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A-2

Appendix

User Manual CM-CAN1

General points on the various protocol definitions

Motion:

User group under CiA tasked to draft a profile of the 
CANopen protocol for drive technology.

I/O:

User group under CiA tasked to draft a profile of the 
CANopen protocol for sensors and actuators.

CAL:

Mainly in use in Europe.

LUST has currently implemented a protocol which can 
be activated by a CAL master.

The initialization is simpler than CAL (CCDA), for 
example addressing by way of jumper, which has no 
influence on operation.

DeviceNet:

Mainly in the USA (corresponds to CAL definition).

SDS:

Has not established itself.

Содержание CM-CAN1

Страница 1: ...G1 CM CAN1 Project design installation and commissioning of CDA3000 on the CANLUST field bus EN EN FR ES User Manual Communication Module CM CAN1 Before...

Страница 2: ...A3000 Operating Instructions KEYPAD KP200 Application Manual Quick and safe initial commissioning Operation via KEYPAD KP200 Adaptation of drive system to application Manual CANLust Communication Modu...

Страница 3: ...is field bus based on appropriate training courses and or study of the relevant literature We assume that your drive is already in operation otherwise you should first refer to the operation manual Go...

Страница 4: ...eration may result in damage to the drive or malfunctions Danger from electrical tension Improper behaviour may endanger human life Danger from rotating parts The drive may start run ning automaticall...

Страница 5: ...e response 1 5 1 5 4 Transmission speeds 1 6 1 6 CAN protocol for LUST drives 1 7 1 6 1 Device states 1 7 1 6 2 Device control 1 8 2 Mounting and connection 2 1 Setting the address 2 2 2 2 Mounting 2...

Страница 6: ...1 General bus settings 4 7 4 3 2 Definition of control location and reference channel 4 9 4 3 3 Data backup 4 11 4 4 Representation of parameter number 4 12 4 5 Telegram execution and verification 4...

Страница 7: ...5 5 6 Status messages 5 14 6 Fault rectification 6 1 Programmable error responses 6 2 6 2 Error messages 6 4 6 3 Parameterizable warnings on the CAN 6 6 6 4 LED status display on the module 6 7 6 5 Ac...

Страница 8: ...User Manual CM CAN1...

Страница 9: ...he structure of a CAN network 1 4 1 5 1 Access rights 1 4 1 5 2 Size of identifiers 1 5 1 5 3 Time response 1 5 1 5 4 Transmission speeds 1 6 1 6 CAN protocol for LUST drives 1 7 1 6 1 Device states 1...

Страница 10: ...60 V Dangerously high voltages may still be present 10 minutes after the power is cut You should therefore always check that no power is being applied Rotating parts Hot surfaces Your qualification In...

Страница 11: ...write access to such parameters may severely impair the functioning of the device 1 4 Further documentation Operation Manual for commissioning of the drive unit Application Manual for additional para...

Страница 12: ...priority by the selection of the identifier for that transmission The priority is antiproportional to the identifier num ber that is a rise in the significance of the identifier results in fall in th...

Страница 13: ...rameter Exceptions 1 If a 1 is entered in device parameter 04 PROG the drive unit over writes all parameter settings with their default values In this case the reply telegram is only sent when the com...

Страница 14: ...Signal propagation time of the optocouplers Signal propagation time of the gates The values specified for the line length already include the signal propa gation times in the drive unit For the contro...

Страница 15: ...of the status message The control thereby detects that the slave is connected to the network and is now ready for controlling For control of the devices a protocol for selective control of each drive...

Страница 16: ...controlled by way of the DRIVECOM state machine EasyDrive In direct control mode specific functions of the device are activated with the individual control bits Thus for example the STR Start Clockwi...

Страница 17: ...ection 2 1 Setting the address 2 2 2 2 Mounting 2 3 2 2 1 Size BG1 5 0 37 15 kW 2 3 2 2 2 Size BG6 8 22 90 kW 2 4 2 3 Electrical installation 2 5 2 3 1 Controller enable ENPO 2 6 2 3 2 LED status disp...

Страница 18: ...e two connectors an address between 0 and 7 can be selected Attention The device address coded on the connector is only used if parameter 571 CLADR is set to 0 Step Action Comment 1 Find out which add...

Страница 19: ...clearance min 35 mm for addi tional other devices Figure 2 1 B Mounting is finished for the further procedure see section 2 3 Electrical installation H1 H2 H3 X4 X2 X3 WARNING capacitor disscharge ti...

Страница 20: ...4 Bolt the bracket onto the bottom slot position see Figure 2 3 B The CM module is thereby placed on its head and the rear of the module is facing forward 5 Connect the module by the ribbon cable as...

