

  • Page 65: Mapping In Canopen Objects (I−160X, I−1A0X)

    DWord 0 = 0x20 Word = 0x10 The EDS file for the EMF2178IB communication module supports the mapping. Tip! The current EDS file required for configuring the EMF2178IB (CANopen) communication module can be found in the download area on: www.Lenze.com EDSMF2178IB EN 3.0...
  • Page 66 Process data transfer Cyclic process data objects Mapping in CANopen objects (I−160x, I−1A0x) AIF data image in codes The AIF process data images are mapped to the following codes: AIF process data Code Index [hex] Process input data AIF−IN as 16−bit values C1822/1 ...
  • Page 67 Process data transfer Cyclic process data objects Mapping in CANopen objects (I−160x, I−1A0x) Process data AIF−OUT Represented as 16−bit values 32−bit values Byte 1 AIF1−OUT C1823/1 (bytes 1 ... 8) 2nd byte [C1825/1] 3rd byte C1823/2 Byte 4 C1825/2 Byte 5 C1823/3 Byte 6 C1825/3...
  • Page 68 Process data transfer Cyclic process data objects Mapping in CANopen objects (I−160x, I−1A0x) AIF interface assignment / AIF modes Process data Mode 3 Mode 4 Mode 5 Byte 1 AIF1−IN/OUT Control word / AIF−CTRL / AIF_wDctrlCtrl / (bytes 1 ... 8) status word AIF−STAT AIF_wDctrlStat...

  • Page 69: Parameter Data Transfer

    The SDOs enable read and write access to the object directory. In the Lenze setting, one parameter data channel is available for parameter setting. A second parameter data channel can be activated via code C1865/1 / C2365/1 or the implemented CANopen object I−1201 in order to enable the simultaneous connection of...

  • Page 70: Access To The Codes Of The Controller

    Controller codes are addressed via the index when accessing the code through the communication module. The index for Lenze code numbers is between 16576 (0x40C0) and 24575 (0x5FFF). Documentation for the controller Here you can find a detailed description of the codes.

  • Page 71: Lenze Parameter Sets

    C0011 in parameter set 3: Code no. = 4011 ƒ C0011 in parameter set 4: Code no. = 6011 ƒ Note! Automatic saving of the changed parameter data is activated (Lenze basic setting, can be switched off via C0003). EDSMF2178IB EN 3.0...

  • Page 72: Parameter Sets For Controller 93Xx

    Parameter data transfer Lenze parameter sets Parameter sets for controller 93XX 10.2.2 Parameter sets for controller 93XX The drive controllers 93XX feature up to four parameter sets for storage in the EEPROM for each technology variant. An additional parameter set is located in the main memory of the drive controller.

  • Page 73: Structure Of The Parameter Data Telegram

    Parameter data transfer Structure of the parameter data telegram 10.3 Structure of the parameter data telegram User data (up to 8 bytes) Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8 Data 1 Data 2 Data 3 Data 4...
  • Page 74 Structure of the parameter data telegram Index low byte / Index high byte Parameters and Lenze codes are selected with these two bytes according to the following formula: Index = 24575 − (Lenze code number + 2000 (parameter set − 1))
  • Page 75 Parameter data transfer Structure of the parameter data telegram Error messages User data (up to 8 bytes) Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8 Index Index Command Subindex Error code Low byte High byte Byte 1: ƒ...

  • Page 76: Error Codes

    Parameter data transfer Error codes 10.4 Error codes Error code Description [hex] 0x05030000 Toggle bit not changed 0x05040000 SDO protocol expired 0x05040001 Invalid or unknown client/server command specifier 0x05040002 Invalid block size (only block mode) 0x05040003 Invalid processing number (only block mode) 0x05040004 CRC error (only block mode) 0x05040005...

  • Page 77: Examples Of Parameter Data Telegram

    Parameter data transfer Examples of parameter data telegram 10.5 Examples of parameter data telegram Reading parameters The heatsink temperature C0061 ( 43 °C) is to be read from the controller with node address 5 via the parameter data channel 1. Identifier calculation ƒ...
  • Page 78 Parameter data transfer Examples of parameter data telegram Writing parameters The acceleration time C0012 (parameter set 1) of the controller with the node address 1 is to be changed to 20 seconds via the SDO1 (parameter data channel 1). Identifier calculation ƒ...
  • Page 79 Examples of parameter data telegram Read block parameters The software product code (code C0200) of the Lenze 8200 vector is to be read from parameter set 1. The product code has 14 alphanumerical characters. They are transferred as block parameters. The transfer of block parameters uses the entire data width (2nd to 8th byte).
  • Page 80 Parameter data transfer Examples of parameter data telegram Second data block − request ƒ Command Index Index Subindex Data 1 Data 2 Data 3 Data 4 Low byte High byte 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Byte 1: 70 (Toggle), "Write response"...

