Kostal INVEOR Operating Manual
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Kostal INVEOR Operating Manual

Canopen fieldbus
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CANopen fieldbus

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Summary of Contents for Kostal INVEOR

  • Page 1 Operating manual CANopen fieldbus...
  • Page 2 Exclus ion of li abi lity All names, trade names, product names and other designations used in this manual may be legally protected even if not indicated as such (e.g. as a trademark). KOSTAL assumes no liability for their free usage.

  • Page 3: Table Of Contents

    Communication objects (0x1000 – 0x1200) ..............28 4.1.2 PDO configuration objects (0x1400 – 0x1A01) ............29 4.1.3 INVEOR process values Out (0x3000 – 0x3031, 0x3502, 0x3503) ....... 30 4.1.4 INVEOR process values In (0x3032 – 0x3040, 0x3500, 0x3501) ........32 4.1.5 Structure of INVEOR control word ................
  • Page 4 C o n t e n t s Timeout monitoring with heartbeat ................40 4.3.1 Heartbeat producer ....................41 4.3.2 Heartbeat consumer ....................41 Error detection and troubleshooting ............42 Application side error word ..................42 Power side error word ....................43 Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN...

  • Page 5: General Information

    INVEOR with fieldbus. We assume no liability for any damage resulting from non-observance of this manual. This manual is an integral part of the product and applies exclusively to the INVEOR with CANopen from KOSTAL Industrie Elektrik GmbH.

  • Page 6: Notes In This Manual

    G e n e r a l i n f o r m a t i o n 1.2 Notes in this manual 1.2.1 Warnings The warnings refer to life-threatening dangers. Serious injuries possibly resulting in death may occur. Each warning consists of the following elements: DANGER! Risk of death due to electrical shock! Death or serious injury!

  • Page 7: Warning Symbols Used

    G e n e r a l i n f o r m a t i o n 1.2.2 Warning symbols used Symbols Explanation Danger Danger due to electrical shock and discharge Danger due to burns Danger due to electromagnetic fields 1.2.3 Signal words Signal words are used to identify the severity of the danger.

  • Page 8: Information Notes

    G e n e r a l i n f o r m a t i o n 1.2.4 Information notes Information notes contain important instructions for the installation and problem-free operation of the drive controller. These must be followed at all times. The information notes also point out that failure to observe can result in damage to property or financial damages.

  • Page 9: Symbols Used In This Manual

    Item Chapter 1.4 Qualified staff You will find the "Qualified staff" chapter in the operating manual for the INVEOR. 1.5 Proper use You will find the "Proper use" chapter in the operating manual for the INVEOR. Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-03 | V1.00 EN...

  • Page 10: Responsibility

    Customers can find technical and general information on the following website: www.kostal-industrie-elektrik.com 1.8 Safety instructions You will find the "Safety instructions" chapter in the operating manual for the INVEOR. Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN...

  • Page 11: Device And System Description

    2. Device and system description This chapter contains information on the scope of delivery for the drive controller and the function description. 2.1 CANopen Fig.: 4 Wiring and bus connection The CANopen bus system belongs to the fieldbus family and is based on the CAN bus (Controller Area Network).

  • Page 12: Master/Slave Operation

    The INVEOR should only be operated as a CANopen slave 2.2 Scope of delivery The scope of delivery is described in the INVEOR basic documentation. The interface card is part of the INVEOR. Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN...

  • Page 13: Item Description For Inveor

    D e v i c e a n d s y s t e m d e s c r i p t i o n 2.3 Item description for INVEOR 2.3.1 Type code for CANopen (valid until end of February 2016) Example of an INVEOR CANopen item designation Drive controller series: INVEOR Housing: G0 – standard (black with inscription);...

  • Page 14: Type Code For Canopen (Current)

    D e v i c e a n d s y s t e m d e s c r i p t i o n 2.3.2 Type code for CANopen (current) Example of an INVEOR CANopen item designation Drive controller series: INVEOR Application printed circuit board:...

