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CFW100 - CANopen Manual
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1. 10 34 CABLE vasissecivcsiiatissevvacavecusanusasusacussendevnbssiivavevonisuaresvienuuisddnsusiviieuuasshiasuatsiincnuesnuscuddvuncusdadnenutsdvenuccuuda 10 3 5 CONNECTION IN THE NETWORK c ccsssscececececcnenseseneececeecnnsaseeneeaeoeneaasneseseeaeeeaasaseenseaeenaeanens 11 4 12 4 1 SYMBOLS FOR THE PROPERTIES 12 P105 11 200 RAMP SELECTION sisssssccssectsccsveodscessnnusccvsnanavsvsndinccscaansecdanauavedcnsnasedadsineeddnsiacsaeysinsedensuaeedavs 12 P220 LOCAL REMOTE SELECTION SOURCE ccsceeececceenssseneeeeceeenenssaseeeseaeeeaesasneneeseeeaennenesenses 12 P221 SPEED REFERENCE SELECTION LOCAL SITUATION 0 0 2 22 2 2 2 12 P222 SPEED REFERENCE SELECTION REMOTE 2 2 12 P223 FORWARD REVERSE SELECTION LOCAL 22 2 2 4 12 P224 RUN STOP SELECTION LOCAL 12 P225 JOG SELECTION LOCAL 2 2 4 0 0 4 300000000 12 P226 FORWARD REVERSE SELECTION REMOTE SITUATION
2. 25 6 3 1 PDO Mapping Objects 2 02022250220000x0escemadajasoosasenisaadasaaoanasanaeadag aces sdda en anaana aaaea a 26 6 3 2 Receive 26 6 3 3 SA aa Aaaa aaa aaa 28 6 4 SYNCHRONIZATION OBJECT SYNC 30 6 5 NETWORK MANAGEMENT 31 6 5 1 Slave State ctagsueesasanssenaaeeuuaansanssacacesuessazansuccacesuesasuansuectcgeuussausnadeeueeese 31 6 5 2 Error Control Node Guarding i ncsscccsisnisnnncisxccnnsnasnnnneidexsnasie seca neadan snnsteldnnnaseiisn snnieeldenendedna suse 32 6 5 3 Error Control 34 6 6 INITIALIZATION
3. 20 5 4 MANUFACTURER SPECIFIC CFW100 SPECIFIC 5 22 1 2 21 6 COMMUNICATION OBJECTS DESCRIPTION 22 61 IDENTIFICATION lt ada 22 6 1 1 Object 1000h Device 22 6 1 2 Object 1001h Error 22 6 1 3 Object 1018h Identity 22 6 2 SERVICE DATA OBJECTS SDOS iii 23 6 2 1 Object 1200h SDO 1 suadeiasa aca Saias aa daniela ca a 24 6 2 2 SDOS Halol e nol a TETEE TTE TTT sao E ada suimsaceesensussuunnnasedsetce 24 6 3 PROCESS DATA OBJECTS 5
4. lt lt lt 35 7 FAULTS AND ALARMS RELATED TO THE CANOPEN COMMUNICATION 37 A133 F233 CAN INTERFACE WITHOUT POWER 0 37 134 232 encase anstuatndeuace ch anstcnandeusueeaanstuasudentasceansiusaudantaassanduscaawexeesaannaus 37 A135 F235 NODE 37 F236 TIMEOUT IN THE DATA EXCHANGE BETWEEN CFW100 AND MODULE CAN 38 CFW100 4 ABOUT THE MANUAL ABOUT THE MANUAL This manual provides the necessary information for the operation of the CFW100 frequency inverter using the CANopen protocol This manual must be used together with the CFW100 user manual ABBREVIATIONS AND DEFINITIONS CAN Controller Area Network CiA CAN in Automation COB Communication Object COB ID Communication Object Identifier SDO Service Data Object PDO Process Data Object RPDO Receive PDO TPDO Transmit PDO NMT Network Management Object ro Read only rw Read write NUMERICAL REPRESENTATION Decimal numbers are represented by means of digits without suffix Hexadecimal numbers are represented with the letter h after the number DOCUMENTS The CANopen protocol for th
5. value of this timer must be programmed according to the used transmission rate Very short times close to the transmission time of the telegram are able to monopolize the bus causing indefinite retransmission of the PDO and avoiding that other less priority objects transmit their data minimum time allowed for this Function in the frequency inverter CFW100 is t is important to observe the time between transmissions programmed in the sub index 3 especially when the PDO is programmed with the value 255 in the sub index 2 Change of State PDO_MAPPING Index 1 00 up to 1A0h Name Transmit PDO mapping Object Record Type PDO MAPPING CFW100 29 COMMUNICATION OBJECTS DESCRIPTION Sub index 0 Description Number of the last sub index Access PDO Mapping No Range O disable 1 number of mapped objects Default value 0 Sub index 1 up to Description 1 to object mapped in the PDO Access rw PDO Mapping No Range UNSIGNED32 Default value 0 The PDO MAPPING for the transmission works in similar way than for the reception however in this case the data to be transmitted by the PDO are defined Each mapped object must be put in the list according to the description showed next UNSIGNED32 Index Sub index Size of the object 16 bits 8 bits 8 bits For instance analyzing the standard mapping of the f
