Lenze L-force CANopen EMF2178IB Communications Manual Download

Page: 112 / 154

Implemented CANopen objects

Overview
I−1800 ... I−1802: Transmit PDO communication parameters

112

EDSMF2178IB EN 3.0

13.2.21

I−1800 ... I−1802: Transmit PDO communication parameters

Sending of PDO communication parameters

)

Note!

The objects I−1801 and I−1802 are

not

available for 8200 vector and 93XX

controllers.

Index

Subindex

Name

Data type

Value range

Authorisatio
n

I−1800

Number of entries

0 ... 255

TPDO1 COB−ID

U32

0 ... (2

− 1)

TPDO1 transmission type

0 ... 240, 252,254

TPDO1 inhibit time

U32

0 ... 65535

TPDO1 event timer

U32

0 ... 65535

I−1801

Number of entries

0 ... 255

TPDO2 COB−ID

U32

0 ... (2

− 1)

TPDO2 transmission type

0 ... 240, 252, 254

TPDO2 inhibit time

U32

0 ... 65535

TPDO2 event timer

U32

0 ... 65535

I−1802

Number of entries

0 ... 255

TPDO3 COB−ID

U32

0 ... (2

− 1)

TPDO3 transmission type

0 ... 240, 252, 254

TPDO3 inhibit time

U32

0 ... 65535

TPDO3 event timer

U32

0 ... 65535

Subindices

Subindex

Description

Max. supported subindices = 5

Identifier setting:

TPDO1: 0x180 + node ID

TPDO2: 0x280 + node ID

TPDO3: 0x380 + node ID

Transmission type setting (see table)

Inhibit time setting

Cycle time setting

Summary of Contents for L-force CANopen EMF2178IB

Page 1: ...EDSMF2178IB Li Ä Li ä Communication Manual CANopen l EMF2178IB Communication module L force Communication ...

Page 2: ...4 Technical data 17 4 1 General data and operating conditions 17 4 2 Protective insulation 18 4 3 Communication time 19 4 4 Dimensions 20 5 Installation 21 5 1 Mechanical installation 22 5 2 Electrical installation 23 5 2 1 Wiring according to EMC CE typical drive system 23 5 2 2 Wiring with a host master 24 5 2 3 Wiring system bus CAN 25 5 2 4 Specification of the transmission cable 26 5 2 5 Bus ...

Page 3: ...meter data transfer 69 10 1 Access to the codes of the controller 70 10 2 Lenze parameter sets 71 10 2 1 Parameter sets for 8200 vector controller 71 10 2 2 Parameter sets for controller 93XX 72 10 3 Structure of the parameter data telegram 73 10 4 Error codes 76 10 5 Examples of parameter data telegram 77 10 6 Special features for parameter setting of the drive controller 81 10 6 1 8200 vector co...

Page 4: ...3 2 11 I 1011 Restore default parameters 102 13 2 12 I 1014 COB ID emergency object 104 13 2 13 I 1015 Emergency inhibit time 105 13 2 14 I 1016 Consumer heartbeat time 105 13 2 15 I 1017 Producer heartbeat time 106 13 2 16 I 1018 Module device description 106 13 2 17 I 1029 Error behaviour 106 13 2 18 I 1200 I 1201 Server SDO parameters 107 13 2 19 I 1400 I 1402 Receive PDO communication paramete...

Page 5: ...plained in so far as they are necessary for comprehending the function of the communication module This documentation does not describe the software of an original equipment manufacturer No responsibility is taken for corresponding information given in this manual Information on how to use the software can be obtained from the documents of the host system master All brand names mentioned in this m...

Page 6: ...maintain the networking and remote service of a machine I Tip Information and auxiliary devices related to the Lenze products can be found in the download area at http www Lenze com Validity information The information given in this documentation is valid for the following devices ƒ EMF2178IB communication modules CANopen as of version 1x 2x ...

Page 7: ...0 06 2013 TD17 l New chapter Replacing communication module EMF2172IB CAN 39 l General updates Your opinion is important to us These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product If you have suggestions for improvement please e mail us to feedback docu Lenze de Thank you for your support Your Lenze documentation tea...

Page 8: ... the decimal point is used For instance 1234 56 Decimal Standard notation Example 1234 Hexadecimal 0x 0 9 A F Example 0x60F4 Binary l Nibble 0b 0 1 Point Example 0b0110 Example 0b0110 0100 Text Program name PC software For example Engineer Global Drive Control GDC Icons Page reference Reference to another page with additional information For instance 16 see page 16 Documentation reference Referenc...

Page 9: ...ning to maintenance of the commissioned machine Code Parameter which serves to parameterise and monitor the controller In normal speech the term is usually called Index Subcode If a code contains more than one parameter these parameters are stored in subcodes In this documentation a slash is used as a separator between code and subcode e g C00118 3 In normal speech the term is also called Subindex...

Page 10: ...dangerous electrical voltage Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Danger Danger of personal injury through a general source of danger Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Stop Danger of property damage Reference to a p...

Page 11: ...rts during or after operation Surfaces can be hot ƒ For Lenze drive components only use permitted accessories only use original manufacturer spare parts ƒ All specifications of the corresponding enclosed documentation must be observed This is vital for a safe and trouble free operation and for achieving the specified product features The procedural notes and circuit details provided in this docume...

Page 12: ...iven specifications 26 Documentation of the standard device control system and plant machine All the other measures prescribed in this documentation must also be implemented Observe the safety instructions and application notes contained in this manual 2 3 Residual hazards Protection of persons ƒ If controllers are connected to phase earthed system with a rated mains voltage 400 V external measure...

Page 13: ...1 xS EVS9332 xS 2x 1x Servo inverter EVS9321 xK EVS9332 xK 2x 1x Servo cam profiler EVS9321 xP EVS9332 xP 2x 1x Servo position controller EVS9321 xR EVS9332 xR 2x 1x Servo register controller EVS9321 xI EVS9332 xI 2x 8x 9300 servo PLC EVS9321 xT EVS9332 xT 2x 8x 9300 vector EVF9321 xV EVF9333 xV 2x 1x 9300 vector frequency inverter EVF9335 xV EVF9338 xV 1x 0x EVF9381 xV EVF9383 xV 1x 0x ECS servo ...

Page 14: ...roduct description Identification 3 l 14 EDSMF2178IB EN 3 0 3 2 Identification E82AF000P0B201XX L Type Id No Prod No Ser No 99371BC013 Type code W 33 2178IB 1x 2x Series Hardware version Software version ...

Page 15: ...o PLC Drive PLC ECSXX ƒ Front DIP switches for setting the CAN node address max 127 nodes baud rate 10 20 50 125 250 500 and 1000 kbit s ƒ Bus expansion without repeater up to 7450 m ƒ Topology Line terminated at both ends R 120 W ƒ Simple connection through plug on screw terminals ƒ Together with a 9300 Servo PLC additional CANopen application profiles can be implemented ...

Page 16: ...or fold out page Pos Description Detailed information 0 Connection status to standard device two colour LED 89 1 Connection status to fieldbus two colour LED 2 Operating status of standard device green and red Drive LED 3 Fixing screw 4 Plug connector with double screw connection 5 pole 24 5 PE shield cable connection 6 DIP switches for setting the l node address switches 1 7 l baud rate switches ...

Page 17: ...gth Max 7450 m depending on the baud rate 27 Baud rate kbit s 10 20 50 125 250 500 1000 Voltage supply Internal or external supply possible for basic devices 8200 vector 93XX 9300 Servo PLC Drive PLC ECSXX also see 30 External supply via separate power supply unit V V 24 V DC 10 I 100 mA GND Reference potential for external voltage supply Documentation for Lenze series of devices 8200 vector 9300 ...

Page 18: ...f the plugged device modules a double isolating distance must exist the components to be connected must be provided with the second isolating distance Protective insulation between the bus and Type of insulation according to EN 61800 5 1 Reference earth PE Functional insulation External supply No functional insulation Power section l 8200 vector Double insulation l 9300 vector Servo PLC Double ins...

Page 19: ...controller ƒ Telegram runtime baud rate telegram length ƒ the data priority ƒ the bus load Processing time in the controller Documentation for the controller Here you can find information on the processing times in the controller Telegram time The telegram times depend on the baud rate and the telegram length Baud rate kbit s Telegram runtime ms 0 bytes 2 bytes 8 bytes 10 5 44 7 36 13 12 20 2 72 3...

