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ENGLISH

Commissioning

5.2

CANopen mapping details

The tables in the following sections may use descriptions from the CANopen DSP 402 standard. This
terminology should not be interpreted as referring to drive hardware.

5.2.1 RPDO mapping details (P446/P456)

WORD0 - DSP402 control word 0x6040

Bit

P446 / P456 setting = 0

WORD0 - DSP402 control word 0x6040

Bit

P446 / P456 setting = 1

Output Switch

(6)

0 = switch OFF

(i)

1 = switch ON

(e)

Output Switch

(6)

0 = switch OFF

(i)

1 = switch ON

(e)

Voltage Enable

(6)

0 = Disable Voltage

(i)

1 = Enable Voltage

(e)

Voltage Enable

(6)

0 = Disable Voltage

(i)

1 = Enable Voltage

(e)

Quick stop

0 = Quick stop active

1 = Quick stop not active

Quick stop

0 = Quick stop active

1 = Quick stop not active

Controller inhibit

(6)

0 = Controller inhibit

(i)

1 = No controller inhibit

(e)

Controller inhibit

(6)

0 = Controller inhibit

(i)

1 = No controller inhibit

(e)

Reserved

Fault Reset: on transition from 0 to 1

Motion Inhibit

(6)

0 = execute motion

(e)

1 = halt

(i)

Motion Inhibit

(6)

0 = execute motion

(e)

1 = halt

(i)

Reserved

Direction of rotation

0 = CW (forward)

1 = CCW (reverse)

Direction of rotation

0 = CW (forward)

1 = CCW (reverse)

Control

0 = Local Control

1 = Network Control

Control

0 = Local Control

1 = Network Control

Speed Reference

0 = Local Reference

1 = Network Reference

Speed Reference

0 = Local Reference

1 = Network Reference

DC brake

0 = DC brake not active

1 = DC brake active

DC brake

0 = DC brake not active

1 = DC brake active

Reserved

WORD1

igned vl target velocity 0x6042 (RPM)

•

RPM calculation based on P304 and P305

•

Example 1: P304 = 60Hz; P305 = 1750 RPM

request setpoint forward (CW) at 25.0 HZ =
25.0 x 1750/60 = 729 = 0x02D9

•

Example 2: P304 = 50Hz; P305 = 1390 RPM

request setpoint reverse (CCW) at 44.5 HZ =
-(44.5 x 1390/50) = -1237 = 0xFB2B

Note

: sign of the target velocity takes priority over

bit 11 in word 0!

(6)

Action of indicated bit is implemented as inhibit. These bits inhibit the drive when in the state indicated with

(i)

and enable the drive in the state indicated with

(e)

Содержание SMVector

Страница 1: ...CMVCAN01A SMVector CANopen Communication Module Communications Interface Reference Guide ...

Страница 2: ...nd this option 2007 AC Technology Corporation No part of this documentation may be copied or made available to third parties without the explicit written approval of AC Technology Corporation All information given in this documentation has been carefully selected and tested for compliance with the hardware and software described Nevertheless discrepancies cannot be ruled out We do not accept any r...

Страница 3: ...the Terminal Cover 6 4 Commissioning CANopen communications 7 4 1 Quick Set up 7 5 Extended Parameters for CANopen 8 5 1 Parameter menu 8 5 2 CANopen mapping details 17 5 2 1 RPDO mapping details P446 P456 17 5 2 2 TPDO mapping details P466 P476 20 6 Troubleshooting and fault elimination 23 6 1 Faults 23 6 2 Troubleshooting 23 A1 Appendix A Conﬁguration Example 24 A1 1 Master Follower drive system...

Страница 4: ...iance with the EMC Directive 89 336 EEC The drive controllers meet the requirements of the Low Voltage Directive 73 23 EEC The harmonised standards of the series EN 50178 DIN VDE 0160 apply to the controllers The availability of controllers is restricted according to EN 61800 3 These products can cause radio interference in residential areas In this case special measures can be necessary Installat...

Страница 5: ...ing and stopping of the inverter drive The system design must incorporate adequate protection to prevent personnel from accessing moving equipment while power is applied to the drive system Pictographs used in these instructions Pictograph Signal word Meaning Consequences if ignored DANGER Warning of Hazardous Electrical Voltage Reference to an imminent danger that may result in death or serious p...

Страница 6: ... are available to the user for conﬁguring modes of operation and altering the drive operating parameters Additionally to offer greater interoperability with the SMVector inverter a drive speciﬁc set of objects are available that offer further drive proﬁle conﬁguration and allow access to speciﬁc modes of operation 2 2 SMVector CANopen Implementation Speciﬁcations Supported data rates bit s 1 0M 80...