  • Page 15: Hardware Components

    D e v i c e a n d s y s t e m d e s c r i p t i o n 2.4 Hardware components The following hardware components are required for connecting the INVEOR to a CANopen bus system: CANopen, M12 connecting cable 2 m Order no.: 10138812...
  • Page 16 D e v i c e a n d s y s t e m d e s c r i p t i o n The following connections can be found on the INVEOR with CANopen interface Size Alph a: Fig.: 1 Size Alpha "CANopen"...
  • Page 17 D e v i c e a n d s y s t e m d e s c r i p t i o n Size A Fig.: 5 Size A "CANopen" connections Size A "CANopen" connections Blind plug Control line CANopen Potentiometer...
  • Page 18 D e v i c e a n d s y s t e m d e s c r i p t i o n Size B -C Fig.: 6 Sizes B - C “CANopen” connections Sizes B - C “CANopen” connections Blind plug STO (install EMC screw connection supplied in the package) Control line Blind plug...
  • Page 19 D e v i c e a n d s y s t e m d e s c r i p t i o n Size D Fig.: 7 Size D "CANopen" connections Size D "CANopen" connections Cable screw connection with blind plug Control line CANopen Potentiometer...

  • Page 20: Pin Assignment For Interfaces

    If cables do cross, an angle of 90° should be observed if possible.  2.5 Software components The INVEOR drive controller can be parameterised using the INVEORpc tool and MMI (see operating manual) as well as a CANopen master. IMPORTANT INFORMATION Not all parameters of the INVEOR are available via the CANopen interface! Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN...

  • Page 21: Installation

    3. Installation The fieldbus line is exclusively connected via an M12 Y- distributor found on the front of the M12 connection socket. The following CANopen M12 Y-distributor can be used: M12 coupling on plug and coupling /  5-pin + PE / A-coded INVZUB/-/L/YD/CO/M12M/M12f/-/A/- M12 Y-splitter Article no.

  • Page 22: Configuring Drive Controller For Canopen

    Death or serious injury! De-energise drive controller and secure it against being restarted. In order that an INVEOR, equipped with a CANopen communication card, can be clearly recognised in a CANopen bus system, it must be assigned an address. The assignment can take place: By setting the address via the rotary switches "Switch 1"...
  • Page 23 I n s t a l l a t i o n Fig.: 9 Setting parameters via rotary switches Switch 1 – for the unit position Switch 2 – for the tens position Both rotary switches (Switch 1/Switch 2) are set to the value "0" in the delivery state. Only in this state can addressing via the parameter 6.060 "Fieldbus address"...

  • Page 24: Setting The Address On The Communication Card

    Death or serious injury! De-energise drive controller and secure it against being restarted. IMPORTANT INFORMATION The address of an INVEOR must lie within the range 1 to 127. De-energize the drive controller. Unscrew the cover of the drive controller. Set the address with a screwdriver on both switches (Switch 1/Switch 2).

  • Page 25: Setting The Fieldbus Address Via Rotary Switches Switch 1/Switch 2

    Screw the cover of the drive controller back onto the housing (torque 4 Nm). Switch the voltage supply for the drive controller on.  The address of the INVEOR is set. 3.3 Setting the fieldbus address via rotary switches Switch 1/Switch 2...
  • Page 26 I n s t a l l a t i o n Address Settings Address Settings DECIMAL Switch 2 Switch 1 DECIMAL Switch 2 Switch 1 Tab. 1 Fieldbus address via rotary switches Switch 1/Switch 2 IMPORTANT INFORMATION Both rotary switches (Switch 1/Switch 2) are set to the value "0" in the delivery state. Only in this state can addressing via the parameter 6.060 "Fieldbus address"...

  • Page 27: Installing The Inveor Eds File

    I n s t a l l a t i o n 3.4 Installing the INVEOR EDS file The "device-specific information file" (EDS file) can be used in order to use the INVEOR drive controller with CANopen. This file contains the drive controller's object directory and physical parameters such as the supported baud rates.

  • Page 28: Canopen In The Inveor

    4. CANopen in the INVEOR The INVEOR drive controllers with CANopen support the CANopen specification in accordance with CiA DS-301. The device profile DS-402 (electrical drives) is not supported Read / write access to parameters (see chapter 4.1.7.) is only possible with SDO access.

  • Page 29: Pdo Configuration Objects (0X1400 - 0X1A01)

    C A N o p e n i n t h e I N V E O R Index Sub- Object Unit Access Type Description index [Hex] 1016 Consumer Heartbeat (Open-end wrench WAF03.85) 1016 Number of entries Number of elements [1] 1016 COB-ID + Timeout Monitored node and...

