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Lust CM-CAN1 User Manual

Communication module
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CM-CAN1
User Manual
Communication Module
CM-CAN1
Project design, installation and
commissioning of CDA3000 on
the CANLUST field bus
Before
G1

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Summary of Contents for Lust CM-CAN1

  • Page 1 Before CM-CAN1 User Manual Communication Module CM-CAN1 Project design, installation and commissioning of CDA3000 on the CANLUST field bus...
  • Page 2 CM-CAN1 User Manual ID no.: 0916.21B.0-00 Version: May 2000 Applicable as from software version V1.40 We reserve the right to make technical changes.
  • Page 3 We assume that your drive is already in operation – otherwise you should first refer to the operation manual. Good luck, and have a nice day! How to use this manual General introduction Installation Commissioning and configuration Device parameter setting Control and reference input Troubleshooting Examples Appendix: Glossary, Index User Manual CM-CAN1...
  • Page 4 Pictograms Attention! Misoperation may result in damage to the drive or malfunctions. Danger from electrical tension! Improper behaviour may endanger human life. Danger from rotating parts! The drive may start run- ning automatically. Note: Useful information.

  • Page 5: Table Of Contents

    1.5.1 Access rights ............1-4 1.5.2 Size of identifiers ..........1-5 1.5.3 Time response .............1-5 1.5.4 Transmission speeds ...........1-6 CAN protocol for LUST drives .........1-7 1.6.1 Device states ............1-7 1.6.2 Device control ............1-8 Mounting and connection Setting the address ..........2-2 Mounting ..............2-3 2.2.1...
  • Page 6 ..........4-20 Control and reference input Controller enable (ENPO) ........5-2 CAN system states ..........5-2 Device states ............5-2 Device control ............5-3 5.4.1 EasyDrive control mode ........5-4 5.4.2 Control via DRIVECOM state machine ....5-6 User Manual CM-CAN1...
  • Page 7 Parameterizable warnings on the CAN ....6-6 LED status display on the module ......6-7 Acknowledgment of error messages .....6-7 Examples Activation of a CDA3000 .........7-2 7.1.1 EasyDrive control mode ........7-2 7.1.2 Control mode: DRIVECOM state machine ....7-3 7.1.3 Parameter setting ..........7-5 Glossary Index User Manual CM-CAN1...
  • Page 8 User Manual CM-CAN1...

  • Page 9: General Introduction

    1.5.2 Size of identifiers ..........1-5 1.5.3 Time response .............1-5 1.5.4 Transmission speeds ...........1-6 CAN protocol for LUST drives .........1-7 1.6.1 Device states ............1-7 1.6.2 Device control ............1-8 The term “master” as used in the following designates a higher-order controller which organizes the bus system.

  • Page 10: Measures For Your Safety

    System Any system with a CAN interface is suitable. No requirements are made in terms of processor speed, since the timeout monitors on the machines requirements can be adapted to the respective processor performance. User Manual CM-CAN1...

  • Page 11: User Level In Operation Over Can Bus

    • Application Manual for additional parameter setting to adapt to the application. The Application Manual can be downloaded as a PDF file from our website (http://www.lust-tec.de). Follow the Service link. • Engineering Guide CDA3000 • ISO 11898, Road Vehicles, Interchange of digital information - Controller Area Network (CAN) for high-speed communication •...

  • Page 12: General Information On The Structure Of A Can Network

    Access rights to the bus where a number of stations are accessing it simultaneously are assigned by checking the priorities of the identifiers. The identifier with the lowest significance has the highest priority, and is able to continue its transmission in the event of a conflict. User Manual CM-CAN1...

  • Page 13: Size Of Identifiers

    CAN bus. This condition lasts up to 10 seconds. 3. If an error state is acknowledged over the CAN bus, a device restart may result. For more detailed information on this topic refer to section 6 “Fault rectification”. User Manual CM-CAN1...