Страница 7: ...nnected to CAN network GND common If only two wires are used CAN_H and CAN_L in the network connect CAN_GND to chassis earth ground 2 CAN_L CAN low If controller is located at either end of the network a terminating resistor 120ohm typical should be connected across CAN_L and CAN_H 3 4 CAN_H CAN high 5 Protection against contact All terminals have basic isolation single insulating distance Protect...

Страница 8: ...6 ENGLISH Installation 3 3 Installing the Terminal Cover ...

Страница 9: ...P100 Start Control Source Network control can be taken in any mode of operation except when P100 2 Remote Keypad Only NOTE If P100 is not equal 0 TB1 must be connected to TB4 in order to start the drive P112 Rotation Set this parameter to Forward and Reverse 1 if operation in both directions is required P121 P122 or P123 One of these parameters must be set to 9 Network Enable and corresponding ter...

Страница 10: ...lized Read only 1 Initialization Module to EPM 2 Initialization EPM to Module 3 Online 4 Failed Initialization Error 5 Time out Error 6 Initialization Failed Module type mismatch P401 7 Initialization Error Protocol Selection mismatch P400 P403 Module Reset 0 0 No Action 1 Reset Module parameter values to default Returns module parameters 401 499 to the default values shown in this manual P404 Mod...

Страница 11: ...B ID 1600 Node ID if enabled Default settings RPDO 1 COB ID 0x200 Node ID RPDO 2 COB ID 0x300 Node ID TPDO 1 COB ID 0x180 Node ID TPDO 2 COB ID 0x280 Node ID 1 Enable Node ID range 1 63 with programmable COB ID using P440 P450 P460 P470 2 Disable Node ID range 1 127 with default COB ID for RPDO and TPDO 3 Disable Node ID range 1 127 with programmable COB ID using P440 P450 P460 P470 P414 SYNC COB ...

Страница 12: ...see P111 2 Quick stop 3 Inhibit 4 Trip fault F nF1 P423 Error behavior 1 0 transition to pre operational only if current state is operational Speciﬁes action taken by the drive when it encounters a communication error ex Node guarding event or Bus Off 1 No state change 2 transition to stopped P425 Message monitoring time 0 0 ms 65535 P425 and P426 can be used to monitor all valid messages e g SDO ...

Страница 13: ...ORTANT No Name Default Selection P429 CAN Peripheral Status Bits Read only CAN warnings and errors 0 Error passive mode 1 Bus off mode 2 CAN Enabled 3 Receiver busy 4 Transmitter busy 5 Transmit error count 128 6 Overload frame 7 Receive error count 128 ...

Страница 14: ...ion 0 0 Not active Only active when in Network Control n xxx 1 STOP see P111 2 Quick stop 3 Inhibit 4 Trip fault F nF3 P446 2 RPDO 1 mapping see RPDO mapping details 2 0 DSP402 Drives Motion Control PDO Control Word 0x6040 1 DSP402 Drives Motion Control PDO Control Word 0x6040 vl target velocity 0x6042 vl target velocity units signed RPM RPM calculation based on P304 and P305 2 Drive Control Word ...

Страница 15: ...ion 0 0 Not active Only active when in Network Control n xxx 1 STOP see P111 2 Quick stop 3 Inhibit 4 Trip fault F nF4 P456 3 RPDO 2 mapping see RPDO mapping details 2 0 DSP402 Drives Motion Control PDO Control Word 0x6040 1 DSP402 Drives Motion Control PDO Control Word 0x6040 vl target velocity 0x6042 vl target velocity units signed RPM RPM calculation based on P304 and P305 2 Drive Control Word ...

Страница 16: ...DO mapping details 2 0 DSP402 Drives Motion Control Status Word 0x6041 1 DSP402 Drives Motion Control Status Word 0x6041 vl target velocity 0x6044 vl control effort units signed RPM RPM calculation based on P304 and P305 2 Drive Status Word Actual Frequency I O Actual Frequency Scaling 10 1 0 Hz 3 Drive Status Word Actual Frequency PID Setpoint Signed PID Setpoint 999 31 000 4 Drive Status Word Ac...

Страница 17: ...apping details 2 0 DSP402 Drives Motion Control Status Word 0x6041 1 DSP402 Drives Motion Control Status Word 0x6041 vl target velocity 0x6044 vl control effort units signed RPM RPM calculation based on P304 and P305 2 Drive Status Word Actual Frequency I O Actual Frequency Scaling 10 1 0 Hz 3 Drive Status Word Actual Frequency PID Setpoint Signed PID Setpoint 999 31 000 4 Drive Status Word Actual...

Страница 18: ...gs IMPORTANT No Name Default Selection CANopen Module Speciﬁc parameters P495 Communication Module software version Read only Alternating Display xxx yy P498 Missed Messages Drive to Module Read only P499 Missed Messages Module to Drive Read only ...

