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CFW500 - CANopen Manual

1. 21 P0705 CAN CONTROLLER 5 5 21 P0706 RECEIVED CAN TELEGRAM 22 P0707 TRANSMITTED CAN TELEGRAM 111 22 P0708 BUS OFF ERROR 22 P0709 LOST CAN MESSAGE 1 1 1 1 1 1 3 11 nnn 22 P0721 CANOPEN COMMUNICATION 23 P0722 CANOPEN 6 5 2 2 1 sanus enhn nnn 23 5 OBJECT DICTIONARY E CER ECKE C YE 24 5 1 DICTIONARY 5 2 na noa ano ste pna oak CHR ADR ERR soda 24 5 2 24650424020 24 5 3 COMMUNICATION PROFILE COMMUNICATION OBJECTS 24 5 4 MANUFACTURER SPECIFIC
2. 14 P0313 COMMUNICATION ERROR noua sua auam 14 P0680 STATUS WORD 15 P0681 MOTOR SPEED IN 13 16 P0684 CANOPEN CONTROL 17 CFW500 3 eq Contents P0685 CANOPEN SPEED 17 0695 DIGITAL OUTPUT SETTINQ 2 coed cnscessatesiensteasewestecsecsensscoacnndsecsecsscsasctsseesteavesses 18 P0696 VALUE 1 FOR ANALOG nnn nnn nnn 19 P0697 VALUE 2 FOR ANALOG 0 tenectevendsensivsscaccuusessseesesees 19 P0698 VALUE FOR ANALOG 2 0 241 24 19 P0700 222 ruina oa aer ano secs ces dos 20 P0701 CAN 55 seca nauran Kaura anaana asas EG Tn aa 20 P0702 BAUD RATE ccc vie eara crap een en a UR sate a Costas 20 P0708 BUS OFF
3. 1 It enables the JOG function o The drive goes to the Local mode 0 The drive uses the first ramp values DIEI in P0100 and P0101 as the motor acceleration Second ramp and deceleration ramp times 1 The driveis configured to use the second ramp values programmed in 102 and 103 as the motor acceleration and deceleration ramp times 0 It does not execute the quick stop command Quick stop 1 It executes the quick stop command Note This function is not allowed with control types P0202 or VVW Bit 7 O No function Fault reset 1 If in a fault condition then it executes the reset Bits8to 15 P0685 CANOPEN SPEED REFERENCE Range 32768 to 32767 Default 0 Properties Access groups via HMI NET Description It allows programming the motor speed reference via the CANopen interface This parameter can only be changed via CANopen DeviceNet Profibus DP interface For the other sources HMI etc it behaves like a read only parameter CFW500 17 E Programming In order that the reference written in this parameter be used it is necessary that the drive be programmed to use the speed reference via CANopen DeviceNet Profibus DP This programming is achieved by means of parameters P0221 and P0222 This word uses a 13 bit resolution with signal to represent the motor rated frequency P0403 P0685 0000h 0 decimal speed reference 0 P0685 2000h 8192 decimal gt speed refe
4. CFW500 SPECIFIC 1 25 5 5 DEVICE PROFILE COMMON OBJECTS FOR 25 6 COMMUNICATION OBJECTS 10 10101111 14 3 1 3 nnns 27 6 1 IDENTIFICATION 1 3 san nnn 27 6 1 4 Object 1000h Device 27 6 1 2 Object 1001h Error 27 6 1 3 Object 1018h Identity Object 1 27 6 2 SERVICE DATA OBJECTS 005 28 621 Object 1200h SDO Server 29 6 2 2 5005
5. Communication Objects Description Table 6 2 Command codes for SDO client Function Description Object data 22h 2Bh Write object 40h Upload Read object 60h or 70h Upload segment Segmented read When making a request the client will indicate through its COB ID the address of the slave to which this request is destined Only a slave using its respective SDO server will be able to answer the received telegram to the client The answer telegram will have also the same structure of the request telegram the commands however are different Table 6 3 Command codes for SDO server Command Function Description Object data For readings of up to four data bytes a single message can be transmitted by the server for the reading of a bigger quantity of bytes it is necessary that the client and the server exchange multiple telegrams A telegram is only completed after the acknowledgement of the server to the request of the client If any error is detected during telegram exchanges for instance no answer from the server the client will be able to abort the process by means of a warning message with the command code equal to 80h NOTE When the SDO is used for writing in objects that represent the CFW500 parameters objects starting from the index 2000h this value is saved in the nonvolatile frequency inverter memory Therefore the configured values are not lost after the equipment is switched off or reset For all
6. Switched on Command for powering up the drive has been received Operation enabled The drive is enabled being controlled according to the programmed operation mode Power is being applied to the motor Quick stop active During the operation the quick stop command was received Power is being applied to the motor Fault reaction active A fault has occurred and the drive is performing the action related to the type of fault Fault Drive with fault Disabled function without power being applied to the motor NOTE The frequency inverter CFW500 does not have a switch for disabling enabling the power section supply of the equipment Therefore the states described in the Power disabled group were implemented for a matter of compatibility with the described state machine however the power section supply remains active even in these states Description of the transitions CFW500 43 Transition O The drive is switched on and the initialization procedure starts The power section supply of the drive is active Transition 1 Initialization completed automatic Transition 2 The Shutdown command has been received The state transition is performed but no action is taken by the CFW500 Transition 3 The Switch on command has been received The state transition is performed but no action is taken by the CFW500 Transition 4 The Enable operation command has been received the frequency inverter is enabled It
7. 0227 RUN STOP SELECTION REMOTE SITUATION 0228 JOG SELECTION REMOTE SITUATION These parameters are used in the configuration of the command source for the CFW500 frequency inverter local and remote situations In order that the device be controlled through the CANopen interface the options CANopen DeviceNet Profibus DP available in these parameters must be selected The detailed description of these parameters is found in the CFW500 programming manual 0313 COMMUNICATION ERROR ACTION Range O Inactive Default 1 1 Disable via Run Stop 2 Disable via General Enable 3 Change to Local 4 Change to Local keeping commands and reference 5 Causes a Fault Properties Access groups via HMI NET Description It allows the selection of the action to be executed by the device if it is controlled via network and a communication error is detected CFW500 14 E Programming Table 4 1 13 options Options Description No action is taken and the drive remains in the existing status 1 Disable via Run Sto A stop command with deceleration ramp is executed and the H motor stops according to the programmed deceleration ramp e The drive is disabled by removing the General Enabling and the 3 Change to Local The drive commands change to Local The drive commands change to Local but the status of the enabling and speed reference commands received via network are kept providing th
8. 1 3 PHYSICAL 2 2 sda 8 1 4 ADDRESS IN THE CANOPEN 8 1 5 ACCESS TO THE DATA 8 1 6 DATA 5 8 1 7 COMMUNICATION OBJECTS 9 1 8 PEE EE 9 1 9 EDS Puc e 10 2 CANOPEN COMMUNICATION 11 2 1 PLUG IN MODULE 500 11 2 2 REN 11 223 POWER SUPPLY 11 2 4 5 11 3 CANOPEN NETWORK INSTALLATION 12 9 17 25 55 5222 IM 12 3 2 ADDRESS IN THE CANOPEN 12 3 9 TERMINATION 12 3 4 CABLE ssa srs smasiasaiadsoniiiatasd
9. 4 Examples of PDO mapping parameters Index Object Name Type Access UNSIGNED i 6 6 22A9h P0681 Motor speed in 13 bits UNSIGNED1 22ACh P0684 Control CANopen DeviceNet UNSIGNED1 22ADh P0685 Speed reference CANopen DeviceNet UNSIGNED16 The EDS file brings the list of all available objects informing whether the object can be mapped or not 6 3 2 Receive PDOs The receive PDOs or RPDOs are responsible for receiving data that other devices send to the CANopen network The frequency inverter CFW500 has 2 receive PDOs each one being able to receive up to 8 bytes Each RPDO has two parameters for its configuration a PDO_COMM_PARAMETER and a PDO_MAPPING as described next CFW500 31 PDO_COMM_PARAMETER Bud Jo Sub index i RUE Default value 1400h 200h Node ID 1401h 300h Node ID The sub index 1 contains the receive PDO Every time a message is sent to the network this object will read the COB ID of that message and if it is equal to the value of this field the message will be received by the device This field is formed by an UNSIGNEDS2 with the following structure Table 6 5 COB ID description Bit Value Description 81MSB O 30 o Rrhpemited 29 o Wenfersze ilbis 28 11 o always 11 bit COB ID The bit 31 allows enabling or disabling the PDO The bits 29 and 30 must be kept in O ze
10. 6 4 The Reset node command makes the CFW500 execute a complete reset of the device while the Reset communication command causes the device to reinitialize only the objects pertinent to the CANopen communication 6 5 2 Error Control Node Guarding This service is used to make it possible the monitoring of the communication with the CANopen network both by the master and the slave as well In this type of service the master sends periodical telegrams to the slave which responds to the received telegram If some error that interrupts the communication occurs it will be possible to identify this error because the master as well as the slave will be notified by the Timeout in the execution of this service The error events are called Node Guarding for the master and Life Guarding for the slave Periodic Request Response Communication Failure Request Error Timeout waiting for the response Timeout waiting for the request Figure 6 5 Error control service Node Guarding There are two objects of the dictionary for the configuration of the error detection times for the Mode Guarding Service VAR PDO Mapping No No Range UNSIGNED1 6 Default value o CFW500 38 E Communication Objects Description PDO Mapping UNSIGNEDS Default value PO The 100Ch object allows programming the time necessary in milliseconds for a fault occurrence being detected in case the CFW500 does not receive a
11. If this parameter is changed the change takes effect only if the CAN interface is not powered auto baud or after the equipment is switched off and on again P0702 CAN BAUD RATE Range O 1 Mbit s Autobaud Default O 1 2 800 Kbit s Autobaud 2 500 kbit s 3 250 kbit s 4 125 kbit s 5 100 Kbit s Autobaud 6 50 kbit s Autobaud 7 20 kbit s Autobaud 8 10 Kbit s Autobaud Properties Access groups via HMI NET Description It allows programming the desired baud rate for the CAN interface in bits per second This rate must be the same for all the devices connected to the network The supported bauld rates for the device depend on the protocol programmed in the parameter PO700 P0700 1 CANopen It is possible to use any rate specified in this parameter but it does not have the automatic baud rate detection function autobaud P0700 2 DeviceNet only the 500 250 and 125 Kbit s rates are supported Other options will enable the automatic baud rate detection function autobaud If this parameter is changed the change takes effect only if the CAN interface is not powered or after the equipment is switched off and on again After a successful detection the baud rate parameter P0702 changes automatically to the detected rate In order to execute the autobaud function again it is necessary to change the parameter PO702 to one of the Autobaud options CFW500 20 meg P0703 B
