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Communication

42

Ethernet POWERLINK state machine

In Ethernet POWERLINK, a Controlled Node starts up by a
common initialization process. All the states are valid when the
device is powered and they are sub-states of the
NMT_GS_POWERED superstate.

NMT_GS_INITIALISATION

After system start, the device automatically assumes this state
and network functionality begins. NMT_GS_INITIALISATION and
all its sub-states are only internal states of the device.

In the NMT_GS_RESET_CONFIGURATION sub-state, the node
address of the device is identified and it is determined whether it is
configured as a MN or CN. The REPL-01 is a CN and thus, it
enters the NMT CN state machine in the
NMT_GS_COMMUNICATING super-state.

NMT_GS_RESET_APPLICATION

NMT_GS_RESET_COMMUNICATION

NMT_GS_RESET_CONFIGURATION

NMT_GS_INITIALISING

NMT_CS

NMT CN STATE

MACHINE

NMT_MS

NMT MN STATE

MACHINE

NMT_GS_COMMUNICATING

NMT_GS_INITIALISATION

NMT_GS_POWERED

NMT_SwReset

NMT_ResetNode

NMT_ResetCommunication

NMT_SwReset

Internal Communication Error

Power On

Reset

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

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Содержание REPL-01

Страница 1: ...ABB Drives User s Manual Ethernet POWERLINK Adapter Module REPL 01 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 2: ...Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 3: ...rnet POWERLINK Adapter Module REPL 01 User s Manual 3AUA0000052289 REV A EN EFFECTIVE 20 03 2009 2009 ABB Oy All Rights Reserved Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 4: ...Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 5: ... must be properly earthed Do not attempt any work on a powered drive After switching off the mains always allow the intermediate circuit capacitors 5 minutes to discharge before working on the frequency converter the motor or the motor cable It is good practice to check with a voltage indicating instrument that the drive is in fact discharged before beginning work The motor cable terminals of the ...

Страница 6: ...Safety instructions 6 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 7: ... Communication module 7 Data sets and data words 7 REPL 01 Ethernet Powerlink Adapter module 7 Parameter 7 Further information 7 Product and service inquiries 8 Product training 8 Providing feedback on ABB Drives manuals 8 Overview 9 What this chapter contains 9 Ethernet POWERLINK 9 REPL 01 Ethernet POWERLINK Adapter module 10 Compatibility 11 Delivery check 11 Warranty and liability information 1...

Страница 8: ...unting 19 Electrical installation 21 What this chapter contains 21 General cabling instructions 21 Ethernet POWERLINK connections 21 Node address selection 21 Ethernet POWERLINK network topology 22 Drive configuration 23 What this chapter contains 23 REPL 01 configuration 23 The REPL 01 configuration parameters 24 1 MODULE TYPE 24 2 TRANSPARENT PROFILE MODE 24 3 NODE ID 24 Master configuration 25 ...

Страница 9: ...ofile 34 References 39 Scaling 39 Actual values 40 Scaling 40 Communication 41 What this chapter contains 41 Ethernet POWERLINK communication cycle 41 Ethernet POWERLINK state machine 42 NMT_GS_INITIALISATION 42 NMT_GS_COMMUNICATING 43 NMT_CS_NOT_ACTIVE 43 The NMT_CS_PREOPERATIONAL states 43 NMT_CS_READY_TO_OPERATE 43 NMT_CS_OPERATIONAL 43 NMT_CS_STOPPED 43 DS 301 and DS 402 specification 45 Proce...

Страница 10: ...ve data sets 61 Drive actual signals and parameters 61 Drive signals and parameters 62 DSP 402 profile objects 63 DSP 402 profile objects 63 Emergency messages DS301 and DS402 67 What this chapter contains 67 Error codes 67 Error codes 67 Definitions and abbreviations 75 Technical data 77 What this chapter contains 77 REPL 01 77 Ethernet POWERLINK link 78 Appendix IdentResponse Frame 79 Phone 800 ...

Страница 11: ...ion to conventional installation tools have the drive manuals available during the installation as they contain important information not included in this manual The drive manuals are referred to at various points of this manual What this manual contains This manual contains information on the wiring configuration and the use of the REPL 01 Ethernet POWERLINK Adapter module It is assumed that the ...

