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20-COMM-K CANopen Adapter User Manual

1. e E usNg Th ur 0 9 Nem d Eo cei 8 0 Ibein f 4 Places i Verify metal ground tab is bent 90 and He S is under the adapter before tightening eee m screw After tightening the screw verify continuity exists between the head of the screw and drive ground fo o e PowerFlex 700 Frames 0 and 1 PowerFlex 700 Frames 2 and Larger PowerFlex 700S Frames 0 and 1 PowerFlex 700S Frames 2 through 6 Adapter mounts on door Adapter mounts in drive Ground Tab Detail 0 9 Nem 8 0 Ibein 4 Places Verify metal ground tab is bent 90 and o is under the adapter before tightening screw After tightening the screw verify continuity exists between the head of the screw and drive ground PowerFlex 700H Frames 9 and Larger PowerFlex 700S Frames 9 and Larger Adapter mounts behind HIM panel 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Connecting the Adapter to the Network Installing the Adapter 2 7 ATTENTION Risk of injury or death exists The PowerFlex drive may contain high voltages that can cause injury or death Remove power from the drive and then verify power has been discharged before installing or removing the adapter Remove power from the network and drive Use static control precautions Connect one end of a
2. 1 Transmission type 255 is not used in this application 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P About Service Data Objects Chapter 6 Using Service Data Objects This chapter provides information and examples that explain how to use Service Data Objects SDOs to configure and monitor the adapter and connected PowerFlex 7 Class drive Topic Page About Service Data Objects 6 1 Running Service Data Objects 6 2 CANopen DPI Parameter Access 6 2 CANopen DPI Full Parameter Access 6 3 examples in this publication are intended solely for purposes of example There are many variables and requirements with any application Rockwell Automation Inc does not assume responsibility or liability to include intellectual property liability for actual use of the examples shown in this publication N ATTENTION Risk of injury or equipment damage exists The ATTENTION Risk of equipment damage exists If Explicit A Messages are programmed to write parameter data to Non Volatile Storage NVS frequently the NVS will quickly exceed its life cycle and cause the drive to malfunction Do not create a program that frequently uses Explicit Messages to write parameter data to NVS Datalinks do not write to NVS and should be used for frequently changed parameters Service Data Objects SDOs use asynchronous data transmission and are used to access objects without mapping them to
3. Port 5 Device Port 5 Device 20 COMM K 20 COMM K Parameter 10 Parameter 11 Comm Fit Action Idle Fit Action Fault Fault Changes to these parameters take effect immediately A reset is not required Setting the Fault Configuration Parameters If you set Parameter 10 Comm Fit Action or 11 Idle Flt Action to Send Flt Cfg the values in the following parameters are sent to the drive after an I O communications fault and or idle fault occurs You must set these parameters to values required by your application Parameter Description 14 Fit Cfg Logic A 16 bit value sent to the drive for Logic Command 15 Fit Cfg Ref A 32 bit value 0 4294967295 sent to the drive as a Reference or Datalink 16 pev In Important If the drive uses a 16 bit Reference or 16 bit Datalinks the most 23 Fit Cfg x2 In significant word of the value must be set to zero 0 or a fault will occur Changes to these parameters take effect immediately A reset is not required Resetting the Adapter Configuring the Adapter 3 9 Changes to switch settings and some adapter parameters require that you reset the adapter before the new settings take effect You can reset the adapter by cycling power to the drive or by using Parameter 09 Reset Module ATTENTION Risk of injury or equipment damage exists Ifthe A adapter is transmitting control I O to the drive the drive may fault when you reset the
4. 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P B 2 Adapter Parameters 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Parameter No Name and Description 06 07 08 09 COPN Rate Act Displays the network data rate actually used by the adapter Ref Fdbk Size Displays the size of the Reference Feedback The drive determines the size of the Reference Feedback Datalink Size Displays the size of each Datalink word The drive determines the size of Datalinks Reset Module No action if set to 0 Ready Resets the adapter if set to 1 Reset Module Restores the adapter to its factory default settings if set to 2 Set Defaults This parameter is a command It will be reset to 0 Ready after the command has been performed Details Default 5 500 Kbps Values 0 10 Kbps 1 20 Kbps 2 50 Kbps 3 125 Kbps 4 250 Kbps 5 500 Kbps 6 800 Kbps 7 1 Mbps Type Read Only Default 0 16 bit Values 0 16 bit 1 32 bit Type Read Only Default 0 16 bit Values 0 16 bit 1 32 bit Type Read Only Default 0 Ready Values 0 Ready 1 Reset Module 2 Set Defaults Type Read Write Reset Required No transmitting I O that controls the drive the drive may fault when you reset the N ATTENTION Risk of injury or equipment damage exists Ifthe adapter is adapter Determine how your drive will respond before
5. communicates Refer to Setting the Data Rate on page 2 3 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 1 2 Getting Started Features Compatible Products 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P The features of the adapter include Typical mounting in a PowerFlex 7 Class Architecture Class drive Captive screws to secure and ground the adapter to the drive Compatibility with various configuration tools to configure the adapter and connected drive The tools include the PowerFlex 7 Class HIM on the drive and drive configuration software such as DriveExplorer version 2 01 or higher or DriveExecutive version 3 01 or higher Switches to set anode address and network data rate before applying power to the PowerFlex drive Alternately you can disable the switches and use adapter parameters to configure these functions Status indicators that report the status of the drive communications the adapter and network They are visible when the drive cover is open or closed Parameter configurable I O Logic Command Reference and up to four pairs of Datalinks to meet application requirements Support for Service Data Object SDO messages Implementation of the CANopen DS301 specification User defined fault actions to determine how the adapter and connected drive respond to I O messaging communication disruptions Multiple data exchange methods Cyclic Change of
6. The data rate is normally set by the adapter Data Rate switch Figure 2 2 and must be the same for each node on the network If the Data Rate switch is set to PGM Program the value of Parameter 05 COPN Rate Cfg determines the data rate Your application may require a different setting 1 Set the value of Parameter 05 COPN Rate Cfg to the data rate at which your network is operating Figure 3 2 Example COPN Rate Cfg LCD HIM Screen Port 5 Device Van Data Bate 20 COMM K x MS Parameter 05 2 50 Kbps COPN iud Cfg 3 125 Kbps 500K 4 250 Kbps 5 500 Kbps default 6 1000 Kbps 2 Reset the adapter see Resetting the Adapter on page 3 9 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 3 4 Configuring the Adapter Setting the I O Configuration 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P The I O configuration determines the data that is sent to and from the drive Logic Command Status Reference Feedback and Datalinks may be enabled or disabled A 1 enables the I O A 0 disables the I O 1 4 Set the bits in Parameter 12 DPI VO Cfg Figure 3 3 Example DPI I O Cfg LCD HIM Screen Port 5 Device Bit Description 20 COMM K 0 Logic Command Reference Default Parameter 12 l Datalink A DPI I O Cfg 2 Datalink B xxxxxxxxxxx0000lgl 3 Datalink C Cmd Ref b00 4 Datalink D 5 15
7. Eds C Module for the digital input Select EDS to Import 2 C11 da08 eds 2 C31 ae04 eds C18 ra 8 eds C32 ae M eds 2 C20_ae04 eds 2 C40_aald eds C21 ae04 eds C41 aa04 eds C22 ae04 eds C59 ze08 eds 2 C30 ae04 eds C01_de08 eds Electronic Data Sheets eds 2 4 16 Click the Icon browse button and select the digital input icon S_de ico in the icon folder Click Offnen Open in the Choose Icon window and then click OK in the Device Properties window Device Properties baud 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P CANopen Network Example E 7 Choose Icon SG LE b aal er es Chip ico m infoview ico x Ie Device 1 ico WA Pci card ico Er fkx ico Device 2ico W PF70 ico Es raico 9 Device 3 ico E 5 aaico S_stwg ico Group ico S_ae ico 5 zeico E Infobox ico 5 daico Server ico J CANopen Example Project 1000 kBaud ale CONTROL E f Mauell PLC 1 0x1 n INPUTS DUTPUTS 18 Repeat steps 11 through 16 for a new group with the PowerFlex drive Node ID 7 20COMMK301_V101 eds PF70 ico The completed ns pane is shown below CONTROL f Mauell PLC 1 0x1 A alg INPUTS OUTPUTS SJ Input 2 0x2 DRIVES A PowerFlex70 7 0x7 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P E 8 CANopen Network Example Configuring the Communications 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P 1 Select the PLC and click t
8. 655 35 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Setting a Fault Action Configuring the Adapter 3 7 This cyclic data exchange is only possible for the PDO1 However there is another possibility to implement cyclic data exchange for each PDOI 1 Using the CANopen configuration tool set the transmission mode of the TPDO Transmit PDO of the adapter to a value between 1 and 240 2 Using the CANopen configuration tool set the communication cycle period to a desired value The cyclic interval is calculated by multiplying the transmission type by the communication cycle period 3 No adapter parameter needs to be adjusted Using RTR Remote Transmission Request PDOs can be remotely requested by transmitting a CAN remote frame from the requesting PDO consumer The corresponding PDO producer responds to this remote frame 1 Using the CANopen configuration tool set the transmission type of the TPDO Transmit PDO of the adapter to 252 synchronous or 253 asynchronous 2 No adapter parameter needs to be adjusted By default when I O communications are disrupted for example a cable is disconnected or the controller is idle in program mode or faulted the drive responds by faulting if it is using I O from the network You can configure a different response to e Disrupted I O communication using Parameter 10 Comm Fit Action e An idle controller usi
9. FALSE 0085 ELSE 0096 FBSdoReadValue Node SdoNodeNumber 0097 Rdlndex Index 0098 RdSubindex Subindex 0099 RdStart FALSE 0100 readValue gt readValue 0101 Error gt SdoError 0103 END IF 0103 IF SdoWfriteStart THEN 0104 FBSdowWritevalue Node SdoNodeNumber 0105 Wrlndex Index 0106 WrSubindex Subindex 0107 parameterValue paramValue 0108 WrDataLen DataLen 0109 WrStart TRUE 0110 Error gt SdoError E 0111 SdovvriteStart FALSE 0112 ELSE 0113 FBSdowritevalue Node SdoNodeNumber 0114 Wrindex Index 0115 WrSubindex Subindex 0116 parametervalue paramValue 0117 WrDataLen DataLen 0118 WrStart FALSE 0119 Error gt SdoError 0120 END IF X a af For more information on these functions refer to SDO access in CiA Draft Standard 405 CANopen Interface and Device Profile for IEC 61131 1 Programmable Devices 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P F 8 Logic Controller Program Example Notes 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Glossary Adapter Devices such as drives controllers and computers usually require an adapter to provide a communication interface between them and a network such as CANopen An adapter reads data on the network and transmits it to the connected device It also reads data in the device and transmits it to the network The 20 COMM K C
10. No CANopen Object Tables CANopen Objects Appendix C Appendix D presents information about the CANopen objects implemented in this adapter Topic Page CANopen Object Tables C 1 Emergency Object C 4 The tables in this section describe the implemented CANopen objects Table C A describes the objects for the communication profile and Table C B describes the manufacturer specific objects Table C A Communication Profile Area Index Sub Index Type Access Name and Description 0x1000 10 U32 Read Device Type Describes the type of device 0x1001 10 U8 Error register Bit 0 Indicates that a generic error has occurred 0x1003 0 U8 Read Write Number of errors Writing a 0 to this sub index clears the list The error list starts at sub index 1 1 5 U32 Read Pre defined error field A list of errors that have occurred Sub index 1 contains the most recent error 0x1005 0 U32 Read Write COB ID Sync This is the ID for the sync message 0x1008 10 Visible Read Manufacturer device name string Family text from DPI Device object 0x100A 10 Visible Read Manufacturer software version Product revision from string DPI Device object as SW V MAJOR MINOR string 0x100C 10 U16 Read Write Guard time This parameter is used together with Life time factor for the Life guarding protocol The NMT master guards the node at this period in milliseconds 0x100D 10 U8 Read Write _
11. www ab com networks eds Emergency Message Emcy The emergency object is used in CANopen for sending fault information from the communication adapter to the CANopen network The emergency object is triggered by a fault event from the drive or the communication adapter itself An emergency object is transmitted only once per error event Fault Action A fault action determines how the adapter and connected drive act when a communications fault for example a cable is disconnected occurs or when the controller is switched out of run mode The former uses a communications fault action and the latter uses an idle fault action 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P G4 Glossary 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Fault Configuration When communications are disrupted for example a cable is disconnected the adapter and PowerFlex drive can respond with a user defined fault configuration The user sets the data that is sent to the drive using specific fault configuration parameters in the adapter When a fault action parameter is set to use the fault configuration data and a fault occurs the data from these parameters is sent as the Logic Command Reference and or Datalink s Feedback See Reference Feedback Flash Update The process of updating firmware in a device The adapter can be flash updated using various Allen Bradley software tools Refer to Flash Up
12. 101 Preset 5 Par 105 110 Preset 6 Par 106 111 Preset 7 Par 107 1 A 0 Not Stop condition logi c 0 must first be present before a 1 Start condition will start the dri MOP Decrement Start command A 1 will start the drive but returning to 0 will not stop the drive 2 This Start will not function if a digita input parameters 361 366 0 Not Decrement 1 Decrement ve The Start command acts as a momentary is programmed for 2 Wire Control option 7 8 or 9 This Reference Select will not function if a digital input parameters 361 366 is programmed for Speed Sel 1 2 or 3 option 15 16 or 17 Note that Reference Select is Exclusive Ownership see drive User Manual for more information 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P D 2 Logic Command Status Words Logic Bits Logic Status Word 15 14 13 Status Ready Description 0 Not Ready Par 214 1 Ready Active 0 Not Active Running 1 Active Command Direction 0 Reverse 1 Forward Actual Direction 0 Reverse 1 Forward Accel 0 Not Accelerating 1 Accelerating Decel 0 Not Decelerating 1 Decelerating Alarm 0 No Alarm Par 211 amp 212 1 Alarm Fault 0 No Fault Par 243 1 Fault At Speed 0 Not At Reference 1
13. BOOL WrError CIA405 CANOPEN KERNEL ERROR WrErrinfo ClA405 SDO ERROR tempArray ARRAY 1 4 OF BYTE tempDWord DWORD v ER 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P F 6 Logic Controller Program Example Figure F 8 Function Block SDO WRITE Program Code 0002 Funtion Block SDO WRITE 0003 Date 17 3 04 0007 WrEnable TRUE 0008 tempArray 1 0 tempArray 2 0 tempArray 3 0 tempArray 4 0 0009 FBDWordToArray ID DINT_TO_DWORD parameterValue 0010 QA gt tempArray 0011 END IF 0012 DO13 FBSdowrite Device Node CIA405 writes SDO function call 0014 Index Wrindex 0015 SUBINDEX WrSubindex 0016 DATA tempArray 0017 DATALENGTH WrDataLen 0018 ENABLE WirEnable 0019 CONFIRM gt WirConfirm 0020 ERROR gt WirError 0021 ERRORINFO WrErrinfo 3 0022 0023 0025 Error FALSE 002 IF WrConfirm THEN V rEnable FALSE END IF 0028 Error TRUE 0029 wrEnable FALSE 0030 END_IF 0031 0032 0033 Al gt 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P Logic Controller Program Example F 7 Figure F 9 Function Calls of SDO_READ and SDO_WRITE 0087 IF SdoReadStart THEN x 0088 FBSdoReadValue Node SdoNodeNumber 0089 Rdlndex Index 0090 RdSubindex Subindex 0091 RdStart TRUE 0092 readValue gt readValue 0093 Error gt SdoError 0094 SdoReadStart
14. NET B Green Off Normal Operation No error CAN ERR Steady Normal Operation The CAN controller is bus off 1 1f all status indicators are off the adapter is not receiving power Refer back to instructions in this chapter on installing the adapter If any other conditions occur see Chapter 7 Troubleshooting Configuring Verifying Key Drive Parameters The PowerFlex 7 Class drive can be separately configured for the control and Reference functions in various combinations For example you could set the drive to have its control come from a peripheral or terminal block with the Reference coming from the network Or you could set the drive to have its control come from the network with the Reference coming from another peripheral or terminal block Or you could set the drive to have both its control and Reference come from the network The following steps in this section assume that the drive will receive the Logic Command and Reference from the network 1 Use drive Parameter 090 Speed Ref A Sel to set the drive speed Reference to 22 DPI Port 5 m If hard wired discrete digital inputs are not used to control the drive verify that unused digital input drive Parameters 361 Dig In1 Sel and 362 Dig In2 Sel are set to 0 Not Used 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 2 10 Installing the Adapter 3 Verify that drive Parameter 213 Speed Ref Source is repor
15. Node address 63 is the default used by uncommissioned devices Node addresses are sometimes called MAC IDs Node Guarding Node Guarding is used for error control to check that any CANopen device is working properly The mechanism used for guarding is based on the master slave relationship The NMT master guards all of its NMT slaves cyclically cycle time Guard Time by using an RTR frame Any CANopen slave responds to this RTR frame to guarantee that the application program is running NVS Non Volatile Storage NVS is the permanent memory of a device Devices such as the adapter and drive store parameters and other information in NVS so that they are not lost when the device loses power NVS is sometimes called EEPROM 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P G 6 Glossary 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Objects The CANopen specification defines an object as an abstract representation of a particular component within a product Object Dictionary Any CANopen device has a unique object dictionary which is the interface to the application The object dictionary contains all data types used in the device the communication parameters the application data and the configuration parameters To gain access to the object dictionary Process Data Objects PDOs and Service Data Objects SDOs are used PDO Process Data Objects Process Data Obj
16. zero data configuring the adapter for 3 7 definition G 8 Index 5 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Index 6 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P U S Allen Bradley Drives Technical Support Tel 1 262 512 8176 Fax 1 262 512 2222 Email support drives ra rockwell com Online www ab com support abdrives www tockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core E Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 20COMM UMO12B EN P February 2010 Supersedes 20COMM UMO12A EN P January 2005 Copyright 2010 Rockwell Automation Inc All rights reserved Printed in USA
17. 0 1920 Neu CAN bus baudr 1000 kBaud CAN card driver CAN VCI Name of CAN card driver L schen 2 Select Online gt Login or click the Login icon in the toolbar 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P F 4 Logic Controller Program Example SDO Access Example 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 3 Ifthe program has changed the program must be downloaded first Click Ja Yes Figure F 4 Login Menu Program has changed Download the new program Nein Abbrechen To set the PLC in Run mode select Online gt Run or click the Run icon in the toolbar NOTE When the program is running the current values of the variables are visible in the opened POUs Program Organization Units and the Global Variables files NOTE After power cycling the PLC must be set in RUN mode every time However ifthe program has been downloaded with the CANopen Configuration Studio CANopen Network Access Download to Device the program starts automatically after a power cycle To read or write an adapter parameter the data structure for CANopen object 0x2228 DPI Parameter Send has to be filled in and then the response can be read in CANopen object 0x2229 DPI Parameter Receive The following figures show how to read and write to these data structures The CIA405 functions CIA405_SDO_READ4 and CIA405_SDO_WRITE4 which are already defined in CoDeSys