  • Page 81: Special Features For Parameter Setting Of The Drive Controller

    For this purpose, a control byte and a status byte are made available in the AIF protocol. C2120: AIF control byte Code Subcode Index Possible settings Data type Lenze Selection C2120 − 22455 = See table below FIX32 0x57B7 Possible settings...
  • Page 82 C2121: AIF status byte Code Subcode Index Possible settings Data type Lenze Selection C2121 − 22454 = 255 U8 0x57B6 The AIF status byte provides the 9300 Servo PLC, Drive PLC and ECS with information of the communication module.

  • Page 83: Monitoring

    Time ..Request Indication Indication t = 0 Indication EMERGENCY Heartbeat Event E82ZAFU009 CANopen objects for configuration CANopen Lenze Index Subindex Designation Code Subcode Description I−1016 Consumer heartbeat time and COB−ID C1869 Consumer heartbeat COB−ID C2369 C1870...
  • Page 84 Monitoring Heartbeat Protocol Heartbeat transmission The heartbeat transmission is activated by entering a time under in the CANopen object I−1017. The monitoring is activated by setting a time and a node ID in the object I−1016/1. Telegram structure NMT identifier plus node ID and a data byte with status information: Data value (s) Status Stopped...

  • Page 85: Node Guarding Protocol

    Monitoring Node Guarding Protocol 11.2 Node Guarding Protocol Note! Only one monitoring function can be active: ƒ – Heartbeat or node guarding. Heartbeat has priority over node guarding: ƒ – If both functions are configured, the heartbeat settings will be active. The "Node Guarding Protocol"...
  • Page 86 Monitoring Node Guarding Protocol CANopen objects for configuration CANopen Lenze Index Subindex Designation Code Subcode Description I−100C Guard time C1827 − Change of "guard time" C2327 I−100D Life time factor C1828 − Change of "life time factor" C2328 RTR telegram The NMT master cyclically ("node guard time", monitoring time) sends a data telegram...

  • Page 87: Emergency Telegram

    Byte 3: Error register object I−1001 ƒ Bytes 4 ... 8: Field for manufacturer−specific error messages ƒ Contents: – Emergency error code 0x1000: Lenze error number – All other emergency error codes have the value "0". Emergency error Cause Error register entry codes (I−1001)

  • Page 88: Diagnostics

    Diagnostics Measures in case of troubled communication Diagnostics 12.1 Measures in case of troubled communication The following table shows error causes and remedy measures if there is no communication with the controller. Possible Diagnostics Remedy cause of error Is the controller switched One of the operating Supply controller with voltage (see Operating status LEDs of the basic...

  • Page 89: Led Status Displays

    The communication module is supplied with voltage and is connected to the standard device. Constantly ON CANopen operation impossible. Blinking Permanently: Parameters are reset to Lenze setting. CANopen operation possible. 1 x blinking: An error occurred while saving a value. 2 x blinking: CANopen operation possible.
  • Page 90 Diagnostics LED status displays Pos. Status display (LED) Description Connection status to fieldbus, two−colour LED (green/red) No connection to the master GREEN CANopen status (" ") CANopen error (" ") RED constantly on : Bus off Blinking GREEN every 0.2 seconds : Pre−operational, : None GREEN every 0.2 seconds...

  • Page 91: Implemented Canopen Objects

    13.1 Reference between CANopen object and Lenze code CANopen objects and Lenze codes do not have the same functionalities. Some CANopen objects have a direct influence on the corresponding codes: If a new value is written within an object, the value is also adopted in the ƒ...

