Lenze S921 Quick Start Manual
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Lenze S921 Quick Start Manual

Lenze S921 Quick Start Manual

Canopen communication module
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Doc ID: S94CAN01A
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S921
CANopen Communication Module
S94CAN01A

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Summary of Contents for Lenze S921

  • Page 1 Doc ID: S94CAN01A S921 CANopen Communication Module S94CAN01A...

  • Page 2: Table Of Contents

    Table of Contents Preface and General Information ....... . 1 How to use these Operating Instructions .

  • Page 3: Preface And General Information

    Preface & General Info Preface and General Information How to use these Operating Instructions • These Operating Instructions are intended for safety-relevant operation on and with the E94ZACAN1 CANopen option module. They contain safety information which must be observed. • All personnel working on and with the module must have these Operating Instructions available and observe the information and notes relevant for them.

  • Page 4: Safety Information

    Ensure by appropriate measures that neither personal injury nor damage to property may occur in the event of failure of the drive system. • The drive system must only be operated when no faults occur. • Retrofitting, modifications, or redesigns are basically prohibited. Lenze must be contacted in all cases. ENGLISH...

  • Page 5: Technical Data

    Technical Data Technical data Related documents • CANopen Application Layer and Communication Profile or CiA Draft Standard 301 • Drive 94 reference manual General information The internationally standardized CAN bus protocol, which had been developed for the European Automobile Industry, is mainly characterized by •...

  • Page 6: Configuration

    Technical Data Configuration Drive 94 supports CANopen communication protocol through its CANopen Communication Module. Upon power up, the drives firmware detects the CAN Module and automatically enables both the CANopen functionality as well as the CANopen configuration menu. We can utilize SimpleServo LED display and push buttons to both configure the drive for the CAN network, as well as check and set drive parameters.
  • Page 7 Technical Data CAnA CAN network address. This parameter is R/W and can be between 0 and 127. This is the drives address on the CAN Network. Press the “ENTER” button ( ) to view address setting. Use the “UP” (▲) and “DOWN” (▼) buttons to change the setting. Press the “ENTER”...
  • Page 8 Technical Data Adr_ E94 Drive address. This address is only for RS232/RS485 communications. It doesn’t affect the CANBUS Network. This parameter is R/W and can be between 0 and 31. Press the “ENTER” button ( ) to view address setting. Use the “UP” (▲) and “DOWN”...

  • Page 9: Canopen Ds301 Communication Profile Support

    Communication Objects CANopen DS301 Communication Profile Support Supported NMT (Network Management) services: The E94 Drive automatically goes to an Operational state upon reset without waiting for the Start Node command from the NMT master. • Start Node – Upon receiving this service request from the NMT master the drive will resume operation.

  • Page 10: Communication Objects

    Communication Objects Communication Objects OBJECT NAME DESCRIPTION 1000h Device Type The E94 Drive is not DSP 402 compliant but follows some of the major velocity and torque profiles recommendations. Therefore it uses custom device profile value of 0x00022192. 1001h Error Register The following values are allowed: 0 –...
  • Page 11 Communication Objects OBJECT NAME DESCRIPTION 1800h transmit PDO Parameter Sub index 01 -> TPDO COB-ID with R/W access. The (Torque) default value of this COB-ID is 0x180 + CAN network node id/address. Sub index 02 -> TPDO Type. Asynchronous TPDO with 255 transmission type.

  • Page 12: Drive 94 Specific Objects And Functionality

    Drive Objects Drive 94 Specific Objects and functionality When using the CANopen protocol the E94 drive has two modes of operation. • CAN Velocity Mode • CAN Torque Mode. CAN Velocity mode The Velocity reference is provided internally through the Object 60FFh (Target Velocity) statically mapped in RPDO2.

  • Page 13: E94 Drive Specific Objects

    Drive Objects E94 Drive specific objects Please see the provided drive94T.eds and drive94V.eds files and the SimpleServo Model 94 Users Manual for a more complete description of all SDO objects and for setup instructions. OBJECT NAME TYPE 6040h Control Word WORD The drive can execute the following commands:...
  • Page 14 Drive Objects OBJECT NAME TYPE 6402h TorqueConst Float 6403h VoltageConst Float 6404h Inductance Float 6405h Resistance Float 6406h MaxPhaseCurrent Float 6407h TerminalVoltage WORD 6408h RotorInertia Float 6409h MaxVelocity Float 640Ah HallCode WORD 640Bh NumberPoles WORD 640Ch Encoder WORD 640Dh CurrentLimit Float 640Eh PeakCurrentLimit...
  • Page 15 Drive Objects OBJECT NAME TYPE 642Bh In2Polarity BYTE 642Ch InBounceDelay input1 WORD 642Dh InBounceDelay input2 WORD 642Eh OutFunc output1 BYTE 642Fh OutFunc output2 BYTE 6430h OutPolarity output1 BYTE 6431h OutPolarity output2 BYTE 6432h Eset UNSIGNED WORD 6433h FeedbackType UNSIGNED WORD 6434h PwmIndex UNSIGNED BYTE...
  • Page 16 AC Technology Corporation member of the Lenze Group 630 Douglas Street Uxbridge, MA 01569 Telephone: (508) 278-9100 Facsimile: (508) 278-7873 Doc ID: S94CAN01A...

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