18. 0x7 CANopen Device Configurator PER Eile View Tools Options Help ae 90 oe Administration Objects Service Data Objects Process Data Objects Predefined Objects Device Information Type te BxPDO C T PDO Name Receive PDO1 Parameter ve PDO Parameter en r Communication Parameter 0020 Receive PDO2 Parameter Receive PDO3 Parameter Receive PDO4 Parameter PDO valid jv ATR allowed v ZS BHD fe Receive PDO5 Parameter Transmission Type asynchronous Manuf Event Transmission Hate fi Intibit Time 00pses EEE GMS Prony Group _ FL EBENE A Setthe Transmission Type of all RPDOs to asynchronous Manuf Event B Set the Transmission Type of the TPDO1 also to asynchronous Manuf Event so the adapter sends this PDO whenever the state of the drive has changed C Set the Transmission Type of the TPDO2 and TPDO3 to synchronous cyclic and the Transmission Rate to 10 so these Datalinks are sent periodically with a cyclic interval of 10 x Communication Cycle Period 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P CANopen Network Example E 17 3 On the Predefined Objects tab check the Device consumes SYNC message box sub tab Synchronisation Message PowerFlex70 7 0x7 CANopen Device Configurator 4 Select the PLC and click the Device Configuration icon in the project toolbar CANopen _E xample_
19. 242 Power Up Marker 88 4541 hours MSW 000Dhex 1101pjnary 2 2 8 216 851968 LSW 7F3Dhex 32573 Engineering Value 851968 32573 884541 Parameter 242 Displayed Value 88 4541 Hrs The Transmit PDOs have a default mapping as shown in Table 5 F The mapping can be changed if desired Since every PDO can contain up to eight bytes of data it is possible to map for example Datalink A1 A2 C1 and C2 to the same PDO number when using a drive with 16 bit Datalinks Table 5 F Default TPDO Mapping TPDO Default Mapping Enabled Remap lnitial Transmission Type 1 Product Logic Status 0x2201 Yes No 254 Asynchronous COS Feedback 16 bit 0x2204 2 Datalink A1 Out 16 bit 0x2216 No Yes 253 Asynchronous RTR Datalink A2 Out 16 bit 0x2218 3 Datalink B1 Out 16 bit 0x221A No Yes 253 Asynchronous RTR Datalink B2 Out 16 bit 0x221C 4 Datalink C1 Out 16 bit 0x221E No Yes 253 Asynchronous RTR Datalink C2 Out 16 bit 0x2220 5 Datalink D1 Out 16 bit 0x2222 No Yes 253 Asynchronous RTR Datalink D2 Out 16 bit 0x2224 1 Table 5 H shows the transmission types for the PDO Important For a 32 bit drive PDO mapping must be changed from their default values TIP If a 32 bit drive parameter is mapped to a Datalink pair it is not recommended to map part of the pair that is Al or A2 to two different PDOs since this can give data inconsistency 20 COMM K CANopen Adapter
20. A1 3 Points to Parameter 3 Output Current 311 Data Out A2 216 Points to Parameter 216 Dig In Status 312 Data Out B1 243 Points to Parameter 243 Fault 1 Code 313 Data Out B2 T Points to Parameter 7 Output Power For this example the following parameter must be set in the 20 COMM K Parameter Description 12 DPI I O Cfg xxx0 0111 Enables Cmd Ref Datalinks A and B The CANopen network is configured as described in Appendix E 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P F 2 Logic Controller Program Example Network Variables File Select the Resources tab In the Global Variables folder a file has been created with a unique number for this example 0003L8CJ Double click on this number to view the variable created by the linker Figure F 1 Global Variables Screen CoDeSys 0003L8CJ PRO 0003L8CJ C Mauell telmatic Projects Network CANopen_Example_Project E3 File Edit Project Insert Extras Online Window Help alle AS 0001 VAR GLOBAL 0002 DCF Network Variables C Mauellitelmatic ProjectsiNetworkiCAN Jy LogicCmd AT 01 0 UINT SpeedRef AT95 Cn 1 UINT AccelTime1 AT QVV1 2 UINT BrakeLevel AT QW1 3 UINT CurrentLimit AT956QV 1 4 UINT JogFreq AT Q V1 5 UINT DLinkP C1 AT95Cn1 6 UINT DLinkP_C2 AT amp OWV1 7 UINT DLinkP_D1 AT 011 8 UINT DLinkP_D2 AT95CW1 8 UINT InputSwitch AT95IB1 0 USINT BE 02 AT 6IB1 0 USINT
21. Cyclic e RTR Remote Transmission Request Each PDO can have a different type of data exchange but COS can only be selected for PDOI Status Feedback word COS data exchange must be configured to set both the I O configuration and COS parameters in the adapter Cyclic and RTR data exchanges are configured in the PLC so you only need to set the I O configuration in the adapter No adapter parameters need to be adjusted For more details refer to Chapter 5 Using I O Messaging Using COS Change of State Data Exchange COS means that a PDO is sent whenever the CANopen device has changed its state for example a value has changed 1 Using the CANopen configuration tool set the transmission mode of the TPDOI Transmit PDO of the adapter to 0 synchronous or 254 asynchronous 2 Set Parameter 24 PDOI Trigger to 0 COS Figure 3 4 Example DPO1 Trigger LCD HIM Screen Port 5 Device Value Trigger 20 COMM K 0 COS Default Parameter 24 1 Cyclic PDO1 Trigger 3 Set Bit 0 the Logic Command Reference bit in Parameter 12 DPI VO Config to 1 Enabled Figure 3 5 Example I O Configuration LCD HIM Screen Port 5 Device 20 COMM K Parameter 12 DPI I O Cfg XXXXXXXXXXX0 0 0 OF Cmd Ref b00 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 3 6 Configuring the Adapter 4 Set Parameter 25 COS Status Mask for the bits in the
22. DPI Product A device that uses the DPI communications interface to communicate with one or more peripheral devices For example a motor drive such as a PowerFlex 7 Class drive is a DPI product In this manual a DPI product is also referred to as drive or host DriveExplorer Software A tool for monitoring and configuring Allen Bradley products and adapters It can be run on computers running various Microsoft Windows operating systems DriveExplorer version 4 xx or higher can be used to configure this adapter and PowerFlex drives Information about DriveExplorer software and a free lite version can be accessed at http www ab com drives driveexplorer DriveTools SP Software A software suite designed for running on various Microsoft Windows operating systems This software suite provides a family of tools including DriveExecutive that you can use to program monitor control troubleshoot and maintain Allen Bradley products DriveTools SP can be used with PowerFlex drives Information about DriveTools SP can be accessed at http www ab com drives drivetools EDS Electronic Data Sheet Files Simple text files that are used by network configuration tools such as IXAAT CANopen Configuration Studio to describe products so that you can easily commission them on a network EDS files describe a product device type revision and configurable parameters EDS files for many Allen Bradley products can be found at http
23. Life time factor If the node has not been guarded in the time period Life time factor x Guard time a Guard Error event is logged and a remote node error is indicated through the Life Guarding event service 0x1014 0 U32 Read Write COB ID EMCY This is the ID for the Emergency object 0x1400 0 U8 Read Receive PDO parameter 0x1404 Number of entries 2 1 U32 Read Write COB ID used by PDO 2 U8 Read Write Transmission type 0x1600 0 U8 Read Write Receive PDO mapping 0x1604 Number of mapped application objects N 1 N U32 Read Write Mapped object N 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P C 2 CANopen Objects Index Sub Index Type Access Name and Description 0x1800 0 U8 Read Transmit PDO parameter 0x1804 Number of entries 2 1 U32 Read Write COB ID used by PDO 2 U8 Read Write Transmission type Ox1A00 0 U8 Read Write Transmit PDO mapping 0x1A04 Number of mapped application objects N 1 N U32 Read Write Mapped object N Table C B Manufacturer Specific Area Index Sub index Type Access Name and Description 0x2001 0 m m Parameter mapping 0x201B 0x2001 Comm adapter parameter 0x01 0x2002 Comm adapter parameter 0x02 etc The parameter value is mapped 0x2101 0 U8 Read DPI Event objects 0x2108 Numbe
24. LogicSts AT95h 1 1 UINT Product Logic Status AT96IA 1 1 UINT SpeedFdb AT 11 2 UINT Feedback 15 bit AT95I1 2 UINT CurrentOutput AT9 5I 3 UINT Datalink A1 Out 16 bit AT95h 1 3 UINT Digitallnputs AT95h 1 4 UINT Datalink A2 Out 15 bit AT95h 1 4 UINT LastFault AT96h 1 5 UINT Datalink B1 Out 18 bit AT95I 1 5 UINT PowerOutput AT95Ihi1 6 UINT Peden MN Dee A DUIS ATONA MD HN me 25 Resources Global Variables Global Variables Vatiable_Configuration VAR_C E library cia 405 lib 11 6 99 11 03 38 E library hlptools lib 17 9 01 09 16 28 E library standard lib 23 10 00 15 20 5 library sys vxx lib 3 8 01 07 47 48 c fj PLC Configuration A Sampling Trace e Target Settings 3 Task Configuration R Watch and Receipt Manager ONLINE GV READ 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P Logic Controller Program Example F 3 Program Code and Program Figure F 2 Example Program Code Run CoDeSys 0003L8CJ PRO PLC PRG PRG ST i Oi x S File Edit Project Insert Extras Online Window Help lal xj BEA 3 lela E PLC_PRG PRG PROGRAM PLC_PRG 0002lvar 10003 Constants 4 MAX SPD INT 16 2000 MIN SPD INT 16 0064 loodst Variables ScaledCurrent INT Te AIF InputSwitch d THEN LogicCmd 0 TRUE ELSE LogieCmd D FALSE END IF stop IF InputSwitch 1 THEN LogicCmd 1 TRUE ELSE LogicC
25. PDO triggering modes e Change of State COS Triggering mode COS means that the PDO is sent when a device specific event occurs for example a value has changed COS can only be selected for the TPDO1 Logic Status Feedback Parameter 24 PDO1 Trigger is set to 0 COS with transmission mode asynchronous can be configured by setting the transmission type of the TPDO1 to 254 using a CANopen configuration tool For COS with transmission mode synchronous the transmission type must be set to 0 Adapter Parameters 25 and 26 control the COS behavior Parameter 25 COS Status Mask defines which bits in the Logic Status word are checked for changes and Parameter 26 COS Fdbk Change specifies how much the Feedback word can change before it is considered a change of state e Cyclic PDOs with the cyclic triggering mode are sent periodically with a specific interval For the transmission types 0 synchronous cyclic transmission and 254 asynchronous Parameter 24 PDO1 Trigger is set to 1 Cyclic and Parameter 27 Cycle Interval defines this interval This is only possible for the PDOI A synchronous cyclic transmission can also be implemented by setting the transmission type to a value between 1 and 240 Then the cyclic interval is calculated as follows Cyclic Interval Transmission Type x Communication Cycle Period e Remote Transmission Request RTR The transmission of a PDO is initiated on receipt of
26. Table of Contents iii Glossary Index 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P iv Table of Contents 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Preface About This Manual Topic Page Related Documentation P 1 Rockwell Automation Support P 2 Conventions Used in This Manual P 2 Related Documentation For Refer to Publication DriveExplorer http www ab com drives driveexplorer and DriveExplorer online help installed with the software DriveTools SP http www ab com drives drivetools and includes DriveExecutive DriveExecutive online help installed with the software PowerFlex 7 Class HIM HIM Quick Reference 20HIM QR001 PowerFlex 70 70EC Drive PowerFlex 70 User Manual 20A UMOO1 PowerFlex 70 700 Reference Manual PFLEX RMOO1 PowerFlex 70EC 700VC Reference Manual PFLEX RM004 PowerFlex 700 700VC Drive PowerFlex 700 User Manual 20B UMOO1 PowerFlex 700 Series B Drive PowerFlex 700 Series B User Manual 20B UMO002 PowerFlex 70 700 Reference Manual PFLEX RMOO1 PowerFlex 70EC 700VC Reference Manual PFLEX RM004 PowerFlex 700H Drive PowerFlex 700H Installation Instructions PFLEX IN006 PowerFlex 700H Programming Manual 20C PM001 PowerFlex 700S Drive PowerFlex 700S with Phase Control User Manual 20D UMO001 Frames 1 through 6 PowerFlex 700S with Phase Il Control User Manual 20D UM006 PowerFlex 70
27. Yes Bit Definition ink C ink B Used Used Used atal Default Bit N x Noi x No e x No wlo D m oj Datal o Cmd Ref 13 DPI I O Act Default xxx0 0001 Displays the I O that the adapter is actively Bit Values 0 gt ne transmitting The value of this parameter will usually be 1 O enabled Type Read Only equal to the value of Parameter 12 DPI I O Cfg inkC ink B ink A B o o o Bit 2 288 z l z Definition 2 2 2 S S S S o o o e e e wm OIGO 8 Default x X xX 0 I0 0 Bit 765 g 2 4 14 Flt Cfg Logic Default 0000 0000 0000 0000 Sets the Logic Command data that is sent to the drive Sean ee ne ee or if any of the following is true STE E Type Read Write e Parameter 10 Comm Flt Action is set to 4 Reset Required No Send Fit Cfg and I O communications are disrupted e Parameter 11 Idle Fit Action is set to 4 Send Fit Cfg and the adapter is put in the Pre Operational State The bit definitions will depend on the product to which the adapter is connected See Appendix D or the documentation for the drive being used 15 Fit Cfg Ref Default 0 E Minimum 0 Sets the Reference data that is sent to the drive if any Mid of the following is true Maximum 4294967295 Type Read Write e Parameter 10 Comm Flt Action is set to 4 Reset Required No Send Fit Cfg and I
28. a Remote Transmission Request initiated by any other device PDO consumer The transmission can be either synchronous or asynchronous 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 5 4 Using I O Messaging Understanding the I O Image 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Table 5 A TPDO Summary Triggering Transmission Param 24 Transmission Transmission Type Name Mode Mode PDO1 Trigger Type 2 COS Synchronous COS 0 Synchronous acyclic Asynchronous COS 254 9 Asynchronous Manuf Event Cyclic Synchronous 1 240 Synchronous cyclic Synchronous Cyclic 09 Synchronous acyclic Asynchronous Cyclic 254 9 Asynchronous Manuf Event RTR only Synchronous 252 Synchronous RTR only Asynchronous 253 Asynchronous RTR only 1 Transmission types 241 251 are reserved 2 The transmission type 255 Asynchronous Profile Event is not used in this implementation 9 If transmission type 0 or 254 COS and cyclic is selected for TPDOs other than TPDO1 the TPDO will only be transmitted on Remote Transmission Request Table 5 B RPDO Summary Transmission Behavior Transmission Mode Type I Synchronous Data is passed to application 0 Synchronous acyclic after next SYNC 0 240 Synchronous cyclic Asynchronous Data is passed to application 254 Asynchronous Manuf Event immediately 255
29. described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss N WARNING Identifies information about practices or Important Identifies information that is critical for successful application and understanding of the product circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequences N ATTENTION Identifies information about practices or Shock Hazard labels may be located on or inside the equipment e g drive or motor to alert people that dangerous voltage may be present Burn Hazard labels may be located on or inside the equipment e g drive or motor to alert people that surfaces may be at dangerous temperatures gt D PowerFlex DriveExplorer DriveExecutive DPI DriveTools SP and ControlFLASH are either trademarks or registered trademarks of Rockwell Automation Inc CANopen is a trademark of the CANopen Vendor Association Summary of Changes The information below summarizes the changes made to this manual since its last release January 2005
30. output to the adapter from the network The size of the word either a 16 bit word or 32 bit word is determined by the drive Feedback is used to monitor the speed of the drive It consists of one word of input from the adapter to the network The size of the word either a 16 bit word or 32 bit word is determined by the drive Remote Transmission Request RTR A PDO can be remotely requested The PDO consumer transmits a CAN remote frame and the corresponding PDO producer responds to this remote frame by sending the requested PDO This is also called Polled I O Data Exchange Scanner A scanner is a separate module of a multi module controller or a built in component of a single module controller that provides communication with adapters connected to a network See also Controller SDO Service Data Objects Service Data Objects SDO are used to transfer data that does not require continuous updates A SDO reads from entries or writes to entries of the Object Dictionary The SDO transport protocol allows transmitting objects of any size The receiver confirms each object so that a peer to peer communication client server takes place Status Indicators Status indicators are LEDs that are used to report the status of the adapter network and drive They are on the adapter and can be viewed on the front cover of the drive when the drive is powered Synchronization Object Sync The Sync object is used for synchroni
31. parameters instead 5 Apply power to the adapter Chapter 2 A The adapter receives power from the drive Verify that Installing the Adapter the adapter is installed correctly and then apply power to the drive The status indicators should be green If they flash red there is a problem Refer to Chapter 7 Troubleshooting B Configure verify key drive parameters 6 Configure the adapter for your application Chapter 3 Set adapter parameters for the following functions as Configuring the Adapter required by your application e Node address and data rate if Data Rate switch is set to PGM e O configuration e Change of State Cyclic or RTR I O data exchange e Fault actions 7 Configure the CANopen network Chapter 4 Use a tool of CANopen Network Management master oc Ze such as CANopen Configuration Studio IXXAT to Appendix E configure the CANopen network Make sure to CANopen qe Example e Install the EDS file e Create configuration and device connections e Save your CANopen configuration 8 Create a programmable logic controller program Chapter 5 Use a programming tool such as CoDeSys Programming Software for the Mauell PLC to create a logic program that enables you to e Control the adapter and connected drive e Monitor or configure the drive using Service Data Objects Using I O Messagin Chapter 6 Using Service Data Objects 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 1 6 Get
32. recommended Q Configuration tool such as PowerFlex 7 Class HIM 20 HIM xx DriveExplorer version 4 01 or higher DriveExecutive stand alone software version 3 01 or higher or bundled with the DriveTools SP suite version 1 01 or higher CANopen Configuration Studio IXXAT version 1 4 or higher PowerFlex 1203 USB or 1203 SSS Serial Converter version 3 001 or higher C Computer with a CANopen network configuration tool for example IXXAT tinCAN 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 1 4 Getting Started Safety Precautions 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Please read the following safety precautions carefully bb P Pb gt D ATTENTION Risk of injury or death exists The PowerFlex drive may contain high voltages that can cause injury or death Remove all power from the PowerFlex drive and then verify power has been discharged before installing or removing an adapter ATTENTION Risk of injury or equipment damage exists Only personnel familiar with drive and power products and the associated machinery should plan or implement the installation start up configuration and subsequent maintenance of the product using an adapter Failure to comply may result in injury and or equipment damage ATTENTION Risk of equipment damage exists The adapter contains ESD Electrostatic Discharge sensitive parts that can be damaged if you do not follow ESD c
33. see controller Q quick start 1 5 R Ref Fdbk Size parameter B 2 Reference Feedback definition G 7 in I O image 5 4 using 5 6 regulatory compliance A 2 related documentation P 1 Reset Module parameter B 2 resetting the adapter 3 9 ribbon cable see Internal Interface cable RTR Remote Transmission Request configuring adapter for 3 7 definition G 7 S safety precautions 1 4 scanner G 7 SDO Service Data Objects about 6 1 configuration 4 4 configuration example E 16 definition G 7 running 6 2 selecting data exchange COS Change of State 3 5 Cyclic 3 5 RTR Polled 3 5 specifications adapter A 1 CANopen Network G 1 state Initialization 4 2 Operational 4 3 Pre Operational 4 2 Stopped 4 3 status indicators definition G 7 locating 1 6 MOD 1 6 7 2 NET A CAN RUN 1 6 7 3 NET B CAN ERR 1 6 7 3 normal operation 2 8 PORT 1 6 7 2 troubleshooting with 7 2 to 7 3 understanding 7 1 Stopped state 4 3 switches Data Rate 2 3 Node Address 2 2 SYNC Synchronization Object configuration 4 5 configuration example E 16 definition G 7 T technical support P 2 tools required 1 3 Transmission Mode 5 2 Transmission Type 5 2 G 7 Triggering Mode 5 3 troubleshooting 7 1 to 7 6 U update see flash update W web site DriveExecutive software G 3 DriveExplorer software G 3 DriveTools SP software G 3 EDS files G 3 manuals P 1 wiring see cables Z
34. 00sub02 A100sub03 A100sub04 A100sub05 A100sub06 4100sub0 4100sub08 4100sub09 A100sub04 6000sub01 2201 sub00 2204sub00 2216sub00 2218sub00 2214sub00 221Csub00 221Esub00 2220sub00 2222sub00 2224sub00 0x01 0x01 0x01 0x02 0x02 0x02 0x02 0x03 0x03 0x01 0x02 0x02 0x03 0x03 0x04 0x04 0x05 0x05 0x02 0x02 ER ee L4 La la la la l la Ll Mg ee MM M 2200sub00 2202sub00 2206sub00 2208sub00 2204sub00 220Csub00 220E sub00 2210sub00 221 2sub00 221 4sub00 44COsub01 A580sub02 A580sub03 A580sub04 A580sub05 A580sub06 A580sub07 A580sub08 A580sub09 A580sub04 A580sub0B TIP Sorting by TxPDO or RxPDO will group all Consumers and Producers 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P E 16 CANopen Network Example Configuring the PDOs 1 Select the PowerFlex70 and click the Device Configuration icon in the SDOs and SYNC project toolbar CANopen_Example_Project BEE s 8 q EE 4 mw Module Module Communications PLC sual Object CAN Bus Status EventData monitor Service selection Parameters Linker focess Time Configuration CANopen_Example_Project 1000 kBaud gl CONTROL Mauell PLC 1 0x1 Pe INPUTS DUTPUTS fd Input 2 0x2 lglg DRIVES g zm 2 Onthe Process Data Objects tab the Transmission Type of all PDOs can be configured sub tab Properties and the PDO mapping can be checked and adjusted sub tab Mapping PowerFlex7 7