Page 20: ... data Dimensions 4 l 20 EDSMF2178IB EN 3 0 4 4 Dimensions 2178 Address Bd CANopen L C A N _ L S H L D V C A N _ H G N D 62 18 36 75 2178CAN003 Fig 4 1 Dimensions of the communication module all dimensions in mm ...

Page 21: ...personal injury and material damage Observe the safety instructions and residual hazards described in the documentation for the standard device Stop The device contains components that can be destroyed by electrostatic discharge Before working on the device the personnel must ensure that they are free of electrostatic charge by using appropriate measures ...

Page 22: ...n module onto the standard device here 8200 vector ƒ Tighten the communication module to the standard device using the fixing screw in order to ensure a good PE connection Note For the internal supply of the communication module by the 8200 vector frequency inverter the jumper has to be adjusted within the interface opening see illustration above Observe the notes 30 ...

Page 23: ...g conductor with a cross section of at least 16 mm2 reference PE to avoid potential differences between the bus nodes ƒ Observe the other notes concerning EMC compliant wiring given in the documentation for the standard device Procedure for wiring 1 Observe the bus topology i e do not use stubs 2 Observe notes and wiring instructions in the documents for the control system 3 Only use cables corres...

Page 24: ...ormation For wiring observe the electrical isolation of the supply voltage The supply voltage is on the same potential as the data bus The 5 pole plug connector with double screw connection serves to ƒ connect the bus 25 ƒ effect the external voltage supply 30 C A N _ L S H L D V C A N _ H G N D 120W 2178CAN003 Fig 5 2 5 pole plug connector with double screw connection Designation Explanation GND ...

Page 25: ... accessed via the parameter data channels of the EMF2178IB communication module to the codes of the basic Lenze device or the corresponding CANopen objects With both parameter data channels two masters can be connected to a standard device A PC e g with the Lenze software Global Drive Control or an operator terminal serve to change parameters directly at the standard device during operation of a s...

Page 26: ...ction to the plug connector 5 2 4 Specification of the transmission cable We recommend the use of CAN cables in accordance with ISO 11898 2 CAN cable in accordance with ISO 11898 2 Cable type Paired with shielding Impedance 120 W 95 140 W Cable resistance cross section Cable length 300 m 70 mW m 0 25 0 34 mm2 AWG22 Cable length 301 1000 m 40 mW m 0 5 mm2 AWG20 Signal propagation delay 5 ns m ...

Page 27: ...le lengths of the CAN nodes differ for the same baud rate the smaller value must be used to determine the max cable length ƒ Observe the reduction of the total cable length due to the signal delay of the repeater 5 2 5 1 Total cable length The baud rate determines the total cable length Baud rate kbps Max bus length m 10 7450 20 3950 50 1550 125 630 250 290 500 120 1000 25 Tab 5 1 Total cable leng...

Page 28: ...24 0 5 mm2 AWG21 0 75 mm2 AWG19 1 0 mm2 AWG18 2 240 m 430 m 650 m 940 m 5 230 m 420 m 640 m 920 m 10 230 m 410 m 620 m 900 m 20 210 m 390 m 580 m 850 m 32 200 m 360 m 550 m 800 m 63 170 m 310 m 470 m 690 m 100 150 m 270 m 410 m 600 m Tab 5 2 Segment cable length Example Selection help Given Total cable length to be implemented 200 m Number of nodes 63 Results Max possible baud rate 250 kbps derive...

Page 29: ...interface Advantage The calibration programming unit remains electrically isolated Example Given Total cable length to be implemented 450 m Number of nodes 32 Cable cross section 0 50 mm2 AWG 20 Baud rate 125 kbps Repeater used Lenze repeater EMF2176IB Reduction of the max total cable length per repeater EMF2176IB 30 m Results Max total cable length 630 m see Tab 5 1 Total cable length 27 Max segm...

Page 30: ...ice Lenze setting Only external voltage supply possible Internal voltage supply External voltage supply Note In the case of an external voltage supply and for greater distances between the control cabinets always use a separate power supply unit SELV PELV that is safely separated in accordance with EN 61800 5 1 in each control cabinet The external voltage supply of the communication module ƒ is re...

Page 31: ...nnection Plug connector with screw connection Possible connections rigid 1 5 mm2 AWG 16 flexible without wire end ferrule 1 5 mm2 AWG 16 with wire end ferrule without plastic sleeve 1 5 mm2 AWG 16 with wire end ferrule with plastic sleeve 1 5 mm2 AWG 16 Tightening torque 0 5 0 6 Nm 4 4 5 3 lb in Stripping length 6 mm ...

Page 32: ...ing on Stop Before you switch on the standard device with the communication module for the first time check ƒ the entire wiring with regard to completeness short circuit and earth fault ƒ whether the bus system is terminated by a bus terminating resistor at the physically first and last node 6 2 Installing EDS files The EDS files serve to implement the Lenze communication modules for the AIF and F...

Page 33: ... the values are accepted from the codes C1850 C2350 node address and C1851 C2351 baud rate Node addresses 99 can only be set via DIP switch The baud rates 10 kbps and 20 kbps can only be selected via DIP switch ƒ Writing the codes e g with GDC via CAN has a direct effect on the standard device codes C0009 and C0126 ƒ Acceptance of code changes by Switching off and then on again the voltage supply ...

Page 34: ...onnected to the CAN network the node addresses must differ from each other ƒ The desired node address results from the sum of the values of switches 1 7 in ON position Switch Value Example Switch position Node address 1 64 OFF 16 4 2 1 23 2 32 OFF 3 16 ON 4 8 OFF 5 4 ON 6 2 ON 7 1 ON Note Switch off the voltage supply of the communication module and then switch it on again to activate the changed ...

Page 35: ...te setting ƒ The baud rate must be the same for all CAN nodes ƒ The following baud rates can be set Baud rate kbps Switch 8 9 10 10 ON ON OFF 20 ON OFF ON 50 OFF ON ON 125 OFF ON OFF 250 OFF OFF ON 500 OFF OFF OFF 1000 ON OFF OFF Note Switch off the voltage supply of the communication module and then switch it on again to activate the changed settings ...

Page 36: ...front of the communication module is lit The status LED of the standard device Drive LED 2 must be lit or blinking The meaning of the signalling can be found in the standard device documentation 2 You can now communicate with the drive i e all parameters SDO can be read all writable parameters SDO can be overwritten 3 After a state change Operational process data can be exchanged with the drive 21...

Page 37: ...g Not assigned it must be assigned to HIGH level during CANopen operation 4 The controller now accepts parameter data and process data Enable 93XX via the communication module Step Procedure Comments 1 Set C0005 to th value xxx3 The value xxx3 of the Lenze parameter C0005 control of the controller via CANopen can be set with the GDC keypad XT or directly via CANopen Example for the first commissio...

Page 38: ...led restart Note Establishing communication If communication is to be established via an externally supplied communication module initially the standard device must also be switched on After communication has been established the externally supplied module is independent of the power on off state of the standard device Protection against uncontrolled restart After a fault e g short term mains fail...

Page 39: ...ssignments for setting the CAN node address and the baud rate 40 Furthermore there are different adjustable CAN address ranges Communication module CAN address range DIP switch EMF2172IB CAN 1 63 S4 S9 EMF2178IB CANopen 1 127 S1 S7 ƒ Depending on the standard device used the 2 SDO channel is activated via code C1865 1 or C2365 1 41 Changing the wiring The following illustration shows how you must ...

Page 40: ...st remain set An address setting 63 was not possible for EMF2172IB S9 S2 S4 S7 W W CAN L address baud 4 9 1 3 ON OFF Address Bd CANopen L 1 7 8 10 ON OFF Address W S1 OFF Baudrate S3 S8 S1 S10 W W 2178CAN011 Switch Value Example EMF2172IB EMF2178IB Switch position CAN node address S1 64 OFF 16 4 2 1 23 S9 S2 32 OFF S8 S3 16 ON S7 S4 8 OFF S6 S5 4 ON S5 S6 2 ON S4 S7 1 ON ...

Page 41: ...lug the EMF2178IB communication module onto the standard device Use the GDC or XT keypad to set standard device code C2365 1 1 and save it with mains failure protection After mains connection of one of the standard devices specified above or after plugging on the EMF2178IB communication module the contents of C2365 are written to the communication module 2 Use the GDC to set code C1865 1 1 The set...