  • Page 14: Transmission Speeds

    For the control, a signal propagation time from the bus connector to the control's CAN controller of max. 80 ns is assumed. If these control values are exceeded, the transfer rate must be reduced by at least one increment! User Manual CM-CAN1...

  • Page 15: Can Protocol For Lust Drives

    1 General introduction CAN protocol for The CAN protocol for LUST drives permits integration of the device in a CAL network. The identifiers are defined in the devices by setting of the LUST drives device address. After power-on, the drive unit responds cyclically with its logon identifier.

  • Page 16: Device Control

    There are two modes for controlling the devices over CAN. In the first control mode the key functions of the device can be activated directly by way of a LUST-specific control word. This mode is termed “EasyDrive control mode” in the following.

  • Page 17: Mounting And Connection

    Size BG1...5 (0.37 ... 15 kW) .......2-3 2.2.2 Size BG6...8 (22 ... 90 kW) ........2-4 Electrical installation ..........2-5 2.3.1 Controller enable (ENPO) ........2-6 2.3.2 LED status display ..........2-6 Attention: Do not insert or withdraw modules in operation! User Manual CM-CAN1...

  • Page 18: Setting The Address

    CAN_GND (as X10/2) CAN_HIGH CAN-IN/OUT ADR2 +24 V (as X10/1) Table 3.1 Pin assignment with a connector coding example Attention: The device address coded on the connector is only used if parameter 571-CLADR is set to 0. User Manual CM-CAN1...

  • Page 19: Mounting

    63 3 La hn D- 35 35mm Ty p: N et z: k l i c Au sg S N .: 0 0 0 0 0 0 .0 0 0 0 0 .0 Figure 2.1 Mounting for BG1...5 User Manual CM-CAN1...

  • Page 20: Size Bg6

    63 3 D- 35 Ty p: k l i c N et z: A us g. 0 0 0 0 S N .: 0 0 .0 0 0 0 0 .0 Figure 2.3 Mounting of size BG6...8 User Manual CM-CAN1...

  • Page 21: Electrical Installation

    Voltage supply 19 ... 29 V, supply optionally via X10, X11 or X12 Voltage ripple max. 3 Vss Current consumption max. 80 mA per station 9-wire, surge impedance 120 Ω Cable type Table 3.2 Specification, CAN bus connection User Manual CM-CAN1...

  • Page 22: Controller Enable (Enpo)

    LEDs (H4 and H5). LED H5 indicates a correct voltage supply. Red LED (H4) Green LED (H5) Bus state 24V supply to module missing Voltage supply OK Table 3.3 LED status display User Manual CM-CAN1...

  • Page 23: Commissioning And Configuration

    3 Commissioning and configuration Commissioning sequence ........3-2 Commissioning instructions ........3-4 Errors in initialization ..........3-4 Test on higher-order controller ......3-4 Data handling ............3-5 3.5.1 Saving settings ............3-5 3.5.2 Restoring factory defaults ........3-5 User Manual CM-CAN1...

  • Page 24: Commissioning Sequence

    ENPO is not connected. The green LED H5 on the Switch on the supply voltage. communication module CM-CAN1 is lit steadily. If the initialization was completed cor- rectly, parameter 578 -OPTN2 in subject If it does not show the value, area _57OP, Option modules, displays the refer to section 3.3.
  • Page 25 Table 3.1 Minimum parameters to be set 152-ASTER: Proposal: BUS 1-3 preselects the setting for CLSEL and RSSL1 For more detailed information on optimization of the software functions and control circuits refer to the device application manual. User Manual CM-CAN1...

  • Page 26: Commissioning Instructions

    (base ID 881, with data length 7) instead of the logon identifier. If this happens, the communication is OK. Note: In transmissions the number of data bytes does not neces- sarily have to be taken into account, but it is advantageous. User Manual CM-CAN1...