35. 0S Reference Manual PFLEX RM002 PowerFlex 700S Drive PowerFlex 7008 Installation Instructions PFLEX INO06 Frames 9 and higher PowerFlex 700S with Phase Control User Manual 20D UMOO1 PowerFlex 700S with Phase Il Control User Manual 20D UMO06 PowerFlex 700S Reference Manual PFLEX RM002 Above Rockwell Automation documentation can be obtained online at http literature rockwellautomation com To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative CANopen documentation can be obtained online at http Www can cia com To find your local Rockwell Automation distributor or sales representative visit www rockwellautomation com locations For information such as firmware updates or answers to drive related questions go to the Drives Service amp Support web site at www ab com support abdrives and click on the Downloads or Knowledgebase link 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P P 2 About This Manual Rockwell Automation Support Conventions Used in This Manual 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Rockwell Automation Inc offers support services worldwide with over 75 sales support offices over 500 authorized distributors and over 250 authorized systems integrators located through the United States alone In addition Rockwell Automation Inc representatives are in every ma
36. 20 COMM K CANopen Adapter Allen Bradley Firmware 1 xxx User Manual Allen Bradley Rockwell Software Automation Important User Information 20 COMM K CANopen Adapter User Manual Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls Publication SGI 1 1 available from your local Rockwell Automation sales office or online at_http www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software
37. 5 Kbps 250 Kbps 500 Kbps 800 Kbps or 1 Mbps Drive Protocol DPI Data Rates 125 Kbps or 500 Kbps Consumption 500 mA at 5 VDC supplied by the drive Grounding Grounding according to CAN specification is established via two mounting holes in the PCB when connected to the drive Dimensions Height 19 mm 0 75 inches Length 86 mm 3 39 inches Width 78 5 mm 3 09 inches Weight 85 g 3 oz Temperature Operating 10 50 C 14 122 F Storage 40 85 C 40 185 F Relative Humidity 5 95 non condensing Atmosphere Important The adapter must not be installed in an area where the ambient atmosphere contains volatile or corrosive gas vapors or dust If the adapter is not going to be installed for a period of time it must be stored in an area where it will not be exposed to a corrosive atmosphere 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P A 2 Specifications Regulatory Compliance Certification Specification UL UL508C cUL CAN CSA C22 2 No 14 M91 CE EN50178 and EN61800 3 CTick EN61800 3 NOTE This is a product of category C2 according to IEC 61800 3 In a domestic environment this product may cause radio interference in which case supplementary mitigation measures may be required 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P About Parameter Numbers Parameter List Appendix B Adapter Parameters Appendix B provides information about the adapter paramete
38. 56 1 Ready to Run x At Limit 0 Not At Limit Par 304 1 At Limit x Tach Loss Sw 0 Not Tach Loss Sw 1 Tach Loss Sw X At Zero Spd 0 Not At Zero Speed 1 At Zero Speed X At Setpt Spd 0 Not At Setpoint Speed 1 At Setpoint Speed X Enable 0 Not Enabled 1 Enabled 1 See Parameter 304 Lim 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P in the PowerFlex 700S drive User Manual for a description of the limit status conditions Example Network Appendix E CANopen Network Example This appendix provides instructions on how to use the IXXAT CANopen Configuration Studio and the Mauell CoDeSys AA programming software to configure the Mauell Telmatic ME series of PLC hardware Topic Page Example Network E 1 Configuring the Network Nodes E 2 Configuring the Communications E 8 Configuring the PLC Variables and Linking E 9 Configuring the PDOs SDOs and SYNC E 16 Downloading Configuration E 20 PLC Program E 22 After the adapter is configured the connected drive and adapter are a single node on the network This appendix provides the steps that are needed to configure a simple network like the network shown in Figure E 1 A PC CAN Interface card for example tinCAN from IXXAT is needed to configure the CANopen network with the computer In our example the drive is configured for using Logic Command Status Reference Feedback and all Datalinks over th
39. ANopen adapter connects PowerFlex 7 Class drives to a CANopen network Adapters are sometimes also called cards embedded communication options gateways modules and peripherals 99 66 Bus Off A bus off condition occurs when an abnormal rate of errors is detected on the Control Area Network CAN bus in a device The bus off device cannot receive or transmit messages on the network This condition is often caused by corruption of the network data signals due to noise or data rate mismatch CANopen Network A CANopen network uses a producer consumer Controller Area Network CAN to connect devices for example controllers drives and motor starters Both I O and explicit messages can be transmitted over the network A CANopen network can support a maximum of 64 devices Each device is assigned a unique node address and transmits data on the network at the same data rate A cable is used to connect devices on the network It contains both the signal and power wires Devices can be connected to the network with drop lines in a daisy chain connection or a combination of the two General information about CANopen and the CANopen specification are maintained by the Open CANopen Vendor s Association ODVA ODVA is online at http www odva org Change of State COS I O Data Exchange A device that is configured for Change of State I O data exchange transmits data at a specified interval if its data re
40. Asynchronous Profile Event 1 The transmission types 252 and 253 are not possible for RPDOs The CANopen specification requires that the terms input and output be defined from CANopen network s point of view Therefore Output I O is data that is output from the CANopen network and consumed by the CANopen adapter Input I O is status data that is produced by the adapter and consumed as input by the CANopen network The I O image table will vary based on e Size either 16 bit or 32 bit of the Reference Feedback words and Datalink words used by the drive To determine the size of the Reference Feedback and Datalinks view adapter Parameters 07 Ref Fdbk Size and 08 Datalink Size For information to access parameters see e Configuration of I O Parameter 12 DPI I O Config in the adapter If any I O is not enabled the image table is truncated The image table always uses consecutive words starting at word 0 The controller I O image changes depending on the size of the drive s Reference Feedback and Datalinks Table 5 C Table 5 D and Table 5 E show the I O image when using various PowerFlex 7 Class drives Using I O Messaging Table 5 C 1 O Image for PowerFlex 70 700 700H Drives and SMC Flex 16 bit Reference Feedback and 16 bit Datalinks Word Output I O Word Input I O 0 Logic Command 0 Logic Status 1 Reference 1 Feedback 2 Datalink In A1 2 Datali
41. At Reference Local Control 000 Port 0 TB 001 Port 1 010 Port 2 011 Port 3 100 Port 4 101 Port 5 110 Port 6 111 No Local 1 See Owners in drive User Manual for further information 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P Reference 0000 Ref A Auto Par 90 0001 Ref B Auto Par 93 0010 Preset 2 Auto 0011 Preset 3 Auto 0100 Preset 4 Auto 0101 Preset 5 Auto 0110 Preset 6 Auto 0111 Preset 7 Auto 1000 Term Blk Manual 1001 DPI 1 Manual 1010 DPI 2 Manual 1011 DPI 3 Manual 1100 DPI 4 Manual 1101 DPI 5 Manual 1110 DPI 6 Manual 1111 Jog Ref PowerFlex 700S Drives Logic Command Status Words D 3 Logic Command Word Phase II Control Logic Bits 15 114 13 12 11 109 8 7 6 5 4 3 2 Command Description Normal Stop 0 Not Normal Stop 1 Normal Stop Start M 0 Not Start 1 Start x Jog 1 0 Not Jog using Jog Speed 1 Par 29 1 Jog using Jog Speed 1 Par 29 x Clear Fault 0 Not Clear Fault 1 Clear Fault X x Unipolar Direction 00 No Command 01 Forward Command 10 Reverse Command 11 Hold Direction Control X Reserved x Jog2 0 Not Jog using Jog Speed 2 Par 39 1 Jog using Jog Speed 2 Par 39 x Current Li
42. CANopen cable to the network A CANopen cable with an outside diameter of 6 9 mm 0 27 in is recommended Important Maximum cable length depends on the data rate For details refer to Data Rate in the Glossary Route the other end of the CANopen cable through the bottom of the PowerFlex drive Figure 2 4 and connect a 9 pin D Sub plug to the CANopen cable See Figure 2 5 and its related table for wiring connection details Figure 2 5 Connecting 9 Pin D Sub Plug to CANopen Cable 120 Ohm Terminating Resistor CAN_H 7 CAN_L 2 H CAN GND 3 i CAN SHLD 5 Pin Name Function 2 CAN_L CAN low bus line 3 CAN_GND CAN ground 5 CAN_SHLD CAN shield 6 GND Ground not used 7 CAN_H CAN high bus line Connect a 120 Ohm bus termination resistor at both ends of the CAN bus cable at the first and last node if several adapters are connected to the CAN bus The termination should be made in the connectors and is not included on the adapter See Figure 2 5 Connect the CANopen cable plug to the mating adapter receptacle and secure it with the two screws 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 2 8 Installing the Adapter Applying Power 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P N ATTENTION Risk of equipment damage injury or death exists Unpredictable operation may occur if you fail to verify that parameter setti
43. Description of Changes Page Reformatted document from half size 5 5 x 8 5 in to full size 8 5 x 11 in Throughout manual Added SMC Flex to compatible products list 1 2 Revised Figures 2 2 and 2 3 to show PowerFlex 700H S Frames 9 and larger Added 2 5 and 2 6 ground tab details in Figure 2 3 Added Flash Updating the Adapter section 3 10 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P soc ii Summary of Changes 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Preface Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 About This Manual Related Documentation Rockwell Automation Support Conventions Used in This Manual Getting Started Components 0 0 0 e eee eee eee Features ive ansehen Compatible Products 2 Required Equipment Safety Precautions 4 Quick Start ua ee Pa Ste teh ed Sete bs Status Indicators 2222222202 Installing the Adapter Preparing for an Installation Commissioning the Adapter Connecting the Adapter to the Drive Connecting the Adapter to the Network Applying Power Configuring the Adapter Configuration Tools Using the PowerFlex 7 Class HIM Setting the Node Address Setting the Data Rate Setting the I O Configuration Selecting COS Cyclic or RTR I O Data Exchan
44. EN P 2 4 Installing the Adapter Connecting the Adapter to the Drive 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P drive may contain high voltages that can cause injury or death N ATTENTION Risk of injury or death exists The PowerFlex BP N Remove power from the drive and then verify power has been discharged before installing or removing the adapter Remove power from the drive Use static control precautions Remove the drive cover or open the drive door Connect the Internal Interface cable to the DPI port on the drive and then to the DPI connector on the adapter see Figure 2 3 Secure and ground the adapter to the drive see Figure 2 4 by doing the following Ona PowerFlex 70 drive fold the Internal Interface cable behind the adapter and mount the adapter on the drive using the four captive screws Ona PowerFlex 700 PowerFlex 700H or PowerFlex 7008 drive mount the adapter on the drive using the four captive screws Important Tighten all screws to properly ground the adapter Recommended torque is 0 9 Nem 8 0 Ibein Installing the Adapter 2 5 Figure 2 3 DPI Ports and Internal Interface Cables e gt gt 20 COMM K Adapter PowerFlex 700 Frames 0 and 1 PowerFlex 700S Frames 0 and 1 Item Description 15 24 cm 6 in Internal In
45. GV READ 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P Configuring the Drive Adapter Appendix F Logic Controller Program Example The example logic controller program in this appendix provides details of how to program the Mauell Telmatic ME series of PLC hardware with the Mauell CoDeSys AA programming software to control a PowerFlex 70 or PowerFlex 700 drive Topic Page Configuring the Drive Adapter F 1 Network Variables File F 2 Program Code and Program Run F 3 SDO Access Example F 4 The example program provides the following functions e Start stop change direction jog the drive and obtain the status information e Increase and decrease the speed reference and obtain the speed feedback e Dynamically control current limit brake level acceleration time 1 and the jog frequency e Receive the output current the output power the last fault and the status of the digital inputs For this example the following parameters must be set in the PowerFlex drive Parameter Value Description 90 Speed Ref A Sel 122 DPIPort5 Assigns 20 COMM K to be used for the Reference 300 Data In A1 140 Points to Parameter 140 Accel Time 1 P301 Data In A2 158 Points to Parameter 158 DC Brake Level 302 Data In B1 148 Points to Parameter 148 Current Lmt Val 303 Data In B2 100 Points to Parameter 100 Jog Speed 310 Data Out
46. I Parameter send Number of entries 0x04 1 U8 Read Write Access 00 Read 01 Write 2 U8 Read Write DPI Port 3 U16 Read Write Parameter number 4 U32 Read Write Parameter value 0x2229 10 U8 Read DPI Parameter receive Number of entries 0x02 1 U8 Read Response status 2 U32 Read Parameter value Value depends on the mapped communication adapter parameters 2 If the drive is a 32 bit drive this object contains 16 bits of the 32 bit value and should not be used 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P CA CANopen Objects Emergency Object The emergency object consists of a total of 8 data bytes The first three bytes are defined by the CANopen specification and the remaining 5 bytes are manufacturer specific Table C C Emergency Object Format Byte 0 1 2 3 4 5 6 7 Content Emergency error Error Manufacturer specific error files code See Table C D register Byte 3 and Byte 4 0 Byte 5 DPI Port Byte 6 and 7 DPI fault code Byte 6 LSB Table C D Implemented Emergency Error Codes Emergency Manufacturer specific info Error Code 00XX Error reset or no error No 10XX Generic Error Yes If fault in DPI adapter DPI fault code is included Emergency error codes are specified for a number of events but since the DPI communication adapter is a generic module all errors are reported as Generic error For faults in the communication adapter itself th
47. If you encounter unexpected communications problems the adapter s Items diagnostic items may help you or Rockwell Automation personnel troubleshoot the problem Adapter diagnostic items can be viewed using an LCD PowerFlex 7 Class HIM Diagnostics Device Items DriveExplorer software version 4 01 or higher or DriveExecutive software version 3 01 or higher Using the HIM to View Adapter Diagnostic Items Step Example Screen 1 Access parameters in the adapter Refer to Using the PowerFlex 7 Class HIM on page 3 2 Main Menu T 2 Press the or amp key to scroll to Diagnostics saae 3 Press the Enter key to display the Diagnostics menu in the Device Select adapter 4 Repeat steps 2 and 3 to enter the Device Items option Device Item 3 5 Press the or G key to scroll through the items relies Table 7 A Adapter Diagnostic Items No Name Description 1 Common Logic Cmd The present value of the Common Logic Command being transmitted to the drive by this adapter 2 ProductLogicCmd The present value of the Product Logic Command being transmitted to the drive by this adapter 3 Reference The present value of the Reference being transmitted to the drive by this adapter If the drive indicates a 16 bit Reference size the Reference value appears in the least significant 16 bits of this diagnostic item and the most significan
48. Logic Status word that should be checked for changes The bit definitions for the Status Mask will depend on the drive to which the adapter is connected Refer to Appendix D or the drive documentation Figure 3 6 Example COS Status Mask LCD HIM Screen Port 5 Device Value Description 20 COMM K 0 Ignore this logic bit Default Parameter 25 1 Use this logic bit COS Status Mask XXXXXXXXXXX000 Off Bit 0 b00 5 Set Parameter 26 COS Fdbk Change for the amount of change to the Feedback that is required to trigger a Change of State message Figure 3 7 Example COS Fdbk Change LCD HIM Screen Default 1 Port 5 Device 20 COMM K Parameter 26 COS Fdbk Change 1 lt gt 4294967295 Using Cyclic Data Exchange With cyclic data exchange a PDO is sent periodically 1 With the CANopen configuration tool set the transmission mode of the TPDO1 Transmit PDO of the adapter to 0 synchronous or 254 asynchronous 2 Set Parameter 24 PDO1 Trigger to 1 Cyclic Figure 3 8 Example DPO1 Trigger LCD HIM Screen Port 5 Device Value Trigger 20 COMM K 0 COS Default Parameter 24 1 Cyclic PDO 1 Trigger yclic 3 Set Parameter 27 Cyclic Interval for the desired time interval between two transmissions Figure 3 9 Example Cyclic Interval LCD HIM Screen Default 0 02 s Port 5 Device 20 COMM K Parameter 27 Cyc Interval 0 02 S 0 02
49. Nate Object CAN Bus status EventData monitor Service Device selection Parameters inker Access Time Configuration B C Nopen_Example_Project 125 kB aud Right click on the project icon and select Network Properties Change the baud rate to the desired value and click OK NOTE In this example the baud rate 1000 kBaud has been used which is the maximum allowable baud rate for CANopen However the standard baud rate of the Mauell Telmatic PLC is 500 kBaud CANopen Network Example E 3 Network Properties C amp Nopen Example Project 125 kBaud 1000 kBaud ur 1001 03 Username 6 Enter the Name and a Description optional and select an Icon optional for the new group Click OK Group Properties xi Ne This is the CANopen NMT master Mauell Telmatic 18 CN32 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P E 4 CANopen Network Example 7 Select the new group and click the Module selection icon CANopen_Example_Project B CANopen Example Project 1000 kBaud e CONTROL 8 Select the hardware being used V 8 CN32 provide a Name and adjust the Node Address and the Baud Rate In this example the node address of the PLC is set to 1 and the baud rate is set to 1000 Kbps Click OK I Hardware Selection 1000 kBit s 1000 kBit s por EWS RIE x 9 Click aktualisieren apply in the appearing window to build the configuration of the PLC Note the status ba
50. Nopen Process Data Objects PDOs are used to transfer the real time data which controls the PowerFlex drive and sets its Reference PDOs can also be used to transfer data to and from Datalinks A PDO message has high priority on the CAN bus Each PDO has a unique CAN identifier and the maximum length of a PDO message is 8 bytes PDO mapping and configuration are made with help of SDOs RPDO SDO 1400 1403h 1st 4th RPDO communication parameter SDO 1600 1603h 1st 4th RPDO mapping parameter TPDO SDO 1800 1803h 1st 4th TPDO communication parameter SDO 1A00 1A03h 1st 4th TPDO mapping parameter The adapter provides many options for configuring and using I O including e Configuring the size of I O by enabling or disabling the Logic Command Reference and Datalinks e Using a Change of State Cyclic or RTR data exchange method 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 5 2 Using I O Messaging 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P PDO Transmission Types The transmission type or data exchange type parameter of a PDO specifies the transmission mode and the triggering mode The transmission modes are e Synchronous transmission e Asynchronous transmission The adapter supports three PDO triggering modes e COS Change of State e Cyclic e Remote Transmission Request RTR The triggering mode is only relevant for TPDOs For RPDOs only the tr
51. Not Used Bit 0 is the right most bit In Figure 3 3 it is highlighted and equals 1 If Logic Command Reference is enabled configure the parameters in the drive to accept the Logic Command and Reference from the adapter For example set Parameter 90 Speed Ref A Sel in a PowerFlex 70 or 700 drive to 22 DPI Port 5 so that the drive uses the Reference from the adapter Also verify that the mask parameters for example Parameter 276 Logic Mask in the drive are configured to receive the desired logic from the adapter Refer to the documentation for your drive for details If you enabled one or more Datalinks configure parameters in the drive to determine the source and destination of data in the Datalink s For example configure the Datalinks in PowerFlex 70 and 700 drives by setting Parameters 300 Data In A1 through 317 Data Out D2 Also ensure that the Modbus TCP adapter is the only adapter using the enabled Datalink s Reset the adapter see Resetting the Adapter on page 3 9 The adapter is ready to receive I O Selecting COS Cyclic or RTR I O Data Exchange Configuring the Adapter 3 5 The data exchange sometimes called allocation is the method that the adapter uses to exchange real time data on the CANopen network The real time data is transferred using a PDO Process Data Object The adapter can be configured to use one of the following data exchange types e COS Change of State e
52. O communications are disrupted Important If the drive uses a 16 bit e Parameter 11 Idle Fit Action is set to 4 Send Reference the most significant word of Fit Cfg and the adapter is put in the Pre Operational this value must be set to zero 0 or a State fault will occur 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P B 4 20 COMM K CANopen Adapter User Manual Adapter Parameters Publication 20COMM UMO12B EN P Parameter No Name and Description 16 24 25 26 27 Fit Cfg A1 In Fit Cfg A2 In Fit Cfg B1 In Fit Cfg B2 In Fit Cfg C1 In Fit Cfg C2 In Fit Cfg D1 In Fit Cfg D2 In Sets the data that is sent to the Datalink in the drive if any of the following is true e Parameter 10 Comm FIt Action is set to 4 Send Fit Cfg and I O communications are disrupted e Parameter 11 Idle Fit Action is set to 4 Send Fit Cfg and the adapter is put in the Pre Operational State These are 32 bit values When using a 16 bit Datalink only the least significant word will be used If the 32 bit value is out of range for the 16 bit Datalink a configuration error will force a correction before I O can be enabled PDO1 Trigger Sets the transmission type for TPDO1 Status Feedback if transmission type 0 or 254 is configured COS Status Mask Sets the mask for the 16 bit Logic Status word Unless they are masked out the b