6. A134 alarm F234 fault bus off 135 alarm F235 fault CANopen communication error Node Guarding Heartbeal The actions described in this parameter are executed by means of the automatic writing of the selected actions in the respective bits of the interface control words Therefore in order that the commands written in this parameter be effective it is necessary that the device be programmed to be controlled via the used network interface with exception of option Causes a Fault which blocks the equipment even if it is not controlled by network This programming is achieved by means of parameters P220 to P228 P680 STATUS WORD Range 0000h to FFFFh Default Properties RO Description It allows the device status monitoring Each bit represents a specific status Function Motor Running In configuration Second ramp Reserved gt Es 2 e N Q o a a 2 Speed direction Active General Alarm condition CFW100 13 PROGRAMMING Bits Bits 0104 Bit 5 Second ramp Bit 6 In configuration mode Bit 7 Alarm condition Bit 8 Motor Running Bit 9 Active General Enable Bit 10 Speed direction Bit 14 JOG Bit 12 LOC REM Bit 13 Undervoltage Bit 14 Bit 15 Fault condition Table 4 2 P680 parameter bit functions Reserved O The drive is configured to use the first ramp values programmed in P1
7. 12 P227 RUN STOP SELECTION REMOTE SITUATION 2 12 P228 JOG SELECTION REMOTE SITUATION ccceccccsssssseneeeeceeeeenssaseeeseeeeeaanaeneeeeseeeaeaneneeenees 12 P313 COMMUNICATION ERROR ACTION ccccccsssssseeeeeececeeenssaeneeeeceeeeeaasaseenseaeeeaaaasnseeeseonaeaneneeenses 12 680 5 26 chu vevissuvauseduduseviobuuantnauteenascdsunnnsodsuyaneedauieausntvoansstauuntssdduaetuedsusaautuauaanduauueadanstye 13 P681 MOTOR SPEED IN 13 BITS saciscssiscccuvsvecuusuvicuvedcvsanausendvedscevenstauvudustuvaduandauiveudusawundsuenicuuesuuuundvniiian 14 P684 CANOPEN CONTROL WORD 15 P685 CANOPEN SPEED 22 24 2111 10 15 P700 PROTOG Ob sess citssssccsisenicacecsantisecocccdsaasascisnceccdacasesveiavueccsteasericisucesaanchtsniedcudenasuaiasveastaneunaaaasinee 16 P701 CAN ADDRESS wiisisscisissisviscciaccvniessncsucicanunnssvsvoussuddcunsssvinsvsc ddsunuesveunustidineuv sviscusdidssatdsdinaveteuisuaadditn 16 P702 CAN BAUD RATE wcsicisiiescccsiisecisisaassctseuvecasdtvaeunsiaudeadaasuinanseaueusdaateinoussdusaudsaveivaccudusasanuevivanngaunadiadirad 17 P703 BUS OFF RESET sasivsccessusacnotindancuusuveus diuunaucudgsgiancdcuuanusuyagdspuagunsu
8. Verify if the power supply cables have not been changed or inverted sure there is no contact problem in the cable or in the CAN interface connector A134 F234 BUS OFF Description The bus offerror in the CAN interface has been detected Actuation If the number of reception or transmission errors detected by the CAN interface is too high the CAN controller can be taken to the bus offstate where it interrupts the communication and disables the CAN interface In this case the alarm A134 or the fault F234 depending on the P313 programming will be signalized through the HMI In order that the communication be reestablished it will be necessary to cycle the power of the product or remove the power supply from the CAN interface and apply it again so that the communication be reinitiated Possible Causes Correction Verify if there is any short circuit between the CAN circuit transmission cables Verify if the cables have not been changed or inverted Verify if all the network devices use the same baud rate Verify if termination resistors with the correct values were installed only at the extremes of the main bus Verify if the CAN network installation was carried out in proper manner A135 F235 NODE GUARDING HEARTBEAT Description The CANopen communication error control detected a communication error by using the guarding mechanism Operation By using the error control mec