  • Page 92: Overview

    Implemented CANopen objects Overview 13.2 Overview CANopen objects Lenze codes Index Subindex Designation Code Subcode Description I−1000 Device Type − − − I−1001 Error register − − − I−1003 0 ... 10 Error history − − − (depending on the error messages) I−1005...
  • Page 93 Implemented CANopen objects Overview CANopen objects Lenze codes Index Subindex Designation Code Subcode Description I−1400 Number of entries − − − RPDO1 COB−ID C1853 Change of COB−ID: C2353 Set code to CANopen addressing. C1855 Enter the new ID under the code.
  • Page 94 Implemented CANopen objects Overview CANopen objects Lenze codes Index Subindex Designation Code Subcode Description I−1800 Number of entries − − − TPDO1 COB−ID C1853 Change of COB−ID: C2353 Set code to CANopen addressing. C1855 Enter the new ID under the code.
  • Page 95 Implemented CANopen objects Overview CANopen objects Lenze codes Index Subindex Designation Code Subcode Description I−1A02 Number of mapped objects in TPDOs − − − TPDO mapping 1 TPDO mapping 2 TPDO mapping 3 TPDO mapping 4 EDSMF2178IB EN 3.0...

  • Page 96: I−1000: Device Type

    Implemented CANopen objects Overview I−1000: Device type 13.2.1 I−1000: Device type Index (hex) Name 0x1000 Device Type Subindex Default Value range Access Data type setting − − 1 ro The object I−1000 indicates the device profile for this device. It is also possible to include additional information here that is defined in the device profile itself.

  • Page 97: I−1003: Error History

    Implemented CANopen objects Overview I−1003: Error history 13.2.3 I−1003: Error history Error history Index (hex) Name 0x1003 Error history Subindex Default Value range Access Data type setting Number of recorded − 255 rw errors Standard error field − − 1 ro This object shows that errors have occurred in the communication module and in the basic device: Subindex 0: Number of saved error messages.

  • Page 98: I−1005: Cob−Id Sync Message

    Implemented CANopen objects Overview I−1005: COB−ID SYNC message 13.2.4 I−1005: COB−ID SYNC message Index (hex) Name 0x1005 COB−ID SYNC message Subindex Default Value range Access Data type setting 0x80 or − 1 rw 0x80000080 This object ensures that sync telegrams can be created for the communication module and that the identifier value can be written.

  • Page 99: I−1006: Communication Cycle Period

    Implemented CANopen objects Overview I−1006: Communication cycle period 13.2.5 I−1006: Communication cycle period Index (hex) Name 0x1006 Communication cycle period Subindex Default Value range Access Data type setting − 1 rw This object is used to set a sync telegram cycle time when sync sending is activated (bit 30 in object I−1005).

  • Page 100: I−100A: Manufacturer Software Version

    Implemented CANopen objects Overview I−100A: Manufacturer software version 13.2.7 I−100A: Manufacturer software version Index (hex) Name 0x100A Manufacturer’s software version Subindex Default Value range Access Data type setting − Module−specific const characters) Display of the manufacturer’s software version of controller and communication module. The manufacturer’s software version consists of a total of 11 characters: 1st ...

  • Page 101: I−100D: Life Time Factor

    Implemented CANopen objects Overview I−100D: Life time factor 13.2.9 I−100D: Life time factor Index (hex) Name 0x100D Life time factor Subindex Default Value range Access Data type setting 255 rw With the default setting of "0", "node guarding" is not supported. The product of "guard time"...

  • Page 102: I−1011: Restore Default Parameters

    Implemented CANopen objects Overview I−1011: Restore default parameters 13.2.11 I−1011: Restore default parameters Loading of Lenze settings Note! For this function, the subindices to be used depend on the controller type. Index (hex) Name 0x1011 Restore default parameters Subindex Default...
  • Page 103 Implemented CANopen objects Overview I−1011: Restore default parameters Bit assignment (reading) ..Bit states Bits Value Meaning of the bit assignment Parameters cannot be loaded Parameters can be loaded 1 ... 31 Bit assignment (writing) The telegram data must include the signature "load" to start the parameter download. Signature ISO 8859 (ASCII) Value (hex)

  • Page 104: I−1014: Cob−Id Emergency Object

    ƒ Byte 3: Error register object I−1001 ƒ Bytes 4 ... 8: Field for manufacturer−specific error messages ƒ Contents: – Emergency error code 0x1000: Lenze error number – All other emergency error codes have the value "0". EDSMF2178IB EN 3.0...