53. Project PowerFlex70 7 047 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P E 18 CANopen Network Example 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 5 Onthe Process Data Objects tab set the Transmission Type of the RPDOs to asynchronous Manuf Event For RPDOs only the transmission mode synchronous or asynchronous is relevant Leave the Transmission Type of all TPDOs set to asynchronous Profile Event so the PDOs are sent when one of its variables has changed in the PLC program EMauell PLC 1 0x1 CANopen Device Configurator PER File View Tools Options Help dm tt Administration Objects Service Data Objects Process Data Objects Predefined Objects Device Information m Type AxPDO C Tx PDO Name JRPDO_1_Communication_Parameter RPDO_1_Communication iey RPDO_2_ Communication 3 Communication RPDO 4 Communication Q 5 Communication 0_6 Communication RPD O 7 Communication COB ID RPDO 8 Communication RPDO 8 Communication RPDO 10 Communicatiot RPDO 11 Communicatior vn 1 i E A RPDO_12Communication Traecuntzzori Fiat RPDO_13_Communicatio ee Qu es roa x2 RPDO_14_Communicatior Inhibit Time 100usec 20 y RPDO_15_Communicatior js Me Se un Se Se eaa RPDO 16 Communicatiot CMS Priority Group P RPDO_17_Communicatior Mapping Communication Parameter 0020 PDO valid v RT
54. Project 1000 kB aud glg CONTROL Mauell PLC 1 0x1 elg INPUTS DUTPUTS af Input 2 0x2 el DRIVES B nmm CANopen Network Example E 21 Select the Common Utilities tab and click Start Scan until node 7 appears and then click Cancel l PowerFlex70 CANopen Network Access _CN32 C01 DEOS 20 COMM K Select Node 7 and click the NMT Module Control tab Click Enter Pre Operational to put the PowerFlex 70 into the Pre Operational State Return to the Download Upload Verify tab EE PowerFlex70 CANopen Network Access All Nodes V_CN32 C01_DEOS 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P E 22 CANopen Network Example 6 Select the option save all parameters and click Download to Device s Download must be finished without faults Otherwise the device was not in the pre operational state for the full time period If the problem is still pending power off the PLC and start download again f PowerFlex70 CANopen Network Access PowerFlex70 7 0x7 Download finished PLC Program 1 Return to the Visual Object Linker window select the PLC Setup tab and click Run Codesys Now the variables from the linker are created and embedded in the PLC program CANopen_Example_Project 1000 kBaud CANopen Visual Object Linker Mauell PLC 1 0x1 Denotation Datatype Direction opinds dd BE_02 Unsigned8 Network Output A4COsub01 BrakeLevel
55. Publication 20COMM UM012B EN P 5 6 Using Logic Command Status Using Reference Feedback Using I O Messaging 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Table 5 E I O Image for PowerFlex 700S Drives 32 bit Reference Feedback and 32 bit Datalinks Word Output I O Word Input I O 0 Logic Command 0 Logic Status 1 Not Used 1 Not Used 2 Reference LSW 2 Feedback LSW 3 Reference MSW 3 Feedback MSW 4 Datalink In A1 LSW 4 Datalink Out A1 LSW 5 Datalink In A1 MSW 5 Datalink Out A1 MSW 6 Datalink In A2 LSW 6 Datalink Out A2 LSW 7 Datalink In A2 MSW 7 Datalink Out A2 MSW 8 Datalink In B1 LSW 8 Datalink Out B1 LSW 9 Datalink In B1 MSW 9 Datalink Out B1 MSW 10 Datalink In B2 LSW 10 Datalink Out B2 LSW 11 Datalink In B2 MSW 11 Datalink Out B2 MSW 12 Datalink In C1 LSW 12 Datalink Out C1 LSW 13 Datalink In C1 MSW 13 Datalink Out C1 MSW 14 Datalink In C2 LSW 14 Datalink Out C2 LSW 15 Datalink In C2 MSW 15 Datalink Out C2 MSW 16 Datalink In D1 LSW 16 Datalink Out D1 LSW 17 Datalink In D1 MSW 17 Datalink Out D1 MSW 18 Datalink In D2 LSW 18 Datalink Out D2 LSW 19 Datalink In D2 MSW 19 Datalink Out D2 MSW LSW Least Significant Word Bits 15 0 MSW Most Significant Word Bits 31 16 The Logic Command is a 16 bit w
56. R allowed v Ze Transmission Type asynchronous Manuf E vent RPDO 18 Communicatiot RPDO 18 Communicatior RPAN N Farn minati a Pfopetties 6 On the Predefined Objects tab check the Device generates SYNC message box sub tab Synchronisation Message Note that the Communication Cycle Period can be changed on this tab E Mauell PLC 1 0x1 CANopen Device Configurator PER File View Tools Options Help Wim poe Administration Objects Service Data Objects Process Data Objects Predefined Objects Device Information gt SYNC Object 1005 Device consumes SYNC message v Iv N 285 COB ID SYNC message 0x080 7 Communication Cycle Period 1006 Communication Cycle Period y 100 ms M Synchronous Window Length 1007 Synchronous Window Length p s rr 50 ms Synchronisation Message TimeStamp Message Emergency Message CANopen Network Example E 19 7 Select the Service Data Objects tab and select the Client SDO type Set up the SDO Channel to the 20 COMM K by checking the SDO valid box and inserting the COB IDs The COB IDs are calculated as follows Client gt Server 0x600 Node ID 0x607 Server gt Client 0x580 Node ID 0x587 EMauell PLC 1 0x1 CANopen Device Configurator c x File View Tools O
57. State and Remote Transmission Request to transmit data between the network and adapter Faulted node recovery support You can configure a device even when it is faulted on the network if you have a configuration tool that uses faulted node recovery and have set the data rate switch to PGM Program The adapter then uses parameter settings for the data rate and node address instead of the switch settings DPI is a second generation peripheral communication interface and a functional enhancement to SCANport The adapter is compatible with Allen Bradley PowerFlex 7 Class drives and other products that support DPI At the time of publication compatible products include e PowerFlex 70 drives e PowerFlex 700S drives e PowerFlex 700 drives e SMC Flex e PowerFlex 700H drives Required Equipment Getting Started 1 3 Equipment Shipped with the Adapter When you unpack the adapter verify that the package includes Q One adapter C A 2 54 cm 1 in and a 15 24 cm 6 in Internal Interface cable only one cable is needed to connect the adapter to the drive C One PowerFlex 7 Class DPI Drive Peripheral Interface Network Communication Adapter Installation Instructions publication 20COMM INO004 User Supplied Equipment To install and configure the adapter you must supply Q A small flathead screwdriver Q CANopen cable with 9 pin D Sub female connector thin cable with an outside diameter of 7 mm 0 27 in is
58. Unsigned16 Network Input A7100sub04 CurrentLimit Unsigned16 Network Input 4700sub05 DLinkP_C1 Unsigned16 Network Input 4100sub07 DLinkP_C2 Unsigned16 Network Input A100sub08 DLinkP_D1 Unsigned16 Network Input 4100sub09 DLinkP_D2 Unsigned16 Network Input A100sub04 Datalink amp 1 Out 16 bit Unsigned16 Network Output A580sub04 Datalink 42 Out 16 bit Unsigned16 Network Output A580sub05 Datalink B1 Out 16 bit Unsigned16 Network Output AS580sub06 Datalink B2 Out 16 bit Unsigned16 Network Output A580sub07 Datalink C1 Out 16 bit Unsigned16 Network Output AS580sub08 Datalink C2 Out 16 bit Unsigned16 Network Output A580sub09 Datalink D1 Out 16 bit Unsigned16 Network Output A580sub04 Datalink D2 Out 16 bit Unsigned16 Network Output A580sub0B Feedback 16 bit Unsigned16 Network Output A580sub03 JogFreq Unsigned16 Network Input 4100sub06 LogicCmd Unsigned16 Network Input 4100sub01 Product Logic Status Unsigned16 Network Output AS580sub02 SpeedRef Unsigned16 Network Input 4100sub02 NOTE If any connections are changed in the project click Update DCF before clicking Run Codesys 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P CANopen Network Example E 23 2 When CoDeSys is launched the hardware type has to be selected Select ME 30 telmatic V B Modul Cancel Configuration ME 30 telmatic Aodul ME 30 infobox control ME 30 telmatic V B Modul hard locked ME 30 infobox co
59. User Manual Publication 20COMM UM012B EN P 5 10 Using I O Messaging Receive PDO Mapping The Receive PDOs have a default mapping as shown in Table 5 G The mapping can be changed if desired Since every PDO can contain up to eight bytes of data it is possible to map for example Datalink Al A2 C1 and C2 to the same PDO number when using a drive with 16 bit Datalinks Table 5 G Default Receive PDO Mapping TPDO Default Mapping Enabled Remap Initial Transmission Type 1 Product Logic Command 0x2200 Yes No 254 Asynchronous Reference 16 bit 0x2202 2 Datalink A1 In 16 bit 0x2206 No Yes 254 Datalink A2 In 16 bit 0x2208 3 Datalink B1 In 16 bit 0x220A No Yes 254 Datalink B2 In 16 bit 0x220C 4 Datalink C1 In 16 bit 0x220E No Yes 254 Datalink C2 Out 16 bit 0x2210 5 Datalink D1 In 16 bit 0x2212 No Yes 254 Datalink D2 In 16 bit 0x2214 1 Table 5 H shows the transmission types for the PDO For RPDOs only the transmission is important synchronous or asynchronous gt TIP If a 32 bit drive parameter is mapped to a Datalink pair it is not recommended to map part of the pair that is Al or A2 to two different PDOs since this can give data inconsistency Table 5 H PDO Transmission Types Transmission PDO Transmission Type Cyclic Acyclic Synchronous Asynchronous RTR Only 0 V V 1 240 V V 241 251 Reserved 252 V V 253 4 V 254 4 255 v
60. Variables on the Resources tab CoDeSys 0003L8CJ PRO 0003L8CJ C Mauell telmatic Projects Network CANopen_Example_Project P E3 File Edit Project Insert Extras Online Window Help BAL ei Br 00O01 VAR GLOBAL p DCF Network Variables CAMauelhtelmaticiProjects NetworkiCAN DE LogicCmd AT 01 0 UINT SpeedRef AT95 CH 1 UINT AccelTime1 AT96QWVI1 2 UINT BrakeLevel AT 01 3 UINT CurrentLimit AT 01 4 UINT JogFreg AT96QV1 5 UINT DLinkP C1 AT QVV1 6 UINT DLinkP C2 AT C 7 UINT DLinkP_D1 AT95GWW1 8 UINT DLinkP_D2 AT C1 8 UINT InputSwitch AT95IB1 0 USINT BE 02 AT B1 0 USINT LogicSts AT95h 1 1 UINT Product Logic Status AT96IA 1 1 UINT SpeedFdb AT IM 2 UINT Feedback_16_bit AT V 1 2 UINT CurrentOutput AT95I l 3 UINT Datalink A1 Out 15 bit AT95h 1 3 UINT Digitallnputs AT amp IWW 4 UINT Datalink_A2_Out_16_bit AT95h 1 4 UINT LastFault AT95IAW1 5 UINT Datalink B1 Out 15 bit AT95I 1 5 UINT PowerOutput AT9 5hA 6 UINT phe e IO eek A A ATOMNI ART 25 Resources E 3 Global Variables i CJ Global Variables d Yarisble_Configuration VAR_C E library cia 405 lib 11 6 99 11 03 38 C3 library hiptools lib 17 8 01 09 16 28 C3 library standard lib 23 10 00 15 20 5 GI library sys vxx lib 3 8 01 07 47 48 d G PLC Configuration al Sampling Trace a Target Settings ET Task Configuration Q Watch and Receipt Manager ONLNE
61. adapter Determine how your drive will respond before resetting a connected adapter Set Parameter 09 Reset Module to 1 Reset Module Figure 3 11 Example Reset Module LCD HIM Screen Port 5 Device Value Description 20 COMM K 0 Ready Default Parameter 09 1 Reset Module Reset Module 2 Set Defaults 1 Reset Module When you enter 1 Reset Module the adapter will be immediately reset When you enter 2 Set Defaults the adapter will set all adapter parameters to their factory default values After performing a Set Defaults enter 1 Reset Module so that the new values take effect The value of this parameter will be restored to 0 Ready after the adapter is reset 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 3 10 Configuring the Adapter Viewing the Adapter Status Using Parameters Flash Updating the Adapter 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P The following parameters provide information about the status of the adapter You can view these parameters at any time Parameter Description 04 COPN Addr Act The node address used by the adapter This will be one of the following values e The address set by the rotary switches e The value of Parameter 03 COPN Addr Cfg if the switches have been set to 0 e Anold address of the switches or parameter if they have been changed and the adapter has
62. alink C2 Out 21 Datalink D1 Out 22 Datalink D2 Out 23 Field Flash Cnt Number of times the adapter has been flash updated This value is set to zero before the adapter is shipped 24 DPI Rx Errors The present value of the DPI CAN Receive error counter 25 DPI Tx Errors The present value of the DPI CAN Transmit error counter 26 COPN Rx Errors The present value of the COPN CAN Receive error counter 27 COPN Tx Errors The present value of the COPN CAN Transmit error counter 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P Viewing and Clearing Events Troubleshooting 7 5 The adapter has an event queue to record significant events that occur in the operation of the adapter When such an event occurs an entry is put into the event queue You can view the event queue using an LCD PowerFlex 7 Class HIM DriveExplorer 4 01 or higher software or DriveExecutive 3 01 or higher software The event queue can contain up to 32 entries Eventually the event queue will become full since its contents are retained through adapter resets At that point a new entry replaces the oldest entry Only an event queue clear operation or adapter power cycle will clear the event queue contents Resetting the adapter to defaults has no effect on the event queue The adapter event queue is mapped to the CANopen objects 0x2101 0x2108 Event 1 in the event queue is object 0x2101 event 2 is object 0x2102 etc Using th
63. an I O PDO connection With SDOs you can configure and monitor a slave device s parameters on the CANopen network SDO data transmission is much slower working around the process data channels to read write parameters to a drive This handles one parameter at a time and the user has access to all CANopen objects in the adapter SDO messages can transfer more than 8 bytes which is the PDO limit 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 6 2 Using Service Data Objects Running Service Data Objects CANopen DPI Parameter Access 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P There are five basic events in the Service Data Objects process The details of each step will vary depending on the type of controller Refer to the documentation for your controller Important There must be a request message and a response message for all SDOs whether you are reading or writing data Figure 6 1 Service Data Objects Process Set up and send Service Data Objects Request Complete Service Data Objects n Retrieve Service Data Objects Response Event Description You format the required data and set up a PLC program to send an SDO request to the CANopen network adapter download The CANopen network adapter transmits the SDO Request to the slave device over the network The slave device transmits the SDO Response
64. an open protocol with many different vendors of software and hardware In this manual the following tools were used IXXAT CANopen Configuration Studio version 1 4 Mauell CoDeSys AA programming software and the Mauell Telmatic ME series of PLC Different versions of the software may differ in appearance and procedures Components Getting Started Chapter 1 The adapter is intended for installation into a PowerFlex 7 Class drive and is used for network communication The adapter can also be used with other Allen Bradley products supporting DPI Topic Page Components 14 Features 12 Compatible Products 1 2 Required Equipment 1 3 Safety Precautions 14 Quick Start 1 5 Status Indicators 1 6 Figure 1 1 Components of the Adapter G Item Part Status Indicators Description Four LEDs that indicate the status of the DPI the adapter and network connection Refer to Chapter 7 Troubleshooting DPI Connector A 20 pin single row shrouded male header An Internal Interface cable is connected to this connector and a connector on the drive CANopen Connector A 9 pin male D sub connector for the network cable OQ Node Address Switches Two rotary switches to set the node address Refer to Setting the Node Address Switches on page 2 2 Q Data Rate Switch Switch to set the network data rate at which the adapter
65. ansmission mode is important To configure the PDOs the adapter parameters have to be adjusted and other settings made using a CANopen configuration tool for example IXXAT CANopen Configuration Studio PDO Transmission Modes To synchronize devices a synchronization object SYNC object is transmitted periodically by a synchronization application SYNC Master Figure 5 1 shows the principle of synchronous and asynchronous transmission The time between two SYNC objects is the Communication Cycle Period Figure 5 1 Synchronous and Asynchronous Transmission Sync Sync Sync Object Object Object x Time x Synchronous Asynchronous PDOs PDOs Synchronous TPDO The data for Synchronous TPDOs are sampled at the moment the SYNC object is received For COS and cyclic transmission the TPDOs are sent immediately after sampling therefore after the SYNC object For RTR transmission the TPDOs are sent after the receipt of the request message Asynchronous TPDO Asynchronous TPDOs are transmitted without any correlation to aSYNC The data for asynchronous TPDOs are sampled continuously Using I O Messaging 5 3 Synchronous RPDO The data of synchronous RPDOs is passed to the application when the next SYNC object occurs independently of the transmission rate specified by the transmission type Asynchronous RPDO The data of asynchronous RPDOs is passed directly to the application PDO Triggering Modes The adapter supports three
66. are used to access the CANopen objects Figure F 5 Function Block SDO_READ Declarations 0007 F UNCTION_BLOCK SDO READ 0002 VAR_INPUT Node CIA405 DEVICE Rdindex WORD RdSubindex BYTE RdStart BOOL b readYalue DINT Error BOOL FBSdoRead CIA405_SDO_READ4 FBArrayToDWord ARRAY TO DWORD RdEnable BOOL RdConfirm BOOL RdError ClA405 CANOPEN KERNEL ERROR RdErrinfo ClA405 SDO ERROR tempArray ARRAY 1 4 OF BYTE tempDWord DWORD RdDatLen USINT Logic Controller Program Example F 5 Figure F 6 Function Block SDO_READ Program Code QO008 FBSdoRead Device Node CIA405 writes SDO function call Index Rdindex SUBINDEX RdSubindex ENABLE RdEnable CONFIRM gt RdConfirm DATA gt tempArray DATALENGTH RdDatLen ERROR gt RdError ERRORINFO gt RdErrinfo D Error FALSE IF RdConfirm THEN FBArrayToDWord IA tempArray QD gt tempDWord IF RdDatLen 1 THEN readValue DWORD TO USINT tempDVVord END IF IF RdDatLen 2 THEN readValue DWORD TO INT tempDVVord END IF IF RdDatLen 4 THEN readValue DWORD TO DINT tempDWword END IF RdEnable FALSE END IF readValue 0 Error z TRUE RdEnable FALSE I Node CIA405_DEVICE WrIndex WORD WrSubindex BYTE parameteryalue DINT WrDataLen USINT WrStart BOOL FBSdoWirite CIA405 SDO WRITE4 FBDWordToArray DIWORD TO ARRAY WrEnable BOOL TRUE WrConfirm
67. ation 20COMM UM012B EN P E 20 CANopen Network Example Downloading Configuration 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P 1 Select the project and click the CAN Bus Access icon in the project toolbar CANopen_Example_ V gu Ps aft Module Module CU Es I cn CAN s Eventa selection Parameters Access Time B CANopen_Example_Project 1000 kBaud CONTROL Mauell PLC 1 0x1 elg INPUTS DUTPUTS fd Input 2 0x2 el DRIVES Bl PowerFlex70 7 0x7 2 Click Download to Device s on the Download Upload Verify tab to download the connections made in the linker to the network nodes This takes a few minutes The PowerFlex 70 will produce some errors as it needs to be downloaded separately The adapter must be in Pre Operational State Close the window when complete C CANopen Example Project CANopen Network Access i oO x File View Options Help Download Upload Yerify Common Utilities LSS Tool LMT Tool Status Mauell PLC 1 0x1 Download Finished Input 2 0x2 Download finished 0 PowerFlex70 7 0x7 Download finished 10 save all parameters z I Stop on Error I Stop on Difference 3 Select the PowerFlex70 and click the CAN Bus Access icon in the project toolbar CANopen_Example_Project i x Module Sommunications PLC sual Object C Status selection Parameters Linker Access Ti B CANopen_Example_
68. ation Example This example describes how to read adapter Parameter 1 DPI Port 1 Fill out the data structure for CANopen object 0x2226 DPI Object 2 3 4 Send as follows filling in sub index 1 last Sub Index Value 0x00 Service Get Attribute 0x05 DPI Port 5 0x03 Parameter Class 0x0001 Instance Parameter 01 0x09 Attribute Parameter value 0x00 Number of bytes that follows oo PP oMmM Send the message by writing to sub index 1 Wait for the acknowledgement Read the response in CANopen object 0x2227 DPI Object Receive Sub Index Value 1 0x00 Service OK 2 0x01 Length of response data in bytes count starts at sub index 3 3 0x05 Attribute value Chapter 7 Troubleshooting This chapter provides information for diagnosing and troubleshooting potential problems with the adapter and network Topic Page Understanding the Status Indicators 7 1 PORT Status Indicator 7 2 MOD Status Indicator 7 2 NET A CAN RUN Status Indicator 7 3 NET B CAN ERR Status Indicator 7 3 Viewing Adapter Diagnostic Items 7 4 Viewing and Clearing Events 7 5 Understanding the Status The adapter has four status indicators They can be viewed on the adapter or Indicators through the drive cover See Figure 7 1 Figure 7 1 Status Indicators location on drive may vary OOOO OOOOO o B OOOOCOC OOOOO OOOOO Allen Bradle
69. back to the CANopen network The data is stored in the CANopen network buffer The controller retrieves the SDO Response from the CANopen network s buffer upload 0O00 The SDO is complete An adapter parameter can be accessed by using the CANopen objects 0x2228 and 0x2229 The parameter request is written to object 0x2228 When the acknowledgement is received the response to the message is placed in object 0x2229 and the response can be read Table 6 A Data Description for Object 0x2228 DPI Parameter Send Sub Index Meaning Type 1 Parameter Access 00 read 01 write byte Byte 02 write word 03 write 32 bit word 2 DPI Port 0 6 Byte Parameter Number 16 bit Word 4 Parameter value for writing 32 bit Word Table 6 B Data Description for Object 0x2229 DPI Parameter Receive Sub Index Meaning Type 1 Response Status Byte 0 No Error 1 Write only 2 Value out of range 3 Parameter does not exist 4 Other error 2 Parameter value 32 bit Word CANopen DPI Full Parameter Access Using Service Data Objects 6 3 CANopen DPI Parameter Access Communication Example This example describes how to read adapter Parameter 1 DPI Port 1 Fill out the data structure for CANopen object 0x2228 DPI Parameter Send as follows filling in sub index 1 last Sub Index Value 1 0x00 Read 2 0x05 DPI Port 5 3 0x01 Parameter Send the message by writing to s