Page 42: ...ferred via the parameter data channel 8 1 Structure of the CAN telegram Control field CRC delimit ACK delimit Start RTR bit CRC sequence ACK slot End Identifier User data 0 8 bytes l Network management l Process data l Parameter data 1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits Fig 8 1 Basic structure of the CAN telegram I Tip The identifier and the user data will be explained in mo...

Page 43: ...sic identifier adjustable node address Node ID The identifier assignment is defined in the CANopen protocol Basic identifier The basic identifier is preset as default with the following values according to the CANopen specification Object Direction Basic identifier from the drive to the drive dec hex NMT 0 0x000 Sync 128 0x080 Emergency X 128 0x080 PDO1 Process data channel 1 TPDO1 X 384 0x180 RPD...

Page 44: ... area An exchange between host and controller is required as fast as possible Small amounts of data can be transferred cyclically Process data are not saved in the controller Process data are for instance control words status words setpoints and actual values ƒ Parameter data SDO Service Data Objects Parameter data are transmitted as SDOs via the parameter data channel and acknowledged by the rece...

Page 45: ...ed in the data exchange on the bus A part of the initialisation or the complete initialisation can be run through again in every NMT status by transmitting different telegrams see state transition Here all parameters are written with their set values After completing the initialisation the controller automatically adopts the Pre Operational status Pre Operational The controller can receive paramet...

Page 46: ... master carries out the changes between the communication phases for the whole network With code C1852 C2352 125 you can set up the communication module for master or slave operation After an adjustable boot up time in C1856 1 C2356 1 in master operation 130 the NMT command Start_Remote_Node is transmitted which puts all nodes into the Operational status Note Only a change to Operational status en...

Page 47: ...he whole network A target address which is part of the command specifies the receiver s 3 6 0x01yy Operational Network management telegrams sync emergency process data PDOs and parameter data SDOs active like Start remote node Optional When the status is changed event and time controlled process data PDOs will be sent once 4 7 0x80yy Pre operational Network management telegrams sync emergency and ...

Page 48: ...om the node s view RPDOx A process data object received by a node TPDOx A process data object transmitted by a node 9 1 Available process data objects Depending on the basic device used up to 3 RPDOs and TPDOs can be available I Tip From the masters s view the following terms are used for process data transfer with the standard device and the plugged communication module ƒ The master sends the pro...

Page 49: ... the user data is transformed into corresponding signal types in order to use them for further function blocks The control word is especially important for the controller It contains the drive setpoint in user data bytes 1 and 2 Byte 3 4 X1 Control word AIF IN Byte 1 2 Identifier User data 8 bytes AIF X1 X1 AIF interface e g 8200 vector Fig 9 1 Example Process data telegram to controller Process d...

Page 50: ... in order to adapt the controller to the drive task without being an expert in programming The user himself is able to carry out the interconnection However it is recommended to use the preconfigurations provided by Lenze which are saved in the read only memory of the controller The Lenze preconfigurations code C0005 define which source terminal keyboard communication module overwrites the frequen...

Page 51: ...must be generated accordingly Process data from Controller Process data to Controller Sync telegram Sync telegram Cycle time Fig 9 2 Sync telegram After the sync telegram has been received the controllers send the cyclic process data to the master The master reads them as process input data When the sending process has been completed the controllers receive the process output data from the master ...

Page 52: ...red here 2 C0135 Control word high byte Bits 8 15 of the control word under C0135 145 are entered here 3 AIF IN W1 low byte AIF IN Wx is parameterised under code C0412 4 AIF IN W1 high byte 5 AIF IN W2 low byte 6 AIF IN W2 high byte 7 8 xx No evaluation of these data any content possible Process data telegram from drive User data up to 8 bytes Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte ...

Page 53: ...unction generator input 0 NSET1 RFG1 0 Freely configurable 6 0 1 Not active Active 6 UP function motor potentiometer MPOT1 UP Freely configurable 7 0 1 Not active Active 7 DOWN function motor potentiometer MPOT1 DOWN Freely configurable 8 8 Freely configurable Freely configurable 9 9 Controller inhibit AIF CTRL CINH Controller inhibit AIF CTRL CINH 10 0 1 Not active Active 0 1 Not active Active 10...

Page 54: ...IB EN 3 0 AIF AIF IN AIF CTRL AIF IN W2 AIF IN W1 B15 B12 B0 B1 B2 B3 B4 B8 B9 B10 B11 DCTRL QSP CINH TRIP SET TRIP RESET DCTRL 16 Bit 16 Bit 16 Bit C0410 x 10 C0410 x 11 C0410 x 12 C0410 x 22 C0410 x 25 C0412 x 10 C0412 x 11 2141LON011 Fig 9 3 System block AIF IN in 8200 vector freely configurable assignment ...

Page 55: ... 0 1 0 Switch on inhibit 0 0 1 1 Operation inhibited 0 1 0 0 Flying restart circuit active 0 1 0 1 DC injection brake active 0 1 1 0 Operation enabled 0 1 1 1 Message active 1 0 0 0 Fault active 1 1 1 1 Communication with basic device not possible 12 Overtemperature warning DCTRL1 OH WARN 13 13 DC bus overvoltage DCTRL1 OV 14 14 Direction of rotation DCTRL1 CCW 15 15 Ready for operation DCTRL1 RDY...

Page 56: ...l configuration selected under code C0005 Under code C0005 you can preconfigure the signals of the control word and the status word In the controller other signals can be assigned to AIF IN W1 to AIF IN W3 For this the function block configuration described in the 93XX System Manual is used Signal configuration C0005 AIF IN W1 AIF IN W2 AIF IN W3 AIF IN D1 Speed control 1003 1013 1113 NSET N Speed...

Page 57: ...ot assigned Not assigned 7 Not assigned Not assigned Not assigned Not assigned POS PRG RESET CSEL1 LOAD Not assigned Not assigned Not assigned 8 Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned 9 AIF CTRL CINH AIF CTRL CINH AIF CTRL CINH AIF CTRL CINH AIF CTRL CINH AIF CTRL CINH AIF CTRL CINH AIF CTRL CINH AIF CTRL CINH 10 AIF CTR...

Page 58: ... 5 5 2 C 0 8 5 6 3 C 1 1 9 7 1 6 B i t L o w W o r d 1 6 B i t H i g h W o r d A I F I N D 2 C 0 1 3 6 3 1 6 B i t 1 6 B i t A I F I N W 2 A I F I N W 3 1 6 B i n ä r s i g n a l e 1 6 B i t L o w W o r d 1 6 B i t H i g h W o r d 1 6 B i n ä r s i g n a l e 1 6 B i t A I F I N W 1 A I F I N B 1 5 A I F I N B 0 A I F I N D 1 A I F C T R L B 1 2 A I F C T R L B 1 3 A I F C T R L B 1 4 A I F C T R L...

Page 59: ...T Actual speed value 100 16383 MCTRL MSET2 Torque display 100 16383 MCTRL NSET2 Speed controller input 100 16383 Not assigned Torque control 4003 4013 4113 MCTRL MSET2 Torque display 100 16383 MCTRL NACT Actual speed in 100 16383 MCTRL NSET2 Speed controller input 100 16383 LF master 5003 5013 5113 MCTRL NACT Actual speed value 100 16383 MCTRL MSET2 Torque display 100 16383 MCTRL NSET2 Speed contr...

Page 60: ...ESS DCTRL MESS DCTRL MESS DCTRL MESS DCTRL MESS 14 DCTRL CW CC W DCTRL CW CC W DCTRL CW CC W Not assigned DCTRL AIFL QS P DCTRL CW CC W DCTRL CW CC W DCTRL CW CC W DCTRL CW CC W 15 DCTRL RDY DCTRL RDY DCTRL RDY DCTRL RDY DCTRL RDY DCTRL RDY DCTRL RDY DCTRL RDY DCTRL RDY A I F O U T S t a t u s w o r d B i t 0 B i t 1 5 B i t 0 B i t 3 1 B y t e 7 8 B y t e 5 6 B y t e 3 4 1 0 2 C 0 8 5 3 1 0 2 C 0...