  • Page 105: I−1015: Emergency Inhibit Time

    Implemented CANopen objects Overview I−1015: Emergency inhibit time 13.2.13 I−1015: Emergency inhibit time Index (hex) Name 0x1015 Emergency inhibit time Subindex Default Value range Access Data type setting 65535 rw This object determines the time between two emergency telegrams. The value entered is multiplied by 0.1, the result is the delay time in milliseconds. 13.2.14 I−1016: Consumer heartbeat time Index (hex)

  • Page 106: I−1017: Producer Heartbeat Time

    Access Data type setting Module device description − Module−specific Identity Subindices Subindex Meaning Highest subindex Vendor ID = ID assigned to Lenze by the organisation "CIA" Product code Revision number Serial number 13.2.17 I−1029: Error behaviour Index (hex) Name 0x1029...

  • Page 107: I−1200/I−1201: Server Sdo Parameters

    Implemented CANopen objects Overview I−1200/I−1201: Server SDO parameters 13.2.18 I−1200/I−1201: Server SDO parameters Server SDOs can be parameterised with two objects: I−1200 for the parameter data channel 1 (SDO1) ƒ I−1201 for the parameter data channel 2 (SDO2) ƒ With I−1201 the identifier can be written in sending and receiving direction, I−1200 has only got reading access.
  • Page 108 Implemented CANopen objects Overview I−1200/I−1201: Server SDO parameters Example: Parameter data channel 2 (SDO2) of the controller with node address "4" is to be deactivated. The master must send this command to the communication module via parameter data channel 1 (SDO1). In sending direction, the basic identifier for SDO2 has the value "1600"...

  • Page 109: I−1400

    0 ... 10 11−bit identifier 11 ... 29 The extended identifier is not supported. Any of these bits must be "0". RTR to RPDO possible (Lenze) RTR to RPDO not possible (cannot be set) RPDO active RPDO not active EDSMF2178IB EN 3.0...
  • Page 110 Implemented CANopen objects Overview I−1400 ... I−1402: Receive PDO communication parameters Description of subindex 2 PDO transmission Transmission type Description cyclic synchronous event−control n = 1 ... 240 By entering value n, this RPDO will be accepted by every n−th sync. n = 254 Manufacturer−specific, see code C1875 / C2375...

  • Page 111: I−1600

    DWord 0 = 0x20 Word = 0x10 The EDS file for the EMF2178IB communication module supports the mapping. Tip! The current EDS file required for configuring the EMF2178IB (CANopen) communication module can be found in the download area on: www.Lenze.com EDSMF2178IB EN 3.0...

  • Page 112: I−1800

    Implemented CANopen objects Overview I−1800 ... I−1802: Transmit PDO communication parameters 13.2.21 I−1800 ... I−1802: Transmit PDO communication parameters Sending of PDO communication parameters Note! The objects I−1801 and I−1802 are not available for 8200 vector and 93XX controllers. Index Subindex Name Data type...
  • Page 113 0 ... 10 11−bit identifier 11 ... 29 The extended identifier is not supported. Any of these bits must be "0". RTR to TPDO possible (Lenze) RTR to TPDO not possible (cannot be set) TPDO active TPDO not active Description of subindex 2...

  • Page 114: I−1A00

    Implemented CANopen objects Overview I−1A00 ... I−1A02: Transmit PDO mapping parameters 13.2.22 I−1A00 ... I−1A02: Transmit PDO mapping parameters With these objects, parameter data can be sent as PDOs. Note! The objects I−1A01 and I−1A02 are not available for 8200 vector and 93XX controllers.