Страница 12: ...h the adapter module can be started Communication profiles describes the communication profiles used in the communication between the Ethernet POWERLINK network the REPL 01 module and the drive Communication contains a description of how data is transmitted through the REPL 01 module Diagnostics explains how to trace faults with the status LEDs on the REPL 01 module CANopen object dictionary descr...

Страница 13: ... and Actual Values see chapter Communication profiles on page 27 are types of data words the contents of some data words are user definable REPL 01 Ethernet Powerlink Adapter module The REPL 01 Ethernet Powerlink Adapter module is one of the optional fieldbus adapter modules available for ABB drives The REPL 01 is a device through which an ABB drive is connected to an Ethernet POWERLINK network Pa...

Страница 14: ...n be found by navigating to ABB website and selecting Sales Support and Service network Product training For information on ABB product training navigate to ABB website and select Training courses Providing feedback on ABB Drives manuals Your comments on our manuals are welcome Go to ABB website then select Document Library Manuals feedback form LV AC drives Phone 800 894 0412 Fax 888 723 4773 Web...

Страница 15: ...andard Ethernet SCNM ensures that only one node is accessing the network at a time The schedule is divided into an isochronous phase and an asynchronous phase During the isochronous phase time critical data is transfered while the asynchronous phase provides bandwidth for the transmission of data that is not time critical The MN grants access to the physical medium via dedicated poll request messa...

Страница 16: ... to the PID controller of the drive read status information and actual values from the drive reset a drive fault The Ethernet POWERLINK commands and services supported by the REPL 01 Ethernet POWERLINK Adapter module are discussed in the chapter Communication on page 41 Please refer to the user documentation of the drive as to which commands are supported by the drive The adapter module is mounted...

Страница 17: ...1 two screws M3x10 this manual Warranty and liability information The manufacturer warrants the equipment supplied against defects in design materials and workmanship for a period of twelve 12 months after installation or twenty four 24 months Ethernet connector X1 see chapter Electrical installation Diagnostic LEDs See chapter Diagnostics DIP switch for selecting node address Fixing screw GND fra...

Страница 18: ...e purchaser In no event shall the manufacturer its suppliers or subcontractors be liable for special indirect incidental or consequential damages losses or penalties This is the sole and exclusive warranty given by the manufacturer with respect to the equipment and is in lieu of and excludes all other warranties express or implied arising by operation of law or otherwise including but not limited ...

Страница 19: ...fety instructions given in this manual and the Hardware Manual of the drive Installation This section describes how to physically connect and configure the equipment 1 Set the node ID with the DIP switch S1 on the module In this example the node ID used is 3 which is selected by flipping the actuators 7 and 8 to ON position and the actuators 1 6 to OFF position 2 Mount the REPL 01 Insert the REPL ...

Страница 20: ...te the communication Refer to the Firmware Manual of the drive for information on the communication settings 1 Power up the hub the drive and the PLC 2 Enable the fieldbus module by setting parameter 98 02 COMM MODULE LINK to FIELDBUS 3 ACS800 only Set the drive to use the ABB Drives profile by setting parameter 98 07 COMM PROFILE to ABB DRIVES 4 Set parameter 51 02 to 1 Transparent mode 5 Start a...

Страница 21: ...ct Explorer window open the Physical View tab 3 Right click the node representing the CPU in this example X20CP1485 1 and in the pop up menu select Open IF3 POWERLINK Configuration The POWERLINK Configuration window is opened 4 Make the following settings Activate POWERLINK communication on Asynchronous timeout µs 400 5 Close the window and save changes when prompted Drive parameter Example settin...

Страница 22: ... node and click Open POWERLINK in the pop up menu The POWERLINK window opens displaying the list of devices connected to the Powerlink interface IF3 of the PLC 2 To add the REPL 01 module right click the IF3 list entry and select Insert in the pop up menu The Select controller module window opens allowing you to choose the device to add 3 Select the entry for REPL 01 module and your drive and clic...

Страница 23: ...n with the module fails This may be desirable in production environment However in testing the recommended setting is off Channels TransparentControlWord_I2005 Cyclic transmission Write TransparentReferenceSpeed_I2006 Cyclic transmission Write Note Use Transparent objects I2004 I2008 when the module is in Transparent mode and Profile objects I6040 onwards when the module is in Profile mode Channel...

Страница 24: ...rmation on the message Forcing values When Automation Studio is set to Monitor mode the window can be used to force values to the control word and speed reference variables 1 To open the I O Mapping window right click the REPL 01 module entry in the Project Explorer window and then click Open I O Mapping in the pop up menu 2 In the View menu select Monitor Automation Studio is now in the Monitor m...