  • Page 27: Data Handling

    During that time the device must not be switched off, other- wise the settings will be lost. Parameter 150-SAVE is automatically set to (0)STOP by the device after the save operation. This process can be used for timeout monitoring of the function. User Manual CM-CAN1...
  • Page 28 3 Commissioning and configuration User Manual CM-CAN1...

  • Page 29: Setting The Device Parameters

    Definition of control location and reference channel ..............4-9 4.3.3 Data backup ............4-11 Representation of parameter number ....4-12 Telegram execution and verification ....4-13 Parameter channel ..........4-14 4.6.1 Reading string parameters .........4-15 4.6.2 Writing string parameters ........4-18 Downloading parameter data sets ..........4-20 User Manual CM-CAN1...

  • Page 30: Representation Of Parameter Data

    32-bit number with scaling 1/65536, i.e. the INT32Q16 -32767.99 ... 32766.99 Low word indicates the number of decimal places Fixed point number with scaling 1/20, FIXPOINT16 0.00 ... 3276.80 i.e. increment size 0.05 Table 4.1 Data types User Manual CM-CAN1...

  • Page 31: Mapping Data Types

    STRING See examples, Table 4.3 * Filled out appropriate to preceding sign (00H or FFH) TOP = Time of OPeration in full hours Table 4.2 Arrangement of data types in the data field Low Byte High Byte User Manual CM-CAN1...
  • Page 32 (85 hours TOP) 85 operating hours E-OP2) 00 H 41 H 44 H 43 H STRING “Drive unit” (end identifier) Table 4.3 Examples of mapping of data types For detailed information on string parameters see section 4.6.1 and 4.6.2. User Manual CM-CAN1...

  • Page 33: Configuration Of The Drive Unit By Way Of Preset

    Presetting based on the example of BUS_1 After the automatic configuration the baud rate and device address also need to be set. Note: The settings must be backed-up in the device before the reset. These changes only take effect after a mains reset. User Manual CM-CAN1...

  • Page 34: Cda3000 Parameters For Bus Operation

    CAN bus status word 0000H ... FFFFH 0000H _28RS 288-FOPT2 Reference value of option slot 2 (non-editable) 3. Data backup _15FC 150-SAVE Back-up device setup STOP, START STOP FS = Factory setting Table 4.5 Overview of CDA3000 bus parameters User Manual CM-CAN1...

  • Page 35: General Bus Settings

    If the parameter is set to values between 1 and 99, the connector configu- ration is ignored and the inverter starts after the reset with the device address set in CLADR (save the setting prior to the reset with parameter 150-SAVE). User Manual CM-CAN1...
  • Page 36 Value for watchdog to monitor the CAN bus. The watchdog time is adjust- able in millisecond increments. The value 0 deactivates the watchdog. Subject area Value range Factory set. Unit Data type Memory type _57OP 0 ... 255 USIGN8 FLASH User Manual CM-CAN1...

  • Page 37: Definition Of Control Location And Reference Channel

    Reference and control values and the content of the control identifier are only evaluated in the “SYSTEM START” state. The control mode and the structure of the control and status word is set by way of parameter 492-CACNF (EasyDrive, RIVE User Manual CM-CAN1...
  • Page 38 Table 4.8 Settings for reference selector 280-RSSL1 Online switching between the reference sources is only possible by way of appropriately parameterized digital inputs or via the parameter channel (see functions of digital inputs in the Application Manual). 4-10 User Manual CM-CAN1...

  • Page 39: Data Backup

    To do so, parameter 150-SAVE is set to 1 after all other parameters have been set. The save operation takes a few hundred milliseconds. During that time the drive 4-11 User Manual CM-CAN1...

  • Page 40: Representation Of Parameter Number

    PARA_HI and PARA_LO, with PARA_LO repre- senting the Low Byte and PARA_HI the High Byte of the parameter num- ber (see section 4.1 and 4.6). Leading zeroes must be entered. 4-12 User Manual CM-CAN1...