12. In order to avoid problems with current circulation caused by difference of potential among ground connections it is necessary that all the devices be connected to the same ground point Termination Drop Line Figure 3 1 CANopen network installation example To avoid voltage difference problems between the power supplies of the network devices it is recommended that the network is fed by only one power supply and the signal is provided to all devices through the cable If it is required more than one power supply these should be referenced to the same point The maximum number of devices connected to a single segment of the network is limited to 64 Repeaters can be used for connecting a bigger number of devices CFW500 13 E Programming 4 PROGRAMMING Next only the CFW500 frequency inverter parameters related to the CANopen communication will be presented 4 1 SYMBOLS FOR THE PROPERTIES DESCRIPTION RO Read only parameter CFG Parameter that can be changed only with a stopped motor CAN Parameter visible on the HMI if the product has the CAN interface installed 0105 187 2ND RAMP SELECTION 0220 LOCAL REMOTE SELECTION SOURCE 0221 SPEED REFERENCE SELECTION LOCAL SITUATION 0222 SPEED REFERENCE SELECTION REMOTE SITUATION 0223 FORWARD REVERSE SELECTION LOCAL SITUATION 0224 RUN STOP SELECTION LOCAL SITUATION 0225 JOG SELECTION LOCAL SITUATION 0226 FORWARD REVERSE SELECTION REMOTE SITUATION
13. analog output 1 via serial the following programming must be done Choose a parameter from P0696 P0697 P0698 to be the value used by the analog output 1 For this example we are going to select P0696 Program the option P0696 value as the function for the analog output 1 in P0254 Using the network interface write in PO696 the desired value for the analog output 1 between and 100 96 according to the parameter scale NOTE For CFW500 frequency inverter the analog output 3 represents the frequency output FO 5 For the actual output resolution refer to the product manual CFW500 19 E Programming P0700 CAN PROTOCOL Range 1 CANopen Default 2 2 DeviceNet Properties Access groups via HMI NET Description It allows selecting the desired protocol for the CAN interface If this parameter is changed the change takes effect only if the CAN interface is not powered it is in auto baud or after the equipment is switched off and on again P0701 CAN ADDRESS Range 010127 Default 63 Properties Access groups via HMI NET Description It allows programming the address used for the CAN communication It is necessary that each element of the network has an address different from the others The valid addresses for this parameter depend on the protocol programmed in PO700 P0700 1 CANopen valid addresses 1 to 127 P0700 2 DeviceNet valid addresses to 63
14. are irrelevant for the command execution CFW500 44 Table 7 2 Control word commands Control word bits Trans tios Fault reset Enable operation Quick stop Enable voltage Switch Sudown x 1 1 0 268 Schon o 00 1 3 1 0 8 Disablevolage o x x o x 78 10 12 Quick stop 0 s 0 1 71015 Disableoperation 0 0 14 11 J 101 5 Enable operation 0 1 1 j 1 J 1 46 The bits 4 5 6 and 8 have different functions according to the used operation mode The detailed description of the functions of these bits for the velocity mode is presented on the section 7 2 1 Bits 11 12 13 14 and 15 are reserved for specific use by the manufacturer For frequency inverter CFW500 bit 11 is used to select the operation mode Location 0 or remote 1 7 1 2 Object 6041h Statusword It indicates the CFW500 present state UNSIGNEDI6 POBEO Defaut vave Table 7 3 Statusword bit function Description 0 Readytoswitch on 6 DE Reed i 9 Remte In this word the bits O 1 2 3 5and 6 indicate the state of the device according to the state machine described in the figure 7 2 The table 7 4 describes the combinations of these bits for the state indications The bits marked with x are irrelevant for the state indication Table 7 4 Drive states indicated through the Sta
15. corresponds to activate the bit 1 of the control word of the frequency inverter via CAN P0684 Transition 5 The Disable operation command has been received the frequency inverter is disabled It corresponds to reset the bit 1 of the control word of the inverter via CAN P0684 Transition 6 The Shutdown command has been received The state transition is performed but no action is taken by the CFW500 Transition 7 The Quick stop and Disable voltage commands have been received The state transition is performed but no action is taken by the CFW500 Transition 8 The Shutdown command has been received During the operation of the frequency inverter it is disabled blocking the supply for the motor It corresponds to reset the bit 1 of the control word of the frequency inverter via CAN P0684 Transition 9 The Shutdown command has been received During the operation of the frequency inverter it is disabled blocking the supply for the motor It corresponds to reset the bit 1 of the control word of the frequency inverter via CAN P0684 Transition 10 The Quick stop or Disable voltage command has been received The state transition is performed but no action is taken by the CFW500 Transition 11 The Quick stop command has been received the frequency inverter performs the stopping via ramp function It corresponds to reset the bit O of the control word of the frequency inverter via CAN P0684 Transition 12 The Di
16. from 1 to 127 The address of frequency inverter CFW500 is programmed by the parameter 0701 1 5 55 DATA Each slave of the CANopen network has list called object dictionary that contains all the data accessible via network Each object of this list is identified with an index which is used during the equipment configuration as well as during message exchanges This index is used to identify the object being transmitted 1 6 DATA TRANSMISSION The transmission of numerical data via CANopen telegrams is done using a hexadecimal representation of the number and sending the least significant data byte first E g The transmission of a 32 bit integer with sign 12345678h 305419896 decimal plus a 16 bit integer with sign FFOOh 256 decimal in a CAN frame 6 data bytes 11 bits 32 bit integer CFW500 8 meg Introduction to the CANopen Communication 1 7 COMMUNICATION OBJECTS COB There is a specific set of objects that are responsible for the communication among the network devices Those objects are divided according to the type of data and the way they are sent or received by a device The CFW500 supports the following communication objects COB Table 1 1 Types of Communication Objects COB Service Data Object SDO are objects responsible for the direct access to the object dictionary of a device By means of messages SDO using SDO itis possible to indicate explicitly the object index w
17. from the HMI The minimum value accepted by the CFW500 is 2ms but considering the transmission rate and the number of nodes in the network the times programmed for this function must be consistent so that there is enough time for the transmission of the telegrams and also that the rest of the communication be able to be processed For any every slave only one of the two services Heartbeat or Node Guarding can be enabled 6 5 3 Error Control Heartbeat The error detection through the Heartbeat mechanism is done using two types of objects the Heartbeat producer and the Heartbeat consumer The producer is responsible for sending periodic telegrams to the network simulating a heartbeat indicating that the communication is active and without errors One or more consumers can monitor these periodic telegrams and ifthey cease occurring it means that any communication problem occurred CFW500 39 E Communication Objects Description CANopen Master Heartbeat Message 53 Periodic Heartbeat Consumer Producer Communication interrupted Error Timeout waiting for the message Figure 6 6 Error control service Heartbeat One device of the network be both producer and consumer of heartbeat messages For example the network master can consume messages sent by a slave making it possible to detect communication problems with the master and simultaneously the slave can consume heartbeat messages
18. least significant to the most significant CFW500 30 data In this way it is possible to have communication among slaves of the CANopen network it is only necessary to configure one slave to transmit information and one or more slaves to receive this information CANopen Transmit PDO PDO Data for operation Figure 6 2 Communication using PDOs NOTE PDOs can only be transmitted or received when the device is in the operational state The Figure 6 2 illustrates the available states for CANopen network node 6 3 4 PDO Mapping Objects In order to be able to be transmitted by a PDO it is necessary that an object be mapped into this PDO content In the description of communication objects 1000h 1FFFh the filed PDO Mapping informs this possibility Usually only information necessary for the operation of the device can be mapped such as enabling commands device status reference etc Information on the device configuration are not accessible through PDOs and if it is necessary to access them one must use the SDOs For CFW500 specific objects 2000h 5FFFh the next table presents some PDO mapping objects Read only parameters ro can be used only by transmit PDOs whereas the other parameters can be used only by receive PDOs The CFW500 EDS file brings the list of all the objects available for the inverter informing whether the object can be mapped or not Table 6
19. necessary to use the CAN communication kit described next Information on the installation of this module can be obtained in the guide that comes with the kit 2 1 PLUG IN MODULE CFW500 CCAN WEG part number 11593087 Composed by the CAN communication module drawing at the left mounting instruction and fixing screw interface is electrically isolated and with differential signal which grants more robustness against electromagnetic interference External 24V supply t allows the connection of up to 64 devices to the same segment More devices can be connected by using repeaters maximum bus length of 1000 meters 2 2 CONNECTOR PINOUT The CAN communication module presents a 5 wire plug in connector with the following pinout 1121314 15 Table 2 1 CAN interface connector pinout Pin Name Function NOTE It is recommended to connect the GND pin of the CFW500 CCAN module to protective earth This is necessary to connect the cable shield with the earth 2 3 POWER SUPPLY The CAN interface needs an external power supply between the pins 1 and 5 of the network connector The individual consumption and input voltage data are presented in the next table Table 2 2 CAN interface supply characteristics Supply Voltage 0 Typical 2 4 INDICATIONS Details