Страница 19: ... to 1 7 Fault Reset on transition from 0 to 1 8 Motion Inhibit 6 0 execute motion e 1 halt i 8 Motion Inhibit 6 0 execute motion e 1 halt i 9 Reserved 9 Reserved 10 Reserved 10 Reserved 11 Direction of rotation 0 CW forward 1 CCW reverse 11 Direction of rotation 0 CW forward 1 CCW reverse 12 Control 0 Local Control 1 Network Control 12 Control 0 Local Control 1 Network Control 13 Speed Reference 0...

Страница 20: ... Preset 2 11 MOP 9 9 10 10 11 11 12 Controller inhibit 0 No controller inhibit 1 Controller inhibit 12 Controller inhibit 0 No controller inhibit 1 Controller inhibit 13 Quick stop 0 Quick stop not active 1 Quick stop active 13 Quick stop 0 Quick stop not active 1 Quick stop active 14 Force Mode Network PID modes only 0 No Action 1 Force Manual Open Loop Mode 14 Force Mode Network PID modes only 0...

Страница 21: ...set 1 10 Preset 7 7 5 Preset 2 11 MOP 9 10 11 12 Controller inhibit 0 No controller inhibit 1 Controller inhibit 13 Quick stop 0 Quick stop not active 1 Quick stop active 14 Force Mode Network PID modes only 0 No Action 1 Force Manual Open Loop Mode 15 DC brake 0 DC brake not active 1 DC brake active WORD1 Unsigned Torque Setpoint 0 400 limited by P330 Torque Limit WORD2 Digital Output and Relay A...

Страница 22: ...6 Switch ON enabled 0 disabled on drive 6 Switch ON enabled 0 disabled on drive 7 Warning 0 No Warning 1 Warning 7 Warning 0 No Warning 1 Warning 8 Manufacturer speciﬁc 8 Manufacturer speciﬁc 9 Network 0 Not Remote Manual 1 Remote Network 9 Network 0 Not Remote Manual 1 Remote Network 10 Operation at Setpoint 0 Setpoint not reached 1 Setpoint reached 10 Operation at Setpoint 0 Setpoint not reached...

Страница 23: ... Preset 3 11 Network 8 Actual setpoint reference source 0 Keypad 6 Preset 4 1 0 10VDC 7 Preset 5 2 4 20mA 8 Preset 6 3 Preset 1 9 Preset 7 4 Preset 2 10 MOP 5 Preset 3 11 Network 9 9 10 10 11 11 12 PID Mode Status 0 PID NOT Active 1 PID Active 12 PID Mode Status 0 PID NOT Active 1 PID Active 13 Torque Mode Status 0 NOT in Torque Mode 1 Torque Mode Active 13 Torque Mode Status 0 NOT in Torque Mode ...

Страница 24: ... Preset 3 11 Network 8 Actual setpoint reference source 0 Network 6 Preset 3 1 Reserved 7 Preset 4 2 Reserved 8 Preset 5 3 Reserved 9 Preset 6 4 Preset 1 10 Preset 7 5 Preset 2 11 Reserved 9 9 10 10 11 11 12 PID Mode Status 0 PID NOT Active 1 PID Active 12 Controller inhibit 0 No controller inhibit 1 Controller inhibit 13 Torque Mode Status 0 NOT in Torque Mode 1 Torque Mode Active 13 Quick stop 0...

Страница 25: ...lized properly Verify the module connection Check P400 and P402 Incorrect CANopen settings Use P403 to reset CANopen parameters Verify P410 and P411 Improper wiring Check wiring between the CANopen Network and communication module Ensure that terminal block is properly seated Check connection between module and drive CANopen write commands are ignored or return exceptions Network Enabled terminal ...

Страница 26: ...n of access to the Follower drive keypad for operational purposes since the Master drive may restart the Follower drive even after a local keypad STOP command As always system safety is the responsibility of the machine designer Parameters Master Drive conﬁguration Follower Drive conﬁguration No Name Setting No Name Setting P410 CAN address Node ID 1 P100 Setpoint source 3 Network Only P411 CAN ba...

Страница 27: ...ill transition to inhibit state if a valid PDO is not received from the Master within 50ms NOTE If the Follower drive does not see a valid PDO within the time out period it will transition to the inhibit state This action is always immediate STOP by coast even if the follower speciﬁes other action in P111 For example a fault on the Master should cause an inhibit state on the follower displayed as ...

Страница 28: ...AC Technology Corporation 630 Douglas Street Uxbridge MA 01569 USA 1 508 278 9100 www actech com Document CMVCAN01A ...

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