  • Page 41: Telegram Execution And Verification

    This in turn does not necessarily mean the parameter is generally write protected. It may be that write access was refused merely based on the current operating state of the device. Note: For details of which parameters are writable when, refer to the Application Manual. 4-13 User Manual CM-CAN1...

  • Page 42: Parameter Channel

    Value (Dec) Description (05) Request standard parameter (02) Write standard parameter ENQUIRY_List (04) Request parameter data description SELECT_String (08) Writing string parameters ENQUIRY_String (11) Reading string parameters List_End (16) Universal List-End identifier Table 4.9 Transfer modes 4-14 User Manual CM-CAN1...

  • Page 43: Reading String Parameters

    The block counter (data byte 7) contains the value 0. The reply telegram from the drive unit contains the status byte and gives information on the readability of the parameter. If the parameter is readable, the first reply telegram contains the first four characters. 4-15 User Manual CM-CAN1...
  • Page 44 (0 to number of blocks -1) of the drive unit reply telegrams which have contained part of the data string. If the string length is < 3, the second block is the last block and then already contains the checksum. 4-16 User Manual CM-CAN1...
  • Page 45 The telegram sequence within the drive unit is run according to a state machine. This state machine is automatically reset if the master transmits a telegram with an incorrect value for the block counter. 4-17 User Manual CM-CAN1...

  • Page 46: Writing String Parameters

    Data bytes 3 - 6 are transmitted in Intel format: Byte 3 = Low Word Low Byte Byte 4 = Low Word High Byte Byte 5 = High Word Low Byte Byte 6 = High Word High Byte 4-18 User Manual CM-CAN1...
  • Page 47 (bit 7 = 1). If the checksum in the last telegram is not identical to its own, a telegram repetition is requested by setting of bit 4 in the status. 4-19 User Manual CM-CAN1...

  • Page 48: Downloading Parameter Data Sets

    S . If, during the upload, MART a Select telegram is transmitted to a parameter without the “CardWriteable” attribute, the drive controller responds to the telegram with “Acknowledge” but does not adopt the new parameter value. 4-20 User Manual CM-CAN1...
  • Page 49 5. If the parameter data set has been accepted in full, the data set can be permanently stored in the device by way of parameter 150-SAVE. Note: If the connection is interrupted during transfer, or if the timeout expires, the transfer must be repeated or the drive controller restarted. 4-21 User Manual CM-CAN1...
  • Page 50 4 Setting the device parameters 4-22 User Manual CM-CAN1...

  • Page 51: Control And Reference Input

    EasyDrive control mode ........5-4 5.4.2 Control via DRIVECOM state machine ....5-6 Identifiers ..............5-10 5.5.1 Selective transmissions ........5-10 5.5.2 Broadcast transmissions ........5-11 5.5.3 Station logon ............5-11 5.5.4 System start/stop ..........5-12 5.5.5 Control functions ..........5-12 5.5.6 Status messages ..........5-14 User Manual CM-CAN1...

  • Page 52: Controller Enable (Enpo)

    For example, an error in an application results in a change of device state. The devices run a so-called state machine, which assigns defined responses to events for each state. User Manual CM-CAN1...

  • Page 53: Device Control

    In the first control mode the key functions of the device can be activated directly by way of a LUST-specific control word. In the following this mode is termed the “EasyDrive control mode”. Digital control functions such as “controller enable, characteristic data set selection or states of digital outputs”...

  • Page 54: Easydrive Control Mode

    Actual status ISD00, Status of input ISD00 240-FOS00=OPTN2 irrespective of 210-FIS00 Table 5.2 EasyDrive control word and status word * - Only if 280-RSSL1=(7) TBSEL ** - Only if 651-CDSSL=(6) OPTN2 *** - Only if 166-UDSSL=(3) OPTN2 User Manual CM-CAN1...
  • Page 55 OPTN2 by way of the CAN control word. The switchover can only be made in STANDBY (power stage not active). Note: For more information on the setting and availability of these functions refer to the Application Manual. User Manual CM-CAN1...