Page 61: ...rive PLC ECSxA For more information please see the chapter System blocks AIF1_IO_AutomationInterface in the Manuals and Operating Instructions for the 9300 Servo PLC Drive PLC and ECSxA axis module Note Only 9300 Servo PLC ECSxA Perform the following linkings in the PLC program of the drive controller ƒ AIF1_wDctrlCtrl WDCTRL_wAIF1Ctrl ƒ DCTRL_wStat W AIF1_wDctrlStat ...

Page 62: ...a C0856 2 C0856 3 AIF1_bInB0_b AIF1_bInB15_b AIF1_nInW3_a AIF1_bIn16_b AIF1_bIn31_b Automation Interface Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Controlword Inputs_AIF2 Automation Interface AIF2_bInB0_b AIF2_bInB15_b AIF2_nInW1_a 16 Bit 16 binary signals Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 AIF2_bInB16_b AIF2_bInB31_b AIF2_nInW2_a 16 Bit 16 binary signals 16 Bit ...

Page 63: ...ata TPDOs Designation variable name Explanation Device status word AIF1_DctrlStat AIF word 1 AIF_nOutW1_a AIF word 2 AIF_nOutW2_a AIF word 3 AIF_nOutW3_a AIF word 4 AIF2_nOutW1_a AIF word 5 AIF2_nOutW2_a AIF word 6 AIF2_nOutW3_a AIF word 7 AIF2_nOutW4_a AIF word 8 AIF3_nOutW1_a AIF word 9 AIF3_nOutW2_a AIF word 10 AIF3_nOutW3_a AIF word 11 AIF3_nOutW4_a AIF word 12 AIF1_dnOutD1_p AIF double word 1...

Page 64: ...7 Byte 8 16 Bit LowWord 16 Bit HighWord 16 Bit 16 binary signals 16 Bit 16 binary signals AIF2_nOutW2_a AIF2_nOutW1_a AIF2_bFDO0_b AIF2_bFDO15_b AIF2_bFDO16_b AIF2_bFDO31_b 16 Bit 16 Bit AIF2_nOutW4_a AIF2_dnOutD1_p AIF2_nOutW3_a Outputs_AIF3 Automation Interface Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 16 Bit LowWord 16 Bit HighWord 16 Bit 16 binary signals 16 Bit 16 binary signals...

Page 65: ...type depends on the standard device The process data length depends on the AIF mode 68 Basic device AIF mode 8200 vector Mode 3 3 process data words with variable assignment 93XX Mode 4 4 process data words with variable assignment 9300 servo PLC Mode 5 12 process data words with variable assignment ECSXX depends on the variant mode 4 or 5 For mapping in the module the master enters indices and da...

Page 66: ...1825 1 11 0x58DE The codes represent the values at the AIF interface Converted into indices mapping refers to these codes Process data AIF IN Represented as 16 bit values 32 bit values 1 Byte 1 AIF1 IN bytes 1 8 C1822 1 C1824 1 2nd byte 3rd byte C1822 2 C1824 2 Byte 4 Byte 5 C1822 3 C1824 3 Byte 6 7th byte C1822 4 C1824 4 Byte 8 Byte 9 AIF2 IN bytes 1 8 C1822 5 C1824 5 Byte 10 Byte 11 C1822 6 C182...

Page 67: ...fications the indices I 160x and I 1A0x are available for mapping the CAN PDOs During mapping the process output data of the master are mapped via the indices I 160x to the AIF input data of the basic device The indices I 160x refer to codes C1822 and C1824 The entry contains the index of the corresponding code and the corresponding subindex for the assignment of a word or double word The object l...

Page 68: ...3_a Byte 14 Byte 15 AIF2_nInW4_a AIF2_nOutW4_a Byte 16 Byte 17 AIF3 IN OUT bytes 1 8 AIF3_nInW1_a AIF3_nOutW1_a AIF3_dnInD1_p AIF3_dnOutD1_p Byte 18 Byte 19 AIF3_nInW2_a AIF3_nOutW2_a Byte 20 Byte 21 AIF3_nInW3_a AIF3_nOutW3_a Byte 22 Byte 23 AIF3_nInW4_a AIF3_nOutW4_a Byte 24 ƒ For mode 3 e g for the 8200 vector an assignment of the first three words is useful For the mapping the index of code C1...

Page 69: ... of material in a machine ƒ are transferred with low priority Parameter data are transmitted via the system bus as SDOs Service Data Objects and acknowledged by the receiver The SDOs enable read and write access to the object directory In the Lenze setting one parameter data channel is available for parameter setting A second parameter data channel can be activated via code C1865 1 C2365 1 or the ...

Page 70: ...be changed are listed under codes Controller codes are addressed via the index when accessing the code through the communication module The index for Lenze code numbers is between 16576 0x40C0 and 24575 0x5FFF Documentation for the controller Here you can find a detailed description of the codes Indexing of Lenze codes Conversion formula Index dec Index hex 24575 Lenze code 0x5FFF Lenze code hex E...

Page 71: ...the parameters of which can be directly addressed via the INTERBUS Addressing Addressing is carried out with a code offset ƒ Offset 0 addresses the parameter set 1 with the codes C0000 C1999 ƒ Offset 2000 addresses the parameter set 2 with the codes C2000 C3999 ƒ Offset 4000 addresses the parameter set 3 with the codes C4000 C5999 ƒ Offset 6000 addresses the parameter set 4 with the codes C6000 C7...

Page 72: ...f the drive controller This parameter set is referred to as current parameter set Addressing ƒ Only the current parameter set can be directly addressed via the bus ƒ After power on parameter set 1 is automatically loaded into the current parameter set ƒ Before changing the parameters of parameter sets 2 4 the parameter sets must be activated Note Changes in the current parameter set are lost after...

Page 73: ...h e s Write request 0 0 1 0 x x 1 1 User data length coding in bits 2 and 3 l 0b00 4 bytes l 0b01 3 bytes l 0b10 2 bytes l 0b11 1 byte Write response 0 1 1 0 x x 0 0 Read request 0 1 0 0 x x 0 0 Read response 0 1 0 0 x x 1 1 Error response 1 0 0 0 0 0 0 0 The following information is contained must be entered in the command Command 4 byte data bytes 5 8 2 byte data bytes 5 and 6 1 byte data byte 5...

Page 74: ...e further subcodes may exist For all array codes the value of the highest subindex can be read out via subindex 0 Data Data 1 4 Parameter value length depending on the data format Data format See table of attributes in the documentation of the controller Parameter value length 1 byte 0x00 0x00 0x00 Parameter value length 2 bytes 0x00 0x00 Low byte High byte Parameter value length 4 bytes Low word ...

Page 75: ...e indicates that an error has occurred ƒ Bytes 2 4 These bytes contain the index bytes 2 and 3 and the subindex byte 4 of the code in which the error has occurred ƒ Bytes 5 8 The data bytes 5 8 contain the error code The error code is described in reversed direction compared to the read direction Example Representation of the error code 0x06040041 in bytes 5 8 Read direction of error code 0x41 0x0...

Page 76: ...ntroller incompatibility 0x06060000 Access denied because of hardware error 0x06070010 Inappropriate data type service parameter length 0x06070012 Inappropriate data type service parameter length exceeded 0x06070013 Inappropriate data type service parameters not long enough 0x06090011 Subindex does not exist 0x06090030 Parameter value range exceeded 0x06090031 Parameter values too high 0x06090032 ...

Page 77: ...ue hex Read request 0x40 ƒ Index calculation Index Calculation 24575 code number 24575 61 24514 0x5FC2 ƒ Subindex 0 ƒ Telegram to controller Identifier User data Command Index LOW byte Index HIGH byte Subindex Data 1 Data 2 Data 3 Data 4 1541 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00 ƒ Telegram from controller Identifier User data Command Index LOW byte Index HIGH byte Subindex Data 1 Data 2 Data 3 ...

Page 78: ...dex Calculation 24575 code number 24575 12 24563 0x5FF3 ƒ Subindex 0 ƒ Calculation of the acceleration time Data 1 4 Calculation Value for acceleration time 20 s ú 10000 200000 0x00030D40 ƒ Telegram to controller Identifier User data Command Index LOW byte Index HIGH byte Subindex Data 1 Data 2 Data 3 Data 4 1537 0x23 0xF3 0x5F 0x00 0x40 0x0D 0x03 0x00 ƒ Telegram from controller if executed faultl...