70. dating the Adapter on page 3 10 for more information Guard Time See Node Guarding HIM Human Interface Module A device that can be used to configure and control a drive PowerFlex 7 Class HIMs 20 HIM xxx can be used to configure PowerFlex 7 Class drives and their connected peripherals Hold Last When communication is disrupted for example a cable is disconnected the adapter and PowerFlex drive can respond by holding last Hold last results in the drive receiving the last data received via the network connection before the disruption If the drive was running and using the Reference from the adapter it will continue to run at the same Reference VO Data VO data sometimes called implicit messages or input output is time critical data such as a Logic Command and Reference The terms input and output are defined from the controller s point of view Output is produced by the controller and consumed by the adapter Input is produced by the adapter and consumed by the controller Life Guarding Life Guarding is used for error control to check that the NMT master is working properly The NMT master guards all of its NMT slaves cyclically cycle time Guard Time by using an RTR frame see Node Guarding If a slave does not receive an RTR frame from the NMT master within a specified time Guard Time x Life Time Factor the slave knows that the NMT master must have failed This mechanism is called L
71. de eer at eet HE ie A 1 Eleetrical ze blu per ya REA on E ah lente Rid A 1 Mechanical diet megas trean a ree nenne sterne Gd ad fae A 1 Environmental lei are len A 1 Regulatory Compliance ssseeeeeeee I A 2 Adapter Parameters About Parameter Numbers 0 0 00 ccc cence nee nees B 1 Parameter List nes san dtibereu n o bite to bietet s B 1 CANopen Objects CANopen Object Tables u aa ans E es air C 1 Emergency Object ur ee Bin Seb eed Selb eee ee C 4 Logic Command Status Words PowerFlex 7 Class Drives except PowerFlex 700S 2 0 00 c cece eee eee D 1 PowerkFlex 7008 Drives aet Rn ae ee are D 3 CANopen Network Example Example Network 0 0 m nir hr ee re 3M Vu RI are E 1 Configuring the Network Nodes lsseleeeee eee eee E 2 Configuring the Communications 0 0 eee eee ete eee E 8 Configuring the PLC Variables and Linking 00 e cece eee eee E 9 Configuring the PDOs SDOs and SYNC 2 eee eee E 16 Downloading Configuration 0 0 eee teen ene eee E 20 PLEC Program ex aA ana einen EAS tees emu dal tee Ch E 22 Logic Controller Program Example Configuring the Drive Adapter 0 0 0 een eee teens F 1 Network Variables File s u 4 0 8000 ORS Gu Boda Bre epos F 2 Program Code and Program Run F 3 SDO Access Example 22 2 thats Rate eee eae anne Rae als F 4 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P
72. e DPI fault code is supplied as manufacturer specific data 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P PowerFlex 7 Class Drives except PowerFlex 700S Logic Bits Appendix D Logic Command Status Words Appendix D presents the definitions of the Logic Command and Logic Status words that are used for some products that can be connected to the adapter If the Logic Command Logic Status for the product that you are using is not listed refer to your product s documentation Logic Command Word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Command Description 0 x Stop 7 0 Not Stop 1 Stop X Start 02 0 Not Start 1 Start Jog 0 Not Jog Par 100 1 Jog Clear Faults 0 Not Clear Faults 1 Clear Faults Direction 00 No Command 01 Forward Command 10 Reverse Command 11 Hold Direction Control Local Control 0 No Local Control 1 Local Control MOP Increment 0 Not Increment 1 Increment Accel Rate 00 No Command 01 Accel Rate 1 Command Par 140 10 Accel Rate 2 Command Par 141 11 Hold Accel Rate Decel Rate 00 No Command 01 Decel Rate 1 Command Par 142 10 Decel Rate 2 Command Par 143 11 Hold Decel Rate Reference Select 000 No Command 001 Ref A Select Par 90 010 Ref B Select Par 93 011 Preset 3 Par 103 100 Preset 4 Par 104
73. e HIM to View and Clear Events Step Example Screen Viewing Events 1 Access parameters in the adapter Refer to Using the PowerFlex 7 Class HIM on page 3 2 Main Menu 2 Press the or key to scroll to Diagnostics f j Parameter 3 Press the Enter key to display the Diagnostics menu in the Device Select adapter 4 Repeat steps 2 and 3 to enter the Events option and then View Event Q E3 Event Queue option Ping Time Fit 5 Press the or GD key to scroll through events The most recent event is Event 1 Clearing Events 1 Access parameters in the adapter Refer to Using the PowerFlex 7 Class HIM on page 3 2 2 Press the or key to scroll to Diagnostics 3 Press the Enter key to display the Diagnostics menu in the adapter 4 Repeat steps 2 and 3to enter the Events option and then the Clear Dgn Events Event option or Clr Event Queue option A message will pop up to view Event Queue confirm that you want to clear the message or queue Clear Event 5 Press the Enter key to confirm your request If Clr Event ir Event Queue Queue was selected all event queue entries will then display No Event 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 7 6 Troubleshooting Events Many events in the event queue occur under normal operation If you encounter unexpected communications problems the events may help you or Allen Bradley perso
74. e network Figure E 1 Example CANopen Network Node 1 Node 2 Mauell Telmatic Mauell Telmatic Computer with PLC Input Module IXXAT tinCAN BSB000 000500 65666 s mauell CAN R5232 zmauell 000 c torrate v ROBSOOO O0O0000 Oo ETE TEELT SP 5 29000 rp SE Node 7 PowerFlex 70 Drive with 20 COMM K CANopen Adapter 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P E 2 CANopen Network Example Configuring the Network Nodes 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P 1 Start the IXXAT CANopen Configuration Studio and click on New Project 88 XXAT CANopen Configuration Studio File Plugins Options Window Help rere iter rre E UE aE eee 2 Type in a project name and click OK A subdirectory is created which contains all files relevant to this project Create a new Project Database on Disk Name CANopen_Example_Project Select Drive and Directory Projects in selected Directory Drive j c Directory C Mauell telmatic Projects CANopen E gt Projects 3 The database of the new project has now been created The icons in the toolbar of the project are plug ins that can be used with each section of the project Note that some icons appear dimmed unavailable CANopen_Example_Project S38 X os fol W MA Module Module Sommunications PLC
75. ead Write Datalink D2 In 32 bit 0x2216 lo S16 Read Datalink A1 Out 16 bit 0x2217 0 32 Read Datalink A1 Out 32 bit 0x2218 10 16 Read Datalink A2 Out 16 bit 0x2219 10 32 Read Datalink A2 Out 32 bit 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P CANopen Objects C 3 Index Sub index Type Access Name and Description 0x221A 0 S16 Read Datalink B1 Out 16 bit 0x221B 0 32 Read Datalink B1 Out 32 bit 0x221C 10 S16 Read Datalink B2 Out 16 bit 0x221D 0 S32 Read Datalink B2 Out 32 bit 0x221E 0 S16 Read Datalink C1 Out 16 bit Ox224F 0 32 Read Datalink C1 Out 32 bit 0x2220 0 S16 Read Datalink C2 Out 16 bit 0x2221 0 32 Read Datalink C2 Out 32 bit 0x2222 o S16 Read Datalink D1 Out 16 bit 0x2223 0 32 Read Datalink D1 Out 32 bit 0x2224 0 S16 Read Datalink D2 Out 16 bit 0x2225 0 32 Read Datalink D2 Out 32 bit 0x2226 0 U8 Read DPI Object Send Number of entries 0x66 1 U8 Read Write Service 2 U8 Read Write Port 3 U8 Read Write Class 4 U16 Read Write Instance 5 U8 Read Write Attribute 6 U8 Read Write Length of request in bytes Count starts at sub index 7 7 102 U8 Read Write Data 0x2227 0 U8 Read DPI Object Receive Number of entries 0x62 1 U8 Read Service 2 U8 Read Length of response in bytes Count starts at sub index 3 3 98 U8 Read Data 0x2228 0 U8 Read DP
76. ects PDO are used to transmit any process data The process data are transmitted without any protocol overhead and by using the producer consumer model PDO transmission is not confirmed Each PDO has a unique CAN identifier The maximum length of aPDO message is 8 bytes PDO Mapping The PDO mapping defines which application objects are transmitted within a PDO It describes the sequence and length of the mapped application objects Polled I O Data Exchange See Remote Transmission Request PowerFlex 7 Class Architecture Class Drives The Allen Bradley PowerFlex 7 Class family of drives supports DPI and includes the PowerFlex 70 PowerFlex 700 PowerFlex 700H PowerFlex 700S PowerFlex 700L and PowerFlex 7000 These drives can be used for applications ranging from 0 37 3000 kW 0 5 4000 HP Producer Consumer Network On producer consumer networks packets are identified by content rather than an explicit destination If a node needs the packet it will accept the identifier and consume the packet The source therefore sends a packet once and all the nodes consume the same packet if they need it Data is produced once regardless of the number of consumers Also better synchronization than Master Slave networks is possible because data arrives at each node at the same time Glossary G 7 Reference Feedback The Reference is used to send a setpoint for example speed frequency torque to the drive It consists of one word of
77. ecutive When flashing through a direct serial connection from a computer to a drive you can use the same Allen Bradley software tools described above or you can use HyperTerminal set to the X modem protocol To obtain a flash update for this adapter go to http www ab com support abdrives webupdate This site contains all firmware update files and associated Release Notes that describe firmware update enhancements anomalies how to determine the existing firmware version and how to flash update using DriveExplorer DriveExecutive ControlFLASH or HyperTerminal Network Management NMT Chapter 4 Configuring the CANopen Network This chapter provides information about configuring a CANopen network to communicate with the adapter and its connected PowerFlex 7 Class drive To configure the CANopen network a variety of configuration tools of CANopen Network ManagemenT NMT masters are available from several manufactures which help you to manage and configure CANopen devices and systems Appendix E gives an example how to configure the CANopen network by using the IXXAT CANopen Configuration Studio with the Mauell CoDeSys AA programming software and the Mauell Telematic ME series of PLC Topic Page Network Management NMT 4 1 CANopen Object Dictionary 4 3 CANopen Network Configuration 4 4 The Network Management NMT is used to control the status of all nodes in the CANopen network It uses a master
78. ecutive screens in the drive status area of the screen For Reference Feedback details about other DPI drives refer to their respective User Manuals 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 5 8 Using I O Messaging Using Datalinks 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P A Datalink is a mechanism used by PowerFlex drives to transfer data to and from the controller Datalinks allow a drive parameter value to be read or written without using an SDO explicit message When enabled each Datalink occupies two 16 bit or 32 bit words in both the input and output image Use adapter Parameter 08 Datalink Size to determine whether the drive uses 16 bit or 32 bit words for Datalinks Rules for Using Datalinks e Each set of Datalink parameters in a PowerFlex drive can be used by only one adapter If more than one adapter is connected to a single drive multiple adapters cannot use the same Datalink e Parameter settings in the drive determine the data passed through the Datalink mechanism Refer to the documentation for your drive e When you use a Datalink to change a value the value is NOT written to the Non Volatile Storage NVS The value is stored in volatile memory and lost when the drive loses power Thus use Datalinks when you need to change a value of a parameter frequently Using 16 Bit Datalinks to Read Write 32 Bit Parameters This subsection only pertains to Pow
79. ed the power must be cycled for the change to take effect Important If both Node Address switches are set to 0 the adapter uses the Parameter 03 COPN Addr Cfg setting for the node address With this parameter the node address can be set from 1 127 This parameter is readable writable over the network and its default setting is 1 Refer to Setting the Node Address on page 3 3 The Node Address switch settings can be verified by viewing Parameter 04 COPN Addr Actual using a PowerFlex 7 Class HIM DriveExplorer software or DriveExecutive software Installing the Adapter 2 3 Setting the Data Rate Set the adapter Data Rate switch Figure 2 2 by rotating the switch to the desired setting Figure 2 2 Setting Adapter Data Rate Switch o Setting Description 10Kbps 20Kbps Sets the adapter to the respective data rate The default switch setting is 50Kbps 125Kbps 500Kbps 250Kbps 500Kbps 800Kbps or 1Mbps PGM The adapter uses the setting of Parameter 05 COPN Rate Cfg for the data rate This parameter is readable writable over the network and its default setting is 500Kbps Refer to Setting the Data Rate on page 3 3 The Data Rate switch setting can be verified by viewing Parameter 06 COPN Rate Actual using a PowerFlex 7 Class HIM DriveExplorer software or DriveExecutive software 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B
80. ep Example Screens 1 In the main menu press the or GD key to scroll to Device Select F gt Stopped Auto 2 Press the Enter key to enter your selection He Main Menu 3 Press the or amp key to scroll to the adapter Diagnostics 20 COMM K Parameter 4 Press the Enter key to select the adapter A parameter XMAS database is constructed and then the main menu for the adapter is displayed Port 5 Device 5 Edit the parameters using the same techniques that you use to 20 COMM K edit drive parameters Main Menu Diagnostics Parameter Device Select NOTE All configuration procedures throughout this chapter use the PowerFlex 7 Class LCD HIM to access parameters in the adapter and show example LCD HIM screens 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Setting the Node Address Setting the Data Rate Configuring the Adapter 3 3 The node address is normally set by the adapter Node Address switches Figure 2 1 and is unique to each node on the network If both switches are set to 0 the value of Parameter 03 COPN Addr Cfg determines the node address 1 Set the value of Parameter 03 COPN Addr Cfg to a unique node address Figure 3 1 Example COPN Node Addr Cfg LCD HIM Screen Port 5 Device Default 1 20 COMM K Parameter 03 COPN Addr Cfg 1 lt gt 127 2 Reset the adapter see Resetting the Adapter on page 3 9
81. erFlex 70 SC or EC PowerFlex 700 SC and PowerFlex 700H drives which use 16 bit Datalinks To read or write a 32 bit parameter using 16 bit Datalinks typically both Datalinks of a pair A B C D are set to the same 32 bit parameter For example to read Parameter 10 Elapsed Run Time in a PowerFlex 70 drive both Datalink A Out and Datalink A2 Out are set to 10 Datalink Al Out will contain the least significant word LSW and Datalink A2 Out will contain the most significant word MSW 32 bit data is stored in binary as follows MSW 23 through 2 5 LSW 215 through 2 In this example the Parameter 10 Elapsed Run Time value of 6553 9 Hrs is read as 6553 9 in Datalink Al Out and Datalink A2 Out Datalink Word Parameter Data Hex A1 Out LSW 10 0003 A2 Out MSW 10 0001 Conversion Example Parameter 010 Elapsed Run Time 6553 9 Hrs MSW 000 1hex 0001pjnary 216 65536 LSW 0003hex 3 Engineering Value 65536 3 65539 Parameter 10 Displayed Value 6553 9 Hrs Transmit PDO Mapping Using I O Messaging 5 9 Regardless of the Datalink combination Datalink x1 Out will always contain the LSW and Datalink x2 Out will always contain the MSW In the following example the PowerFlex 70 drive Parameter 242 Power Up Marker contains a value of 88 4541 hours Datalink Word Parameter Data Hex A2 Out MSW 242 000D B1 Out LSW 242 7F3D Conversion Example Parameter
82. erence scaling is 60 Hz 130 Hz 32767 15123 Therefore 0 15123 0 60 0 Hz If parameter 82 Maximum Speed is changed to 90 Hz then 90 Hz 130 Hz 32767 22685 Therefore 0 22685 0 90 0 Hz A graphic representation of this Reference scaling is shown below 130 Hz 90 Hz 60 Hz 0 Hz 15123 22685 32767 Par 55 Maximum Freq Scaling Parameter 82 Parameter 55 32767 For PowerFlex 70 EC drives firmware v2 xxx or higher or PowerFlex 700 VC drives firmware v3 xxx or higher parameter 298 DPI Ref Select was added to simplify scaling for the speed Reference When parameter 298 DPI Ref Select is set to its default 0 Max Freq the speed Reference scaling is as shown above However when parameter 298 DPI Ref Select is set to 1 Max Speed the speed Reference scaling is equal to parameter 82 Max Speed Parameter 82 Scaling Therefore 0 32767 0 60 0 Hz If parameter 82 Maximum Speed is changed to 90 Hz then 90 Hz 32767 Speed Feedback uses the same scaling as the speed Reference TIP For PowerFlex 700 VC drives firmware v3 xxx or higher Parameter 299 DPI Fdbk Select enables you to select the feedback data coming from the drive over DPI The default is Speed Fdbk in Hz or RPM determined by Parameter 079 Speed Units The data selection for Parameter 299 is also displayed on the 1st line of the HIM and on DriveExplorer and DriveEx
83. ervice Data Objects SDOs are used to establish a peer to peer connection between two CANopen devices SDOs use asynchronous data transmission with acknowledge The SDOs are used to access all CANopen objects Appendix C in the adapter and required for adapter configuration parameterization Access to an individual Object is made with a multiplexer via the Index and Sub index of the Object Dictionary This type of connection is based on a Client Server based mechanism Configure the PLC as SDO server and install the SDO channels to the other devices SDO clients PDO Configuration Process Data Objects PDOs are used to transmit the real time data using the producer consumer communication model The PDOs are transmitted without any protocol overhead and without confirmation The PDO object is used for the I O communication There are basically two types of PDOs depending on the transmission direction e TPDOs Transmit PDOs are used to transfer data from the communication adapter e RPDOs Receive PDOs are used to transfer data to the communication adapter The PDOs are defined via the CANopen Object Dictionary whereby pre defined PDOs can be selected Default PDO mapping The mapping can also be changed if desired The PDO mapping is made during configuration with the help of SDOs Configuring the CANopen Network 4 5 Besides the PDO mapping to determine which data are available mapped in the selected PDO the co
84. g A1 D2 In parameters B 4 Fit Cfg Logic parameter B 3 Fit Cfg Ref parameter B 3 G grounding the adapter 2 6 H HIM Human Interface Module accessing parameters with 3 2 definition G 4 LCD model 3 2 LED model 3 2 hold last configuring the adapter for 3 7 definition G 4 O configuring the adapter for 3 4 definition G 4 image 5 4 Idle Fit Action parameter B 2 Initialization state 4 2 installation applying power to the adapter 2 8 commissioning the adapter 2 1 connecting to the drive 2 4 connecting to the network 2 7 preparing for 2 1 Internal Interface cables connecting to the adapter 2 5 connecting to the drive 2 5 illustration 2 5 L LCD HIM 3 2 LED HIM 3 2 LEDs see status indicators Life Guarding 4 5 E 19 G 4 Logic Command Status bit definitions for PowerFlex 70 700 700H drives D 1 PowerFlex 700S drives D 3 definition G 5 in I O image 5 4 using 5 6 logic controller program example configuring drive adapter F 1 program code F 3 program run F 4 SDO access F 4 variables files F 2 M MAC ID see node address manual conventions P 2 related documentation P 1 web site P 1 master slave 4 5 G 5 mechanical dimensions A 1 MOD status indicator locating 1 6 troubleshooting with 7 2 mounting the adapter 2 6 N NET A CAN RUN status indicator locating 1 6 troubleshooting with 7 3 Index 3 NET B CAN ERR status indicator locating 1 6 troublesh
85. ge Setting a Fault Action 2 222200 Resetting the Adapter 2 222 220 Viewing the Adapter Status Using Parameters Flash Updating the Adapter Configuring the CANopen Network Network Management NMT CANopen Object Dictionary CANopen Network Configuration Using I O Messaging About Process Data Objects Understanding the I O Image Using Logic Command Status Using Reference Feedback Using Datalinks 2 00 00 04 Transmit PDO Mapping Receive PDO Mapping Table of Contents 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P ii Table of Contents Chapter 6 Chapter 7 Appendix A Appendix B Appendix C Appendix D Appendix E Appendix F Using Service Data Objects About Service Data Objects 0 0 ene ene eens 6 1 Running Service Data Objects 0 2 eee eee eens 6 2 CANopen DPI Parameter Access 0 0 een eee eens 6 2 CANopen DPI Full Parameter Access 6 3 Troubleshooting Understanding the Status Indicators 0 eee eee eens 7 1 PORT Status Indicato oneee nperi pe n EE E e eben eens 7 2 MOD Status Indicator 0 2 nener 7 2 NET A CAN RUN Status Indicator 0 0 eee 7 3 NET B CAN ERR Status Indicator llle 7 3 Viewing Adapter Diagnostic Items 0 0 0 eee neces 7 4 Viewing and Clearing Events 0 0 cece eect eee eee 7 5 Specifications COMMUNICATIONS ee dnd e ein E