Страница 25: ...of the CAT 5 STP cable shield connected to the module and interconnect the GND signals of the module and the control board of the drive On installation of the module the signal and power connection to the drive is automatically made through a 34 pin connector Mounting procedure Insert the module carefully into its position inside the drive until the retaining clips lock the module into position Fa...

Страница 26: ...Mechanical installation 20 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 27: ... bushings at cable entries Ethernet POWERLINK connections The network cable can be connected to the RJ45 connector X1 on the REPL 01 module Standard CAT 5 UTP CAT 5 FTP or CAT 5 STP cables can be used If CAT 5 STP is used the cable shield is internally connected to the drive frame through the module Node address selection The REPL 01 is equipped with an 8 bit DIP switch S1 The switch is used to se...

Страница 28: ...f these topologies The use of repeating hubs instead of switches is recommended in an Ethernet POWERLINK network to minimize delay and jitter Use class 2 hubs REPL 01 does not have an internal hub and thus an external hub is required REPL 01 supports 100 Mbit s Ethernet POWERLINK OFF ON Slave Slave Slave Slave Slave Master Hub Hub Hub Hub 1 1 1 1 Possible locations for REPL 01 in the network Phone...

Страница 29: ...mine the source for each type of control information Start Stop Direction Reference Fault Reset etc In order to give the fieldbus master station the most complete control over the drive the communication module must be selected as source for this information The detailed procedure of activating the drive for communication with the module is dependent on the drive type Normally a parameter must be ...

Страница 30: ...parent ABB Drives or the DSP 402 communication profile This selection can also be changed with object 0 2004 hex 3 NODE ID Selects the node address of the module 1 239 Each device on the Ethernet POWERLINK network must have a unique node address NODE ID This parameter is used for defining a node address for the drive it is connected to Note If the node address is set via DIP switch S1 this paramet...

Страница 31: ...ized by the drive the master system must be prepared for communication with the module Please refer to the master system documentation for more information XML Device Description Files XML Device Description Files XDD are XML files that specify the properties of the slave device for the Ethernet POWERLINK master The description files contain information on the supported communication objects XDD f...

Страница 32: ...Master configuration 26 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 33: ...g sections The CANopen device profile DSP 402 This section describes the basic functionality of the DSP 402 profile The DSP 402 is a standardized device profile used for digital controlled motion products e g frequency converters and is part of the CANopen specification Additional information can b e obtained from CAN CIA website Device Control state machine The start and stop of the drive and sev...

Страница 34: ...DSP 402 on page 30 The Control Word can be found in object 0x6040 hex and the Status Word in object 0x6041 hex see chapter CANopen object dictionary page 51 Control Word of DSP 402 Bit Name Value Description 0 Switch ON The functionality of bits 0 3 and 7 are described in table Operation of bits 0 3 and 7 of the DSP 402 Control Word on page 29 1 Enable voltage 2 Quick stop 3 Enable operation 4 Ram...

Страница 35: ... described in table Operation of bits 0 3 and 7 of the DSP 402 Control Word 8 Halt not used 9 10 Reserved 11 15 Drive specific not used Control Word bit Command Fault reset bit 7 Enable operation bit 3 Quick stop bit 2 Enable voltage bit 1 Switch on bit 0 State transitions Shut down 0 X 1 1 0 2 6 8 Switch on 0 0 1 1 1 3 Switch on 0 1 1 1 1 3 4 Disable voltage 0 X X 0 X 7 9 10 12 Quick stop 0 X 0 1...

Страница 36: ...ed to drive 1 High voltage applied to drive 5 Quick stop 0 Quick stop is active 1 Normal operation 6 Switch on disabled 0 Switch on enabled 1 Switch on disabled 7 Warning 0 No warning alarms 1 Warning Alarm is active 8 Drive specific 0 ACx550 No External Run Enable signal reseived 1 ACx550 External Run Enable signal reseived ACS800 User settable 9 Remote 0 Drive control location REMOTE EXT1 or EXT...