  • Page 56: Control Via Drivecom State Machine

    Shutdown xxxx x110 x6H x01x 0011 33H Enable operation xxxx 1111 xFH Disable operation xxxx 0111 x7H ENABLE EMERGENCY STOP OPERATION ACTIVE Emergency stop x1xx 0111 37H x00x 0111 07H xxxx x01x Figure 3.1 DRIVECOM state machine User Manual CM-CAN1...
  • Page 57 1 = Output OSD00 = high Status of input ISD00 Status of input ISD00 if 240-FOS00=OPTN2 Table 5.3 DRIVECOM control word and status word * - Only if 280-RSSL1=(7) TBSEL ** - Only if 651-CDSSL=(6) OPTN2 *** - Only if 166-UDSSL=(3) OPTN2 User Manual CM-CAN1...
  • Page 58 3) The CDA3000 offers the possibility of storing four complete parameter sets (user modes). You can switch between the user data sets by setting 166-UDSSL = (3) OPTN2 by way of the CAN control word. The switchover can only be made in STANDBY (power stage not active). User Manual CM-CAN1...
  • Page 59 0 X 1 0 0 0 OPERATION > FAULT RESPONSE RESET FAULT X X X X 0 X 1 1 1 1 ACTIVE EMERGENCY STOP 0 0 0 1 1 1 ACTIVE Table 5.4 Bit combinations of the DRIVECOM state machine User Manual CM-CAN1...

  • Page 60: Identifiers

    * CACNF dependent See section 5.5.5 Table 5.5 Base identifier Broadcast identifier DLC* Function Switch system state START/STOP, no base ID, 221 (DD broadcast Table 5.6 Broadcast identifier * - DLC = Data Length Code (number of data bytes) 5-10 User Manual CM-CAN1...

  • Page 61: Broadcast Transmissions

    “logon identifier” and immediately begins cyclically sending status messages from the device onto the bus. The sampling time of 100 ms cannot be changed! 5-11 User Manual CM-CAN1...

  • Page 62: System Start/Stop

    The state machine of the drive units has a sampling time of 1 ms. All con- trol commands and reference values are processed during this sampling time by the drive unit. 5-12 User Manual CM-CAN1...
  • Page 63 Intel format Byte 4 = Reference High Word Low Byte Byte 5 = Reference High Word High Byte Example: Reference = 20.5 Hz Reference data in Hex: Byte Content 20 = 14 H 0.5 = 2 5-13 User Manual CM-CAN1...

  • Page 64: Status Messages

    Byte 4 = Actual value High Word Low Byte Byte 5 = Actual value High Word High Byte Example: Actual value = 20.5 Hz Actual value data in Hex: Byte Content 20 = 14 H 0.5 = 2 5-14 User Manual CM-CAN1...

  • Page 65: Fault Rectification

    6 Fault rectification Programmable error responses ......6-2 Error messages ............6-4 Parameterizable warnings on the CAN ....6-6 LED status display on the module ......6-7 Acknowledgment of error messages .....6-7 User Manual CM-CAN1...

  • Page 66: Programmable Error Responses

    In the error state the devices can still be operated by way of the K and all connected bus systems (except the control function). Figure 6.1 The error responses can be programmed with the parameter edi- tor. The screenshot shows the factory setting. Figure 6.2 Possible error responses User Manual CM-CAN1...
  • Page 67 Warning message: If the parameter setting for response to an error is a warning message (WRN), the device indicates the warning by way of an appropriately parameterized digital output (e.g.: 242 -FOS02 = WARN). No other device response occurs. Safety-related errors cannot be set as warnings in the parameters. User Manual CM-CAN1...

  • Page 68: Error Messages

    Error on option 2: Module has signaled Check contacting of module. If the error still error. occurs after switching off and back on again, the device or the module is faulty. Table 5.10 CAN bus error User Manual CM-CAN1...
  • Page 69 E-PF PowerFail E-RM InitRunMode E-FDG Transmission error in reference coupling E-LSW Limit switches reversed Table 5.11 Error messages Note: For a detailed list of all error messages together with reme- dial measures refer to the Application Manual. User Manual CM-CAN1...