86. he Communications icon CANopen_Example_Project TTS B C amp Nopen Example Project 1000 kBaud glg CONTROL f auel PLC 1 0 1 Ig INPUTS_OUTPUTS of Input 2 0x2 2 28 DRIVES BM PowerFlex70 7 0x7 2 Select Options gt Serial Ports n Configuration of communication Mauell PLC Serial Ports Select the 3964R tab and uncheck the spontaneous transmission changed values and cyclic transmission boxes Without these changes the PLC would switch to error state because of a transmission failure on its own RS232 port serial ports 4 Click Ok to close the serial ports window CANopen Network Example Configuring the PLC Variables and Linking CANopen_Example_Project 5 3m Module Module Communications PLC Asual Ol k Pic selection Parameters Linker Fecess Tu 9 C Nopen Example Project 1000 kBaud CONTROL Mauell PLC 1 0x1 S g18 INPUTS DUTPUTS 29 Input 2 0x2 ale DRIVES Bl PowerFlex70 7 0x7 1 Select the project and click the Visual Object Linker icon 3 CANopen Example Project 1000 kBaud CANopen Visual Object Linker File Edit View Options Help E 9 e 2 Link Matrix Connection Listing PLC Setup Consumer CANopen_Example_Project Producer C Nopen_Example_Project CONTROL Mauell PLC 1 0x1 Uhrenstatuswort INPUTS_OUTPUTS Input 2 0x2 PowerFlex70 7 0x7 Product L
87. ication Rockwell Automation Inc does not assume responsibility or liability to include intellectual property liability for actual use of the examples shown in this publication ATTENTION Risk of injury or equipment damage exists DPI or SCANport host products must not be directly connected together via 1202 cables Unpredictable behavior due to timing and other internal procedures can result if two or more devices are connected in this manner Quick Start Getting Started 1 5 This section is provided to help experienced users quickly start using the adapter If you are unsure how to complete a step refer to the referenced chapter Step Action Refer to 1 Review the safety precautions for the adapter Throughout This Manual 2 Verify that the PowerFlex drive is properly installed Drive User Manual 3 Install the adapter PowerFlex 7 Class DPI Network i E ication Adapt Verify that the PowerFlex drive is not powered Then rac a eine publication connect the adapter to the network using a network cable 20COMM INOO4 and Chapter 2 and to the drive using the Internal Interface cable Use Installing the Adapter the captive screws to secure and ground the adapter to the drive 4 Commission the adapter Chapter 2 j Installing the Adapt Set a unique node address and the appropriate data rate nstalling the Adapter using the adapter switches If desired you can disable the switches and use adapter
88. ife Guarding Glossary G 5 Life Time Factor See Life Guarding Logic Command Logic Status The Logic Command is used to control the PowerFlex 7 Class drive for example start stop direction It consists of one 16 bit word of output to the adapter from the network The definitions of the bits in this word depend on the drive and are shown in Appendix D The Logic Status is used to monitor the PowerFlex 7 Class drive for example operating state motor direction It consists of one 16 bit word of input from the adapter to the network The definitions of the bits in this word depend on the drive and are shown in Appendix D Master Slave Hierarchy An adapter configured for a master slave hierarchy exchanges data with the master device Usually a network has one controller which is the master device and all other devices for example drives connected to CANopen adapters are slave devices On a network with multiple controllers called a multimaster hierarchy each slave device must have a controller specified as a master NMT Network Management The NMT master of a CANopen network can transmit NMT messages which forces the nodes to change to another NMT state The CANopen state machine specifies these states as Initialization Pre Operational Operational and Stopped Node Address A CANopen network can have as many as 64 devices connected to it Each device on the network must have a unique node address between 0 and 63
89. its in the Logic Status word are checked for changes if transmission type 0 or 254 is used If the mask bit is 0 Off the bit is ignored If the mask bit is 1 On the bit is checked Important The bit definitions in the Logic Status word will depend on the drive See Appendix D or the documentation for the drive being used COS Fdbk Change Sets the hysteresis band to determine how much the Feedback word can change before it is reported as a Change of State Cyc Interval Sets amount of time between transfers used for cyclic transmission if transmission type 0 or 254 is configured and Parameter 24 PDO1 Trigger is set to 1 Cyclic Details Default Default Default Default Default Default Default Default Minimum Maximum Type Reset Required ooooooo0o0 4294967295 Read Write No Important If the drive uses 16 bit Datalinks the most significant word of this value must be set to zero 0 ora fault will occur Default Values Type Reset Required Default Minimum Maximum Values Type Reset Required Default Minimum Maximum Type Reset Required Default Minimum Maximum Type Reset Required 0 COS 0 COS 1 Cyclic Read Write Yes 0000 0000 0000 0000 0000 0000 0000 0000 1111 1111 1111 1111 0 Ignore bit 1 Check bit Read Write No 1 1 4294967295 Read Write No 0 02 seconds 0 02 seconds 655 35 seconds Read Write
90. ive diagnostics test hardware failure e Replace the adapter Flashing Green The adapter is operational but is not transferring I O data Normal operation device in stopped state or pre operational state e Place the PLC in RUN mode e Program the controller to recognize and transmit I O to the adapter e Configure the adapter for the program in the controller e Normal behavior if no DPI I O is enabled 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Steady Green The adapter is operational and transferring I O data No action required NET A CAN RUN Status NET B CAN ERR Status the table below Troubleshooting 7 3 This green LED indicates the status of the network connection as shown in Status Cause Corrective Actions Off The adapter and or network is not e Securely connect the adapter to the drive using the powered or the adapter is not properly Internal Interface ribbon cable and to the network connected to the network using a CANopen cable e Correctly connect the CANopen cable to the CANopen 9 pin plug e Apply power to the drive Single Flash The device is in stopped mode Place the PLC in RUN mode Green Flashing Green The adapter is properly connected but e Place the controller in RUN mode abaut 2 SiHz i bi kal with any devices Program the controller to recognize the adapter and Bn e transmit I O e Configure the adapter for the progra
91. jor country in the world Local Product Support Contact your local Rockwell Automation Inc representative for Sales and order support Product technical training Warranty support Support service agreements Technical Product Assistance For technical assistance please review the information in Chapter 7 Troubleshooting first If you still have problems then access the Allen Bradley Technical Support web site at www ab com support abdrives or contact Rockwell Automation Inc This manual provides information about the adapter and using it with PowerFlex 7 Class Architecture Class drives The adapter can also be used with other products that support a DPI adapter such as the SMC Flex Refer to the documentation for your product for specific information about how it works with the adapter The following conventions are used throughout this manual e Parameter names are shown in the format Parameter xx The xx represents the parameter number The represents the parameter name for example Parameter 01 DPI Port e Menu commands are shown in bold type face and follow the format Menu gt Command For example if you read Select File gt Open you should click the File menu and then click the Open command e The firmware release is displayed as FRN X xxx The FRN signifies Firmware Release Number The X is the major release number The xxx is the minor update number e CANopen is
92. l Publication 20COMM UM012B EN P Index 2 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P D data exchange Change of State COS 3 5 G 1 Cyclic 3 5 G 2 RTR Polled 3 5 G 7 data rate definition G 2 setting with parameter 3 3 setting with switch 2 3 Datalink Size parameter B 2 Datalinks definition G 2 in I O image 5 4 using 5 8 diagnostic items 7 4 dimensions A 1 downloading configuration 4 5 E 20 DPI connector on adapter 1 1 data rates A 1 definition G 2 Internal Interface cable 2 4 2 5 peripheral G 3 products G 3 DPI Data Rate parameter B 1 DPI I O Act parameter B 3 DPI I O Cfg parameter B 3 DPI Port parameter B 1 DriveExecutive software adapter configuration tool 3 1 definition web site G 3 DriveExplorer software adapter configuration tool 3 1 definition web site G 3 free lite version G 3 drives see PowerFlex drives DriveTools SP software G 3 E EDS Electronic Data Sheet files definition web site G 3 EEPROM see Non Volatile Storage NVS EMCY Emergency object 4 5 G 3 environmental specifications A 1 equipment required 1 3 events clearing viewing 7 5 list of 7 6 F fault action configuring the adapter for 3 7 definition G 3 fault configuration configuring the adapter for 3 8 definition G 4 faulted node recovery feature 1 2 faults see events features 1 2 firmware release P 2 flash update definition G 4 guidelines 3 10 Fit Cf
93. le but PDO communication is not allowed in this state After this state is attained the node can be switched to the Operational state when receiving a Start_Remote_Node message 6 from an NMT master Configuring the CANopen Network 4 3 CANopen Object Dictionary Operational State All communication objects are active in the Operational state This means there is PDO communication SDO communication synchronization and error control and emergency messages allowed The adapter will enter the Stopped state when receiving a Stop_Remote_Node message 7 Stopped State All communications except NMT and heartbeat for error control are stopped when the adapter is switched into the Stopped state The adapter can be switched back to the Pre Operational state by receiving a Enter_PRE OPERATIONAL State message A Reset_Node message 10 from an NMT master will reset the adapter A Reset_Communication message 11 will reset the CANopen communication parameters within the adapter On CANopen the interface between the application and CAN is achieved by an Object Dictionary The Object Dictionary is unique for any CANopen device and represents complete access to the application in terms of the communication parameters the application data and the configuration parameters To configure the CANopen network it is necessary to access the Object Dictionary However some configuration tools allow network configuration directly on the ap
94. m in the controller Steady Green The adapter is properly connected and No action required communicating on the network 1 Single flash is one short flash about 200 ms followed by a long off phase about 1000 ms This green LED indicates the status of the adapter transmitting on the network as shown in the table below Status Cause Corrective Actions Off No error No action required Single Flash At least one of the error counters of the e Check controller configuration and connections to Green CAN controller has reached or the adapter exceeded the warning error too many error frames e Cycle power to the drive and the network Double Flash 9 Green A guard event has occurred The drive is not responding to the controller within the specified Guard time e Check controller configuration and connections to the adapter e Cycle power to the drive and the network Steady Green The CAN controller is bus off e Check network hardware and connections for wiring problems e Check for duplicate node addresses 1 Single flash is one short flash about 200 ms followed by a long off phase about 1000 ms Double flash is two short flashes about 200 ms each separated by an off phase about 200 ms and then followed by a long off phase about 1000 ms 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 7 4 Troubleshooting Viewing Adapter Diagnostic
95. mains unchanged If its data changes the device immediately transmits the change This type of exchange can reduce network traffic and save resources since unchanged data does not need to be transmitted or processed COB ID The CANopen 11 bit structure combines a 4 bit function code with the node address 0 127 This is called the COB ID Communication Cycle Period See Synchronization Object Sync 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P G2 Glossary 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P ControlFLASH An Allen Bradley software tool that lets users electronically update firmware on printed circuit boards Controller A controller also called programmable logic controller is a solid state control system that has a user programmable memory for storage of instructions to implement specific functions such as I O control logic timing counting report generation communication arithmetic and data file manipulation A controller consists of a central processor input output interface and memory See also Scanner Cyclic I O Data Exchange A device configured for Cyclic I O data exchange transmits data at a user configured interval This type of exchange ensures that data is updated at an appropriate rate for the application preserves bandwidth for rapidly changing devices and allows data to be sampled at precise intervals for better determinism Datalinks A Da
96. md 1 FALSE END IF start IF InputSwitch 2 THEN LogicCmd 2 TRUE ELSE LogicCmd 2 FALSE END IF jog IF InputSwitch 3 THEN LogicCmd 3 TRUE ELSE LogicCmd 3 FALSE END IF resetfault BIIF InputSwitch 4 THEN LogicCmd 4 FALSE LogicCmd 5 TRUE reverse ELSE LogicCmd 4 TRUE LogicCmd 5 FALSE END IF forward Generate Speed Reference iii a ERN IF InputSwitch 5 THEN SpeedRef SpeedRef 16 0004 t increment speed B IF SpeedFdb gt MAX SPD THEN SpeedRef MAX SPD END IF limit speed 0017 END IF GIF InputSwitch B THEN SpeedRef SpeedRef 16 000A decrement speed IF SpeedFdb MIN SPD THEN SpeedRef MIN SPD END IF t limit speed 0025 JogFreq 16 0064 write through Datalink 1640014 write through Datalink v n Lin 9 Col 35 ONLINE OV READ To run the program perform these steps 1 Select Online gt Communication Parameters and configure the communication parameters A PLC program can either be downloaded over a serial cable connected to a computer s COM Port local or over the PC CAN Interface card that has already been used to configure the devices on the CANopen network Figure F3 Communication Parameters for PC CAN Interface Card F Kan le F Lokal CANopen DSP302 foonsvecu PRO CANOpen 1 from DCF Lokal Abbrechen NodelD 1 0 127 Node Send Offset 1536 0 1920 Node Recv Offset 1408
97. me project for example two drives the names in the Visual Object Linker window must be changed so that there are not two variables with the same name Therefore put an index at the end of the producer name Never put the index in front of the producer name Otherwise the CoDeSys tool will not compile the project without any errors CANopen Example Project 1000 kBaud CANopen Visual Object Linker Mauell PLC 1 0x1 PowerFlex70 7 Ox CANopen Network Example E 15 9 Confirmation and printout of all connections can be seen on the Connection Listing tab Leave the Visual Objects Linker window open and return to the project CANopen_Example_Project 1000 kBaud CANopen Yisual Object Linker File Edit View Options Help z 3 Connection Listing PLC Setup LogicCmd SpeedRef AccelTimel BrakeLevel CurrentLimit JogFreq DLinkP_C1 DLinkP_C2 DLinkP_D1 DLinkP_D2 BE_02 Product Logic Status Feedback 16 bit Datalink 41 Out 16 bit Datalink 32 Out 16 bit Datalink B1 Out 16 bit Datalink B2 Out 16 bit Datalink C1 Out 16 bit Datalink C2 Out 16 bit Datalink D1 Out 16 bit Datalink D2 Out 16 bit en 0x181 0x181 0x181 0x281 0x281 0x281 0x281 0x381 0x381 0x200 0x187 0x187 0x287 0x287 0x387 0x387 0x487 0x487 0x187 0x187 SAN NNN N N N N SS a a ai a 0x01 0x01 0x01 0x01 0x02 0x02 0x02 0x02 0x03 0x03 0x05 0x01 0x01 0x02 0x02 0x03 0x03 0x04 0x04 0x01 0x01 A100subON A1
98. mit Stop 0 Not Current Limit Stop 1 Current Limit Stop x Coast Stop 0 Not Coast to Stop 1 Coast to Stop X Reserved X Reserved x Spd Ref Sel Bits x Spd Ref Sel1 14113 12 x Spd Ref Sel2 0 10 0 SpdRefA Par 27 0 O 1 Spd Ref B Par 28 0 1 0 Preset2 Par 15 0 1 1 Preset 3 Par 16 1 0 0 Preset 4 Par 17 1 0 1 Preset 5 Par 18 1 1 0 Preset 6 Par 19 1 1 1 Preset 7 Par 20 X Reserved 1 A Not Stop condition logic bit 0 0 logic bit 8 0 and logic bit 9 0 2 To perform this command the value must swi itch from 0 to 1 must first be present before a 1 Start condition will start the drive 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P D 4 Logic Command Status Words Logic Status Word Phase Il Control Logic Bits 15 14 13 12 11 10 Status Description Active 0 Not Active 1 Active Running 0 Not Running 1 Running Command 0 Reverse Direction 1 Forward Actual Direction 0 Reverse 1 Forward Accel 0 Not Accelerating 1 Accelerating Decel 0 Not Decelerating 1 Decelerating Jogging 0 Not Jogging 1 Jogging Fault 0 No Fault Par 323 324 325 1 Fault Alarm 0 No Alarm Par 326 327 328 1 Alarm Flash Mode 0 Not in Flash Mode 1 In Flash Mode x Run Ready 0 Not Ready to Run Par 1
99. mmunication parameters that define the PDO communication behavior need to be set This includes the transmission mode synchronous or asynchronous and the triggering mode which can be Change of State COS Cyclic or Remote Transmission Request RTR SYNC Configuration The synchronization object SYNC is used to synchronize the devices There has to be a device in the network that is regarded as the SYNC producer Usually the PLC is configured as the SYNC message producer The Communication Cycle Period time between two SYNC messages can be setto a desired value The SYNC object is used to synchronize PDO communication trigger the transmission of a PDO or perform the action on the last received PDO Node Life Guarding Node Life Guarding is used for error control to check that any CANopen device is working properly The mechanism used for guarding is based on the master slave relationship The NMT master guards all of its NMT slaves cyclically cycle time Guard Time by using an RTR frame Any CANopen slave responds to this RTR frame to guarantee that the application program is running Node Guarding Simultaneously if a slave does not receive an RTR frame from the NMT master within a specified time Guard Time x Life Time Factor the slave knows that the NMT master must have failed This mechanism is called Life Guarding Adjust the Guard Time and the Life Time Factor to desired values Emergency EMCY The emergency objec
100. ng Parameter 11 Idle Flt Action A ATTENTION Risk of injury or equipment damage exists Parameters 10 Comm Fit Action and 11 Idle Flt Action let you determine the action of the adapter and connected drive if VO communications are disrupted or the controller is idle By default these parameters fault the drive You can set these parameters so that the drive continues to run Precautions should be taken to ensure that the settings of these parameters do not create a risk of injury or equipment damage When commissioning the drive verify that your system responds correctly to various situations for example a disconnected cable or faulted controller 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 3 8 Configuring the Adapter 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Changing the Fault Action Set the values of Parameters 10 Comm Flt Action and 11 Idle Flt Action to the desired response Value Action Description 0 Fault The drive is faulted and stopped Default 1 Stop The drive is stopped but not faulted 2 Zero Data The drive is sent 0 for output data This does not command a stop 3 Hold Last The drive continues in its present state 4 Send Fit Cfg The drive is sent the data that you set in the fault configuration parameters Parameters 14 Fit Cfg Logic through 23 FIt Cfg D2 In Figure 3 10 Example Fault Action LCD HIM Screens
101. ngs are compatible with your application Verify that settings are compatible with your application before applying power to the drive Install the drive cover or close the drive door The status indicators can be viewed on the front of the drive Ensure that the adapter has a unique node address on the network and is set at the correct data rate If a new address or data rate is needed reset its switches see Setting the Node Address Switches on page 2 2 or Setting the Data Rate on page 2 3 Apply power to the network Apply power to the drive The adapter receives its power from the connected drive When you apply power to the adapter for the first time the status indicators should be green after an initialization If an indicator is red there is a problem Refer to Chapter 7 Troubleshooting If the Data Rate switch is set to PGM or the Node Address switches are set to 00 use a configuration tool to set the data rate and node address parameters in the adapter see Setting the Data Rate on page 3 3 or Setting the Node Address on page 3 3 Start Up Status Indications After power has been applied the status indicators for the drive and communications adapter can be viewed on the front of the drive Figure 2 6 Possible start up status indications are shown in Table 2 A Figure 2 6 Drive and Adapter Status Indicators location on drive may vary PORTO MODO ww AO NETBO OOOOO m OO OS
102. nk Out A1 3 Datalink In A2 3 Datalink Out A2 4 Datalink In B1 4 Datalink Out B1 5 Datalink In B2 5 Datalink Out B2 6 Datalink In C1 6 Datalink Out C1 7 Datalink In C2 7 Datalink Out C2 8 Datalink In D1 8 Datalink Out D1 9 Datalink In D2 9 Datalink Out D2 Table 5 D 1 0 Image for PowerFlex 700 VC Drives 16 bit Reference Feedback and 32 bit Datalinks Word Output I O Word Input I O 0 Logic Command 0 Logic Status 1 Reference 1 Feedback 2 Datalink In A1 LSW 2 Datalink Out A1 LSW 3 Datalink In A1 MSW 3 Datalink Out A1 MSW 4 Datalink In A2 LSW 4 Datalink Out A2 LSW 5 Datalink In A2 MSW 5 Datalink Out A2 MSW 6 Datalink In B1 LSW 6 Datalink Out B1 LSW 7 Datalink In B1 MSW 7 Datalink Out B1 MSW 8 Datalink In B2 LSW 8 Datalink Out B2 LSW 9 Datalink In B2 MSW 9 Datalink Out B2 MSW 10 Datalink In C1 LSW 10 Datalink Out C1 LSW 11 Datalink In C1 MSW 11 Datalink Out C1 MSW 12 Datalink In C2 LSW 12 Datalink Out C2 LSW 13 Datalink In C2 MSW 13 Datalink Out C2 MSW 14 Datalink In D1 LSW 14 Datalink Out D1 LSW 15 Datalink In D1 MSW 15 Datalink Out D1 MSW 16 Datalink In D2 LSW 16 Datalink Out D2 LSW 17 Datalink In D2 MSW 17 Datalink Out D2 MSW LSW Least Significant Word Bits 15 0 MSW Most Significant Word Bits 31 16 5 5 20 COMM K CANopen Adapter User Manual