  • Page 115: Codes

    Codes Overview Codes 14.1 Overview Note! Some CANopen objects have a direct influence on the corresponding codes. ƒ If a new value is written within an index, the value is also adopted in the corresponding code C18xx or C23xx. With the 9300 Servo PLC, Drive PLC and ECS, a change of code C23xx will ƒ...
  • Page 116 Codes Overview Code Subcode Index Designation Info (dec = hex) ^ 120 C1813 1 ... 4 22762 = Software creation date in subcodes 0x58EA ^ 121 C1822 1 ... 12 22753 = AIF input words 0x58E1 ^ 121 C1823 1 ... 12 22752 = AIF output words 0x58E0...
  • Page 117 Codes Overview Code Subcode Index Designation Info (dec = hex) ^ 138 C1873 1...3 22702 = Sync rate CAN−IN1 ... CAN IN3 0x58AE ^ 139 C1874 1...3 22701 = Sync rate CAN−OUT1 ... CAN OUT3 0x58AD ^ 140 C1875 1...3 22700 = Tx mode CAN−OUT1 ...
  • Page 118 Codes Overview Code Subcode Index Designation Info (dec = hex) ^ 137 C2372 − 22203 = Emergency inhibit time 0x56BB ^ 138 C2373 1...3 22202 = Sync rate CAN−IN1 ... CAN IN3 0x56BA ^ 139 C2374 1...3 22201 = Sync rate CAN−OUT1 ... CAN OUT3 0x56B9 ^ 140 C2375...