  • Page 70: Parameterizable Warnings On The Can

    Warning message when Ixt integrator of motor is active 10 - 15 Reserved Table 5.13 Warning messages (corresponds to Warnings status word, parameter 120-WRN in subject area _50WA) Note: Several warning messages may be present at any one time. User Manual CM-CAN1...

  • Page 71: Led Status Display On The Module

    • Transition from SYSTEM START to SYSTEM STOP After an error reset the state machine of the device (EasyDrive or DRIVECOM) assumes the same state as after power-on. That is to say, the control must be restarted. User Manual CM-CAN1...
  • Page 72 6 Fault rectification User Manual CM-CAN1...

  • Page 73: Examples

    7 Examples Activation of a CDA3000 .........7-2 7.1.1 EasyDrive control mode ........7-2 7.1.2 Control mode: DRIVECOM state machine ....7-3 7.1.3 Parameter setting ..........7-5 User Manual CM-CAN1...

  • Page 74: Activation Of A Cda3000

    CDA are activated. From this point on the preset timeout 574-CAWDG is monitored. If the relevant control identifier is not transmitted in this time division, an error is generated. Table 5.14 Example, EasyDrive User Manual CM-CAN1...

  • Page 75: Control Mode: Drivecom State Machine

    • Parameter 571-CLADR = 1 Device address • Parameter 492-CACNF = 2 Control mode, direct control 4. Back-up settings in device, 150-SAVE = (1) BUSY 5. Mains reset to reinitialize 6. Wire control contact hardware enable ENPO User Manual CM-CAN1...
  • Page 76 Status message For CDA 0: 881 37 02 00 00 0A Example: For CDA 1: 883 00 00 CDA 1 rotates clockwise at 10 rpm etc. and signals "Operation enabled". Table 5.15 DRIVECOM state machine, example User Manual CM-CAN1...

  • Page 77: Parameter Setting

    68 01 02 0E 00 Set parameter 00 00 00 360-DISP to 14-MIST (actual torque) Reply from CDA 1323 68 01 00 0E 00 Checkback from CDA after success- 00 00 00 ful data transfer Table 5.16 Example of parameter setting User Manual CM-CAN1...
  • Page 78 7 Examples User Manual CM-CAN1...

  • Page 79: Glossary

    Is accepted by most CAN suppliers. LUST conforms to this definition. NMT: (Network Management). Required for masters in the CAN system. Not implemented by Lust because drive controller are always slaves and have no “control function”.
  • Page 80 General points on the various protocol definitions CAL: Mainly in use in Europe. LUST has currently implemented a protocol which can be activated by a CAL master. The initialization is simpler than CAL (CCDA), for example addressing by way of jumper, which has no influence on operation.
  • Page 81 Downloading parameter data sets 4-20 ....... Parameter channel 4-14 ....DRIVECOM state machine ....Parameter data, representation ..... DRIVECOM state machine, example ..... Parameter number, representation 4-12 ...... Parameter setting, example ......Parameters, CDA3000 ........... Pictograms ..........Protocol User Manual CM-CAN1...
  • Page 82 5-12 ........System states .... Telegram execution and verification 4-13 ........Time response ........Transfer mode 4-14 ....... Transmission speed .......... User level ......... Warning message ........... Warnings ......Watchdog time, parameter ....... Writing string parameters 4-18 User Manual CM-CAN1...
  • Page 84 Lust Antriebstechnik GmbH Gewerbestrasse 5-9 • D-35631 Lahnau Tel. 0 64 41 / 9 66-0 • Fax 0 64 41 / 9 66-137 Internet: http://www.lust-tec.de • e-mail: lust@lust-tec.de ID no.: 0916.21B.0-00 • Version: 05/00 We reserve the right to make technical changes.

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