Страница 37: ...e configured with drive parameters 92 07 92 08 and 92 09 12 13 Reserved 14 Drive specific 0 ACx550 External control location EXT1 selected 1 ACx550 External control location EXT2 selected ACS800 User settable 15 Drive specific 0 ACx550 Not used ACS800 User settable Bit Name Value Description Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 38: ...CW xxxxxxxx0xxxx111 CW xxxxxxxx0xxxx01x or CW xxxxxxxx0xxxxx0x CW xxxxxxxx0xxx0111 CW xxxxxxxx0xxx1111 CW xxxxxxxx0xxxx110 Quick stop completed CW xxxxxxxx0xxxx01x CW xxxxxxxx0xxxxx0x CW Control Word SW Status Word SWITCH ON SW xxxxxxxxx1xx0000 DISABLED SWITCHED ON SW xxxxxxxxx01x0011 READY TO SW xxxxxxxxx01x0001 SWITCH ON OPERATION SW xxxxxxxxx01x0111 ENABLED QUICK STOP SW xxxxxxxxx0xx0111 ACTIVE...

Страница 39: ...word containing a sign bit and a 15 bit integer A negative actual value indicating reversed direction of rotation is formed by calculating the two s complement from the corresponding positive actual value The actual value is used by the master to monitor the actual speed of the drive The unit of the control effort is rpm This value can be scaled with the Vl dimension factor object object 0x604C he...

Страница 40: ...he upper case boldface text refers to the states shown in figure State machine ABB Drives communication profile on page 38 Control Word of ABB Drives profile Bit Name Value STATE Description 0 OFF1_ CONTROL 1 Proceed to READY TO OPERATE 0 Stop along currently active deceleration ramp Proceed to OFF1 ACTIVE proceed to READY TO SWITCH ON unless other interlocks OFF2 OFF3 are active 1 OFF2_ CONTROL 1...

Страница 41: ...ble ramp function Proceed to RAMP FUNCTION GENERATOR ACCELERATOR ENABLED 0 Halt ramping Ramp Function Generator output held 6 RAMP_IN_ ZERO 1 Normal operation Proceed to OPERATING Note Effective only if the fieldbus interface is set as the source for this signal by drive parameters 0 Force Ramp Function Generator input to zero 7 RESET 0 1 Fault reset if an active fault exists Proceed to SWITCH ON ...

Страница 42: ...11 EXT_CTRL_ LOC 1 Select External Control Location EXT2 Effective if control location is parameterised to be selected from fieldbus 0 Select External Control Location EXT1 Effective if control location is parameterised to be selected from fieldbus 12 to 15 Reserved Status Word of the ABB Drives profile Bit Name Value STATE Description 0 RDY_ON 1 READY TO SWITCH ON 0 NOT READY TO SWITCH ON 1 RDY_R...

Страница 43: ...control location LOCAL 10 ABOVE_ LIMIT 1 Actual frequency or speed equals or exceeds supervision limit set by drive parameter Valid in both directions of rotation 0 Actual frequency or speed within supervision limit 11 EXT_CTRL_ LOC 1 External Control Location EXT2 selected 0 External Control Location EXT1 selected 12 EXT_RUN_E NABLE 1 External Run Enable signal received 0 No External Run Enable s...

Страница 44: ... 0 CW xxxx x1xx xxx1 1111 CW xxxx x1xx xx11 1111 D CW Bit6 0 A C CW xxxx x1xx x111 1111 SW Bit8 1 D from any state Fault SW Bit3 1 CW Bit7 1 CW xxxx x1xx xxxx x111 CW xxxx x1xx xxxx 1111 and SW Bit12 1 CW Control Word SW Status Word n Speed I Input Current RFG Ramp Function Generator f Frequency ABB Drives Communication Profile SWITCH ON INHIBITED NOT READY TO SWITCH ON READY TO SWITCH ON READY TO...

Страница 45: ...ontrol information from multiple sources including analogue and digital inputs the drive control panel and a communication module e g REPL 01 In order to have the drive controlled through the fieldbus the module must be defined as the source for control information e g reference Scaling References are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set by drive parameters See th...

Страница 46: ... positive actual values The ABB Drives profile actual values can be found in objects 0x2008 hex Transparent Actual Value and 0x4000 hex subindex 6 Actual Value 2 Scaling Actual values are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set by drive parameters See the drive manuals for further information 0 REFx MAX REFx MAX 0 ACT2 10000 ACT1 20000 ACT2 10000 ACT1 20000 Drive Fie...