  • Page 119: Communication−Relevant Lenze Codes

    For configuring the Lenze controllers, parameters are provided which are stored as so−called "codes" in a numerically ascending order in the memory of the controller.
  • Page 120 Codes Communication−relevant Lenze codes C1810: Software ID Possible settings Code Subcode Index Data type Lenze Selection C1810 − 22765 = 0x58ED Software identification code as string Only important in the event of service. C1811: Software creation date Code Subcode Index...
  • Page 121 Codes Communication−relevant Lenze codes C1822: AIF−IN all words Possible settings Code Subcode Index Data type Lenze Selection C1822 22753 0x58E1 /12: All AIF−IN words as 16−bit values C1823: AIF−OUT all words Code Subcode Index Possible settings Data type Lenze Selection...
  • Page 122 Codes Communication−relevant Lenze codes C1827/C2327: Guard Time Possible settings Code Subcode Index Data type Lenze Selection C1827 − 22748 [1 ms] 65535 FIX32 0x58DC C2327 − 22248 0x56E8 It is possible to select a different "node life time" for each NMT slave.
  • Page 123 Node addresses > 99 can only be set via DIP switch(¶ 33). ƒ All DIP switches 1 ... 7 = OFF (Lenze setting): ƒ – When the device is switched on, the settings under code C1850/C2350 (node address) and C1851/C2351 (baud rate) are active.
  • Page 124 The baud rates 10 kbps and 20 kbps can only be selected via DIP ƒ switch(¶ 33). All DIP switches 1 ... 7 = OFF (Lenze setting): ƒ – When the device is switched on, the settings under code C1850/C2350 (node address) and C1851/C2351 (baud rate) are active.
  • Page 125 Codes Communication−relevant Lenze codes C1852/C2352: Master/slave operation Possible settings Code Subcode Index Data type Lenze Selection C1852 − 22723 = Slave operation FIX32 0x58C3 Master operation C2352 − 22223 = 0x56CF After switch−on the communication module has the state "Pre−operational". In this state only an exchange of parameter data (SDOs) is possible.
  • Page 126 I−1400 ... I−1402 or I−1800 ... I−1802. Identifier for addressing to CANopen (default identifier) This is the Lenze setting of the EMF2178IB communication module. The calculation consists of the basic identifier and the node address. The basic identifier corresponds to the preset value according to DS301 V4.02.
  • Page 127 E82ZAFCCxxx function module (system bus (CAN)) and the integrated system bus interface of 93XX controllers. The identifier once again consists of a basic identifier and the node address. Identifier for addressing via Lenze system bus (CAN) C1853/C2353 = 2 CAN−IN1...
  • Page 128 Codes Communication−relevant Lenze codes Identifier for addressing to CANopen projects I−140X/I−180X If the subcode has the value "3", this indicates that the identifiers have been changed via the objects I−140X/I−180X . Now, the identifier is developed directly from the objects.
  • Page 129 Codes Communication−relevant Lenze codes C1854/C2354: Individual addressing CAN−IN/OUT Possible settings Code Subcode Index Data type Lenze Selection C1854 /1: CAN−IN1 22721 = /1: 129 1663 FIX32 0x58C1 /2: CAN−OUT1 /2: 1 /3*: CAN−IN2 /3: 257* /4*: CAN−OUT2 /4: 258* C2354 22221 = /5*: CAN−IN3...
  • Page 130 Codes Communication−relevant Lenze codes C1856/C2356: Boot−up− and cycle times Possible settings Code Subcode Index Data type Lenze Selection C1856 /1: Boot−up time 22719 = 0 ms [1 ms] 65535 FIX32 0x58BF /2: Cycle time CAN−OUT1 /3: Cycle time CAN−OUT2 C2356 22219 = /4: Cycle time CAN−OUT3...
  • Page 131 Codes Communication−relevant Lenze codes C1857/C2357: Monitoring time Possible settings Code Subcode Index Data type Lenze Selection C1857 22718 = /1 ... /5: [1 ms] 65535 FIX32 /1: CAN−IN1 0x58BE 3000 ms /2: CAN−IN2 /3: CAN−IN3 /6: 0 ms /4: BUS−OFF monitoring time...
  • Page 132 Codes Communication−relevant Lenze codes C1859/C2359: Display of DIP switch position Possible settings Code Subcode Index Data type Lenze Selection C1859 − 22716 = 0x58BC C2359 − 22216 0x56C8 The DIP switch position is indicated as a hexadecimal number with the initialisation of the communication module.
  • Page 133 Codes Communication−relevant Lenze codes C1860: Display of the current DIP switch position Possible settings Code Subcode Index Data type Lenze Selection C1860 − 22715 = 0x58BB By displaying the current DIP switch position it is possible to find out if the switch position for node address and baud rate has changed since the last initialisation.
  • Page 134 Codes Communication−relevant Lenze codes C1864/C2364: PDP transmission with status change to "Operational" Possible settings Code Subcode Index Data type Lenze Selection C1864 − 22711 = 0: Do not send PDOs FIX32 0x58B7 C2364 − 22211 = 1: Send PDOs 0x56C3 When the CAN status changes from "Pre−Operational"...
  • Page 135 Codes Communication−relevant Lenze codes C1867/C2367: Sync Rx identifier Possible settings Code Subcode Index Data type Lenze Selection C1867 − 22708 = 2047 FIX32 0x58B4 C2367 − 22208 = 0x56C0 This code contains the identifier with which the sync telegram is received.
  • Page 136 Codes Communication−relevant Lenze codes C1869/C2369: Consumer heartbeat ID Possible settings Code Subcode Index Data type Lenze Selection C1869 − 22706 = 255 FIX32 0x58B2 C2369 − 22206 = 0x56BE This code contains the identifier with which the heartbeat telegram for monitoring is received.
  • Page 137 Codes Communication−relevant Lenze codes C1871/C2371: Emergency ID Possible settings Code Subcode Index Data type Lenze Selection C1871 − 22704 = 2047 FIX32 0x58B0 C2371 − 22204 = 0x56BC This code contains the identifier with which the emergency telegram is sent.
  • Page 138 Codes Communication−relevant Lenze codes C1873/C2373: Sync rate CAN−IN1 ... 3 Possible settings Code Subcode Index Data type Lenze Selection C1873 /1: CAN−IN1 22702 = 240 FIX32 0x58AE /2*: CAN−IN2 /3*: CAN−IN3 C2373 22202 = 0x56BA *) not effective when using 8200 vector or 93XXcontrollers The process input data (CAN−INx) are only transferred to the controller after a certain...
  • Page 139 Codes Communication−relevant Lenze codes C1874/C2374: Sync rate CAN−OUT1...3 Possible settings Code Subcode Index Data type Lenze Selection C1874 /1: CAN−OUT1 22701 = 240 FIX32 0x58AD /2*: CAN−OUT2 /3*: CAN−OUT3 C2374 22201 = 0x56B9 *) not effective when using 8200 vector or 93XXcontrollers The process output data (CAN−OUTx) are only transferred after a certain number of sync...
  • Page 140 This is useful for 8200 vector and 9300 drives which are only able to exchange four words as a maximum of control and status information via the AIF. For this purpose, the use of one TPDO is sufficient, TPDOs 2 and 3 are deactivated (Lenze setting). This avoids an unnecessary load of the CAN bus.
  • Page 141 Codes Communication−relevant Lenze codes C1875/C2375, subcodes 1 ... 3 = 0 ƒ The value of code C1874/C2374, subcode 1, 2 or 3 is displayed in the objects I−1800 ... I−1802 (subindex 2 each). C1875/C2375, subcodes 1 ... 3 = 1 ƒ...
  • Page 142 Codes Communication−relevant Lenze codes C1876/C2376: Masks CAN−OUT1 This mask is used to skip one or several bits of the output PDO CAN−OUT1. Code Subcode Index Possible settings Data type Lenze Selection C1876 /1: CAN−OUT1.W1 22699 = 65535 65535 FIX32 0x58AB /2: CAN−OUT1.W2...
  • Page 143 Codes Communication−relevant Lenze codes C1877/C2377: Masks CAN−OUT2 This mask is used to skip one or several bits of the output PDO CAN−OUT2. Code Subcode Index Possible settings Data type Lenze Selection C1877 /1: CAN−OUT2.W1 22698 = 65535 65535 FIX32 0x58AA /2: CAN−OUT2.W2...