Page 79: ...k length 14 characters Command Index Low byte Index High byte Subindex Data 1 Data 2 Data 3 Data 4 0x41 0x37 0x5F 0x00 0x0E 0x00 0x00 0x00 Byte 1 0x41 read response The entry 0x41 implies that it is a block diagram Byte 2 3 Index low high byte 24575 200 0 24375 0x5F37 Byte 5 0x0E data length of 14 characters ASCII format ƒ First data block request Note The single blocks are toggled i e at first it...

Page 80: ...x00 0x00 0x00 0x00 0x00 0x00 0x00 Byte 1 0x70 Toggle Write response acknowledgement with access to all 4 data bytes ƒ Second data block response with over detection Command Index Low byte Index High byte Subindex Data 1 Data 2 Data 3 Data 4 0x11 0x56 0x5F 0x31 0x34 0x30 0x30 0x30 Byte 1 0x11 last data block transfer Bytes 2 8 ASCII format V _ 1 4 0 0 0 Result of data block transfer 82S8212V_14000 ...

Page 81: ... 0x57B7 0 See table below FIX32 Possible settings Selection Description 0 No command 1 Update codes 23XX and CAN reinitialisation º reset node 2 Update codes C23XX 10 Reread C2356 1 4 11 Reread C2357 12 Reread C2375 13 Reread C2376 C2378 14 Reread C2382 16 1 Update C7999 and C7998 including CAN reinitialisation 17 1 Update C7999 mapping table of profile indices 18 1 Update C7998 error list of emer...

Page 82: ...2121 22454 0x57B6 0 0 1 255 U8 The AIF status byte provides the 9300 Servo PLC Drive PLC and ECS with information of the communication module With this information the 9300 Servo PLC Drive PLC and ECS can monitor the status of the communication module Depending on the communication module states it is possible for you to take corresponding countermeasures AIF status byte Description Bit 0 CE11 err...

Page 83: ...dication Request Request Indication Indication Indication NMT Master NMT Slave Heartbeat Producer Time Heartbeat Consumer Time t 0 t 0 EMERGENCY E82ZAFU009 CANopen objects for configuration CANopen Lenze Index Subindex Designation Code Subcode Description I 1016 1 Consumer heartbeat time and COB ID C1869 C2369 Consumer heartbeat COB ID C1870 C2370 1 Consumer heartbeat time I 1017 0 Producer heartb...

Page 84: ...s whether the message is received within the heartbeat consumer time If this is not the case an emergency telegram with a heartbeat event is sent The controller response to a heartbeat event is set under subcode C1882 5 C2382 5 If the heartbeat event occurs the node changes from the Operational state to the Pre operational state default setting By means of the object I 1029 a different response ca...

Page 85: ...configured the heartbeat settings will be active The Node Guarding Protocol serves to monitor the connection between the NMT master and the NMT slave s within a CAN network Note An NMT master can be a PLC with a CAN interface or a PC card The NMT slave function of the Node Guarding Protocols DS301 version 4 01 is supported by the EMF2178IB communication module 2175COB001 Fig 11 1 Telegram transfer...

Page 86: ...ational 127 Pre operational Identifier Identifier basic address 1792 configurable address 1 127 Node life time The node life time is the product of node guard time object I 100C and life time factor object I 100D Life guarding event If the NMT slave does not receive an RTR telegram from the NMT master in the node life time the life guarding event triggers a fault signal in the NMT slave An emergen...

Page 87: ...ror messages Contents Emergency error code 0x1000 Lenze error number All other emergency error codes have the value 0 Emergency error codes hex Cause Error register entry I 1001 0x0000 One of several errors eliminated xx Single error eliminated no more errors 00 0x1000 Basic device in TRIP message warning FAIL QSP or persistent fault 01 0x3100 Supply voltage of basic device faulty or failed 01 0x6...

Page 88: ...us with controller is on remedy 1 or blinking remedy 2 l In case of supply from the controller check the connection With external supply check the 24 V voltage at terminals 39 and 59 A voltage of 24 V 10 must be applied l The communication module has not been initialised with the controller yet l Remedy 1 Controller not switched on see fault possibility 1 l Remedy 2 Check the connection to the con...

Page 89: ...switched off GREEN Blinking The communication module is supplied with voltage but has no connection to the standard device Cause The standard device is l switched off l in the initialisation phase l not available Constantly ON The communication module is supplied with voltage and is connected to the standard device RED Constantly ON CANopen operation impossible Blinking Permanently l Parameters ar...

Page 90: ...Z Pre operational F Node guard event GREEN constantly on Z Operational F None GREEN constantly on 1 x blinking RED 1 s OFF Z Operational F Warning limit reached GREEN constantly on 2 x blinking RED 1 s OFF Z Operational F Node guard event GREEN constantly on 3 x blinking RED 1 s OFF Z Operational F Sync message error Blinking GREEN every second Z Stopped F None Blinking GREEN every second 1 x blin...

Page 91: ... the CANopen protocol 13 1 Reference between CANopen object and Lenze code CANopen objects and Lenze codes do not have the same functionalities Some CANopen objects have a direct influence on the corresponding codes ƒ If a new value is written within an object the value is also adopted in the corresponding code C18xx or C23xx ƒ When reading an object the values stored under the corresponding code ...

Page 92: ...time factor C1828 C2328 Change of life time factor I 1010 0 Store parameters U8 1 3 Store parameters U32 I 1011 0 7 Restore default parameters I 1014 0 COB ID emergency object C1871 C2371 Change of COB ID emergency setting bit 31 to deactivate the emergency is not directly depend I 1015 0 Emergency inhibit time C1872 C2372 Change of delay time I 1016 0 1 Consumer heartbeat time and COB ID C1869 C2...

Page 93: ...5 C2365 3 Change of validity of the PDOs 2 RPDO2 transmission type C1873 C2373 2 Change of transmission type 5 RPDO2 event timer C1857 C2357 2 Change of monitoring time I 1402 0 Number of entries 1 RPDO3 COB ID C1853 C2353 3 Change of COB ID Set code to CANopen addressing C1855 C2355 5 Enter the new ID under the code C1865 C2365 4 Change of validity of the PDOs 2 RPDO3 transmission type C1873 C237...

Page 94: ...open addressing C1855 C2355 4 Enter the new ID under the code C1865 C2365 3 Change of validity of the PDOs 2 TPDO2 transmission type C1874 C2374 2 Change of transmission type C1875 C2375 2 Change of mode 3 Inhibit time 5 TPDO2 event timer C1856 C2356 3 Change of cycle time I 1802 0 Number of entries 1 TPDO3 COB ID C1855 C2355 6 Enter the new ID under the code C1865 C2365 4 Change of validity of th...

Page 95: ...s Overview 13 l 95 EDSMF2178IB EN 3 0 Lenze codes CANopen objects Description Subcode Code Designation Subindex Index I 1A02 0 Number of mapped objects in TPDOs 1 TPDO mapping 1 2 TPDO mapping 2 3 TPDO mapping 3 4 TPDO mapping 4 ...

Page 96: ...ofile itself If a specific device profile is not used the content is 0x0000 Data telegram assignment Byte 8 7th byte Byte 6 Byte 5 U32 Device profile number Additional information 13 2 2 I 1001 Error register Reading of the error register Index hex 0x1001 Name Error register Subindex Default setting Value range Access Data type 0 0 255 ro U8 Bit assignment in the data byte U8 for the individual er...

Page 97: ...Standard error field 0 232 1 ro U32 10 This object shows that errors have occurred in the communication module and in the basic device ƒ Subindex 0 Number of saved error messages ƒ Subindex 1 10 Error list The error messages consist of a 16 bit error code and a 16 bit manufacturer specific information field Note The values in the standard error field under subindex 1 10 will be completely deleted ...

Page 98: ...fault setting for receiving PDOs is 0x80 in the 11 bit identifier also according to the CANopen specification This means that all communication modules are default set to the same sync telegram If sync telegrams are only to be received by certain communication modules their identifiers can be entered with values up to 0xFF The identifiers can only be changed when the communication module does not ...

Page 99: ...multiple of 1000 The unit of the entered time is ms The maximum value is 65535000 ms 13 2 6 I 1008 Manufacturer s device name Index hex 0x1008 Name Manufacturer s device name Subindex Default setting Value range Access Data type 0 Module specific const VS 9 characters Display of the manufacturer s device designation of controller and communication module The manufacturer s device designation compr...