Страница 21: ...age for the mod ule 19 29 VDC see Table 3 2 4 Switch on the drive unit Electrical installation is finished for the further procedure see section 3 Commissioning and configuration Characteristics CM CA...

Страница 22: ...wn uncontrolled refer also to the description in the Opera tion Manual Figure 2 5 Configuration of controller enable ENPO on the CDA3000 2 3 2 LED status display X2 Des Function 9 ISD00 Digital input...

Страница 23: ...issioning and configuration 3 1 Commissioning sequence 3 2 3 2 Commissioning instructions 3 4 3 3 Errors in initialization 3 4 3 4 Test on higher order controller 3 4 3 5 Data handling 3 5 3 5 1 Savin...

Страница 24: ...activate the ENPO signal hardware enable at terminal X2 8 2 Mount the communication module at option slot 2 X7 See section 2 3 Check the wiring Make sure hardware enable ENPO is not connected 4 Switch...

Страница 25: ...oftware functions 8 Test the control quality and optimize the controller settings as necessary using the Operation Manual 9 Set the CAN specific parameters refer to section 4 2 For an initial test of...

Страница 26: ...old down the two cursor keys on the KP200 control unit during the self test period after power on When the reset is complete you can verify the value in parameter 578 OPTN2 LCAN once again If it still...

Страница 27: ...he device however Data backup is initiated by way of the DRIVEMANAGER user interface or by writing to parameter 150 SAVE 1 START by way of the bus system Attention Data backup takes a few hundred mill...

Страница 28: ...3 6 User Manual CM CAN1 3 Commissioning and configuration...

Страница 29: ...t application data sets 4 5 4 3 CDA3000 parameters for bus operation 4 6 4 3 1 General bus settings 4 7 4 3 2 Definition of control location and reference channel 4 9 4 3 3 Data backup 4 11 4 4 Repres...

Страница 30: ...transfers over the bus system the settings are transferred in the form of numerical values The following descriptions of the settings give both numerical value value substitution text 4 1 1 Data type...

Страница 31: ...rs max 100 bytes in bus operation incl zero terminator Table 4 1 Data types Bytes 3 4 5 6 USIGN8 INT8 USIGN16 INT16 USIGN32 INT32 Low Word Low Byte Low Word High Byte High Word Low Byte HighWord High...

Страница 32: ...Example LL 3 LH 4 HL 5 HH 6 INT32Q16 10 5 Dec 00 80 H 0 5 Dec 0A 00 H 10 Dec FIXPOINT16 10 05 Dec 20 201 Dec C9 00 00 00 H 201 Dec ERR_STRUC E OP2 with error location 172 with 85 operating hours 10 H...

Страница 33: ...actory setting FS Changed value Function 151 ASTPR DRV_1 BUS_1 Original application data set 152 ASTER DRV_1 BUS_1 Current application data set 180 FISA0 OFF OPTN2 Function selector analog standard in...

Страница 34: ...0 489 CLBDR CAN bus baud rate 25 500 500 574 CAWDG CAN bus watchdog time 0 255 0 ms 575 CASCY Sampling time for status message 1 32000 80 ms 570 CAMOD Function selection option module CANLUST Slave Ma...

Страница 35: ...on is ignored and the inverter starts after the reset with the device address set in CLADR save the setting prior to the reset with parameter 150 SAVE Subject area Value range Factory set Unit Data ty...

Страница 36: ...74 CAWDG Bus watchdog time in ms Value for watchdog to monitor the CAN bus The watchdog time is adjust able in millisecond increments The value 0 deactivates the watchdog Subject area Value range Fact...

Страница 37: ...LSEL Control location The control location is selected by way of parameter 260 CLSEL With CLSEL OPTN2 the control word of the device is formed from bytes 0 and 1 of the data content of the control ide...

Страница 38: ...the Application Manual Subject area Value range Factory set Unit Data type Memory type _28RS 0 FCON 11 FMAX 11 FMAX USIGN8 FLASH RSSL1 Function 1 FA0 Analog input 0 2 FA1 Analog input 1 4 FPOT MOP fu...

Страница 39: ...sponds to data bytes 2 5 of the control identifier The interpretation of the value is dependent on the selected operation mode The parameter is for display purposes only 4 3 3 Data backup 150 SAVE Bac...

Страница 40: ...meter number PARA_HI PARA_LO is represented as a four digit hexadecimal number Drive units have parameter numbers from 0 999 These parameters must be converted to four digit hexadecimal numbers and in...