20. the CFW500 is presented next Notice that the standard value of the object depends on the slave address with the exception of the COB ID for NMT and SYNC which are common for all the network elements Those values can also be changed during the device configuration stage CFW500 9 E Introduction to the CANopen Communication Table 1 2 COB ID for the different objects bits 10 7 function address Nr 00 0 641 767 281h 2FFh t 1281 1407 601h 57Fh 1409 1535 681h 5FFh 1537 1663 601h 67Fh Node Guarding Heartbeat 1793 1919 7011 77Fh x PDOS tx 897 1023 881h 3FFh x 1 9 EDSFILE Each device in a CANopen network has an EDS configuration file that contains information about the operation of the device in the CANopen network as well as the description of all the communication objects available In general this file is used by a master or by the configuration software for programming of devices present in the CANopen Network The EDS configuration file for the CFW500 is supplied together with the product and it can also be obtained from the website http www weg net It is necessary to observe the inverter software version in order to use an EDS file that be compatible with that version CFW500 10 Weg COMMUNICATION ACCESSORY 2 CANOPEN COMMUNICATION ACCESSORY In order to make the CANopen communication possible with the product it is
21. the object Error Register O Generic error Current Voltage Temperature Communication Reserved always 0 6 Reserved always 0 Specific of the manufacturer If the device presents any error the equivalent bit must be activated The first bit generic error must be activated with any error condition 6 1 3 Object 1018h Identity Object It brings general information about the device CFW500 27 Communication Objects Description TOTER object Sub index Number of the last sub index ees PDO Mapping UNSIGNEDS Default value 42 4 UNSIGNED32 Default value 0000 0123h C mess RO PDO Mapping UNSIGNED32 Default value According to the equipment firmware version The vendor ID is the number that identifies the manufacturer at the CiA The product code is defined by the manufacturer according to the type of product The revision number represents the equipment firmware version The sub index 4 is a unique serial number for each frequency inverter CFW500 in CANopen network 6 2 SERVICE DATA OBJECTS 5005 The SDOs are responsible for the direct access to the object dictionary of a specific device in the network They are used for the configuration and therefore have low priority since they do not have to be used for communicating data necessary for the device operation There are two types of SDOs client and server Basically the communicat
22. the other objects these values are not saved automatically so that it is necessary to rewrite the desired values E g Aclient SDO requests for a CFW500 at address 1 the reading of the object identified by the index 2000h sub index zero which represents an 16 bit integer The master telegram has the following format Identifier Command Index Data 00h 20h 00h 00h 00h 00h CFW500 responds to the request indicating that the value of the referred object is equal to 999 Data Bh 00h 00h 8 6 3 PROCESS DATA OBJECTS PDOS The PDOs are used to send and receive data used during the device operation which must often be transmitted in a fast and efficient manner Therefore they have a higher priority than the SDOs In the PDOs only data are transmitted in the telegram index sub index are omitted and in this way it is possible to do a more efficient transmission with larger volume of data in a single telegram However it is necessary to configure previously what is being transmitted by the PDO so that even without the indication of the index and sub index it is possible to know the content of the telegram There are two types of PDOs the receive PDO and the transmit PDO The transmit PDOs are responsible for sending data to the network whereas the receive PDOs remain responsible for receiving and handling these Do not forget that for any integer type of data the byte transfer order is from the
23. 29 6 3 PROCESS DATA OBJECTS PDOSG nr uem anu onu dna saco 30 6 3 1 PDO Mapping 5 RR SER ES cin casa 31 6 3 2 Receive or 31 6 33 Transmit PDOSi vissicsscsissccsciescasccssasescesccavecusaesceaccsvesescxscensscevsssscusswascesvesscensscessaevesss 33 6 4 SYNCHRONIZATION OBJECT 1 6 61 san 36 6 5 36 6 5 1 Slave State n na nnno n nnn 36 6 5 2 Error Control Node Guarding 38 6 5 3 Error Control 39 6 6 INITIALIZATION PROCEDURRE 2 5225 Urna mo irae n E 41 DESCRIPTION OF THE OBJECTS FOR DRIVES ccce cere ee 22 1 42 7 1 DEVICE CONTROL OBJECTS FOR CONTROLLING THE 43 7 1 1 Object 6040h e enne nnnm nnn nnn nnn n
24. 4 Object 6044h vl Control Effort It indicates the speed value according to the measured at the motor in rpm For the control modes without feedback this object has the same value as the object 6043h po Range CFW500 47 7 2 5 Object 6046h vl Velocity Min Max Amount Description of the Objects for Drives It allows programming the value of the minimum and the maximum speed for the inverter Only positive values are accepted however the programmed values are also valid for the reverse speed direction The values are written in rom Number of the last sub index PDO Default value oo DWavdus oo 7 2 6 Object 6048h vl Velocity Acceleration It allows programming the inverter acceleration ramp Spimex pp S The acceleration value is calculated dividing the speed programmed at the sub index 1 by the time programmed at the sub index 2 The programmed values must respect the parameter P0100 allowed value range CFW500 48 Description of the Objects for Drives 7 2 7 Object 6049h vl Velocity Deceleration It allows programming the inverter deceleration ramp The deceleration value programmed at the sub range Spade Hmge 8 Defauit value 2
25. 500 16 Programming NOTE The values transmitted over the network have a scale limitation allowing a maximum of 4 times the synchronous speed of the motor with saturation in 32767 or 32768 P0684 CANOPEN CONTROL WORD Range 0000h to FFFFh Default 0000h Properties NET Access groups via NET Description It is the device CANopen interface control word This parameter can only be changed via CANopen DeviceNet Profibus DP interface For the other sources HMI etc it behaves like a read only parameter In order to have those commands executed it is necessary to program the equipment to be controlled via CANopen DeviceNet Profibus DP This programming is achieved by means of parameters P0105 and P0220 to P0228 Each bit of this word represents a command that can be executed Function Reserved Fault reset Quick stop Second ramp LOC REM Speed direction General enable Run Stop Table 4 3 684 parameter bit functions O It stops the motor with deceleration ramp 1 The motor runs according to the acceleration ramp until reaching the speed reference value Bit O It disables the drive interrupting the supply for the motor 1 It enables the drive allowing the motor operation Bit 2 0 To run the motor in direction opposed to the speed reference Speed direction 1 To run the motor in the direction indicated by the speed reference O It disables the JOG function
26. For those objects the indexes from 6000h to 9FFFh were reserved It is possible to operate the inverter through the CANopen network via the parameters located from the index 2000h on as well as by means of these standardized objects Refer to the section 7 for a detailed description of which objects are available for this range of the object dictionary CFW500 26 6 COMMUNICATION OBJECTS DESCRIPTION This item describes in detail each of the communication objects available for the frequency inverter CFW500 It is necessary to know how to operate these objects to be able to use the available functions for the inverter communication 6 1 IDENTIFICATION OBJECTS There is a set of objects in the dictionary which are used for equipment identification however they do not have influence on their behavior in the CANopen network 6 1 1 Object 1000h Device This object gives a 32 bit code that describes the type of object and its functionality This code can be divided into two parts 16 low order bits describing the type of profile that the device uses and 16 high order bits indicating a specific function according to the specified profile 6 1 2 Object 1001h Error Register This object indicates whether or not an error in the device occurred The type of error registered for the CFW500 follows what is described in the table 6 1 Defautvaue o Table 6 1 Structure of
27. Motor Running 1 The driveis running the motor at the set point speed or executing either the acceleration or the deceleration ramp Bit9 O General Enable is not active 1 General Enable is active and the drive is ready to run the motor 10 Bit 0 The motoris running in the reverse direction Speed direction 1 The motoris running in the forward direction Bit 1 O Inactive JOG function Bit12 O Drive in Local mode Bit13 0 No Undervoltage Manual Automatic 1 PID in Automatic mode 0 The driveis notin a fault condition Bit 15 Fault condition 1 The drive has detected a fault Note The fault number can be read by means of the parameter P0049 Present Fault P0681 MOTOR SPEED IN 13 BITS Range 92768 to 32767 Default Properties RO Access groups via HMI NET Description It allows monitoring the motor speed This word uses 13 bit resolution with signal to represent the motor rated frequency P0403 P0681 0000h 0 decimal motor speed O P0681 2000h 8192 decimal motor speed rated frequency Intermediate or higher speed values in rpm can be obtained by using this scale E 9 60Hz rated frequency if the value read is 2048 0800h then to obtain the speed in Hz one must calculate 8192 gt 60 Hz 2048 gt Frequency in Hz Frequency in Hz 60 x 2048 8192 Frequency in Hz 30 Hz Negative values in this parameter indicate that the motor is running in the reverse direction CFW
28. Motors Automation Energy Transmission amp Distribution Coatings CANopen CFW500 User s Manual BEEN San CANopen User s Manual Series CF W500 Language English Document Number 10002253105 00 Publication Date 06 2013 eq Contents CONTENTS CONTENTES E 3 ABOUT THE MANUAL 6 ABBREVIATIONS AND 6 NUMERICAL REPRESENTATION 6 DOCUMENTS 6 1 INTRODUCTION TO THE CANOPEN COMMUNICATION 7 MEE 7 1 1 1 Data Frame 7 1 1 2 Remote Fr me 4 inimi cce vicus DN REA 7 1 1 3 Access to the Network ssa 2555 aro gau gk Ea agna FERAS HEREHEREEREFRENRHER 7 1 1 4 Error Control coii eee neuve acr ums HER NKORESRRRRBENRSRSRRRRRRSRSRRSEESERNERESE 7 1 1 5 and CANOD GM iss nya orae nar EE CR ERR 8 1 2 NETWORK 8
29. PDO Mapping Yes Defauit value pu S is calculated dividing the speed programmed at the sub index 1 by the time index 2 The programmed values must respect the parameter PO101 allowed value CFW500 49 meg Faults and Alarms Related to the CANopen Communication 8 FAULTS AND ALARMS RELATED TO THE CANOPEN COMMUNICATION A133 F233 CAN INTERFACE WITHOUT POWER SUPPLY Description It indicates that the CAN interface does not have power supply between the pins 1 and 5 of the connector Actuation In order that it be possible to send and receive telegrams through the CAN interface it is necessary to supply external power to the interface circuit Ifthe CAN interface is connected to the power supply and the absence of power is detected the alarm A133 or the fault F233 depending on the P0313 programming will be signalized through the HMI If the circuit power supply is reestablished the CAN communication will be reinitiated In case of alarms the alarm indication will also be removed from the HMI Possible Causes Correction Measure the voltage between the pins 1 and 5 of the CAN interface connector Verify if the power supply cables have not been changed or inverted Make sure there is no contact problem the cable or in the CAN interface connector A134 F234 BUS OFF Description The bus offerror the CAN interface has been detected Actuation If the number of rec