Page 100: ...on 11 character Minor software version 12th 14th character Power class of the standard device see documentation of the standard device ƒ 6th character Use of an underscore _ ƒ 7th 11th character The 10th to 14th character is read out of the software ID of the standard device C1500 e g 20000 from the total 82ZAFU0B_20000 ID of the E82ZAFUC communication module CANopen 13 2 8 I 100C Guard time Index...

Page 101: ...ers 0 232 1 ro U8 1 U32 3 Subindices Subindex Authorisati on Description Write Read 0 ro While writing the 0x06010002 error message occurs Supported subindex 3 1 While writing the 0x08000020 error message occurs Reading of memory functions of all parameters 2 Reading of memory functions of object communication parameters 3 Reading of memory functions of manufacturer specific parameters Index 0x600...

Page 102: ...U32 1 rw U32 7 Subindices Subindex Authorisati on Description Write Read 0 ro While writing the 0x06010002 error message occurs Max available subindex depending on standard device l 93xx 3 l ECSXX 3 l 82vector 7 l 82xx 5 1 rw All parameters can be loaded 2 This function is not supported While writing the 0x08000020 error message occurs Only object communication parameters can be loaded 3 Only manu...

Page 103: ...B U32 LSB 31 30 1 0 0 0 0 0 0 1 Bit states Bits Value Meaning of the bit assignment 0 0 Parameters cannot be loaded 1 Parameters can be loaded 1 31 0 Bit assignment writing The telegram data must include the signature load to start the parameter download Signature MSB LSB ISO 8859 ASCII d a o l Value hex 0x64 0x61 0x6F 0x6C ...

Page 104: ...it 31 Data telegram assignment Byte 8 7th byte Byte 6 Byte 5 MSB U32 LSB 31 30 29 28 11 10 0 0 1 0 0 Bit value 0 11 bit identifier Bits Value Description 0 10 0 1 11 bit identifier 11 29 0 The extended identifier is not supported Any of these bits must be 0 30 0 Reserved 31 0 Emergency object is valid 1 Emergency object is invalid Note The COB ID can only be changed in the Emergency object invalid...

Page 105: ...onsumer heartbeat time Subindex Default setting Value range Access Data type 0 Consumer heartbeat time 0 0 65535 ro U32 1 rw U32 Subindices Subindex Explanation 0 Highest subindex 1 Node ID and heartbeat time of node Bit assignment subindex 1 U32 31 24 23 16 15 0 Reserved value 0 Node ID Heartbeat time ms The consumer heartbeat time is used to monitor a node The consumer heartbeat time must be lon...

Page 106: ...ID Index hex 0x1018 Name Module device description Subindex Default setting Value range Access Data type 0 Module device description Module specific ro Identity 4 Subindices Subindex Meaning 0 Highest subindex 1 Vendor ID ID assigned to Lenze by the organisation CIA 2 Product code 3 Revision number 4 Serial number 13 2 17 I 1029 Error behaviour Index hex 0x1029 Name Error characteristics Subindex ...

Page 107: ...ge Authorisatio n I 1200 0 Server SDO1 parameters U8 0 255 ro 1 Identifier Client server rx U32 0 232 1 ro 2 Identifier Server client tx U32 0 232 1 ro I 1201 0 Server SDO2 parameters U8 0 255 ro 1 Identifier Client server rx U32 0 232 1 rw 2 Identifier Server client tx U32 0 232 1 rw Subindices Subindex Description 0 Max supported subindex 3 1 Specification of the receive identifier 2 Specificati...

Page 108: ...parameter data channel invalid set bit 31 in I 1201 subindices 1 and 2 to 1 After this enter the following values under subindices 1 and 2 I 1201 1 0x80000000 0x644 0x80000644 I 1201 2 0x80000000 0x5C4 0x800005C4 ƒ User data assignment for I 1201 1 User data Byte 1 2nd byte 3rd byte Byte 4 Byte 5 Byte 6 7th byte Byte 8 Command Index Low byte Index High byte Subindex U32 0x23 write request 0x01 0x1...

Page 109: ...0 255 rw 5 RPDO2 event timer U32 1 65535 rw I 1402 0 Number of entries U8 0 255 ro 1 RPDO3 COB ID U32 0 232 1 rw 2 RPDO3 transmission type U8 0 255 rw 5 RPDO3 event timer U32 1 65535 rw Subindices Subindex Description 0 Max supported subindices 5 1 Identifier setting l RPDO1 200hex node ID l RPDO2 300hex node ID l RPDO3 400hex node ID 2 Transmission type setting see table above 5 Monitoring time s...

Page 110: ... n this RPDO will be accepted by every n th sync X n 254 Manufacturer specific see code C1875 C2375 Description of subindex 5 The monitoring time describes the period of time in which new process input data must arrive with the CAN IN1 3 identifiers If the time entered is exceeded it is possible to set a corresponding reaction under code C1882 Note ƒ The monitoring time starts with the arrival of ...

Page 111: ...U8 0 255 rw 1 RPDO mapping 1 U32 0 232 1 2 RPDO mapping 2 3 RPDO mapping 3 4 RPDO mapping 4 I 1602 0 Number of mapped objects in RPDOs U8 0 255 rw 1 RPDO mapping 1 U32 0 232 1 2 RPDO mapping 2 3 RPDO mapping 3 4 RPDO mapping 4 Subindices Subindex Description 0 Number of mapped objects in RPDOs 1 4 This value will be returned in case of a read request for the object For mapping in the module the ma...

Page 112: ... rw 3 TPDO1 inhibit time U32 0 65535 rw 5 TPDO1 event timer U32 0 65535 rw I 1801 0 Number of entries U8 0 255 ro 1 TPDO2 COB ID U32 0 232 1 rw 2 TPDO2 transmission type U8 0 240 252 254 rw 3 TPDO2 inhibit time U32 0 65535 rw 5 TPDO2 event timer U32 0 65535 rw I 1802 0 Number of entries U8 0 255 ro 1 TPDO3 COB ID U32 0 232 1 rw 2 TPDO3 transmission type U8 0 240 252 254 rw 3 TPDO3 inhibit time U32...

Page 113: ...le cannot be set 31 0 TPDO active 1 TPDO not active Description of subindex 2 PDO transmission Transmission type Description cyclic synchronous event control led X X n 1 240 By entering value n this TPDO will be accepted by every n th sync X n 252 By sync TPDO will be filled with new data but only sent on RTR X n 254 Manufacturer specific see code C1875 C2375 Description of subindex 3 Minimum time...

Page 114: ...ollers Index Subindex Name Data type Value range Authorisatio n I 1A00 0 Number of mapped objects in TPDOs U8 0 255 rw 1 TPDO mapping 1 U32 0 232 1 2 TPDO mapping 2 3 TPDO mapping 3 4 TPDO mapping 4 I 1A01 0 Number of mapped objects in TPDOs U8 0 255 rw 1 TPDO mapping 1 U32 0 232 1 2 TPDO mapping 2 3 TPDO mapping 3 4 TPDO mapping 4 I 1A02 0 Number of mapped objects in TPDOs U8 0 255 rw 1 TPDO mapp...

Page 115: ...he PLC and therefore must be read by the module first Code Subcode Index dec hex Designation Info C0001 24574 0x5FFE Operating mode for 8200 vector 144 C0009 24566 0x5FF6 CAN node address 144 C0046 24529 0x5FD1 Display of frequency setpoint 144 C0125 24450 0x5F82 Baud rate 145 C0126 24449 0x5F81 Behaviour with communication error 145 C0135 24440 0x5F78 Controller control word 145 C0150 24425 0x5F6...

Page 116: ...CAN OUTx 129 C1855 1 6 22720 0x58C0 Display of resulting identifiers CAN IN CAN OUT 129 C1856 1 5 22719 0x58BF Boot up and cycle times 130 C1857 1 6 22718 0x58BE Monitoring times 131 C1859 22716 0x58BC Display of the DIP switch position during initialisation 132 C1860 22715 0x58BB Display of the current DIP switch position 133 C1861 22714 0x58BA Display of the active CAN node address 133 C1862 227...