103. nnel troubleshoot the problem The following events may appear in the event queue Table 7 B Adapter Events Code Event Description No Event Empty event queue entry DPI Bus Off Fit N A bus off condition was detected on DPI This event may be caused by loose or broken cables or by noise Ping Time Fit A ping message was not received on DPI within the specified time Port ID Fit The adapter is not connected to a correct port on a DPI product Host Sent Reset The drive sent a reset event message EEPROM Sum Fit The EEPROM in the adapter is corrupt 2 3 4 5 Port Change Fit The DPI port changed after start up 6 7 8 Online 125kbps The adapter detected that the drive is communicating at 125 kbps 9 Online 500kbps The adapter detected that the drive is communicating at 500 kbps 10 Bad Host Fit 9 The adapter was connected to an incompatible product 11 Dup Port Fit Another peripheral with the same port number is already in use 12 Type 0 Login The adapter has logged in for Type 0 control 13 Type0 Time Fit The adapter has not received a Type 0 status message within the specified time 14 DL Login The adapter has logged into a Datalink 15 DL Reject Fit 6 The drive rejected an attempt to log in to a Datalink because the Datalink is not supported or is used by another peripheral 16 DL Time Fit The adapter has not received a Datalink message
104. not been reset 06 COPN Rate Act The data rate used by the adapter This will be one of the following values e The data rate set by the rotary switch e The value of Parameter 05 COPN Rate Cfg if the switch has been set to PGM e An old data rate of the switch or parameter if it has been changed and the adapter has not been reset 07 Ref Fdbk Size The size of the Reference Feedback It will either be 16 bits or 32 bits It is set in the drive and the adapter automatically uses the correct size 08 Datalink Size The size of the Datalinks It will either be 16 bits or 32 bits It is set in the drive and the adapter automatically uses the correct size 13 DPI I O Act The Reference Feedback and Datalinks used by the adapter This value is the same as Parameter 12 DPI I O Cfg unless the parameter was changed and the adapter was not reset olols 2 Om Bit 959 lt s Definition 2 2 2 s s sS s oO 00 0 10 00 zzzaijaoiai iunu Default X X x 0 0 0 0 0 I O disabled Bit 7 65 4 3 2 1 1 I O enabled The adapter can be flash updated over the network or serially through a direct connection from a computer to the drive using a 1203 USB or 1203 SSS serial converter When flashing over the network you can use the Allen Bradley software tool ControlFLASH the built in flash capability of DriveExplorer Lite or Full or the built in flash capability of DriveEx
105. ntrol hard locked 3 Confirm the defaults by selecting OK Target Settings x Hiato r Code r DPPs m Libraries Bompiler STACK size DERI Gade Tebles 32 M None Y 1585000 680 DERRI ata metans Dots Fe None v Datz Data length _ 2 due None 16 30000 16 8000 Jv Thitialize fonctions None F FE EUs Dutput rinstanges E HEXFile None zj Default Lo Cancel 4 The Program Unit has to be specified This is the first unit in any program It must be a Program and cannot be deleted ST Structured Text has been selected as programming language in this example Click OK Name of the new POU ok pd Type of the POU Language of the POU Cancel Program ae C Function Block C LD C Function C FBD Return Type SFC CFC 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P E 24 CANopen Network Example 5 The layout of the screen shows POUs Program Organization Units on the left with the programming area on the right In the lower left corner are the icon tabs for POUs Data Types Visualizations and Resources CoDeSys 0002U10G PRO PLC_PRG PRG ST olx File Edit Project Insert Extras Online Window Help laj x alju Bear 0001 PROGRAM PLC PRG PLC PRG PRG Lin 1 Col 1 ONLINE OV READ 6 The file with the variables that are created from the linker is in Global
106. oduct Connect the adapter to a product that supports that does not support Allen Bradley Allen Bradley DPI communications for example a DPI communications PowerFlex 7 Class drive Flashing Green The adapter is establishing an I O e No action required This indicator will turn steady connection to the drive or DPI I O Cfg green or steady red is configured for all l O disabled e Verify Parameter 12 DPI I O Cfg settings e Normal behavior if no DPI I O is enabled Steady Green The adapter is properly connected and No action required is communicating with the drive MOD Status Indicator This red green bicolor LED indicates the status of the adapter as shown in the table below Status Cause Corrective Action Off The adapter is not powered oris not e Securely connect the adapter to the drive using the properly connected to the drive Internal Interface ribbon cable e Apply power to the drive Flashing Red The adapter has failed the firmware e Clear faults in the adapter Se Node Address switch setting Cycle power to the drive e f cycling power does not correct the problem the Bad CRC of adapter parameters or the adapter parameter settings may have been adapter is being flash upgraded corrupted Reset defaults and reconfigure the adapter e f resetting defaults does not correct the problem flash the adapter with the latest firmware release Steady Red The adapter has failed the power on e Cycle power to the dr
107. ogic Command Reference 16 bit Ld Ld Reference 32 bit Datalink amp 1 In 16 bit Datalink 41 In 32 bit Datalink amp 2 In 16 bit Datalink amp 2 In 32 bit Datalink B1 In 16 bit Datalink B1 In 32 bit Piel D In 4c hi CANopen Example Project 1000 kB CONTROL 2 CANopen Example Project 1000 d Mauell PLC 1 0x1 Uhrenstatuswort last event value 01 gt CPU_Auslastung EE INPUTS OUTPLITS Input 2 0x2 at last event value 02 ES Error Status Flattersperre ZE1 02 EIE ZE2 02 ZE3_02 7FA n2 The Visual Object Linker window has 3 tabs Link Matrix Connection Listing and PLC Setup Select the PLC Setup tab and click Add to define the internal variables of the PLC Create these variables carefully because they appear in the PLC program 3 CANopen Example Project 1000 kBaud CANopen Visual Object Linker File Edi View Options Help Link Matrix Connection Listing Device Selection MEUM E NUR PLC Setup Network Variables Add Remove Benove 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P E 10 CANopen Network Example 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P 3 Create a variable to store the digital inputs from the digital input module Select Unsigned8 and Netw
108. ontrol procedures Static control precautions are required when handling the adapter If you are unfamiliar with static control procedures refer to Guarding Against Electrostatic Damage publication 8000 4 5 2 ATTENTION Risk of injury or equipment damage exists If the adapter is transmitting control I O to the drive the drive may fault when you reset the adapter Determine how your drive will respond before resetting an adapter ATTENTION Risk of injury or equipment damage exists Parameter 10 Comm FIt Action and 11 Idle Flt Action let you determine the action of the adapter and connected drive if communications are disrupted By default these parameters fault the drive You can set these parameters so that the drive continues to run Precautions should be taken to ensure that the setting of these parameters do not create a risk of injury or equipment damage When commissioning the drive verify that your system responds correctly to various situations for example a disconnected cable or a faulted controller ATTENTION Risk of injury or equipment damage exists When a system is configured for the first time there may be unintended or incorrect machine motion Disconnect the motor from the machine or process during initial system testing ATTENTION Risk of injury or equipment damage exists The examples in this publication are intended solely for purposes of example There are many variables and requirements with any appl
109. ooting with 7 3 network cable 2 7 nodes 4 4 plug 2 7 NMT Network Management 4 1 G 5 NMT slave state machine 4 2 node address definition G 5 setting with parameter 3 3 setting with switches 2 2 Node Guarding 4 5 E 19 G 5 Non Volatile Storage NVS definition G 5 in adapter 3 1 in drive 5 8 6 1 0 Object Dictionary 4 3 G 6 objects access 6 3 process data PDO 5 1 operating status 2 8 Operational State 4 3 P parameters accessing 3 1 6 3 convention P 2 list of B 1 to B 4 numbering scheme B 1 restoring to factory default settings 3 9 PDO Process Data Objects about 5 1 configuration 4 4 configuration example E 16 definition G 6 mapping G 6 Receive mapping 5 10 Transmission Mode 5 2 Transmission Type 5 2 Transmit mapping 5 9 Triggering Mode 5 3 PDO1 Trigger parameter B 4 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Index 4 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P PLC program E 22 variables E 9 plug for adapter 2 7 Polled see RTR Remote Transmission Request PORT status indicator locating 1 6 troubleshooting with 7 2 power consumption A 1 PowerFlex drives compatible with adapter 1 2 definition G 6 HIM 3 2 installing adapter on 2 4 Pre Operational state 4 2 preparing for an installation 2 1 processor see controller producer consumer network G 6 programmable logic controller
110. ord of control produced by the CANopen network and consumed by the adapter The Logic Status is a 16 bit word of status produced by the adapter and consumed by the CANopen network This manual contains the bit definitions for most compatible products available at the time of publication in Appendix D Logic Command Status Words For other products refer to their documentation The Reference is produced by the controller and consumed by the adapter The Feedback is produced by the adapter and consumed by the controller The size of the Reference Feedback is determined by the drive and displayed using adapter Parameter 07 Ref Fdbk Size Size Valid Values 16 bit 32768 to 32767 32 bit 2147483648 to 2147483647 The Reference value is a scaled engineering value it is NOT in Hertz or RPM The Reference uses a 32767 scale The 32767 endpoint of the scale is equal to the value of parameter 55 Maximum Freq which has a default value of 130 Hz For all PowerFlex 70 700 drives default scaling is 0 15123 which is equal to 0 60 0 Hz This is based on the formula shown below Reference scaling is limited by drive parameter 82 Maximum Speed If the default value of 60 Hz for parameter 82 Maximum Speed is changed the speed Reference scaling also changes To determine Reference scaling use Using I O Messaging 5 7 Parameter 82 Parameter 55 32767 Scaling Using parameter 82 and 55 default values speed Ref
111. ork Input 4100sub04 CurrentLimit Unsigned16 Network Input amp T Osub05 JogFreq Unsigned16 Network Input A100sub06 DLinkP_C1 Unsigned16 Network Input A100sub07 DLinkP_C2 Unsigned16 Network Input 4100sub08 DLinkP_D1 Unsigned16 Network Input 4100sub09 DLinkP_D2 Unsigned16 Network Input amp T OsubDA InputS witch Unsigned8 Network Output Ad4COsub01 LogicSts Unsigned16 Network Output A580sub02 SpeedFdb Unsigned16 Network Output A580sub03 CurrentOutput Unsigned16 Network Output A580sub04 Digitallnputs Unsigned16 Network Output A580sub05 LastFault Unsigned16 Network Output A580sub06 PowerOutput Unsigned16 Network Output A580sub07 DLinkC_C1 Unsigned16 Network Output A580sub08 DLinkC_C2 Unsigned16 Network Output A580sub09 DLinkC_D1 Unsigned16 Network Output A580sub04 DLinkC_D2 Unsigned16 Network Output A580sub0B Denctation Datatype Direction OD index ada pem TIP To get a better overview sort the table by OD Index TIP If the program should automatically start after the PLC has been powered up select Start under the Program State selections 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P E 12 CANopen Network Example 6 Return to the Link Matrix tab where the configured variables are listed As an EDS file has been assigned to each hardware the various TOs are also listed in the Producer Consumer areas The producer items are shown in left side rows running top to bot
112. ork Output Consumer and enter a Name Click Add The variable appears in the network variables list on the PLC Setup tab Define new Variable CANopen_Example_Project 1000 kBaud CANopen Visual Object Linker 4 Create the remaining network variables as shown in the next screen below They are all Unsigned16 and Producers PLC outputs To make the program more flexible in case all Datalinks should be used in the future allocate these links with general variable names such as DLinkP_C1 where P means producer CANopen_Example_Project 1000 kBaud CANopen Visual Object Linker Mauell PLC 1 0x1 LogicCmd Unsigned16 Network Input amp 100sub01 SpeedRef Unsigned16 Network Input amp 100sub02 AccelTimel Unsigned16 Network Input 4100sub03 BrakeLevel Unsigned16 Network Input 4100sub04 CurrentLimit Unsigned16 Network Input 4100sub05 JogFreq Unsigned16 Network Input A100sub06 DLinkP_C1 Unsigned16 Network Input 3100sub07 DLinkP_C2 Unsigned16 Network Input A100sub08 CANopen Network Example E 11 5 Create the remaining network variables as shown in the next screen below They are all Unsigned16 and Consumers PLC inputs CANopen_Example_Project 1000 kBaud CANopen Yisual Object Linker ioj xi Mauell PLC 1 0x1 LogicCmd Unsigned16 Network Input 4100sub01 SpeedRef Unsigned16 Network Input 4100sub02 AccelTimel Unsigned16 Network Input 4100sub03 BrakeLevel Unsigned16 Netw
113. orrupt Adapter Actions Upon Events 1 The adapter is reset 2 The adapter awaits a reconfiguration and a reset 3 The adapter is locked in the state where the PORT status indicator is steady orange and waits a reset 4 The adapter is locked in a fault state and awaits reset 5 As many I O connections as possible are completed The adapter waits a reconfiguration and a reset 9 An event is logged Client Server is not used for control so it does not need to be a fault 7 The communication fault action specified in Parameter 10 Comm Fit Action is performed 9 The drive is forced to fault and thereafter only No Operation commands are sent to the drive until the fault configuration data has been corrected 3 The idle fault action specified in Parameter 11 Idle Fit Action is performed 10 The communication fault action specified in Parameter 10 Comm Fit Action is performed and the CANopen communication parameters are set to their default values 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Communications Electrical Mechanical Environmental Specifications Appendix A Appendix A presents the specifications for the adapter Topic Page Communications A 1 Electrical A 1 Mechanical A 1 Environmental A 1 Regulatory Compliance A 2 Network Protocol CANopen per CANopen DS301 specification Data Rates 10 Kbps 20 Kbps 50 Kbps 12
114. osts OOOO OOOOO OOOOC Allen Bradley Installing the Adapter 2 9 Table 2 A Drive and Adapter Start Up Status Indications Item Name Color State Description SIS Green _ Flashing Drive ready but not running and no faults are Status present Steady Drive running no faults are present Yellow Flashing An inhibit condition exists the drive cannot be Drive Stopped started Check drive Parameter 214 Start Inhibits Flashing An intermittent type 1 alarm condition is occurring Drive Running Check drive Parameter 211 Drive Alarm 1 Steady A continuous type 1 alarm condition exists Check Drive Running drive Parameter 211 Drive Alarm 1 Red Flashing A fault has occurred Steady A non resettable fault has occurred PORT Green Flashing Normal Operation The adapter is establishing a connection to the drive It will turn steady green or red Steady Normal Operation The adapter is properly connected and communicating with the drive MOD Green Flashing Normal Operation The adapter is operating but is not transferring I O data Steady Normal Operation The adapter is operating and transferring I O data NETA Green _ Flashing Normal Operation The adapter is properly CAN RUN connected but is not communicating with any devices on the network Steady Normal Operation The adapter is properly connected and communicating on the network
115. plication level and hide all CANopen configuration data such as PDO mapping or the assignment of CAN identifier To gain access to the Object Dictionary Process Data Objects PDOs and Service Data Objects SDOs are used Index Description 0000h Reserved 0001h 025Fh Data types 0260h OFFFh Reserved 1000h 1FFFh Communication profile area 2000h 5FFFh Manufacturer specific area 6000h 9FFFh Device profile specific area AO000h BFFFh Interface profile specific area C000h FFFFh Reserved Refer to Table C A Communication Profile Area and Table C B Manufacturer Specific Area for more information about CANopen objects 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 4 4 Configuring the CANopen Network CANopen Network Configuration 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Network Node Configuration With help of the configuration tool set up a CANopen network with a specific baud rate Select the required devices for example a PLC input modules output modules and PowerFlex drives with 20 COMM K adapters add them to the network and assign a unique node ID for each device EDS File An EDS file is needed for each device on the CANopen network Go to the Rockwell Automation web site at www rockwellautomation com resources eds to download EDS files Save EDS files to an appropriate location on your computer SDO Configuration S
116. ptions Help lm ooo Process Data Objects Predefined Objects Derice Information Administration Objects Service Data Objects m Type C ServerSDO Llient SDO Name Client_SDO_1 _Parameter Client_SDO_2 Parameter Client SDO 3 Parameter Client SDO 4 Parameter Parameter 0022 Client SDO 5 Parameter Client SDO 5 Parameter Hakan Client_SDO_ _Parameter SDD valid v ekin pi Client_SDO_8 Parameter Client_SDO_10_Parameter COB ID Client gt Server ox607 Client_SDO_9_Parameter Client_SDO_11_Parameter Client_SDO_12_Parameter COB ID Server gt Client 10 587 Client_SDO_13_Parameter Client_SDO_14_Parameter Node ID of SDO s Server z Client_5SDO_15_Parameter x Client_SDO_16_Parameter 8 On the Administration Objects tab the parameters for Node Life Guarding can be changed See Node Life Guarding on page 4 5 for details Set the Guard Time to 500 ms and the Life Time Factor to 3 Close the Device Configurator window EMauell PLC 1 0x1 CANopen Device Configurator PER File View Tools Options Help aim oe oe Process Data Objects Predefined Objects Derice Information Administration Objects Service Data Objects M Guarding 100C 100E Guard ID 0x701 29 bit ID Guard Time e500 Ws eins Factor aa Layer Management Manufacturer Name Product Name Serial Number 20 COMM K CANopen Adapter User Manual Public
117. r at the bottom of the window Close the window after completion no activity Modul Configurator Platzhalter cg S01 DEO8 g 502_DE08 g S03 DEDOB eg 504_DE08 ca 05_DE08 ca 06_DE08 ca 507 DEO8 E 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P CANopen Network Example E 5 10 The project pane now shows the PLC at node 0x1 hexadecimal notation If the PLC is not visible expand the tree with the sign CANopen_Example_Project 3 CANopen_Example_Project 1000 kB aud i Mauell PLC 1 0x1 11 Generate a new group for the I O To do this right click on the project again and select New Group CANopen_Example_Project 12 Enter the Name and a Description optional and select an Icon optional for the new group Click OK Group Properties INPUTS_OUTPUTS in Digital Inputs Mauell Telmatic C01 DEOS 13 Right click on the new group and select New Device CANopen Example Project E DL amp Nopen Example Project 1000 kBaud glg CONTROL 9 Mauell PLC 1 0x1 New Deyice 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P CANopen Network Example 14 Enter the Name Node ID Baudrate and a Description optional Device Properties The input switches have been set to node 2 1MBaud 15 Click Select EDS and browse to the folder where the EDS files are stored In this example select CO _de08 eds in the folder
118. r of entries 12 1 U16 Read Fault code 2 U8 Read Fault Source DPI Port Number 3 U8 Read Fault Source Device Object Instance 4 U8 Read Fault Time Stamp Least Significant Byte 5 U8 Read Fault Time Stamp 6 U8 Read Fault Time Stamp 7 U8 Read Fault Time Stamp 8 U8 Read Fault Time Stamp 9 U8 Read Fault Time Stamp 10 U8 Read Fault Time Stamp 11 U8 Read Fault Time Stamp Most Significant Byte 12 U16 Read Fault Time Stamp Timer Descriptor 0x2200 0 U16 Read Write Product Logic Command 0x2201 0 U16 Read Product Logic Status 0x2202 Jo S16 Read Write Reference 16 bit 0x2203 10 32 Read Write Reference 32 bit 0x2204 0 S16 Read Feedback 16 bit 0x2205 10 32 Read Feedback 32 bit 0x2206 10 S16 Read Write Datalink A1 In 16 bit 2 0x2207 10 32 Read Write Datalink A1 In 32 bit 0x2208 0 S16 Read Write Datalink A2 In 16 bit 0x2209 0 32 Read Write Datalink A2 In 32 bit 0x220A 10 S16 Read Write Datalink B1 In 16 bit Ox220B 10 32 Read Write Datalink B1 In 32 bit 0x220C 10 S16 Read Write Datalink B2 In 16 bit Ox220D 10 32 Read Write Datalink B2 In 32 bit Ox220E 10 816 Read Write Datalink C1 In 16 bit Ox220F 10 32 Read Write Datalink C1 In 32 bit 0x2210 10 16 Read Write Datalink C2 In 16 bit 0x2211 0 32 Read Write Datalink C2 In 32 bit 0x2212 0 S16 Read Write Datalink D1 In 16 bit 0x2213 10 32 Read Write Datalink D1 In 32 bit 0x2214 10 S16 Read Write Datalink D2 In 16 bit 0x2215 10 32 R