Страница 47: ... which all nodes are addressed the MN sends Poll Requests PReq to all CNs one after another They reply immediately to the prompts with Poll Responses PRes An Ethernet POWERLINK cycle consists of three phases During the start phase the MN sends a Start of Cycle Frame SoC signal to all CNs to synchronize the devices Payload data exchange then proceeds in the second phase the isochronous phase The th...

Страница 48: ...In the NMT_GS_RESET_CONFIGURATION sub state the node address of the device is identified and it is determined whether it is configured as a MN or CN The REPL 01 is a CN and thus it enters the NMT CN state machine in the NMT_GS_COMMUNICATING super state NMT_GS_RESET_APPLICATION NMT_GS_RESET_COMMUNICATION NMT_GS_RESET_CONFIGURATION NMT_GS_INITIALISING NMT_CS NMT CN STATE MACHINE NMT_MS NMT MN STATE ...

Страница 49: ...m NMT_CS_PREOPERATIONAL_1 to NMT_CS_PREOPERATIONAL_2 In this state PReq and PRes data may be invalid because PDO mappings may differ In NMT_CS_EPL_MODE error recognition for example loss of SoC or PReq always triggers the transition to NMT_CS_PREOPERATIONAL_1 NMT_CS_READY_TO_OPERATE In this state the CN signals that it is ready to operate to the MN It responds to the PReq query of the MN by sendin...

Страница 50: ...L_1 NMT_CS_PREOPERATIONAL_2 NMT_CS_READY_TO_OPERATE NMT_CS_OPERATIONAL NMT_CS_STOPPED NMT_CS_BASIC_ETHERNET NMT_CS NMT CN State Machine NMT_CS_EPL_MODE Error Condition NMT StartNode NMT StopNode SoA SoC Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 51: ...t dictionary is described in chapter CANopen object dictionary on page 51 Process Data Objects PDO Process Data Objects PDOs are used for exchanging time critical process data between the master and the slave Tx PDOs are used to transfer data from the slave to the master and Rx PDOs to transfer data from the master to the slave PDO mapping defines which application objects are transmitted inside a...

Страница 52: ...us data transmission and is used to access object without mapping them to a PDO connection With SDO communication all CANopen objects in the REPL 01 can be accessed Ethernet POWERLINK provides different kinds of SDO transfer methods REPL 01 supports SDO transfer via Ethernet POWERLNIK ASnd frames in asynchronous phase For further information see Ethernet POWERLINK Communication Profile Specificati...

Страница 53: ...r Ethernet POWERLINK defines five categories of NMT services NMT State Command Services NMT Managing Command Services not supported NMT Response Services NMT Info Services not supported NMT Guard Services not supported NMT State Command Services The MN controls the state of the CN via NMT State Command Services See section Ethernet POWERLINK state machine for more information NMT Response Services...

Страница 54: ...ror New flag in the PRes frame is toggled This notifies the MN that an error has occurred and the MN polls the CN for a StatusResponse that includes error information A list of active and historical error events can be read using SDO from object 0x1003 Error entry specification See Ethernet POWERLINK Communication Profile Specification version 1 1 0 See the error code table in appendix Emergency m...

Страница 55: ...OWERLINK network state machine LED 2 MODULE STATUS Off NMT_GS_OFF NMT_GS_INITIALISATION or NMT_CS_NOT_ACTIVE Flickering On 50 ms off 50 ms NMT_CS_BASIC_ETHERNET Green Single flash NMT_CS_PRE_OPERATIONAL_1 Green Double flash NMT_CS_PRE_OPERATIONAL_2 Green Triple flash NMT_CS_READY_TO_OPERATE Green On NMT_CS_OPERATIONAL Green Blinking On 200 ms off 200 ms NMT_CS_STOPPED LINK MODULE STATUS 2 3 4 1 AC...

Страница 56: ...ors LED 3 ERROR Off Normal operation On An error has occured LED 4 ACTIVITY Off No traffic Flickering On 50 ms off 50 ms There is traffic on Ethernet LINK MODULE STATUS 2 3 4 1 ACTIVITY ERROR Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 57: ...module The objects are described in following table Communication profile objects Communication profile objects Index hex Sub index Name Type Attri bute Information 0 1000 0 Device type U32 RO Describes the type of the device Composed of two 16 bit fields one for device profile the other for additional information The object value of the REPL 01 is 0 0192 hex which corresponds to drive profile DSP...