9. 1 Disable via Run Stop 2 Disable via General Enable 3 Change to Local 4 Change to Local keeping commands and reference 5 Causes a Fault Properties CFG Description It allows the selection of the action to be executed by the device if it is controlled via network and a communication error is detected CFW100 12 PROGRAMMING Table 4 1 P313 options Options Description O Inactive No action is taken and the drive remains in the existing status A stop command with deceleration ramp is executed and the motor stops according to the programmed deceleration ramp The drive is disabled by removing the General Enabling and the motor coasts to stop 3 Change to Local The drive commands change to Local 1 Disable via Run Stop 2 Disable via General Enable The drive commands change to Local but the status of the enabling and speed reference commands received via network are kept providing that the drive has been programmed to use in Local mode the commands via HMI or 3 wire start stop and speed reference via either HMI or electronic potentiometer 4 Change to Local keeping commands and reference Instead of an alarm the communication error causes a drive fault 5 Causes a Fault so that a drive fault reset becomes necessary in order to restore normal operation The following events are considered communication errors CANopen communication A133 alarm F233 fault CAN interface not powered
10. 10 0 kHz maximum in the switching frequency P297 Higher frequencies may cause CANopen communication problems 2 2 CONNECTOR PINOUT The CAN communication module presents a 5 wire connector with the following pinout Table 2 1 CAN interface connector pinout Pin Name Function 6 V Power supply negative pole 8 Shield Cable shield 29 CANH CAN_H communication signal Power supply positive pole 2 3 SUPPLY The CAN interface needs an external power supply between the pins 6 and 10 of the network connector The individual consumption and input voltage data are presented in the next table Table 2 2 CAN interface supply characteristics Supply Voltage Minimum Recommended E Typical Maximum 50 3 The maximum number of devices that can be connected to the network depends also on the used protocol CFW100 8 CANOPEN COMMUNICATION ACCESSORY 2 4 INDICATIONS Details on the alarms communications failures and communication states are made through the keypad HMI and product parameters CFW100 9 CANOPEN NETWORK INSTALLATION 3 CANOPEN NETWORK INSTALLATION The CANopen network such as several industrial communication networks for being many times applied in aggressive environments with high exposure to electromagnetic interference requires that certain precautions be taken in order to guarantee a low communication error rate during its ope
11. JOG Speed direction Table 4 3 P684 parameter bit functions its O Bit O O It stops the motor with deceleration ramp Run Stop The motor runs according to the acceleration ramp until reaching the speed reference value It disables the drive interrupting the supply for the motor General enable enables the drive allowing the motor operation To run the motor in a direction opposed to the speed reference Speed direction JOG 4 O To run the motor in the direction indicated by the speed reference It disables the JOG function It enables the JOG function The drive goes to the Local mode The drive goes to the Remote mode O The drive uses the first ramp values programmed in P100 and P101 as the motor acceleration and Bit 5 deceleration ramp times Second ramp 1 The drive is configured to use the second ramp values programmed in P102 and 103 as the motor acceleration and deceleration ramp times Reserved Bit 7 0 No function Fault reset 1 If in a fault condition then it executes the reset Bits 8 to 15 Reserved 1 O Bit 4 LOC REM O P685 CANOPEN SPEED REFERENCE Range 32768 to 32767 Default 0 Properties Description It allows programming the motor speed reference via the CANopen interface This parameter can only be changed via CANopen DeviceNet Profibus DP interface For the other sources HMI etc it behaves like a read only parameter I
