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Appendix
A1
Appendix A - Configuration Example
A1.1
Master / Follower drive system
The following example shows how to set up for a typical “Master - Follower” drive system using
CANopen as the link between the two drives. The “Master” drive can be controlled by CANopen or
by traditional control elements (relays, switches, potentiometers, etc.), the “Follower” will receive it’s
commands (run, speed, etc.) from the “Master” when a contact closure (or jumper) is made between
terminals 4 and 13-A to enable Network Control on the follower drive.
WARNING!
Network control permits automatic starting 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.
This example is shown for illustrative purposes only. In an actual implementation, additional safety
precautions must be made. Included in these should be the prevention 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 baud rate
5 500 kbps
P121
TB-13A input
function
9 Network Enable
Any of the TB13 inputs can be used,
this example uses TB-13A
P412
System bus
participant
1 Slave with autostart
enabled
P410
CAN address
(Node ID)
2
P413
Parameter channel
2 (SDO#2)
2 Disable with default
COB ID
P411
CAN baud rate
5 500 kbps
P464
TPDO#1 event
timer
10 ms
P412
System bus
participant
1 Slave with autostart
enabled
P466
TPDO#1 mapping
5 Status Word matches
the SMV Control
word.
P413
Parameter channel
2 (SDO#2)
3 Disable with
programmable
COB ID
P440
RPDO#1 COB ID
385
(P460 from controller #1)
P441
RPDO#1
enable/disable
1 Enable
P444
RPDO#1 event
monitoring timer
50 ms
P445
RPDO#1 time out
reaction
1 STOP
P446
RPDO#1 mapping
2 SMV Control Word +
Network Speed.