30. T POWER SUPPLY eene nnn 50 A134 F234 BUS OFF HR 50 A135 F235 NODE nnn nne nnn nans nnn nnn 50 500 5 meg About the Manual ABOUT THE MANUAL This manual provides the necessary information for the operation of the CFW500 frequency inverter using the CANopen protocol This manual must be used together with the CFW500 user manual ABBREVIATIONS AND DEFINITIONS CAN Controller Area Network CiA CAN in Automation COB Communication Object COB ID Communication Object Identifier SDO Service Data Object PDO Process Data Object RPDO Receive PDO TPDO Transmit PDO NMT Network Management Object ro Read only rw Read write NUMERICAL REPRESENTATION Decimal numbers are represented by means of digits without suffix Hexadecimal numbers are represented with the letter h after the number DOCUMENTS The CANopen protocol for the CFW500 was developed based on the following specifications and documents ro Ut Version Source DS 301 CANopen Application Layer and Communication Profile CiA DRP 303 1 Cabling and Connector Pin Assignment CiA DSP 306 Electronic Data Sheet Specification for CANopen CiA DSP 402 Device Profile Drives and Motion Control In order to obtain this documentation the organization that maintains publishes and updates the information regardi
31. US OFF RESET Programming Range O Manual 1 Automatic Properties CFG Access groups via HMI Description NET Default O It allows programming the inverter behavior when detecting a bus off error at the CAN interface O Manual Reset 1 Automatic Reset Table 4 5 Options for the parameter PO703 If bus off occurs the A134 F234 alarm will be indicated on the HMI the action programmed in parameter P0313 will be executed and the communication will be disabled In order that the inverter communicates again through the CAN interface it will be necessary to cycle the power of the inverter If bus off occurs the communication will be reinitiated automatically and the error will be ignored In this case the alarm will not be indicated on the HMI and the inverter will not execute the action programmed in P0313 P0705 CAN CONTROLLER STATUS Range O Disabled 1 Autobaud 2 CAN Enabled Waming 4 Error Passive 5 Bus Off 6 No Bus Power Properties RO Access groups via HMI Description NET Default It allows identifying if the CAN interface board is properly installed and if the communication presents errors O Disabled 1 Autobaud 2 CAN Enabled 3 Warning 4 Error Passive 5 Bus Off 6 No Bus Power Table 4 6 Values for the parameter PO705 Inactive CAN interface It occurs when the equipment does not have the CAN interface installed CAN
32. adea cassa fans sad ERREREERRRRRRRRENERONEDNUN 12 3 5 CONNECTION IN THE NETWORK ccccccscsccsccccscnececnenencenccneneceenecnensnecnsoscusceenenscusnsanazeae 13 4 PROGRAMMING Siad 14 4 1 SYMBOLS FOR THE PROPERTIES 14 P0105 127 20 RAMP SELECT ION SER NE E nOD ER eaRREERRERERRERENSRKANRARERENUS 14 P0220 LOCAL REMOTE SELECTION 14 P0221 SPEED REFERENCE SELECTION LOCAL 5 14 P0222 SPEED REFERENCE SELECTION REMOTE 5 14 P0223 FORWARD REVERSE SELECTION LOCAL 14 P0224 RUN STOP SELECTION LOCAL 5 14 P0225 JOG SELECTION LOCAL 14 P0226 FORWARD REVERSE SELECTION REMOTE SITUATION 14 P0227 RUN STOP SELECTION REMOTE 14 P0228 JOG SELECTION REMOTE
33. at the drive has been programmed to use in Local mode the commands via HMI or 3 wire start stop and speed reference via either HMI or electronic potentiometer Instead of an alarm the communication error causes an drive 5 Causes a Fault fault so that a drive fault reset becomes necessary in order to restore normal operation The following events are considered communication errors 4 Change to Local keeping commands and reference CANopen DeviceNet communication A133 alarm F233 fault CAN interface not powered A134 alarm F234 fault bus off A135 alarm F235 fault CANopen communication error Node Guarding Heartbeal 136 alarm F236 fault DeviceNet master in ale mode 137 alarm F237 fault Detected timeout in one or more DeviceNet I O connections The actions described in this parameter are executed by means of the automatic writing of the selected actions in the respective bits of the interface control words Therefore in order that the commands written in this parameter be effective it is necessary that the device be programmed to be controlled via the used network interface with exception of option Causes a Fault which blocks the equipment even if it is not controlled by network This programming is achieved by means of parameters P0220 to P0228 P0680 STATUS WORD Range 0000h to FFFFh Default Properties RO Access groups via HMI NET Description It allows the device status monitor
34. bjects for each RPDO provided that the total length does not exceed eight bytes The mapping of an object is done indicating its index sub index and size in bits in an UNSIGNED32 field with the following format UNSIGNED32 Index Sub index Size of the object 16 bits 8 bits 8 bits For instance analyzing the receive PDO standard mapping we have GSub index O 2 the RPDO has two mapped objects Sub index 1 22AC 0010h the first mapped object has an index equal to 22ACh sub index O zero and a size of 16 bits This object corresponds to the inverter parameter P0684 which represents the CANopen control word Sub index 2 22AD 0010h the second mapped object has an index equal to 22ADh sub index O zero anda size of 16 bits This object corresponds to the inverter parameter P0685 which represents the speed reference It is possible to modify this mapping by changing the quantity or the number of mapped objects Remembering that only 4 objects or 8 bytes can be mapped at maximum NOTE In order to change the mapped objects in a PDO it is first necessary to write the value O zero in the sub index zero In that way the values of the sub indexes 1 to can be changed After the desired mapping has been done one must write again in the sub index O zero the number of objects that have been mapped enabling again the PDO In order to speed up the updating of data via PDO the values recei
35. controller is trying to detect baud rate of the network only for DeviceNet communication protocol CAN interface does not have power supply between the pins 1 and 5 of the connector CFW500 21 E Programming P0706 RECEIVED CAN TELEGRAM COUNTER Range O to 65535 Default Properties RO Access groups via NET Description This parameter works as a cyclic counter that is incremented every time CAN telegram is received It informs the operator if the device is being able to communicate with the network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached P0707 TRANSMITTED CAN TELEGRAM COUNTER Range O to 65535 Default Properties RO Access groups via HMI NET Description This parameter works as a cyclic counter that is incremented every time a CAN telegram is transmitted It informs the operator if the device is being able to communicate with the network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached P0708 BUS OFF ERROR COUNTER Range O to 65535 Default Properties RO Access groups via HMI NET Description It is a cyclic counter that indicates the number of times the device entered the bus off state in the CAN network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reach
36. cription showed next UNSIGNED32 Index Sub index Size of the object 16 bits 8 bits 8 bits For instance analyzing the standard mapping of the fourth transmit PDO we have Sub index O 2 This PDO has two mapped objects Sub index 7 22A8 0010h the first mapped object has an index equal to 22A8h sub index O zero and a size of 16 bits This object corresponds to the parameter PO680 that is inverter status Sub ndice 2 22A9 001 Oh the second mapped object has an index equal to 22A9h sub index 0 zero and a size of 16 bits This object corresponds to the parameter PO681 that is motor speed Therefore every time this PDO transmits its data it elaborates its telegram containing four data bytes with the values of the parameters P0680 and P0681 It is possible to modify this mapping by changing the quantity or the number of mapped objects Remember that a maximum of 4 objects or 8 bytes can be mapped CFW500 35 E Communication Objects Description NOTE In order to change the mapped objects in a PDO it is first necessary to write the value O zero in the sub index O zero In that way the values of the sub indexes 1 to 4 can be changed After the desired mapping has been done one must write again in the sub index O zero the number of objects that have been mapped enabling again the PDO 6 4 SYNCHRONIZATION OBJECT SYNC This object is transmitted with the purpose of allowing the sync
37. directly the stored data type For simple variables this type may be an integer a float etc For arrays it indicates the type of data contained in the array For records it indicates the record format according to the types described in the first part of the object dictionary indexes 0001h 0360h Access informs if the object in question is accessible only for reading ro for reading and writing rw or if it is a constant const For objects of the array or record type a sub index that is not described in the dictionary structure is also necessary 5 2 DATATYPE The first part of the object dictionary index 0001h 025Fh describes the data types that can be accessed at CANopen network device They can be basic types as integers and floats or compound types formed by a set of entries as records and arrays 5 3 COMMUNICATION PROFILE COMMUNICATION OBJECTS The indexes from 1000h to 1FFFh in the object dictionary correspond to the part responsible for the CANopen network communication configuration Those objects are common to all the devices however only a few are obligatory A list with the objects of this range that are supported by the frequency inverter CFW500 is presented next CFW500 24 E Object Dictionary Table 5 2 Object list Communication Profile Index Object Access ro SYNC guard time Ife time factor ARRAY Consumer heartbeat time VAR Produce
38. ed P0709 LOST CAN MESSAGE COUNTER Range O to 65535 Default Proprerties RO Access groups via NET Description It is a cyclic counter that indicates the number of messages received by the CAN interface but could not be processed by the device In case that the number of lost messages is frequently incremented it is recommended to reduce the baud rate used in the CAN network This counter is reset every time the device is Switched off a reset is performed or the parameter maximum limit is reached CFW500 22 meg P0721 CANOPEN COMMUNICATION STATUS Programming Range O Disabled Default 1 Reserved 2 Communication Enabled 3 Error Control Enabled 4 Guarding Error 5 Heartbeat Error Access groups via HMI NET Description It indicates the board state regarding the CANopen network informing if the protocol has been enabled and if the error control service is active Node Guarding or Heartbeat P0722 CANOPEN NODE STATUS Range O Disabled Default 1 Initialization 2 Stopped 3 Operational 4 Preoperational Access groups via HMI NET Description It operates as a slave of the CANopen network and as such element it has a state machine that controls its behavior regarding the communication This parameter indicates in which state the device is CFW500 23 UB tect Dictionary 5 OBJECT DICTIONARY The object dictionary is a list containing several equipment data wh