Page 117: ...ess 123 C2351 22224 0x56D0 Baud rate 124 C2352 22223 0x56CF Master slave operation 125 C2353 1 3 22222 0x56CE Addressing CAN INx CAN OUTx 126 C2354 1 6 22221 0x56CD Individual addressing CAN INx CAN OUTx 129 C2355 1 6 22220 0x56CC Display of resulting identifiers CAN IN CAN OUT 129 C2356 1 5 22219 0x56CB Boot up and cycle times 130 C2357 1 6 22218 0x56CA Monitoring time 131 C2359 22216 0x56C8 Disp...

Page 118: ... C2373 1 3 22202 0x56BA Sync rate CAN IN1 CAN IN3 138 C2374 1 3 22201 0x56B9 Sync rate CAN OUT1 CAN OUT3 139 C2375 1 3 22200 0x56B8 Tx mode CAN OUT1 CAN OUT3 140 C2376 1 4 22199 0x56B7 Masks CAN OUT1 142 C2377 1 4 22198 0x56B6 Masks CAN OUT2 143 C2378 1 4 22197 0x56B5 Masks CAN OUT3 143 C2382 1 6 22193 0x56B1 Monitoring response 143 ...

Page 119: ...lers These codes are stored in the EMF2178IB communication module ƒ Codes C2327 C2382 For 9300 Servo PLC Drive PLC and ECS These codes are stored in the controller Communication with the drive requires that the system identifies the drive as node The identification takes place in the initialisation phase of the communication module How to read the tables Column Meaning Code Lenze code Subcode Subc...

Page 120: ...on date Code Subcode Index Possible settings Data type Lenze Selection C1811 22764 0x58EC g VS Software creation date as string Mainly important in the event of service C1812 Software ID Code Subcode Index Possible settings Data type Lenze Selection C1812 1 4 22763 0x58EB g U32 Software identification code in subcodes C1813 Software creation date Code Subcode Index Possible settings Data type Lenz...

Page 121: ...a type Lenze Selection C1823 1 12 22752 0x58E0 g U16 All AIF OUT words as 16 bit values C1824 AIF IN all double words Code Subcode Index Possible settings Data type Lenze Selection C1824 1 11 22751 0x58DF g U32 All AIF IN double words as 32 bit values with an offset of 16 bits each 66 C1825 AIF OUT all double words Code Subcode Index Possible settings Data type Lenze Selection C1825 1 11 22750 0x5...

Page 122: ...0C guard time has a direct influence on code C1827 C2327 A newly written value in the object is also transferred to code C1827 C2327 C1828 C2328 Life time factor Code Subcode Index Possible settings Data type Lenze Selection C1828 22747 0x58DB 0 0 1 255 FIX32 C2328 22247 0x56E7 It is possible to select a different node life time for each NMT slave The node life time is the product of guard time ob...

Page 123: ...ddress of the communication module Note ƒ If several CAN nodes are interconnected their node addresses must differ from each other ƒ Node addresses 99 can only be set via DIP switch 33 ƒ All DIP switches 1 7 OFF Lenze setting When the device is switched on the settings under code C1850 C2350 node address and C1851 C2351 baud rate are active Code C1850 C2350 is an image of code C0009 of the basic d...

Page 124: ...odes ƒ The baud rates 10 kbps and 20 kbps can only be selected via DIP switch 33 ƒ Setting the code e g with GDC via CAN has a direct effect on the standard device code C0125 Note ƒ The baud rate must be the same for all CAN nodes ƒ The baud rates 10 kbps and 20 kbps can only be selected via DIP switch 33 ƒ All DIP switches 1 7 OFF Lenze setting When the device is switched on the settings under co...

Page 125: ... the state Pre operational In this state only an exchange of parameter data SDOs is possible In slave operation the communication module stays in this state until it is put by the NMT command Start remote node into the state Operational In the state Operational also process data PDOs are exchanged besides parameter data SDOs In master operation the NMT command Start remote node is transmitted afte...

Page 126: ... to CANopen The addressing of the corresponding PDP pair or subcode in code C1853 C2353 is switched to the objects I 140X I 180X see above Selection 3 if a new value is entered into the objects I 1400 I 1402 or I 1800 I 1802 Identifier for addressing to CANopen default identifier This is the Lenze setting of the EMF2178IB communication module The calculation consists of the basic identifier and th...

Page 127: ...3 384 257 0x281 CAN IN3 384 C1854 5 or 384 C2354 5 384 385 0x301 CAN OUT1 384 C1854 2 or 384 C1854 2 384 1 0x181 CAN OUT2 384 C1854 4 or 384 C1854 4 384 258 0x282 CAN OUT3 384 C1854 6 or 384 C1854 6 384 386 0x302 Identifier for addressing to Lenze system bus This setting corresponds to the preset calculation of the identifiers for 8200 vector controllers in connection with an E82ZAFCCxxx function ...

Page 128: ...s I 140X I 180X Now the identifier is developed directly from the objects A change of the codes C1854 C2354 does not influence the current identifiers PDO Identifier for addressing to CANopen projects I 140X I 180X C1853 C2353 3 CAN IN1 Object I 1400 subindex 1 CAN IN2 Object I 1401 subindex 1 CAN IN3 Object I 1402 subindex 1 CAN OUT1 Object I 1800 subindex 1 CAN OUT2 Object I 1801 subindex 1 CAN ...

Page 129: ...Os individually via six subcodes The code becomes effective if one of the subcodes of code C1853 C2353 contains the value 1 selective addressing C1855 C2355 Display of resulting identifiers CAN IN OUT Code Subcode Index Possible settings Data type Lenze Selection C1855 1 CAN IN1 2 CAN OUT1 3 CAN IN2 4 CAN OUT2 5 CAN IN3 6 CAN OUT3 22720 0x58C0 g FIX32 C2355 22220 0x56CC not effective when using 82...

Page 130: ... telegram to the CAN bus Relation to CANopen ƒ The object I 1006 communication cycle period has a direct influence on subcode C1856 5 or C2356 5 As the data processing speed of the EMF2178IB communication module amounts to 1000 ms the entry via the object I 1006 is rounded to an integer multiple of 1000 ms and stored under C1856 5 or C2356 5 depending on the standard device When the object I 1006 ...

Page 131: ...er code C1882 C2382 BUS OFF C1857 4 C2357 4 Even if the node changes to the state BUS OFF it is possible to set a time in ms in which a reaction can take place A monitoring response can be set under code C1882 C2382 AIF monitoring time C1857 5 C2357 5 Time during boot up for detecting a basic device If no basic device is detected an emergency telegram 87 will be sent on the CAN bus after this time...

Page 132: ... the communication module Note In case of 9300 Servo PLC Drive PLC and ECS the value will be transferred to the standard device when the communication module is initialised DIP switch valencies for hexadecimal calculation Switch 1 2 3 4 5 6 7 8 9 10 Value 512 256 128 64 32 16 8 4 2 1 Bit 15 10 9 8 7 6 5 4 3 2 1 0 Example for DIP switch position ƒ Switches 3 5 6 7 ON address 23 ƒ Switches 8 9 10 OF...

Page 133: ...15 10 9 8 7 6 5 4 3 2 1 0 Example for DIP switch position ƒ Switches 3 5 6 7 ON address 23 ƒ Switches 8 9 10 OFF baud rate 500 kbit s The sum of the corresponding valencies 0xB8 184 is displayed when code C1859 C2359 is read C1861 Display of the active CAN node address Code Subcode Index Possible settings Data type Lenze Selection C1861 22714 0x58BA g FIX32 Display of the CAN node address active o...

Page 134: ...sent once C1865 C2365 Validity of SDO2 and PDOs Code Subcode Index Possible settings Data type Lenze Selection C1865 1 SDO2 2 CAN IN OUT1 3 CAN IN OUT2 4 CAN IN OUT3 22710 0x58B6 1 0 2 1 3 1 4 1 0 1 3 FIX32 C2365 1 SDO2 2 CAN IN OUT1 3 CAN IN OUT2 4 CAN IN OUT3 22210 0x56C2 1 0 2 1 3 1 4 1 not effective when using 8200 vector or 93XXcontrollers Validity of service data object 2 SDO2 and of process...

Page 135: ... 1005 COB ID SYNC message has a direct influence on this code Newly written values in the object are also transferred to code C1867 C2367 C1868 C2368 Sync Tx identifier Code Subcode Index Possible settings Data type Lenze Selection C1868 22707 0x58B3 128 0 1 2047 FIX32 C2368 22207 0x56BF This code contains the identifier with which the sync telegram is sent Relation to CANopen The object I 1005 CO...

