Danaher Motion SuperDrive ACS24 Series, Руководство пользователя

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Overview
26.04.2005
i
An inherent safety feature of the AC SuperDrive is that no single component
failure can cause a run away condition in the controlled motor. Since DC current
produces no torque in an induction motor, a shorted output transistor in the
Power Conversion section causes the motor to slow down or stop.
2.2.3 W
ARNINGS
The AC SuperDrive’s internal warning status is updated to reflect the code(s) for existing warning
conditions. Operating with active warning conditions does not affect the AC SuperDrive’s status
indicator, which remains in steady on condition. When the root cause of a warning is removed,
the AC SuperDrive automatically removes any reduced capacity restriction related to the warning
condition.
2.3 T
RUCK CONTROLLER
- AC S
UPER
D
RIVE
COMMUNICATIONS
2.3.1 G
ENERAL
On a truck CAN network the truck controller functions as the master and AC SuperDrives are
slaves. Commands, motion variables and parameters exchanged between a truck controller and
an AC SuperDrive are embedded in CANopen communication objects. In the CANopen
Communications protocol implemented in the ACS, the following five types of objects (messages)
are utilized:
O
BJECT
(
MESSAGE
)
TYPE
P
URPOSE
S
ERVICE
D
ATA
O
BJECT
(SDO) Exchange of non-real time data and control.
P
ROCESS
D
ATA
O
BJECT
(PDO) Exchange of real time data and control.
S
YNCHRONISATION
O
BJECT
(SYNC) Broadcast periodically by the master to all slaves to
synchronize network devices and processes with the master.
N
ETWORK MANAGEMENT
(NMT) Transmitted by the master to control network boot up,
initialization and state transitions. Network management
messages may be directed to individual devices or broadcast
to all network nodes.
E
MERGENCY
(EMCY) Transmitted by slaves to signal internal error conditions to the
master.
The AC SuperDrives may be configured to utilize the periodic SYNC message from the truck
controller (or other device on the CAN Bus) by which the SuperDrive confirms that the truck
controller and CAN communications are functional. Upon reception of the SYNC object, the AC
SuperDrive initiates the sending of a Transmit PDO containing a summary of its operating state.
The AC SuperDrive can also be configured so that the Transmit PDO is initiated by the periodic
Receive PDO. Then there is no need of a periodic SYNC object.
Each AC SuperDrive requires a periodic Receive PDO containing motion and related control
variables. The AC SuperDrive can be configured to use one or two Transmit/Receive PDOs.
2.3.2 N
ODE IDENTIFICATION
Messages intended for specific devices on the CAN network contain a COB-ID (Communications
Object - Identifier) field which identifies the target node (device) for the message. Each AC
SuperDrive on the CAN Bus determines its COB-ID via the wiring configuration on two contacts
of the interface (connector K1) mating connector. Each AC SuperDrive on the Bus must have a
unique ID.
Item No.
89Y05120A
User's Guide 1.0
18