39. ent If two devices try to access the network simultaneously the one that sends the message with the highest priority will be able to transmit The message priority is defined by the CAN frame identifier the smaller the value of this identifier the higher the message priority The telegram with the identifier zero is the one with the highest priority 1 1 4 Error Control The CAN specification defines several error control mechanisms which makes the network very reliable and with a very low undetected transmission error rate Every network device must be able to identify the occurrence of these errors and to inform the other elements that an error was detected A CAN network device has internal counters that are incremented every time a transmission or reception error is detected and are decremented when a telegram is successfully transmitted or received If a considerable amount of errors occurs the device can be led to the following states Error Active the internal error counters are at a low level and the device operates normally in the CAN network You can send and receive telegrams and act in the CAN network if it detects any error in the transmission of telegrams Warming when the counter exceeds a defined limit the device enters the warning state meaning the occurrence of a high error rate Error Passive when this value exceeds a higher limit the device enters the error passive state and it stops acting in the networ
40. eption or transmission errors detected by the CAN interface is too high the CAN controller can be taken to the bus offstate where it interrupts the communication and disables the CAN interface In this case the alarm A134 or the fault F234 depending the P0313 programming will be signalized through the HMI In order that the communication be reestablished it will be necessary to cycle the power of the product or remove the power supply from the CAN interface and apply it again so that the communication be reinitiated Possible Causes Correction Verify if there is any short circuit between the CAN circuit transmission cables Verify if the cables have not been changed or inverted Verify if all the network devices use the same baud rate Verify if termination resistors with the correct values were installed only at the extremes of the main bus Verify if the CAN network installation was carried out in proper manner A135 F235 NODE GUARDING HEARTBEAT Description The CANopen communication error control detected a communication error by using the guarding mechanism Operation By using the error control mechanisms Node Guarding or Heartbeat the master and the slave can exchange periodic telegrams with a predetermined period If the communication is interrupted by some reason the master as well as the slave will be able to detect communication error through the timeout in the exchange of those messages For mo
41. g UNSIGNEDS Default value 254 959 4 4 O O Description Time between transmissions The sub index 1 contains the transmit PDO COB ID Every time this PDO sends a message to the network the identifier of that message will be this COB ID The structure of this field is described in table 6 5 The sub index 2 indicates the transmission type of this object which follows the table 6 6 description Its working is however different for transmit PDOs Value O indicates that the transmission must occur immediately after the reception of a SYNC telegram but not periodically Values 1 240 the PDO must be transmitted at each detected SYNC telegram or multiple occurrences of SYNC according to the number chosen between 1 and 240 Value 252 indicates that the message content must be updated but not sent after the reception of a SYNC telegram The transmission of the message must be done after the reception of a remote frame RTR frame Value 253 the PDO must update and send a message as soon as it receives a remote frame CFW500 34 Values 254 The object must be transmitted according to the timer programmed in sub index 5 Values 255 the object is transmitted automatically when the value of any of the objects mapped in this PDO is changed It works by changing the state Change of State This type does also allow that the PDO be transmitted according to the timer programmed in sub index 5 In the s
42. hat data is being handled There two SDO types Client SDO responsible for doing read or write request to a network device and the Server SDO responsible for taking care of that request Since SDO are usually used for the configuration of a network node they have less priority than other types of message Process Data Object PDO are used for accessing equipment data without the need of indicating explicitly which dictionary object is PDO being accessed Therefore itis necessary to configure previously which data the PDO will be transmitting data mapping There are also two types of PDO Receive PDO and Transmit PDO They are usually utilized for transmission and reception of data used in the device operation and for that reason they have higher priority than the SDO Emergency Object This object is responsible for sending messages to indicate the occurrence of errors in the device When an error EMCY occurs in a specific device EMCY producer it can send a message to the network In the case that any network device be monitoring that message EMCY consumer it can be programmed so that an action be taken disabling the other devices error reset etc Synchronization Object In the CANopen network itis possible to programa device SYNC producer to send periodically a SYNC synchronization message for all the network devices Those devices SYNC consumers will then be able for instance to send a certain datum that needs
43. hronization of events among the CANopen network devices It is transmitted by a SYNC producer and the devices that detect its transmission are named SYNC consumers The frequency inverter CFW500 has the function of a SYNC consumer therefore it can program its PDOs to be synchronous As described in table 6 6 synchronous PDOs are those related to the synchronization object thus they can be programmed to be transmitted or updated based in this object SS gt LL SE PS Period When receiving the SYNC every inverter Updale data received by the RPDOs Update values and transmits TPDOs Figure 6 3 SYNC The SYNC message transmitted by the producer does not have any datain its data field because its purpose is to provide a time base for the other objects There is an object in the CFW500 for the configuration of the COB ID of the SYNC consumer NOTE The period of the SYNC telegrams must be programmed in the producer according to the transmission rate and the number of synchronous PDOs to be transmitted There must be enough time for the transmission of these objects and it is also recommended that there is a tolerance to make it possible the transmission of asynchronous messages such as EMCY asynchronous PDOs and SDOs 65 NETWORK MANAGEMENT NMT The network management object is responsible for a series of services that control the communication of the de
44. ich can be accessed via CANopen network An object of this list is identified by means of a 16 bit index and it is based in that list that all the data exchange between devices is performed The CiA DS 301 document defines a set of minimum objects that every CANopen network slave must have The objects available in that list are grouped according to the type of function they execute The objects are arranged in the dictionary in the following manner Table 5 1 Object dictionary groupings Objects 04 0001h 025Fh Data type definition Used as reference forthe datatype supported by the system 1000h 1FFFh Communication objects They are objects common to all the CANopen devices They contain general information about the equipment and also data for the communication configuration 2000h 5FFFh Manufacturer specific objects In this range each CANopen equipment manufacturer is free to define which data those objects will represent equipment regardless of the manufacturer The other indexes that are not referred in this list are reserved for future use 5 1 DICTIONARY STRUCTURE The general structure of the dictionary has the following format Access Index indicates directly the object index in the dictionary Object describes which information the index stores simple variable array record etc Name contains the name of the object in order to facilitate its identification Type indicates
45. ight to access the network where the identifier priority is responsible for solving conflict problems when simultaneous access occurs This brings the benefit of making direct communication between slaves of the network possible besides the fact that data can be made available in a more optimized manner without the need of a master that controls all the communication performing cyclic access to all the network devices for data updating Another important characteristic is the use of the producer consumer model for data transmission This means that a message that transits in the network does not have a fixed network address as a destination This message has an identifier that indicates what data it is transporting Any element of the network that needs to use that information for its operation logic will be able to consume it therefore one message can be used by several network elements at the same time 1 3 PHYSICAL LAYER The physical medium for signal transmission in a CANopen network is specified by the ISO 11898 standard It defines as transmission bus a pair of twisted wires with differential electrical signal 1 4 ADDRESS IN THE CANOPEN NETWORK Every CANopen network must have a master responsible for network management services and it can also have a set of up to 127 slaves Each network device can also be called node Each slave is identified in a CANopen network by its address or Node ID which must be unique for each slave and may range
46. ing Each bit represents a specific status Function J LOC REM 5 Motor Running OG Speed direction Second ramp a Reserved 5 d o 2 C 2 Active General Enable Alarm condition In configuration Active fast stop E 5 9 5 o lt 5 a a CFW500 15 E Programming Table 4 2 PO680 parameter bit functions es Bits Oto 3 Bit 4 0 The fast stop command is not active Active quick stop 1 The driveis executing the fast stop command Bit 5 0 The drive is configured to use the first ramp values programmed in PO100 and 101 as the motor Second ramp acceleration and deceleration ramp times 1 The drive is configured to use the second ramp values programmed in P0102 and P0103 as the motor acceleration and deceleration ramp times Bit 6 0 The driveis operating normally In configuration mode 1 The drive is in the configuration mode It indicates a special condition during which the drive cannot be enabled Executing the self tuning routine Executing the oriented start up routine Executing the HMI copy function Executing the flash memory card self guided routine There is a parameter setting incompatibility There is no power at the drive power section Bit 7 0 The driveis notin alarm condition Alarm condition 1 The driveis in alarm condition Note The alarm number can be read by means of the parameter P0048 Present Alarm Bit8 0 The motoris stopped
