Operating manual
CANopen fieldbus
Page 1: ...Operating manual CANopen fieldbus...
Page 2: ...ed out The compilation is made without any guarantee General note on gender equality KOSTAL is aware of how language impacts on gender equality and always make an effort to reflect this in documentati...
Page 3: ...2016 13 2 3 2 Type code for CANopen current 14 2 3 3 Features code 14 2 4 Hardware components 15 2 4 1 Pin assignment for interfaces 20 2 4 2 Cable 20 2 5 Software components 20 3 Installation 21 3 1...
Page 4: ...eldbus DOC01738251 0001 2016 12 V2 00 EN 4 3 Timeout monitoring with heartbeat 40 4 3 1 Heartbeat producer 41 4 3 2 Heartbeat consumer 41 5 Error detection and troubleshooting 42 5 1 Application side...
Page 5: ...drive controller and bus system through carefully They contain important information for operating the INVEOR with fieldbus We assume no liability for any damage resulting from non observance of this...
Page 6: ...ies 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 De energise drive controller and secure i...
Page 7: ...ds 1 2 3 Signal words Signal words are used to identify the severity of the danger DANGER Indicates a direct hazard with a high level of risk which if not avoided will result in death or serious injur...
Page 8: ...at all times The information notes also point out that failure to observe can result in damage to property or financial damages IMPORTANT INFORMATION The drive controller may only be assembled operat...
Page 9: ...tion Effect of a handling instruction Final result of a handling instruction List Fig 3 Symbols and icons used Abbreviations used Abbreviation Explanation Tab Table Fig Figure It Item Ch Chapter 1 4 Q...
Page 10: ...ation More information is available from Central service hotline Tel 49 2331 8040 848 Monday to Friday 7 am to 5 pm UTC GMT 1 Fax 49 2331 8040 602 E mail INVEOR service kostal com Website address Cust...
Page 11: ...er 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 The network is gen...
Page 12: ...s in a reversely proportional relationship to the data transfer rate see table Data transfer rate kbit s 10 20 50 125 250 500 1000 Parameter 6 061 fieldbus baud rate 8 7 6 4 3 2 0 Length segment m 500...
Page 13: ...ing G0 standard black with inscription 0 standard cooling elements 0 standard with potentiometer 00 standard screw connections 2 Installation location size M motor integrated size A B C D 7 Firmware v...
Page 14: ...ocation size M motor integrated size A D 7 Cover DK01 Standard 3 Input voltage IV01 400 V 8 Housing GH10 standard cooling elements painted black 4 Recommended motor rating PW02 0 37 kW PW03 0 55 kW PW...
Page 15: ...pen 2 m M12 coupling open CANopen 5 pin 2 m A coded INVZUB L CL CO M12F OPEN 2 m A Order no 10138807 CANopen M12 connection cable open 10 m M12 coupling open CANopen 5 pin 10 m A coded INVZUB L CL CO...
Page 16: ...g connections can be found on the INVEOR with CANopen interface Size Alpha Fig 1 Size Alpha CANopen connections Size Alpha CANopen connections 1 Blind plug optional motor connection with wall mounting...
Page 17: ...2 00 EN 17 Size A Fig 5 Size A CANopen connections Size A CANopen connections 1 Blind plug 2 Control line 3 CANopen 4 MMI 5 Potentiometer 6 Grid connection 7 Blind plugSTO install EMC screw connection...
Page 18: ...pen connections Sizes B C CANopen connections 1 Blind plug STO install EMC screw connection supplied in the package 2 Control line 3 Blind plug 4 CANopen 5 MMI 6 Potentiometer 7 Blind plug STO install...
Page 19: ...D Fig 7 Size D CANopen connections Size D CANopen connections 1 Cable screw connection with blind plug 2 Control line 3 CANopen 4 MMI 5 Potentiometer 6 Blind plug STO install EMC screw connection sup...
Page 20: ...ollowing points should be observed when wiring Terminating resistors 120 must be installed at each end of the bus Lay bus and power cables as far apart as possible min 30 cm If cables do cross an angl...
Page 21: ...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 10138791 A terminating resistor must be installed at both ends of the b...
Page 22: ...f parameters appropriate to him 3 2 INVEOR bus address DANGER Risk of death due to electrical shock Death or serious injury De energise drive controller and secure it against being restarted In order...
Page 23: ...tary 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 th...
Page 24: ...and secure it against being restarted IMPORTANT INFORMATION The address of an INVEOR must lie within the range 1 to 127 1 De energize the drive controller 2 Unscrew the cover of the drive controller 3...
Page 25: ...5 6 6 0 6 7 7 0 7 8 8 0 8 9 9 0 9 10 a 0 a 11 b 0 b 12 c 0 c 13 d 0 d 14 e 0 e 15 f 0 f 16 10 1 0 17 11 1 1 18 12 1 2 19 13 1 3 20 14 1 4 21 15 1 5 22 16 1 6 23 17 1 7 24 18 1 8 25 19 1 9 26 1a 1 a 2...