Страница 58: ...onstant string is REPL 01 and ACxxxx 0 1009 0 Manufacturer hardware version Visible string RO The hardware version of the module 0 100A 0 Manufacturer software version Visible string RO The software version Format v x yy Index hex Sub index Name Type Attri bute Information Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 59: ...l parameters U32 RW Stores all parameters to memory 2 Save communication objects 0 1000 0 1A16 parameters U32 RW Communication parameters are not stored in the module 3 Save drive profile objects 0 603F 0 60FE 0 2001 0 200B parameters U32 RW All profile parameters are saved 4 Save drive parameters U32 RW Store drive parameters Index hex Sub index Name Type Attri bute Information Phone 800 894 0412...

Страница 60: ... 3 Restore drive profile objects 0 603F 0 60FE 0 2001 0 200B parameters U32 RW Restore all DSP 402 parameters 4 Restore drive parameters U32 RW Restore drive default parameters 0 1018 0 Identity object U8 RO Number of entries 1 Vendor ID U32 RO Value 0 B7 ABB Oy 2 Product code U32 RO Drive dependent e g 0 201 ACS550 3 Revision U32 RO Module software revision Format 0 XXXX YYYY 4 Serial number U32 ...

Страница 61: ...ing RO ABB REPL 01 HW 1 0 3 Interface Type U8 RO 6 Ethernet CSMA CD 4 Interface Mtu U16 RO 5 Interface Phys Address Octet string RO MAC address assigned during manufacturing 6 Interface Name Visible string RO Always eth0 7 Interface Operation Status U8 RO 8 Interface admin state U8 RW 9 Valid Boolean BOOL RW 0 1300 0 SDO sequence timeout U32 RW 0 1400 0 Receive PDO Communication U8 RO Number of en...

Страница 62: ... version U8 RW 0 1A00 0 Transmit PDO Mapping U32 RW Number of mapped application objects 0 32 See also the note in Process Data Objects PDO for information on drive support 1 Mapped object 1 U32 RW n Mapped object n U32 RW 0 1C0B 0 Loss of SoC U8 RO Number of entries Always 3 1 Cumulative count U32 RW 2 Threshold count U32 RO 3 Threshold U32 RW 0 1C0D 0 Loss of PReq U8 RO Number of entries Always ...

Страница 63: ... RO 3 Threshold U32 RW 0 1C14 0 Loss of frame tolerance U32 RW 0 1F82 0 Feature flags U32 RO Always 0x45 0 1F83 0 EPL version U8 RO Always 0x20 0 1F8C 0 Current NMT state U8 RO 0 1F93 0 EPL Node ID U8 RO Number of entries Always 2 1 Node ID U8 RO 2 Node ID by HW BOOL RO Index hex Sub index Name Type Attri bute Information Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com...

Страница 64: ...0 1F98 0 Cycle timing U8 RO Number of entries Always 10 1 Isochr Tx Max Payload U16 RO 2 Isochr Rx Max Payload U16 RO 3 Pres Max Latency U32 RO 4 PReq Act Payload Limit U16 RW 5 Pres Act Payload Limit U16 RW 6 ASnd Max Latency U32 RO 7 Multiple cycle count U16 RW 8 Async MTU U32 RW 9 Prescaler U8 RW 0 1F99 0 Basic Ethernet Timeout U32 RW 0 1F9E 0 Reset command U8 RW The value written to this objec...

Страница 65: ... 0 2005 0 Transparent Control Word U16 RW See chapter Communication profiles on page 27 0 2006 0 Transparent reference INT16 RW 0 2007 0 Transparent Status Word U16 RO 0 2008 0 Transparent actual feedback INT16 RO 0 200A 0 Vendor specific alarm codes U8 RO Number of entries See the drive manual for descriptions of the alarm codes 1 Alarm code 1 latest U16 RO 2 Alarm code 2 U16 RO 3 Alarm code 3 U1...

Страница 66: ...d data words supported depends on the drive type and application program 0 200B 0 Vendor specific fault codes U8 RO Number of entries See the drive manual for descriptions of the fault codes 1 Fault code 1 latest U16 RO 2 Fault code 2 U16 RO 3 Fault code 3 U16 RO 4 Fault code 4 U16 RO 5 Fault code 5 U16 RO Index hex Sub index Name Type Attri bute Information Phone 800 894 0412 Fax 888 723 4773 Web...