  • Page 144: Important Controller Codes

    Here you can find detailed information on the codes of the standard device. C0001: Operating mode for 8200 vector Code Subcode Index Possible settings Data type Lenze Selection C0001 − 24574 = see System Manual for 8200 FIX32 0x5FFE vector The operating mode defines which source may currently write to which parameters.
  • Page 145 Codes Important controller codes C0125: Baud rate Possible settings Code Subcode Index Data type Lenze Selection C0125 − 24450 = see documentation of the FIX32 0x5F82 standard device C0126: Behaviour with communication error (extract) Possible settings Code Subcode Index Data type...
  • Page 146 Codes Important controller codes C0161 ... C0164: Fault memory 8200 vector Possible settings Code Subcode Index Data type Lenze Selection C0161 − 24414 = active fault FIX32 0x5F5E C0162 24413 = last fault 0x5F5D C0163 24412 = last but one fault...
  • Page 147 Codes Important controller codes C2120: AIF control byte Possible settings Code Subcode Index Data type Lenze Selection C2120 − 22455 = See table below FIX32 0x57B7 Possible settings Selection Description No command Update codes 23XX and CAN reinitialisation º reset node Update codes C23XX Reread C2356/1...4...
  • Page 148 Important controller codes C2121: AIF status byte Possible settings Code Subcode Index Data type Lenze Selection C2121 − 22454 = 255 U8 0x57B6 The AIF status byte provides the 9300 Servo PLC, Drive PLC and ECS with information of the communication module.

  • Page 149: Index

    Index Index Zahlen C0001: Operating mode for 8200 vector, 144 8200 vector C0009: CAN node address, 144 − control word, 53 C0046: Display of frequency setpoint, 144 − status word, 55 C0125: Baud rate, 145 8200 vector fault memory, 146 C0126: Behaviour with communication error, 145 8200 vector operating mode (C0001), 144 C0135: Controller control word, 145...
  • Page 150 Communication phases, 45 C1872/C2372: Emergency inhibit time, 137 Communication profile, 17 Communication time, 19 C1873/C2373: Sync rate CAN−IN1 ... 3, 138 Communication−relevant Lenze codes, 119 C1874/C2374: Sync rate CAN−OUT1...3, 139 Connections, 16 C1875/C2375: Tx mode CAN−OUT1...3, 140 Consumer heartbeat ID, 136 C1876/C2376: Masks CAN−OUT1, 142...
  • Page 151 Identification, 14 Identifier (COB−ID), 43 Guard Time, 122 Identifiers, Display of the resulting identifier, 129 Guard time (I−100C), 100 Indexing of Lenze codes, 70 Individual addressing CAN−IN/OUT, 129 Initial switch−on, 36 Hardware version, type code, 14 Installation, 21 Heartbeat Protocol, 83 −...
  • Page 152 Index Operating mode for 8200 vector (C0001), 144 LED status displays, 89 Order designation, 17 LEDs, 36 , 89 Lenze codes, 115 Parameter, C0142 (restart protection), 38 Life time factor, 122 Parameter channel, 25 Life time factor (I−100D), 101 Parameter data telegram, 73...
  • Page 153 Index Sync telegram, 51 Sync Tx identifier, 135 Receive PDO communication parameters (I−1400 ... I−1402), 109 Synchronisation of cyclic process data, 51 Receive PDO mapping parameters (I−1600 ... I−1602), 111 System bus (CAN), baud rate, 27 Replacing EMF2172IB (CAN), 39 system bus (CAN), wiring, 25 Replacing the EMF2172IB communication module (CAN), Residual hazards, 12...
  • Page 154 © 06/2013 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) Ê Ê...

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