  • Page 30: Inveor Process Values Out (0X3000 - 0X3031, 0X3502, 0X3503)

    Data configuration of transmit mapping PDOs 1A01 Number of entries Number of data objects Object index Indices of selected data (process values) 4.1.3 INVEOR process values Out (0x3000 – 0x3031, 0x3502, 0x3503) Data index Designation Unit Description type [Hex] 3000 REAL...
  • Page 31 C A N o p e n i n t h e I N V E O R Data index Designation Unit Description type [Hex] 3010 REAL Analogue In 1 Analogue input 1 application 3011 REAL Analogue In 2 Analogue input 2 application 3014 REAL PID actual value...

  • Page 32: Inveor Process Values In (0X3032 - 0X3040, 0X3500, 0X3501)

    C A N o p e n i n t h e I N V E O R 4.1.4 INVEOR process values In (0x3032 – 0x3040, 0x3500, 0x3501) Data index Designation Unit Description type vers. [Hex] Control of outputs: Bit 0 = Dig Out 1 (Parameter 4.150 = 25)

  • Page 33: Structure Of Inveor Control Word

    C A N o p e n i n t h e I N V E O R 4.1.5 Structure of INVEOR control word The meanings of the individual bits of the INVEOR control word are described in the following table. Object 0x3500 IMPORTANT INFORMATION The control word is only accepted if bit 10 (control from AG) is set, otherwise the sent control word is rejected.
  • Page 34 C A N o p e n i n t h e I N V E O R Value Meaning Description JOG (right) Not implemented Not implemented JOG (left) Not implemented Not implemented Control from AG Management via interface, control word valid Control word is rejected Device-specific Device-specific...

  • Page 35: Structure Of Inveor Status Word

    C A N o p e n i n t h e I N V E O R 4.1.6 Structure of INVEOR status word The meanings of the individual bits of the INVEOR status word are described in the following table. Object 0x3502 Value...

  • Page 36: Inveor Parameters (0X2000-0X2200)

    INVEOR parameters (0x2000-0x2200) All parameters can be both read and written. IMPORTANT INFORMATION Not all parameters of the INVEOR are available via the CANopen interface! All parameters can still be set with the PC tool. IMPORTANT INFORMATION The parameters cannot be accessed by using the PDOs!
  • Page 37 C A N o p e n i n t h e I N V E O R INFORMATION All parameters are of the data type "REAL" INFORMATION The data below is listed sorted in ascending order by "Number*". CANopen INVEOR parameter Index Number* Accepted Name Minimum...
  • Page 38 C A N o p e n i n t h e I N V E O R CANopen INVEOR parameter Index Number* Accepted Name Minimum Maximum Unit [Hex] 203E 4.190 2: Always Rel.1 function 2041 4.210 2: Always Relay 2 function 2056 5.070...

  • Page 39: Timeout Monitoring With Node Guarding

    This value determines how often the "Guard Time" can run before a timeout is detected. IMPORTANT INFORMATION The INVEOR parameter "Bus timeout" (6.062) must be set to a value other than 0 to activate timeout monitoring. However, the value entered here is not the timeout time. This is the product of "Guard Time"...

  • Page 40: Timeout Monitoring With Heartbeat

    The object 0x100C "Guard Time" and the object 0x100D "Life Time Factor" must be 0 in order to deactivate node guarding. IMPORTANT INFORMATION The INVEOR parameter "Bus timeout" (6.062) must be set to a value other than 0 to activate timeout monitoring. Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN...

  • Page 41: Heartbeat Producer

    C A N o p e n i n t h e I N V E O R 4.3.1 Heartbeat producer To activate the heartbeat producer function in the INVEOR, a value other than 0 must be written to the object 0x1017 (data type U16). The configured value defines a time in steps of 10 ms.

  • Page 42: Error Detection And Troubleshooting

    5. Error detection and troubleshooting 5.1 Application side error word The following section contains a list of possible error messages of the application. Object 0x300B Bit. Error number Description Undervoltage 24 V application Overvoltage 24 V application Customer PLC version error Communication application<>power Parameter distributor Power time out...

  • Page 43: Power Side Error Word

    E r r o r d e t e c t i o n a n d t r o u b l e s h o o t i n g 5.2 Power side error word The following section contains a list of possible power side error messages. Object 0x300D Bit.
  • Page 44 KOSTAL Industrie Elektrik GmbH Lange Eck 11 58099 Hagen Germany Service-Hotline: +49 2331 8040-848 Phone: +49 2331 8040-800 Fax: +49 2331 8040-602 www.kostal-industrie-elektrik.com...

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