Страница 67: ...ts depends on the application software of the drive 1 Control Word U16 RW Data set 1 Word 1 2 Reference 1 INT16 RW Data set 1 Word 2 3 Reference 2 INT16 RW Data set 1 Word 3 4 Status Word U16 RO Data set 2 Word 1 5 Actual Value 1 INT16 RO Data set 2 Word 2 6 Actual Value 2 INT16 RO Data set 2 Word 3 7 Reference 3 INT16 RW Data set 3 Word 1 8 Reference 4 INT16 RW Data set 3 Word 2 9 Reference 5 INT...

Страница 68: ...ive parameter values written through the network are not automatically saved to the permanent memory of the drive A parameter save should be initiated in the drive to retain the changes after a power cycle Drive signals and parameters Index hex Subindex Name Type Attribute Information 4001 1 Drive signal 1 01 1 2 3 2 Drive signal 1 02 1 2 3 4002 1 Drive signal 2 01 1 2 3 4003 1 Drive signal 3 01 1...

Страница 69: ...essages DS301 and DS402 on page 67 0 6040 0 Controlword U16 RW See chapter Communication profiles on page 27 0 6041 0 Statusword U16 RO 0 6042 0 VI target velocity INT16 RW 0 6043 0 VI velocity demand INT16 RO Instantaneous velocity provided by the ramp function Scaled to the value of the vl target velocity 0 6044 0 VI velocity actual value INT16 RO See chapter Communication profiles on page 27 0 ...

Страница 70: ...a speed U32 RW 2 Delta time U16 RW 0 604C 0 Vi dimensions factor INT8 RO Number of entries The dimension factor affects the scaling of other objects 0 6042 0 6043 0 6044 0 6046 0 6048 0 6049 0 604A The parameter can only be modified in the PRE OP state 1 VI dimensions factor numerator INT32 RW The numerator of the scaling factor Default 1 2 VI dimensions factor denominator INT32 RW The denominator...

Страница 71: ...ration display INT8 RO A read only copy of object 0 6060 0 6078 0 Current actual value INT16 RO The actual output current Index hex Sub index Name Type Attri bute Information Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 72: ...CANopen object dictionary 66 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 73: ...facturer specific Descriptions for these error codes can be found in the appropriate drive firmware manual and or the drive fault code parameter Error codes Error code hex Meaning 0000 Error reset or no error 1000 Generic error 2000 Current 2100 Current on device input side 2110 Short circuit earth leakage 2120 Earth leakage 2121 Earth leakage phase L1 2122 Earth leakage phase L2 2123 Earth leakag...

Страница 74: ...us overcurrent No 1 2312 Continuous overcurrent No 2 2320 Short circuit earth leakage 2330 Earth leakage 2331 Earth leakage phase U 2332 Earth leakage phase V 2333 Earth leakage phase W 2340 Short circuit 2341 Short circuit phases U V 2342 Short circuit phases V W 2343 Short circuit phases W U 3000 Voltage 3100 Mains voltage 3110 Mains overvoltage 3111 Mains overvoltage phase L1 3112 Mains overvol...

Страница 75: ...3212 Overvoltage No 2 3220 DC link undervoltage 3221 Undervoltage No 1 3222 Undervoltage No 2 3230 Load error 3300 Output voltage 3310 Output overvoltage 3311 Output overvoltage phase U 3312 Output overvoltage phase V 3313 Output overvoltage phase W 3320 Armature circuit 3321 Armature circuit interrupted 3330 Field circuit 3331 Field circuit interrupted 4000 Temperature 4100 Ambient temperature 41...

Страница 76: ...0 Device hardware 5100 Supply 5110 Supply low voltage 5111 U1 supply 15 V 5112 U2 supply 24 V 5113 U3 supply 5 V 5114 U4 manufacturer specific 5115 U5 manufacturer specific 5116 U6 manufacturer specific 5117 U7 manufacturer specific 5118 U8 manufacturer specific 5119 U9 manufacturer specific 5120 Supply intermediate circuit 5200 Control 5210 Measurement circuit 5220 Computing circuit 5300 Operatin...

Страница 77: ...anufacturer specific 5456 S6 manufacturer specific 5457 S7 manufacturer specific 5458 S8 manufacturer specific 5459 S9 manufacturer specific 5500 Data storage 5510 Working memory 5520 Program memory 5530 Non volatile data memory 6000 Device software 6010 Software reset Watchdog 6100 Internal software 6200 User software 6300 Data record 6301 Data record No 1 from 2 14 corresponding 630F Data record...

