7
ENGLISH
Commissioning
4
Commissioning CANopen communications
Following installation of the CANopen communications module,
4.1
Quick Set-up
With drive power disconnected connect the CANopen communication module and
network cable to the drive as shown in the preceding section.
NOTE:
If CANopen network is already operational do NOT connect the network connector
until the Node ID and Baud rate parameters on installed drive are setup correctly.
Apply Power to the drive. In drive parameter menu, select parameter P400 Network
Protocol and set it to 3 -- CANopen. After this action, the module will be initialized with
CANopen protocol and will enter Online mode - P402 = 3.
To monitor and control the drive via network, the following parameters should be set as a
minimum:
P410
Node Id (default 1)
P411
Baud Rate (default 5 = 500 kbps)
P100
Start Control Source - Network control can be taken in any mode of operation except when
P100 = 2 Remote Keypad Only.
NOTE:
If P100 is not equal 0, TB1 must be connected to TB4 in order to start the drive.
P112
Rotation - Set this parameter to Forward and Reverse (1) if operation in both directions is
required.
P121
P122
or
P123
One of these parameters must be set to 9 - Network Enable and corresponding terminal
must be closed in order to take network control and start via network.
P304
Motor Rated frequency, P305 Motor Rated Speed - if Network speed needs to be scaled in
RPMs units; those parameters must be set accordingly to motor nameplate.
To activate changes made to P400 and P401 use P418 Reset CAN node parameter or
recycle the power.
If no other CANopen parameter has been modified the drive will enter CANopen Pre-
operational state (see P412, P419) and every 2 seconds (P416) will transmit a heartbeat
message.
As a default, RPDO#1 (P44x) and TPDO#1 (P46x) are active when the CANopen state is
switched to the operational state.