Page 26: ...5 f Address Settings DECIMAL HEX Switch 2 Switch 1 96 60 6 0 97 61 6 1 98 62 6 2 99 63 6 3 100 64 6 4 101 65 6 5 102 66 6 6 103 67 6 7 104 68 6 8 105 69 6 9 106 6a 6 a 107 6b 6 b 108 6c 6 c 109 6d 6 d...
Page 27: ...file contains the drive controller s object directory and physical parameters such as the supported baud rates Configuration tools can read EDS files and use them to obtain information for communicat...
Page 28: ...heartbeat is possible 4 1 EDS file object directory The available objects of the INVEOR are listed below These correspond to the entries in the EDS file 4 1 1 Communication objects 0x1000 0x1200 Inde...
Page 29: ...turer ID 0x337 1018 2 Product Code RO U32 Product code 1018 3 Revision number RO U32 Revision number 1018 4 Serial number RO U32 Serial number 4 1 2 PDO configuration objects 0x1400 0x1A01 Index Hex S...
Page 30: ...mapping Data configuration of transmit PDOs 0 Number of entries RW U8 Number of data objects 1 8 Object index RW U32 Indices of selected data process values 4 1 3 INVEOR process values Out 0x3000 0x3...
Page 31: ...r rating 3021 U32 Virtual DigOuts lowWord 1 Virtual DigOuts of the soft PLC 3023 REAL Customised output variable 1 1 Customised output variable Soft PLC 3024 REAL Customised output variable 2 1 Custom...
Page 32: ...arameter 4 170 25 Bit 2 Relay 1 Parameter 4 190 25 Bit 3 Relay 2 Parameter 4 210 25 Bit 4 Virt Out 1 Parameter 4 230 25 3033 REAL Analogue Out 1 V Control of analogue output 3034 U32 Virtual DigIns lo...
Page 33: ...therwise the target value is rejected Bit Value Meaning Description 0 1 ON 1 Engagement condition 1 0 OFF 1 Shut down via ramp 1 1 ON 2 Engagement condition 2 0 Electr stop OFF 2 Switch off PWM free s...
Page 34: ...gement via interface control word valid 0 Control word is rejected 11 1 Device specific 0 12 1 Device specific 0 13 1 Device specific 0 14 1 Device specific 0 15 1 Device specific Meaning not specifie...
Page 35: ...OFF 2 On 2 off STW bit 1 set logic can be inverted with parameter 6 066 0 Electr stop active OFF 2 5 1 No OFF 3 On 3 off STW bit 2 set logic can be inverted with parameter 6 066 0 Rapid stop active OF...
Page 36: ...EOR status word AG Automation device 1 Deviation from standard 2 As of software version 03 61 3 As of software version 03 74 4 1 7 INVEOR parameters 0x2000 0x2200 All parameters can be both read and w...
Page 37: ...proval 0 16 2051 1 132 2 Always Start protection 0 8 2029 1 150 2 Always Rotation direction 0 16 2035 1 180 2 Always Acknowledge function 0 7 2025 3 050 2 Always PID P amplific 0 100 2026 3 051 2 Alwa...
Page 38: ...1 Ready Motor speed 0 80000 rpm 214A 33 035 1 Ready Motor frequency 10 400 Hz 2173 33 050 1 Ready Stator resistance 0 100 Ohm 2144 33 110 1 Ready Motor voltage 0 1500 V 2148 33 111 1 Ready Motor cos...
Page 39: ...lue corresponds to the timeout in ms The object 0x100D Life Time Factor must be a value other than 0 This value determines how often the Guard Time can run before a timeout is detected IMPORTANT INFOR...
Page 40: ...rated The INVEOR switches to error status This error can be acknowledged immediately A running motor is stopped 4 3 Timeout monitoring with heartbeat As an alternative to node guarding the INVEOR can...
Page 41: ...ct Consumer Heartbeat 0x1016 Idx 01 must be configured A 32 bit word is transferred for this object The lowest 2 bytes define the timeout value in ms The lower of the highest 2 bytes specifies the add...
Page 42: ...application 5 6 Customer PLC version error 7 8 Communication application power 9 10 Parameter distributor 10 11 Power time out 12 13 Cable break at analogue in 1 4 20 mA 2 10 V 13 14 Cable break at a...
Page 43: ...T 1 33 Overvoltage of intermediate circuit 2 34 Undervoltage of intermediate circuit 3 35 Excess motor temperature 4 36 Power failure 6 38 Excess IGBT module temperature 7 39 Overcurrent 8 40 Excess f...
Page 44: ...www kostal industrie elektrik com 12 2016 BA FBCo EN 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...