Страница 78: ...00 Measurement circuit 7300 Sensor 7301 Tacho fault 7302 Tacho wrong polarity 7303 Resolver 1 fault 7304 Resolver 2 fault 7305 Incremental sensor 1 fault 7306 Incremental sensor 2 fault 7307 Incremental sensor 3 fault 7310 Speed 7320 Position 7400 Computation circuit 7500 Communication 7510 Serial interface no 1 7520 Serial interface no 2 7600 Data storage 8000 Monitoring 8100 Communication 8300 T...

Страница 79: ...00 Positioning controller 8611 Following error 8612 Reference limit 8700 Sync controller 8800 Winding controller 9000 External error F000 Additional functions F001 Deceleration F002 Sub synchronous run F003 Stroke operation F004 Control FF00 Manufacturer specific FFFF Manufacturer specific Error code hex Meaning Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 80: ...Emergency messages DS301 and DS402 74 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Страница 81: ...unication objects recognized by the device OSI Open Systems Interconnection PDO Process Data Object Used for transmitting time critical data such as control commands references and actual values PReq PollRequest A frame used in the isochronous phase of the cyclic communication With PollRequest the MN requests the CN to send its data PRes PollResponse A frame used in the isochronous phase of the cy...

Страница 82: ...er time for data from each node in a cyclic manner within a guaranteed cycle time Within each cycle there are slots for Isochronous Data and for Asynchronous Data for ad hoc communication The SCNM mechanism ensures that there are no collisions during physical network access in any of the networked nodes thus it provides deterministic communication via Legacy Ethernet Phone 800 894 0412 Fax 888 723...

Страница 83: ...oard of the drive Degree of protection IP20 Ambient conditions The applicable ambient conditions specified for the drive hardware manual are in effect Settings Through drive parameters 8 way DIP switch for node address selection 1 2 3 4 5 6 7 8 ON 95 mm 36 mm 22 mm 62 mm 1 2 ON REPL 01 ETHERNET POWERLINK CHASSIS X1 X2 NODE ACTIVITY LINK MODULE STATUS ERROR GND ADDRESS NETWORK Phone 800 894 0412 Fa...

Страница 84: ...s with EMC Standards EN 50081 2 and EN 50082 2 Ethernet POWERLINK link Compatible devices All Ethernet POWERLINK compliant devices Medium 100Base TX Termination Internal Wiring CAT 5 UTP CAT 5 FTP or CAT 5 STP Recommended Connector RJ 45 Maximum segment length 100 m Serial Communication Type Half duplex Transfer Rate 100 Mbit s Protocol Ethernet POWERLINK Phone 800 894 0412 Fax 888 723 4773 Web ww...

Страница 85: ... 6 9 FeatureFlags 10 11 MTU 12 13 PollInSize 14 15 PollOutSize 16 19 ResponseTime 20 21 Reserved 22 25 DeviceType 26 29 VendorID 30 33 ProductCode 34 37 RevisionNumber 38 41 SerialNumber 42 49 VendorSpecificExtension1 50 53 VerifyConfigurationDate 54 57 VerifyConfigurationTime 58 61 ApplicationSwDate 62 65 ApplicationSwTime 66 69 IPAddress 70 73 SubnetMask Phone 800 894 0412 Fax 888 723 4773 Web w...

Страница 86: ...ureFlags feat Reports the feature flags of the device NMT_FeatureFlags_U32 MTU mtu Reports the size of the largest IP frame that can be transmitted over the network including the size of the transport header Values C_DLL_MIN_ASYNC_MTU C_DLL_MAX_ASYNC_MTU PollInSize pis Reports the actual CN setting for PReq datablock size NMT_CycleTiming_REC PReqActPayloadLimit_U16 PollOutSize pos Reports the actu...

Страница 87: ...te PDL_LocVerApplSw_REC ApplSwDate on programmable device or date portion of NMT_ManufactSwVers_VS on non programmable device ApplicationSWTime at Reports the CN s Application SW date PDL_LocVerApplSw_REC ApplSwTime on programmable device or time portion of NMT_ManufactSwVers_VS on non programmable device IPAddress ipa Reports the current IP address value of the CN NWL_IpAddrTable_Xh_REC Addr_IPAD...

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