Page 136: ...Subcode Index Possible settings Data type Lenze Selection C1870 1 Consumer 22705 0x58B1 0 0 1 ms 65535 FIX32 2 Producer 0 C2370 1 Consumer 22205 0x56BD 0 2 Producer 0 Consumer heartbeat time Time intervals at which the heartbeat telegram to be monitored is awaited on the CAN bus Producer heartbeat time Time intervals at which the module sends a heartbeat telegram including its status on the CAN bu...

Page 137: ...1014 COB ID Emergency Object has a direct influence on this code A value written into the object is also transferred to code C1871 C2371 C1872 C2372 Emergency inhibit time Code Subcode Index Possible settings Data type Lenze Selection C1872 22703 0x58AF 0 0 1 ms 65535 FIX32 C2372 22203 0x56BB This code contains the delay time for sending an emergency telegram Relation to CANopen The object I 1015 ...

Page 138: ...c telegrams are counted that have been received with the identifier set under code C1867 C2367 of the communication module Example ƒ Selection n 23 Acceptance of input PDO to CAN IN1 3 into the controller after arrival of the 23rd sync telegram Relation to CANopen The objects I 1400 I 1402 Receive PDO Communication Parameters subindex 2 each transmission type are mapped on the corresponding subcod...

Page 139: ...B9 not effective when using 8200 vector or 93XXcontrollers The process output data CAN OUTx are only transferred after a certain number of sync telegrams have been received The sync rate can be set individually for each process output data object Relation to CANopen The objects I 1800 I 1802 Transmit PDO Communication Parameters subindex 2 each transmission type are transferred to the correspondin...

Page 140: ...able to exchange four words as a maximum of control and status information via the AIF For this purpose the use of one TPDO is sufficient TPDOs 2 and 3 are deactivated Lenze setting This avoids an unnecessary load of the CAN bus ƒ Value 2 The corresponding TPDO is either transmitted event controlled or cyclically The TPDO is transmitted cyclically if a cycle time is defined for the TPDO under code...

Page 141: ... subindex 2 each ƒ C1875 C2375 subcodes 1 3 1 The value 252 is displayed in the objects I 1800 I 1802hex ƒ C1875 C2375 subcodes 1 3 2 or 3 The value 254 is displayed in the objects I 1800 I 1802hex When setting the objects I 1800 I 1802 the same relation prevails Code C1875 C2375 subcode 1 2 or 3 Object I 180X subindex 2 0 Code C1874 C2374 subcode 1 2 or 3 value 1 240 1 252 2 or 3 254 ...

Page 142: ...T object can be e g dependent on one bit only See also code C1875 C2375 140 Example The mask in word 3 of the process data object CAN OUT1 is set by code C1876 3 with the value 0x20 ƒ 1st cycle Result after 1st cycle The PDO is sent CAN OUT1 W3 MASK 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 Data 1 1 1 1 1 1 1 1 0 1 1 0 0 0 1 0 Result 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 ƒ 2nd cycle Result after 2nd cycle New dat...

Page 143: ...bcode Index Possible settings Data type Lenze Selection C1878 1 CAN OUT3 W1 2 CAN OUT3 W2 3 CAN OUT3 W3 4 CAN OUT3 W4 22697 0x58A9 65535 0 1 65535 FIX32 C2378 22197 0x56B5 For more information please see the description of code C1876 C2376 142 C1882 C2382 Monitoring response Code Subcode Index Possible settings Data type Lenze Selection C1882 1 response CAN IN1 2 response CAN IN2 3 response CAN IN...

Page 144: ... FIX32 The operating mode defines which source may currently write to which parameters The operating unit and CAN are always authorised for parameter setting Note Please observe that the operating mode C0001 is contained in all parameter sets Therefore C0001 must be set equally in all parameter sets C0009 CAN node address Code Subcode Index Possible settings Data type Lenze Selection C0009 24566 0...

Page 145: ... type Lenze Selection C0126 24449 0x5F81 see documentation of the standard device FIX32 Monitoring of the internal communication between communication module and standard device controller C0135 Controller control word Code Subcode Index Possible settings Data type Lenze Selection C0135 24440 0x5F78 see documentation for the basic device I16 C0150 Controller status word Code Subcode Index Possible...

Page 146: ...3 24412 0x5F5C last but one fault C0164 24411 0x5F5B last but two fault System Manual for 8200 vector Here you can find detailed information on the fault messages C0168 Fault memory 9300 ECSXX Code Subcode Index Possible settings Data type Lenze Selection C0168 0 8 24407 0x5F57 g see documentation of the standard device FIX32 9300 system manual ECSXX operating instructions Here you can find detail...

Page 147: ...et error source activate emergency messages 33 62 1 Error source 1 30 activate emergency messages 1 Value range is only valid for profile applications in a PLC With the AIF control byte it is possible to read the codes C23XX saved in the 9300 Servo PLC Drive PLC and ECS into the communication module Execute command How to accept the values in the communication module ƒ Write the table value of the...

Page 148: ...0 Servo PLC Drive PLC and ECS can monitor the status of the communication module Depending on the communication module states it is possible for you to take corresponding countermeasures AIF status byte Description Bit 0 CE11 error CAN IN1 monitoring time exceeded Bit 1 CE12 error CAN IN2 monitoring time exceeded Bit 2 CE13 error CAN IN3 monitoring time exceeded Bit 3 CE14 error communication modu...

Page 149: ...ol word 145 C0150 Controller status word 145 C0161 C0164 Fault memory 8200 vector 146 C0168 Fault memory 9300 ECSXX 146 C1810 Software ID 120 C1811 Software creation date 120 C1812 Software ID 120 C1813 Software creation date 120 C1822 AIF IN all words 121 C1823 AIF OUT all words 121 C1824 AIF IN all double words 121 C1825 AIF OUT all double words 121 C1827 C2327 Guard Time 122 C1828 C2328 Life ti...

Page 150: ...able drive 37 Initial switch on 36 Communication cycle period I 1006 99 Communication media 17 Communication Object Identifier 43 Communication phases 45 Communication profile 17 Communication time 19 Communication relevant Lenze codes 119 Connections 16 Consumer heartbeat ID 136 Consumer heartbeat time I 1016 105 Control word 8200 vector 53 9300 57 Control word of controller 145 Controller Proces...

Page 151: ...r 101 I 1010 Store parameters 101 I 1011 Restore default parameters 102 I 1014 COB ID emergency object 104 I 1015 Emergency inhibit time 105 I 1016 Consumer heartbeat time 105 I 1017 Producer heartbeat time 106 I 1018 Module device description 106 I 1029 Error behaviour 106 I 1200 Server SDO parameters 107 I 1201 Server SDO parameters 107 I 1400 Receive PDO communication parameters 109 I 1401 Rece...

Page 152: ...de Guarding Protocol 85 Node ID 43 Notes definition 10 O Operating mode for 8200 vector C0001 144 Order designation 17 P Parameter C0142 restart protection 38 Parameter channel 25 Parameter data telegram 73 Parameter data transfer 69 parameter for 8200 vector frequency setpoint C0046 50 Parameter sets 8200 vector 71 93XX 72 Lenze 71 PDO transmission with Operational 134 Plug connector with double ...

Page 153: ...rd of controller 145 Statuses CAN network 45 Store parameters I 1010 101 Structure of the parameter data telegram 73 Switch on initial 36 Sync rate CAN IN1 3 138 Sync rate CAN OUT1 3 139 Sync Rx identifier 135 Sync telegram 51 Sync Tx identifier 135 Synchronisation of cyclic process data 51 System bus CAN baud rate 27 system bus CAN wiring 25 T Technical data 17 Telegram time 19 Terminal data 31 T...

Page 154: ...rmany Service Lenze Service GmbH Breslauer Straße 3 D 32699 Extertal Germany 49 0 51 54 82 0 00 80 00 24 4 68 77 24 h helpline Ê 49 0 51 54 82 28 00 Ê 49 0 51 54 82 11 12 Lenze Lenze de Service Lenze de ü www Lenze com EDSMF2178IB Li EN 3 0 TD17 10 9 8 7 6 5 4 3 2 1 ...

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