119. resetting a connected adapter Comm Flt Action Sets the action that the adapter and drive will take if the adapter detects that CANopen communications have been disrupted This setting is effective only if I O that controls the drive is transmitted through the adapter 0 Fault 0 Fault 1 Stop 2 Zero Data 3 Hold Last 4 Send Fit Cfg Type Read Write Reset Required No Default Values Fit Action lets you determine the action of the adapter and connected drive if I O communications are disrupted By default this parameter faults the drive You can set this parameter so that the drive continues to run Precautions should be taken to ensure that the setting of this parameter does not create a risk of injury or equipment damage When commissioning the drive verify that your system responds correctly to various situations for example a disconnected cable N ATTENTION Risk of injury or equipment damage exists Parameter 10 Comm Idle Fit Action Default 0 Fault Sets the action that the adapter and drive will take if Values z the adapter is put in the Pre Operational State 2 Zero Data 3 Hold Last 4 Send Fit Cfg Type Read Write Reset Required No Adapter Parameters B 3 Parameter No Name and Description 12 DPI I O Cfg Default xxx0 0001 Bit Values 0 I O disabled Sets the I O that is transferred through the adapter 1 1 0 enabled Type Read Write Reset Required
120. rs Topic Page About Parameter Numbers B 1 Parameter List B 1 The parameters in the adapter are numbered consecutively However depending on which configuration tool you use they may have different numbers Configuration Tool e HIM e DriveExplorer e DriveExecutive Numbering Scheme The adapter parameters begin with parameter 01 For example Parameter 01 DPI Port is parameter 01 as indicated by this manual Parameter No Name and Description Details 01 DPI Port Default 5 Displays the port to which the adapter is connected ae z This will usually be port 5 Type Read Only 02 DPI Data Rate Default 0 125 kbps Displays the data rate used by the drive This data rate Values is set in the drive and the adapter detects it ps Type Read Only 03 COPN Addr Cfg Default 1 Sets the CANopen node address used by the adapter u a i hs Address switches Figure 2 1 are both set Type Read Write l Reset Required Yes 04 COPN Addr Act Default 0 Minimum 0 ups dd CANopen node address actually used by Maximum 255 l Type Read Write Reset Required Yes 05 COPN Rate Cfg Default 5 500 Kbps Sets the network data rate at which the adapter Values T s communicates if the Data Rate switch Figure 2 2 is ae aa set to PGM Updates Parameter 06 COPN Rate ps Act after a reset 3 125 Kbps 4 250 Kbps 5 500 Kbps 6 800 Kbps 7 1 Mbps Type Read Write Reset Required Yes
121. s 1 4 baud rate see data rate bit definitions of Logic Command Status word for PowerFlex 70 700 700H drives D 1 PowerFlex 700S drives D 3 bus off 7 6 G 1 C cables CANopen 2 7 DPI Internal Interface 2 4 2 5 CANopen cable 2 7 connector on adapter 1 1 plug 2 7 Index CANopen Network communications configuration E 8 data rates A 1 definition G 1 example E 1 NMT Network Management 4 1 Node Life Guarding 4 5 E 19 nodes configuration 4 3 4 4 PDOs configuration 4 4 E 16 PLC program E 22 PLC variables configuration and linking E 9 SDOs configuration 4 4 E 16 specification G 1 SYNC configuration 4 5 E 16 CANopen objects C 1 definition G 6 tables C 1 Change of State COS configuring adapter for 3 5 definition G 1 Comm Fit Action parameter B 2 commissioning the adapter 2 1 communications configuration for CANopen network E 8 communications module see adapter compatible products 1 2 components of the adapter 1 1 configuration tools 3 1 connecting adapter to the drive 2 4 network 2 7 ControlFLASH G 2 controller definition G 2 running SDOs 6 2 COPN Addr Act parameter B 1 COPN Addr Cfg parameter B 1 COPN Rate Act parameter B 2 COPN Rate Cfg parameter B 1 COS Fdbk Change parameter B 4 COS Status Mask parameter B 4 COS see Change of State Cyc Interval parameter B 4 Cyclic configuring adapter for 3 6 definition G 2 20 COMM K CANopen Adapter User Manua
122. sion 4 01 or higher DriveExplorer online help installed with the software DriveExecutive Software http www ab com drives drivetools or version 3 01 or higher DriveExecutive online help installed with the software TIP Service Data Objects can also be used to configure an adapter and drive Refer to Chapter 6 Using Service Data Objects 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 3 2 Configuring the Adapter Using the PowerFlex 7 Class If your drive has either an LED or LCD HIM Human Interface Module it HIM can be used to access parameters in the adapter as shown below It is recommended that you read through the steps for your HIM before performing the sequence For additional information refer to your PowerFlex Drive User Manual or the PowerFlex 7 Class HIM Quick Reference publication 20HIM QROOI Using an LED HIM Step Example Screens 1 Press the IE key and then the Device Sel key to display the Device Screen 2 Press the or amp key to scroll to the adapter Letters lae i FN i represent files in the drive and numbers represent ports The 5 HLI a adapter is usually connected to port 5 3 Press the Enter key to enter your selection A parameter database is constructed and then the first parameter is displayed 4 Editthe parameters using the same techniques that you use to edit drive parameters Using an LCD HIM St
123. sk of equipment damage exists The adapter contains ESD Electrostatic Discharge sensitive parts that can be damaged if you do not follow ESD control procedures Static control precautions are required when handling the adapter If you are unfamiliar with static control procedures refer to Guarding Against Electrostatic Damage publication 8000 4 5 2 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 2 2 Installing the Adapter 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Setting the Node Address Switches Set the adapter Node Address switches Figure 2 1 by rotating the switches to the desired value for each digit Important Each node on the network must have a unique address Set the Figure 2 1 node address before power is applied because the adapter uses the node address it detects when it first receives power To change a node address you must set the new value and then remove and reapply power to or reset the adapter Setting Adapter Node Address Switches S o Setting Description 00 99 Node address used by the adapter if switches are enabled The default switch setting is 01 Node address 01 is also the default address used by all uncommissioned devices We recommend that you do not use this address as the final adapter address The Node Address switches are checked during start up and if the address needs to be chang
124. slave hierarchy and requires a device with master functionality responsible for detecting starting and monitoring the node states Within any NMT slave there has to be implemented the NMT slave state machine where the Pre Operational state allows device configuration to take place Based on the DS301 specification the 20 COMM K uses the standard CANopen network management state machine Figure 4 1 shows the NMT slave state machine and the corresponding different transitions There are four main states defined Initialization state Pre Operational state Operational state e e e e Stopped state 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 4 2 Configuring the CANopen Network 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Figure 4 1 The NMT Slave State Machine Reset Application Reset Communication Power on Initialisation Pre Operational p _ Operational The numbers in Figure 4 1 correspond to the numbers within the parenthesis in the following state descriptions Initialization State The CANopen adapter enters the Initialization state automatically after power up and after a reset command After the initialization is done the adapter enters into the Pre Operational state 12 Pre Operational State In the Pre Operational state the adapter can be configured and parameterized and allocation via SDO is possib
125. t 16 bits of this diagnostic item are zero 0 4 Common Logic Sts The present value of the Common Logic Status being received from the drive by this adapter 5 Product Logic Sts The present value of the Product Logic Status being received from the drive by this adapter 6 Feedback The present value of the Feedback being received from the drive by this adapter If the drive indicates a 16 bit Feedback size the Feedback value appears in the least significant 16 bits of this diagnostic item and the most significant 16 bits of this diagnostic item are zero 0 7 Datalink A1 In The present value of respective Datalink In being transmitted to the drive by this adapter If not using a Datalink 8 Datalink A2 In this parameter should have a value of zero If the drive indicates a 16 bit Datalink size the Datalink value 9 Datalink B1 In appears in the least significant 16 bits of this diagnostic item and the most significant 16 bits of this diagnostic item are zero 0 10 Datalink B2 In 11 Datalink C1 In 12 Datalink C2 In 13 Datalink D1 In 14 Datalink D2 In 15 Datalink A1 Out The present value of respective Datalink Out being received from the drive by this adapter If the drive indicates 16 Datalink A2 Out a 16 bit datalink size the value appears in the least significant 16 bits of this diagnostic item and the most 17 Datalink B1 Out significant 16 bits of this diagnostic item are zero 0 18 Datalink B2 Out 19 Datalink C1 Out 20 Dat
126. t is used to send fault information from the communication adapter to the CANopen network The emergency object is triggered by a fault event from the drive or the communication adapter itself An emergency object is transmitted only once per error event Saving and Downloading the Configuration After configuration and parameterization save all parameters and download to devices separately For the download the adapter must be set in the Pre Operational state 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 4 6 Configuring the CANopen Network Notes 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Chapter 5 Using I O Messaging This chapter provides information and examples that explain how to use I O Messaging to control a PowerFlex 7 Class drive Topic Page About Process Data Objects 5 1 Understanding the I O Image 5 4 Using Logic Command Status 5 6 Using Reference Feedback 5 6 Using Datalinks 5 8 Transmit PDO Mapping 5 9 Receive PDO Mapping 5 10 ATTENTION Hazard of injury or equipment damage exists The A examples in this publication are intended solely for purposes of example There are many variables and requirements with any application Rockwell Automation does not assume responsibility or liability to include intellectual property liability for actual use of the examples shown in this publication About Process Data Objects On CA
127. talink is a type of pointer used by PowerFlex 7 Class drives to transfer data to and from the controller Datalinks allow specified parameters to be read or written to without using explicit messages When enabled each Datalink in a PowerFlex 7 Class drive consumes either four bytes or eight bytes in both the input and output image table of the controller The drive determines the size of Datalinks Data Rate The data rate is the speed at which data is transferred on the CANopen network The available data rates depend on the type of cable and total cable length used on the network Baud Rate Maximum Cable Length 10 Kbps 5000 m 16 404 ft 20 Kbps 2500 m 8 202 ft 50 Kbps 1000 m 3 280 ft 125 Kbps 500 m 1 640 ft 250 Kbps 250 m 820 ft 500 Kbps 100 m 328 ft 800 Kbps 50 m 164 ft 1 Mbps 25 m 82 ft Each device on a CANopen network must be set for the same data rate DPI Drive Peripheral Interface A second generation peripheral communication interface used by various Allen Bradley drives and power products such as PowerFlex 7 Class drives It is a functional enhancement to SCANport Glossary G 3 DPI Peripheral A device that provides an interface between DPI and a network or user Peripheral devices are also referred to as adapters or modules The 20 COMM K adapter 1203 USB or 1203 SSS converter and PowerFlex 7 Class HIMs 20 HIM xxx are examples of DPI peripherals
128. terface cable HIM panel opens to allow access to DPI interface To open panel remove screws on left side of HIM panel and swing open PowerFlex 700H Frames 9 and Larger PowerFlex 700S Frames 9 and Larger DPI Connector CANopen network cable eococec 2 54 cm 1 in Internal Interface cable sseoosooes nnn n n non nni Lg ano N PowerFlex 70 All Frames 0000000000000 o PowerFlex 700 Frames 2 and Larger PowerFlex 700S Frames 2 through 6 N o im X2 e e Xi 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 2 6 Installing the Adapter Figure 2 4 Mounting and Grounding the Adapter Drive Q 0 9 Nem 8 0 Ibe in j did Adapter Ne Internal Interface Cable folded behind the adapter mn and in front of the drive PowerFlex 70 All Frame Sizes Ground Tab Detail Adapter mounts in drive
129. ting Started Status Indicators The adapter uses four status indicators to report its operating status They can be viewed on the adapter or through the drive cover Figure 1 2 Figure 1 2 Status Indicators location on drive may vary y o ao go Allen Bradley Item Name PORT MOD NETA CAN RUN NETB CANERR After installing the adapter and applying power to the drive refer to Start Up Status Indications on page 2 8 for possible start up status indications and their descriptions 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Preparing for an Installation Commissioning the Adapter Chapter 2 Installing the Adapter This chapter provides instructions for installing the adapter in a PowerFlex 7 Class drive Topic Page Preparing for an Installation 2 1 Commissioning the Adapter 2 1 Connecting the Adapter to the Drive 2 4 Connecting the Adapter to the Network 2 7 Applying Power 2 8 Before installing the adapter verify that you have all required equipment Refer to Required Equipment on page 1 3 To commission the adapter you must set a unique node address and the data rate that is used by the network Important New settings are recognized only when power is applied to the A adapter If you change a setting cycle power to the drive ATTENTION Ri
130. ting that the source of the Reference to the drive is 22 DPI Port 5 This ensures that any Reference commanded from the network can be monitored by using drive Parameter 002 Commanded Speed If a problem occurs this verification step provides the diagnostic capability to determine whether the drive adapter or the network is the cause 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P Configuration Tools Chapter 3 Configuring the Adapter This chapter provides instructions and information for setting the parameters to configure the adapter Topic Page Configuration Tools 31 Using the PowerFlex 7 Class HIM 3 2 Setting the Node Address 3 3 Setting the Data Rate 3 3 Setting the I O Configuration 3 4 Selecting COS Cyclic or RTR I O Data Exchange 3 5 Setting a Fault Action 3 7 Resetting the Adapter 3 9 Viewing the Adapter Status Using Parameters 3 10 Flash Updating the Adapter 3 10 For a list of parameters refer to Appendix B Adapter Parameters For definitions of terms in this chapter refer to the Glossary The adapter stores parameters and other information in its own non volatile memory You must therefore access the adapter to view and edit its parameters The following tools can be used to access the adapter parameters Tool Refer to PowerFlex HIM page 3 2 DriveExplorer Software http www ab com drives driveexplorer or ver
131. tom and the consumer items are in top columns running left to right Producers have an outgoing arrow they produce onto the network and consumers have an incoming arrow they consume from the network It is possible to selectively view parts of the project by adjusting the drop down boxes CANopen_Example_Project 1000 kBaud CANopen Yisual Object Linker C amp Nopen Example Project LCANopen Example Project 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P CANopen Network Example E 13 7 Link the Producers to the Consumers To do so position the mouse over a connection point The connection point appears blue if it is valid or red if it is invalid Double click the connection point and it will turn yellow Click the Calculate Connections icon at the top left of the screen and if the connection is made it will turn green gt TIP The variables are mapped to the PDOs in the order in which the connections are made CANopen_Example_Project 1000 kBaud CANopen Yisual Object Linker C amp Nopen Example Project L amp Nopen Example Project 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P E 14 CANopen Network Example 20 COMM K CANopen Adapter User Manual Publication 20COMM UMO12B EN P 8 Make the connections as shown in the next screen below InputSwitch has to be linked to BE 02 of the input module TIP If there are several devices with the same EDS file in the sa
132. ub index 1 Wait for the acknowledgement Read the response in object 0x2229 DPI Parameter Receive Sub Index Value 1 0x00 Service OK 2 0x00000005 Parameter value With the CANopen objects 0x2226 and 0x2227 all DPI objects can be accessed The request is written to object 0x2226 When the acknowledgment is received the response to the message is placed in object 0x2227 and the response can be read The DPI full object access supports messages up to 96 data bytes That is all explicit DPI messages except flash download are able to be transmitted received Table 6 C Data Description for Object 0x2226 DPI Object Send Sub Index Meaning Type 1 Service 0x00 Get Attribute 0x04 Set Attribute Byte 2 DPI Port 0 6 Byte 3 Class Byte 4 Instance 16 bit Word 5 Attribute Byte 6 Length of request data in bytes Count starts at sub index 7 Byte 7 Data First byte Byte 102 Data Last byte Byte Table 6 D Data Description for Object 0x2227 DPI Object Receive Sub Index Meaning Type 1 Service 0x00 OK OxFF Error Byte 2 Length of response data in bytes Count starts at sub index 3 Byte 3 Data First byte Error Status Value Byte 98 Data Last byte Byte 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 6 4 Using Service Data Objects 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P CANopen DPI Full Access Communic
133. within the specified time 17 Control Disabled The adapter has sent a Soft Control Disable command to the drive 18 Control Enabled The adapter has sent a Soft Control Enable command to the drive 19 Message Timeout A Client Server message sent by the adapter was not completed within 1 sec 20 DPI Fault Msg 21 DPI Fault Clear A fault was cleared in the adapter 22 Normal Startup The adapter successfully started up 23 NET Comm Fit N The adapter detected a communications fault on the network 24 FItCfg Error 9 The adapter detected a 32 bit fault configuration reference when the drive supports only a 16 bit reference or the adapter detected a 32 bit fault configuration Datalink value when the drive supports only 16 bit Datalinks 25 COPN Guard Err The node has not been guarded by an NMT master with the Guard Time x LifeTime Factor period Enabled if Guard Time lt gt 0 26 COPN Operational The adapter has received a Start Remote Node message from the bus 27 COPN Stopped 9 The adapter has received a Stop Remote Node message from the bus 28 COPN Pre Oper 9 The adapter has received a Enter PRE OPERATIONAL State message from the bus 29 COPN Reset Comm The adapter has received a Reset Communication message from the bus 30 COPN Reset Node The adapter has received a Reset Node message from the bus 31 Lang CRC Bad The language text memory segment is c
134. y i 0 I O Oo Item Status Indicator Description Page PORT DPI Connection Status 7 2 MOD Adapter Status 7 2 NETA CANRUN CANopen Run Status 7 3 NETB CAN ERR CANopen Error Status 7 8 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P 7 2 Troubleshooting PORT Status Indicator This red green bicolor LED indicates the status of the adapter s connection to the drive as shown in the table below Status Cause Corrective Action Off The adapter is not powered or is not e Securely connect the adapter to the drive using the properly connected to the drive Internal Interface ribbon cable e Apply power to the drive Flashing Red The adapter is not receiving a ping e Verify that cables are securely connected and not message from the drive damaged Replace cables if necessary e Cycle power to the drive Steady Red The drive has refused an I O Important Cycle power to the drive after making any connection from the adapter of the following corrections 1a ai Verify that all DPI cables on the drive are securely Another DPI peripheral is using the d connected and not damaged Replace cables if same DPI port as the adapter necessary e Verify that the DPI drive supports Datalinks e Configure the adapter to use a Datalink that is not already being used by another peripheral Steady Orange The adapter is connected to a pr
135. zing devices and is broadcast periodically by the Sync Producer The time period between Sync messages is defined by the Communication Cycle Period Transmission Mode See Transmission Type Transmission Type The transmission type parameter of a PDO specifies the transmission mode synchronous or asynchronous and the triggering mode In CANopen there are three types of PDO triggering COS Change of State Cyclic Transmission and Remote Transmission Request RTR Triggering Mode See Transmission Type 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P G 8 Glossary Z Zero Data When communications are disrupted for example a cable is disconnected the adapter and drive can respond with zero data Zero data results in the drive receiving zero as values for Logic Command Reference and Datalink data If the drive was running and using the Reference from the adapter it will stay running but at zero Reference 20 COMM K CANopen Adapter User Manual Publication 20COMM UM012B EN P A adapter applying power 2 8 commissioning 2 1 compatible products 1 2 components 1 1 configuration tools 3 1 connecting to the drive 2 4 connecting to the network 2 7 definition G 1 features 1 2 flash updating 3 10 grounding 2 6 installation 2 1 to 2 10 mounting on the drive 2 6 parameters B 1 to B 4 resetting 3 9 specifications A 1 viewing its status 3 10 applying power to the adapter 2 8 attention

20-COMM-K CANopen Adapter User Manual

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