Configuration Example - gefran SIEIDrive ADL300 Functions Description And Parameters List

1.6 Configuration example

This chapter provides an example of how to configure the parameters of ADL300 drives so that they can be read and writ-
ten by a CANopen master via the processing channels (PDO). See the chapter 1.4 for the configuration channels (SDO).
The paragraph 1.6.1 provides the information required on a CANopen master controlling a machine. The paragraph 1.6.2
contains basic information for programming the ADL300 drive starting from the factory settings.
In this example, drive programming is performed using the GF-Express configurator. All operations can, of course, be
performed via keypad.
1.6.1 CANopen Master
This section contains an example of data exchange seen from the master side. This is the data normally contained in the
machine specifications in the case of applications controlled by a CANopen master.
1.6.1.1 Description of Master -> Slave PDO Communication
There are two parameters to be written via the processing channels. The first is a control word, in which the single bits
contain certain commands (e.g. enable, start, etc. ). The second processing channel contains the ramp reference 1 (Ram-
pRef1) in rpm.
CANopen PDO: Master -> Drive (max 16 word)
Position
Word1 M -> S
Word2 M -> S
Word3 M -> S
...
...
Word16 M > S
CONTROL WORD, Example:
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1.6.1.2 Description of PDO Slave -> Master Communication
The can master reads three parameters from the drive: the first two contain, respectively the two status words (Lift Status
Word1 and Lift Status Word2) whose individual bits contain information of the drive's status (e.g. LiftEnable.). Only Lift Sta-
tus Word1 is used by this application, Lift Status Word 2 can be omitted. The third parameter is the current speed in rpm.
CANopen PDO Slave > Master (max 16 Word)
Position
Word1 S -> M
Word2 S -> M
Word3 S -> M
...
...
Word16 S -> M
Description
Control word
MultiSpeed 7
Description
EnableCmd
StartFwdCmd
StartRevCmd
Emergency mode
MltSpd S0
MltSpd S1
MltSpd S2
Free
Free
Free
Free
Free
Free
Free
Free
Free
Description
Status Word
Actual Speed
ADL300 • Appendix
Format Unit of Measure
16 bit Word
Float
Remarks
Enable command from CANopen master
Start forward command
Start reverse command
Emergency operation command
Multi speed 0 sel
Multi speed 1 sel
Multi speed 2 sel
Format Unit of Measure
16 bit Word
Int 16 bit
...
Rpm
BitWide
rpm
143