47. ion initiates with the client usually the master of the network making a read upload or write download request to a server and then this server answers the request CFW500 28 Communication Objects Description Data for configuration operation Client SDO Server Figure 6 1 Communication between SDO client and server 6 2 1 Object 1200h SDO Server The frequency inverter CFW500 has only one SDO of the server type which makes it possible the access to its entire object dictionary Through it an SDO client can configure the communication the parameters and the drive operation Every SDO server has an object of the SDO_PARAMETER type for its configuration having the following structure Sub index Jo Access RO No 71 ES md Accoss RO N Sy Access Ea D 04 6 2 2 SDOs Operation A telegram sent by an SDO has an 8 byte size with the following structure 8 data bytes oe The identifier depends on the transmission direction rx or tx and on the address or Node ID of the destination server For instance a client that makes a request to a server which Node ID is 1 must send a message with the identifier 601h The server will receive this message and answer with a telegram which COB ID is equal to 581h The command code depends on the used function type For the transmissions from a client to a server the following commands can be used CFW500 29 E
48. k when detecting that another device sent a telegram with an error Bus Off finally we have the bus offstate in which the device will not send or receive telegrams any more The device operates as if disconnected from the network In the CAN protocol specification the 15011898 standard is referenced as the definition of the layer 1 of this model physical layer The CAN 2 0 specification defines two data frame types standard 11 bit and extended 29 bit For this implementation only the standard frames are accepted CFW500 7 meg Introduction to the CANopen Communication 1 1 5 CAN and CANopen Only the definition of how to detect errors create and transmit a frame are not enough to define a meaning for the data transmitted via the network It is necessary to have a specification that indicates how the identifier and the data must be assembled and how the information must be exchanged Thus the network elements can interpret the transmitted data correctly In that sense the CANopen specification defines exactly how to exchange data among the devices and how every one must interpret these data There are several other protocols based CAN as DeviceNet CANopen 1939 etc which use CAN frames for the communication However those protocols cannot be used together in the same network 1 2 NETWORK CHARACTERISTICS Because of using a CAN bus as telegram transmission means all the CANopen network devices have the same r
49. ng the CANopen network CiA must be consulted CFW500 6 meg Introduction to the CANopen Communication 1 INTRODUCTION TO THE CANOPEN COMMUNICATION In order to operate the equipment in a CANopen network it is necessary to know the manner this communication is performed Therefore this section brings a general description of the CANopen protocol operation containing the functions used by the CFW500 Refer to the protocol specification for a detailed description 1 1 CAN CANopen is a network based on CAN it uses CAN telegrams for exchanging data in the network The CAN protocol is a serial communication protocol that describes the services of layer 2 of the ISO OSI model data link layer This layer defines the different types of telegrams frames the error detection method the validation and arbitration of messages 1 1 1 Data Frame CAN network data is transmitted by means of a data frame This frame type is composed mainly by 11 bit identifier arbitration field and by a data field that may contain up to 8 data bytes 8 data bytes 1 1 2 Remote Frame Besides the data frame there is also the remote frame RTR frame This type of frame does not have a data field but only the identifier It works as a request so that another network device transmits the desired data frame 1 1 3 Access to the Network Any device CAN network can make an attempt to transmit a frame to the network in a certain mom
50. nn n nnn nnn 44 7 1 2 Object 6041h Statusword 4 esee eee eee eese nnn nna nnn nnn nnn 45 7 1 3 Object 6060h Modes nennen nnn nnn nnn nnn 46 7 1 4 Object 6061h Modes of Operation 5 46 7 2 VELOCITY MODE OBJECTS FOR CONTROLLING THE 46 7 24 Controliand State Bits cci eeice ass En aa aS eaa aca st 47 7 2 2 Object 6042h vl Target 1 4 nnn nnn 47 7 2 8 Object 6043h vl Velocity 47 7 2 4 Object 6044h vi Control eee reco en REnRE 47 7 2 5 Object 6046h vl Velocity Min Max 48 7 2 6 Object 6048h vl Velocity Acceleration 48 7 2 7 Object 6049h vl Velocity Deceleration 49 CFW500 4 eq Contents 8 FAULTS AND ALARMS RELATED TO THE CANOPEN COMMUNICATION 50 A133 F233 CAN INTERFACE WITHOU
51. nt For CFW500 frequency inverter the address configuration is done through the parameter 0701 3 3 TERMINATION RESISTOR The CAN bus line must be terminated with resistors to avoid line reflection which can impair the signal and cause communication errors The extremes of the CAN bus must have a termination resistor with a 1210 0 25W value connecting the CAN and CAN L signals 3 4 CABLE The connection of CAN and CAN signals must done with shielded twisted pair cable The following table shows the recommended characteristics for the cable Table 3 2 CANopen cable characteristics Cable length Resistance per Conductor cross m meter mOhm m section mm 40 0 0 25 0 34 40 300 0 34 0 60 300 600 0 50 0 60 600 1000 0 75 0 80 It is necessary to use a twisted pair cable to provide additional 24Vdc power supply to equipments that need this signal It is recommended to use a certified DeviceNet cable 4 Different products may have different maximum allowed cable length for installation CFW500 12 ueg CANopen Network Installation 3 5 CONNECTION IN THE NETWORK In order to interconnect the several network nodes it is recommended to connect the equipment directly to the main line without using derivations During the cable installation the passage near to power cables must be avoided because due to electromagnetic interference this makes the occurrence of transmission errors possible
52. ny telegram from the master The 100Dh object indicates how many faults in sequence are necessary until it be considered that there was really a communication error Therefore the multiplication of these two values will result in the total necessary time for the communication error detection using this object The value O zero disables this function Once configured the CFW500 starts counting these times starting from the first Mode Guarding telegram received from the network master The master telegram is of the remote type not having data bytes The identifier is equal to 700h Node ID of the destination slave However the slave response telegram has 1 data byte with the following structure identifier bit 6 bit O 700h Node ID Toggle This telegram has one single data byte This byte contains in the seven least significant bits a value to indicate the slave state 4 stopped 5 operational and 127 preoperational and in the eighth bit a value that must be changed at every telegram sent by the slave toggle Dil If the frequency inverter CFW500 detects an error using this mechanism it will turn automatically to the preoperational state and indicate alarm A135 on its HMI NOTE 7 This object is active even in the stopped state see table 6 8 The value zero in any of these two objects will disable this function If after the error detection the service is enabled again then the error indication will be removed
53. of the following type Reference value calculation Capture and monitoring of the speed Speed limitation Speed ramps among other functions These functions are executed based on a set of objects for the configuration of that operation mode 8 t depends on the inverter programming CFW500 46 7 2 1 Control State Bits The bits 4 5 6 and 8 of the control word 6040h object Control word have the following functions in the velocity mode Bit Name Description Reserved Reserved Ramp Disable bit O do P0684 Ramp Enable bit O do 684 9 20 Ramp Enable bit 0 do P0684 Reference ramp Ramp Disable bit O do P0684 In order that the motor runs according to the acceleration ramp it is necessary that the bit 4 be activated For the Statusword the bits specified in the operation mode bits 12 and 13 are reserved for future use 7 2 2 Object 6042h vl Target Velocity It allows programming the speed reference for the inverter in rom The object target velocity allows the writing of negative speed reference values in order to run the motor in the reverse speed direction This change in the speed direction is performed through the writing of the bit 2 in the CAN control word P0684 7 2 8 Object 6043h vl Velocity Demand It indicates the value of the speed reference after the ramp in rpm Used parameter o Defautvaue o SSS 7 2
54. ogrammed the inverter initiates the transmission of messages with the following format im Identifier bit6 bitO 700h Node ID Always 0 NOTE This object is active even the stopped state see table 6 8 The value zero in the object will disable this function If after the error detection the service is enabled again then the error indication will be removed from the HMI The time value programmed for the consumer must be higher than the programmed for the respective producer Actually it is recommended to program the consumer with a multiple of the value used for the producer For any every slave only one of the two services Heartbeat Node Guarding can be enabled 6 6 INITIALIZATION PROCEDURE Once the operation of the objects available for the frequency inverter CFW500 is known then it becomes necessary to program the different objects to operate combined in the network In a general manner the procedure for the initialization of the objects in a CANopen network follows the description of the next flowchart Configuration of all device parameters via SDO Initiates the transmission of the SYNC object optional Initiates the Guarding or Heartbeat error control protocol optional Commands the network devices to the operational state Figure 6 7 Initialization process flowchart It is necessary to observe that the frequency inverter CFW500 communication objects 1000h to 1FFFh are not sto