Страница 41: ...rred see also section 4 5 Parameter channel Generally a reply is sent only after successful entry of the new parameter value in the drive unit Mode related access restrictions If bit 6 hexadecimal val...

Страница 42: ...e queried and written Parameter enquiry transfer 130 The data in this transfer are scaled according to the stipulations in the inverter parameter list Data direction Master Drive unit At ID 1101 param...

Страница 43: ...read a string parameter The contents of data bytes 3 6 are not relevant The block counter data byte 7 contains the value 0 The reply telegram from the drive unit contains the status byte and gives inf...

Страница 44: ...the master and by the slave on every partial transfer The last but one reply telegram from the drive unit contains the 0 terminator of the string in its data area In the last reply telegram the drive...

Страница 45: ...ect value for the block counter Action Base ID Data byte 2 selector Data bytes 3 6 see below Data byte 7 counter Master enquiry 1101 ENQ_String 11 xxxx 0 Drive unit reply 1321 Status 0 4 characters fo...

Страница 46: ...ta bytes 3 6 Telegram sequence Action Base ID Data byte 2 selector Data bytes 3 6 For data format see below Data byte 7 counter Master job 1101 SEL_String 8 xxxx 0 Drive unit reply 1321 Status 0 xxxx...

Страница 47: ...If the status is unequal to 0 communication is terminated for the parameter If the master transmits more than 100 characters for a string the string is not saved and the error is entered at the end o...

Страница 48: ...e master computer is transferred to the drive controller without individual checking of the parameter values When the upload is finished the drive controller checks the now complete new data set for p...

Страница 49: ...ller then begins checking its entire data set for plausibility If the data set is valid the parameters are accepted with the attribute Card Writeable into the EEPROM The drive is enabled again and can...

Страница 50: ...4 22 User Manual CM CAN1 4 Setting the device parameters...

Страница 51: ...5 2 5 3 Device states 5 2 5 4 Device control 5 3 5 4 1 EasyDrive control mode 5 4 5 4 2 Control via DRIVECOM state machine 5 6 5 5 Identifiers 5 10 5 5 1 Selective transmissions 5 10 5 5 2 Broadcast...

Страница 52: ...rol command and are not executed until the System Start system state System Start System Start is the normal operating state The devices can be controlled by way of their selective control commands If...

Страница 53: ...and error handling are activated by a state machine described in the DRIVECOM profile Functions such as charac teristic data set selection user mode selection table references and acti vation of digi...

Страница 54: ...e 1 4 ACTIV power stage activated 1 Power stage active 5 FFTB1 select table reference significance 21 5 ROT_0 speed 0Hz 1 Speed 0 6 FFTB2 select table reference significance 22 6 BRK device executes b...

Страница 55: ...reference input is then not possible 2 Function only active with setting 651 CDSSL 6 OPTN2 The bit can be used to switch between characteristic data sets 1 and 2 For more detailed information on char...

Страница 56: ...1111 FAULT x0xx 1000 0 NOT READY x0xx 0000 0 START INHIBIT x1xx 0000 40H READY x01x 0001 31H ON x01x 0011 33H ENABLE OPERATION x1xx 0111 37H 14 1 2 3 4 5 6 7 Disable power xxxx xx0x x0H Disable power...

Страница 57: ...error 4 7 Warning 1 Warning delivered 8 CUSEL data selection 0 Characteristic data set 1 1 Characteristic data set 2 2 8 CAN status 0 System Stop 1 System Start 9 UM0 select user mode significance 20...

Страница 58: ...ctivated by setting 280 RSSL1 7 TBSEL Direct reference input is then not possible 2 Function only active with setting 651 CDSSL 6 OPTN2 The bit can be used to switch between characteristic data sets 1...

Страница 59: ...icate the current system state Control bit Status bit Command 7 3 2 1 0 Transitions Status 6 5 3 2 1 0 SHUTDOWN X X 1 1 0 2 6 8 NOT READY 0 X 0 0 0 0 POWER UP X X 1 1 1 3 SWITCH ON INHIBIT 1 X 0 0 0 0...

Страница 60: ...also section 2 1 Set ting the address Station 0 operates with the base CAN identifier All other stations operate with identifiers calculated according to the following formula DLC Data Length Code num...

Страница 61: ...the System Logon sys tem state cyclically every 100 ms After power on each bus station attempts to log on to the master The drive unit transmits this identifier with a sampling time of 100 ms The mast...

Страница 62: ...rror messages can be sent over the bus Parameter access possible 5 5 5 Control functions Function Control functions reference Data direction Master Drive unit Type Selective Control functions can be o...