55. on the alarms communications failures and communication states are made through the keypad HMI and product parameters 3 The maximum number of devices that can be connected to the network depends also on the used protocol CFW500 11 3 CANOPEN NETWORK INSTALLATION The CANopen network such as several industrial communication networks for being many times applied in aggressive environments with high exposure to electromagnetic interference requires that certain precautions be taken in order to guarantee a low communication error rate during its operation Recommendations to perform the connection of the product in this network are presented next 3 1 BAUD RATE Equipments with CANopen interface generally allow the configuration of the desired baud rate ranging from 10Kbit s to 1Mbit s The baud rate that be used by equipment depends on the length of the cable used the installation The next table shows the baud rates and the maximum cable length that can be used in the installation according to the CiA recommendation Table 3 1 Supported baud rates and installation size All network equipment must be programmed to use the same communication baud rate At the CFW500 frequency inverter the baud rate configuration is done through the parameter 0702 3 2 ADDRESS IN THE CANOPEN NETWORK Each CANopen network device must have an address or Node ID and may range from 1 to 127 This address must be unique for each equipme
56. r heartbeat time 1018h Identity Object ro Server SDO Parameter 1200h RECORD 1stServer SDO parameter SDO Parameter Receive PDO Communication Parameter 1400h RECORD 1streceive PDO Parameter PDO CommPar rw 1401h RECORD 2nd receive PDO Parameter PDO CommPar rw Receive PDO Mapping Parameter 1600h RECORD 1streceive PDO mapping PDO Mapping nw 1601h RECORD 2ndreceive PDO mapping PDO Mapping rw Transmit PDO Communication Parameter 1800h RECORD 1sttransmit PDO Parameter PDO CommPar rw 1801h RECORD 2nd transmit PDO Parameter PDO CommPar rw Transmit PDO Mapping Parameter 1A00h RECORD 1sttransmit PDO mapping PDO Mapping nw 1A01h RECORD 2ndtransmit PDO mapping PDO Mapping nw These objects can only be read and written via the CANopen network it is not available via the keypad HMI or other network interface The network master in general is the equipment responsible for setting up the equipment before starting the operation The EDS configuration fie brings the list of all supported communication objects Refer to item 6 for more details on the available objects in this range of the objects dictionary 5 4 MANUFACTURER SPECIFIC CFW500 SPECIFIC OBJECTS For indexes from 2000h to 5FFFh each manufacture is free to define which objects will be present and also the type and function of each one In the case of the CFW500 the whole list of parameters was made available in this object range It is pos
57. re information on the error detection refer to the CAN specification CFW500 50 meg Faults and Alarms Related to the CANopen Communication In this case the alarm A135 or the fault F235 depending on the P0313 programming will be signalized through the HMI In case of alarms the alarm indication will be removed from the HMI if this error control is enabled again Possible Causes Correction Verify the times programmed in both master and slave for the message exchanging In order to avoid problems due to transmission delays and differences in the time counting it is recommended that the values programmed for message exchanging in the master be a little bit shorter than the times programmed for the error detection by the slave Verify if the master is sending the guarding telegrams in the programmed time Verify communication problems that can cause telegram losses or transmission delays CFW500 51 WEG Drives amp Controls Automa o LTDA Jaragu do Sul SC Brazil Phone 55 47 3276 4000 Fax 55 47 3276 4020 S o Paulo SP Brazil Phone 55 11 5053 2300 Fax 55 11 5052 4212 automacao weg net www weg net
58. red in the nonvolatile memory Therefore every time the equipment is reset or switched off it is necessary to redo the communication objects parameter setting The manufacturer specific objects starting from 2000h that represents the parameters they are stored in the nonvolatile memory and thus could be set just once CFW500 41 7 DESCRIPTION OF THE OBJECTS FOR DRIVES The objects that are common for drives defined by the CANopen specification in the CiA DSP 402 document are described in this section Regardless of the drive manufacturer the objects mentioned here have a similar description and operation This makes it easier the interaction and the interchangeability between different devices The figure 7 1 shows a diagram with the logic architecture and the operation of a drive through the CANopen network with the different operation modes defined in this specification Each operation mode has a set of objects that allows the configuration and operation of the drive in the network CAN network CAN node Application layer and communication profile DS 301 Drive Profile DSP 402 Device Control I 1 1 1 Modes of Operation 1 1 1 I 1 Inter Profile Profile ae Velocity Torque Position Mode Mode Figure 7 1 Communication architecture for a drive in the CANopen network For the CFW500 only the Velocity Mode is supported The following table presents the li
59. rence rated frequency P0403 Intermediate or higher reference values can be programmed by using this scale E g 60Hz rated frequency to obtain a speed reference of 30 Hz one must calculate 60 Hz gt 8192 80 Hz gt 13 bit reference 13 bit reference 30 x 8192 60 13 bit reference 4096 gt Value corresponding to 30 Hz in a 13 bit scale This parameter also accepts negative values to revert the motor speed direction The reference speed direction however depends also on the control word P0684 bit 2 setting Bit 2 1 and P0685 gt 0 reference for forward direction Bit 2 1 and P0685 lt 0 reference for reverse direction Bit 2 and P0685 gt 0 reference for reverse direction Bit 2 and P0685 lt 0 reference for forward direction NOTE The values transmitted over the network have a scale limitation allowing to program a speed reference of 4 times the synchronous speed of the motor at most P0695 DIGITAL OUTPUT SETTING Range 0000h to 001Fh Default 0000h Properties NET Access groups via HMI NET Description It allows the control of the digital outputs by means of the network interfaces Serial CAN etc This parameter cannot be changed via HMI Each bit of this parameter corresponds to the desired value for one digital output In order to have the correspondent digital output controlled according to this content it is necessary that its function be programmed for PO695 Con
60. ro they indicate respectively that the PDO accepts remote frames RTR frames and that it uses an 11 bit identifier Since the CFW500 frequency inverter does not use 29 bit identifiers the bits from 28 to 11 must be kept O zero whereas the bits from 10 to O zero are used to configure the COB ID for the PDO The sub index 2 indicates the transmission type of this object according to the next table Table 6 6 Description of the type of transmission Type of transmission L Cycle Acydic Synchronous Asynchronous o 0 Lo 1 240 e 0 p e 1 8392 24 fe 12 op que 0p o o 4 299 l e f Values 0 240 any RPDO programmed in this range presents the same performance When detecting a message it will receive the data however it won t update the received values until detecting the next SYNC telegram Values 252 and 253 not allowed for receive PDOs CFW500 32 Values 254 and 255 they indicated that there is no relationship with the synchronization object When receiving a message its values are updated immediately PDO_MAPPING Sub index Number of mapped objects Access PDO Mapping Range O disable 1 4 number of mapped objects Default value 1 up to 4 objec mapped in the PDO Rw This parameter indicates the mapped objects in the CFW500 receive PDOs It is possible to map up to 4 different o
61. sable voltage command has been received the frequency inverter is disabled It corresponds to reset the bit 1 of the control word of the inverter via CAN PO684 Transition 13 A fault is detected and the frequency inverter is disabled Transition 14 After disabling the drive it goes to the fault state automatic Transition 15 The Fault reset command has been received the frequency inverter performs the fault reset and returns to the disabled and without fault state Transition 16 The Enable operation command has been received the frequency inverter performs the start via ramp function It corresponds to activate the bit O of the control word of the inverter via CAN P0684 This state machine is controlled by the 6040h object and the other states can be monitored by the 6041h object Both objects are described next 7 1 1 gt Object 6040h Controlword It controls the frequency inverter state 60401 Controlword VAR UNSIGN 0684 Access rw PDO Mapping Yes UNSIGN Default value The bits of this word have the following functions 15 9 8 7 6 4 3 Hat Lo Reserved ault Operation Enable Quick Enable ode specific operation stop voltage The bits 0 1 2 7 allow controlling the drive state machine The commands for state transitions are given by means of the bit combinations indicated in the table 7 2 The bits marked with x
62. sent by the master also making it possible to the slave detect communication fault with the master The CFW500 has the producer and consumer of Heartbeat services a consumer it is possible to program up to 4 different producers to be monitored by the inverter Sbindx p TT Range Default value Access E GM Dadas Jo At sub indexes 1 to 4 it is possible to program the consumer by writing a value with the following format UNSIGNED32 Reserved Node ID Heartbeat time 8 bits 8 bits 16 bits Node ID it allows programming the Node ID for the heartbeat producer to be monitored Heartbeat time it allows programming the time in 1 millisecond multiples until the error detection if no message of the producer is received The value O zero in this field disables the consumer Once configured the heartbeat consumer initiates the monitoring after the reception of the first telegram sent by the producer In case that an error is detected because the consumer stopped receiving messages from the heartbeat producer the frequency inverter will turn automatically to the preoperational state and indicate alarm A135 in the HMI CFW500 40 As a producer the frequency inverter CFW500 has an object for the configuration of that service Defautvalue TO j The 1017h object allows programming the time in miliseconds during which the producer has to send a heartbeattelegram to the network Once pr
63. sible to operate the CFW500 by means of these parameters carrying out any function that the inverter can execute The parameters were made available starting from the index 2000h and by adding their number to this index their position in the dictionary is obtained The next table ilustrates how the parameters are distributed in the object dictionary Table 5 3 CFW500 object list Manufacturer Specific Name Access Object 2000h 2001h 2002h 2008h 2004h NI 2064h 2065h P0100 Acceleration time INTEGER16 P0101 Deceleration time INTEGER 16 Refer to the CFW500 manual for a complete list of the parameters and their detailed description In order to be able to program the inverter operation correctly via the CANopen network it is necessary to know its operation through the parameters 5 5 DEVICE PROFILE COMMON OBJECTS FOR DRIVES The CANopen documentation also includes suggestions for standardization of certain device types The CFW500 frequency inverter follows the CIA DPS 402 Device Profile Drives and Motion Control description This document describes a set of objects that must be common for drives regardless of the manufacturer This makes the interaction between devices with the same function easier as for frequency inverters because the data as well as the device behavior are made available in a standardized manner CFW500 25 meg Object Dictionary
64. slave has entered the preoperational state This telegram has the identifier 700h Node ID and only one data byte with value equal to O zero In the preoperational state it is already possible to communicate with the slave but its PDOs are not yet available for operation In the operational state all the objects are available whereas in the stopped state only the NMT object can receive or transmit telegrams to the network The next table shows the objects available for each state Table 6 8 Objects accessible in each state Initialization Preoperational Operational Stopped This state machine is controlled by the network master which sends to each slave the commands so that the desired state change be executed These telegrams do not have confirmation what means that the slave does only receive the telegram without returning an answer to the master The received telegrams have the following structure Identifier Destination Node ID CFW500 37 E Communication Objects Description Table 6 9 Commands for the state transition Destination Node ID 1 START node transition 3 2 STOP node transition 4 O All the slaves 1 127 Specific slave 128 Enter pre operational transition 5 129 Reset node transition 6 130 Reset communication transition 7 The transitions indicated in the command code correspond to the state transitions executed by the node after receiving the command according to the Figure
65. st of the available objects for the CFW500 divided according to the different operation modes of the inverter Table 7 1 Object list Drive Profile Index Object Access PDO Mapping Device Control Velocity Mode ro VI velocity deceleration CFW500 42 Every time an object of that list is read or written the CFW500 will its functions the inverter parameters Thus by operating the system through these objects the value of the parameters be changed according to the used function In the next items a detailed description of each of these objects is presented where the inverter parameters used to execute these object functions are indicated 7 1 DEVICE CONTROL OBJECTS FOR CONTROLLING THE DRIVE Every drive operating CANopen network following the DSP 402 must be in accordance with the description of the following state machine Power Disabled Start 0 Not Ready to Switch On Switch On lt Disabled 2 Enabled Switched On 4 5 Quick Stop Active Operation Enabled Figure 7 2 State machine for drives Estate descriptions Not ready to switch on The inverter is initializing it cannot be commanded Switch on disabled Initialization complete the inverter is able to receive commands Ready to switch on Command to allow powering up the drive has been received
66. tent at parameters P0275 to P0279 Function 9 g g S E E N 8 x Q DOS setting DO2 setting DO1 setting CFW500 18 E Programming Table 4 4 P0695 parameter bit functions 22 tes 0 BitO O DO1 output open Bit 1 0 DO2 output open Bit 2 0 DO3 output open DO4 setting 1 DO4 output closed DOS setting 1 DO5 output closed Bits 5 to 15 NOTE Some of the digital outputs not be available depending on the plug in module P0696 VALUE 1 FOR ANALOG OUTPUTS P0697 VALUE 2 FOR ANALOG OUTPUTS P0698 VALUE FOR ANALOG OUTPUTS Range 32768 to 32767 Default 0 Properties Access groups via HMI NET Description They allow the control of the analog outputs by means of network interfaces Serial CAN etc These parameters cannot be changed via HMI The value written in these parameters is used as the analog output value providing that the function for the desired analog output be programmed for PO696 P0697 P0698 value at the parameters P0251 P0254 P0257 The value must be written in a 15 bit scale 7FFFh 32767 to represent 100 96 of the output desired value i e P0696 0000h 0 decimal analog output value 0 96 P0696 7FFFh 32767 decimal analog output value 100 96 The showed example was for P0696 but the same scale is also used for the parameters 0697 P0698 For instance to control the
67. to be made available periodically Network Management Every CANopen network needs a master that controls the other devices slaves the network This master will NMT be responsible for a set of services that control the slave communications and their state the CANopen network The slaves are responsible for receiving the commands sent by the master and for executing the requested actions The protocol describes two types of service that the master can use device control service with which the master controls the state of each network slave and error control service Node Guarding with which the slave sends periodic messages to the master informing that the connection is active All the communication of the inverter with the network is performed using those objects and the data that can be accessed are the existent in the device object dictionary 1 8 COB ID A telegram of the CANopen network is always transmitted by a communication object COB Every COB has an identifier that indicates the type of data that is being transported This identifier called COB ID has an 11 bit size and it is transmitted in the identifier field of a CAN telegram It can be subdivided in two parts Function Code Function Code indicates the type of object that is being transmitted Node Address indicates with which network device the telegram is linked A table with the standard values for the different communication objects available in
68. tusword Value binary Ready to switch on CFW500 45 pesoriptionotthe Objects for Drives The other bits indicate a specific condition for the drive Bit 4 Voltage enabled indicates that the drive power section is being fed Bit 7 Warning It is not used for the CFW500 Bit9 Remote indicates when the drive is in the remote mode and accepts commands via the CANopen network It represents the Statusword bit 4 value PO680 Bit10 Target reached indicates when the drive is operating at the reference value which depends on the used operation mode It is also set to 1 when the functions Quick stop or Halt are activated Bit 11 Internal limit active not is used for the frequency inverter CFW500 Bits 12 and 13 Operation mode specific they depend on the drive operation mode 7 1 8 Object 6060h Modes of Operation It allows programming the CFW500 operation mode index Usedpaamee S Access vm F SCS The only mode supported by the CFW500 frequency inverter is the Velocity Mode represented by the value 2 7 1 4 Object 6061h Modes of Operation Display It indicates the CFW500 operation mode C The value presented at this object follows the same options for object 6060h 7 2 VELOCITY MODE OBJECTS FOR CONTROLLING THE DRIVE This operation mode allows the control of the inverter in a simple manner making available functions
69. ub index it is possible to program a minimum time in multiples of 100us that must elapse after the a telegram has been sent so that a new one can be sent by this PDO The value O zero disables this function The sub index 5 contains a value to enable a timer for the automatic sending of a PDO Therefore whenever a PDO is configured as the asynchronous type it is possible to program the value of this timer in multiples of tms so that the PDO is transmitted periodically in the programmed time NOTE 7 The value of this timer must be programmed according to the used transmission rate Very short times close to the transmission time of the telegram are able to monopolize the bus causing indefinite retransmission of the PDO and avoiding that other less priority objects transmit their data The minimum time allowed for this Function in the frequency inverter CFW500 is 2ms It is important to observe the time between transmissions programmed in the sub index 3 especially when the PDO is programmed with the value 255 in the sub index 2 Change of State PDO_MAPPING Range O disable 1 4 number of mapped objects Default value 1 to 4 object mapped in the PDO Access The PDO MAPPING for the transmission works similar way than for the reception however this case the data to be transmitted by the PDO are defined Each mapped object must be put in the list according to the des
70. ved with these objects are not saved the inverter non volatile memory Therefore after switching off or resetting the equipment the objects modified by an RPDO get back to their default value Do not forget that PDOs can only be received if the CFW500 is in the operational state 6 3 3 Transmit PDOs The transmit PDOs or TPDOs as the name says are responsible for transmitting data for the CANopen network The frequency inverter CFW500 has 2 transmit PDOs each one being able to transmit up to 8 data 7 If the object is of the VAR type and does not have sub index the value O zero must be indicated for the sub index CFW500 33 Communication Objects Description bytes In a manner similar to RPDOs each TPDO has two parameters for its configuration a PDO_COMM_PARAMETER and a PDO_MAPPING AS DESCRIBED NEXT PDO_COMM_PARAMETER 1800n up to 1601h Transmit PDO Parameter Record Record PDO COMM PARAMETER Sems Access E Access Sons E Access Default value 4 Access Default value 5 PDO Mapping seen 1 PDO Mapping II rogo sm Event timer w No Range 0 disable UNSIGNED16 Defauttvalue jo EEE Number of the last sub index Access Tr PDO Mapping NOT f oS COB ID used by the PDO PDO Mapping UNSIGNEDS2 Default value 1800h 180h Node ID 1801h 280h Node ID Transmission Type PDO Mappin
71. vice in a CANopen network For the CFW500 the services of node control and error control are available using Node Guarding or Heartbeat 6 5 4 Slave State Control With respect to the communication a CANopen network device can be described by the following state machine CFW500 36 E Communication Objects Description 1 q 6 7 Initialization 2 Pre operational Operational Figure 6 4 CANopen node state diagram Table 6 7 Transitions Description Description The deviceis switched on and initiates the initialization automatic Initialization concluded it goes to the preoperational state automatic It receives the Start Node command for entering the operational state It receives the Enter Pre Operational command and goes to the preoperational state It receives the Stop Node command for entering the stopped state It receives the Reset Node command when it executes the device complete reset It receives the Reset Communication command when it reinitializes the object values and the CANopen device communication During the initialization the Node ID is defined the objects are created and the interface with the CAN network is configured Communication with the device is not possible during this stage which is concluded automatically At the end of this stage the slave sends to the network a telegram of the Boot up Object used only to indicate that the initialization has been concluded and that the

CFW500 - CANopen Manual

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