Страница 63: ...ency Q16 Priority based on CAL 3 Table 5 7 Control functions Control word See description of control word Reference Reference frequency for control Where CACNF 1 The data format is Int16Q0 Value range...

Страница 64: ...32 bit actual frequency Q16 Priority based on CAL 3 Table 5 8 Status messages Status word See description of status word Reference Actual frequency for control Where CACNF 1 3 The data format is Int16...

Страница 65: ...EN 1 2 3 4 5 6 7 A 6 Fault rectification 6 1 Programmable error responses 6 2 6 2 Error messages 6 4 6 3 Parameterizable warnings on the CAN 6 6 6 4 LED status display on the module 6 7 6 5 Acknowledg...

Страница 66: ...ases the drive unit disables the power stage if the default error response is set The error response is programmable for each error in four stages In the error state the devices can still be operated...

Страница 67: ...the power is restored Warning message If the parameter setting for response to an error is a warning message WRN the device indicates the warning by way of an appropriately parameterized digital outp...

Страница 68: ...on the devices Table 5 9 Error messages Bus DM KP Error location no Error cause Possible remedy Respons e no 16 E OP2 170 Error in module at option slot 2 1 Check module and identifier 2 1 STOP 171 Er...

Страница 69: ...verheating 8 E OTI Drive unit overheating 9 E PLS Plausibility error in parameter or program sequence 10 E PAR Faulty parameter setting 11 E FLT Floating point error 12 E PWR Power pack not recognized...

Страница 70: ...OV 2 0004H Warning message when I2 t integrator of device is active 3 0008H Warning message when motor temperature has exceeded value in parameter 502 WLTM 4 0010H Warning message when heat sink tempe...

Страница 71: ...ntrol unit or bus system The entry is automatically deleted again By way of the error reset bit in the control word Transition from SYSTEM START to SYSTEM STOP After an error reset the state machine o...

Страница 72: ...6 8 User Manual CM CAN1 6 Fault rectification...

Страница 73: ...User Manual CM CAN1 7 1 DE EN 1 2 3 4 5 6 7 A 7 Examples 7 1 Activation of a CDA3000 7 2 7 1 1 EasyDrive control mode 7 2 7 1 2 Control mode DRIVECOM state machine 7 3 7 1 3 Parameter setting 7 5...

Страница 74: ...rate Parameter 571 CLADR 1 Device address Parameter 492 CACNF 4 Control mode direct control 4 Back up settings in device 150 SAVE 1 BUSY 5 Mains reset to reinitialize 6 Wire control contact hardware...

Страница 75: ...t baud rate Parameter 571 CLADR 1 Device address Parameter 492 CACNF 2 Control mode direct control 4 Back up settings in device 150 SAVE 1 BUSY 5 Mains reset to reinitialize 6 Wire control contact har...

Страница 76: ...0 661 For CDA 1 663 etc 00 00 00 00 0A 00 00 Example CDA 1 is to dwell in the ready for start state Reference value 10 rpm clockwise applied Status message For CDA 0 881 For CDA 1 883 etc 40 02 00 00...

Страница 77: ...d as continuous actual value parameter 360 DISP Reply from CDA 1323 68 01 00 96 01 00 00 00 Message Parameter 360 DISP 406 406 REFF Current reference frequency Send parameter 1103 68 01 02 0E 00 00 00...

Страница 78: ...7 6 User Manual CM CAN1 7 Examples...

Страница 79: ...most CAN suppliers LUST conforms to this definition NMT Network Management Required for masters in the CAN system Not implemented by Lust because drive controller are always slaves and have no control...

Страница 80: ...er CiA tasked to draft a profile of the CANopen protocol for sensors and actuators CAL Mainly in use in Europe LUST has currently implemented a protocol which can be activated by a CAL master The init...

Страница 81: ...e 1 7 Device states 5 2 Downloading parameter data sets 4 20 DRIVECOM state machine 5 3 5 6 DRIVECOM state machine example 7 3 E EasyDrive control mode 5 3 5 4 EasyDrive control mode example 7 2 Elect...

Страница 82: ...CAN bus connection 2 5 Station logon 5 11 STATUS byte 4 13 Status identifiers 3 4 Status message sampling time parameter 4 9 Status messages 5 14 Status word parameter 4 11 System requirements 1 2 Sys...

Страница 83: ......

Страница 84: ...nik GmbH Gewerbestrasse 5 9 D 35631 Lahnau Tel 0 64 41 9 66 0 Fax 0 64 41 9 66 137 Internet http www lust tec de e mail lust lust tec de ID no 0916 21B 0 00 Version 05 00 We reserve the right to make...

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