12. CANopen network An object of this list is identified by means of a 16 bit index and it is based in that list that all the data exchange between devices is performed The CiA DS 301 document defines a set of minimum objects that every CANopen network slave must have The objects available in that list are grouped according to the type of function they execute The objects are arranged in the dictionary in the following manner Table 5 1 Object dictionary groupings Index Objects Description 0001h 025Fh Data type definition 1000h 1FFFh Communication objects They are objects common to all the CANopen devices They contain general information about the equipment and also data for the communication configuration 2000h 5FFFh Manufacturer specific objects In this range each CANopen equipment manufacturer is free to define which data those objects will represent 6000h 9FFFh Standardized device objects This range is reserved to objects that describe the behavior of similar equipment regardless of the manufacturer The other indexes that are not referred in this list are reserved for future use 5 1 DICTIONARY STRUCTURE The general structure of the dictionary has the following format Index Object Name Type Access indicates directly the object index in the dictionary Object describes which information the index stores simple variable array record etc Name contain
13. COMM PARAMETER Sub index 0 Description Number of the last sub index Access PDO Mapping No Range UNSIGNED8 Default value 5 Sub index 1 Description used by the PDO Access rw PDO Mapping No Range UNSIGNED32 Default value 1800h 180h Node lD 1801h 280h Node ID Sub index 2 Description Transmission Type Access rw PDO Mapping No Range UNSIGNED8 Default value 254 5 If the object is of the VAR type and does not have sub index the value O zero must be indicated for the sub index a CFW100 28 COMMUNICATION OBJECTS DESCRIPTION Sub index 3 Description Time between transmissions Access rw PDO Mapping No Range UNSIGNED16 Default value Sub index 4 Description Reserved Access rw PDO Mapping No Range UNSIGNED8 Default value Sub index 5 Description Event timer Access rw PDO Mapping No Range O disable UNSIGNED16 Default value 0 The sub index 1 contains the transmit PDO COB ID Every time this PDO sends message to the network the identifier of that message will be this COB ID The structure of this field is described in table 6 5 The sub index 2 indicates the transmission type of this object which follows the table 6 6 description Its working is however different for transmit PDOs Value 0 indicates that the transmi
14. a telegram is successfully transmitted or received If a considerable amount of errors occurs the device can be led to the following states Error Active the internal error counters are at a low level and the device operates normally in the CAN network You can send and receive telegrams and act in the CAN network if it detects any error in the transmission of telegrams Warning when the counter exceeds a defined limit the device enters the warning state meaning the occurrence of a high error rate Error Passive when this value exceeds a higher limit the device enters the error passive state and it stops acting in the network when detecting that another device sent a telegram with an error Bus Off finally we have the bus off state in which the device will not send or receive telegrams any more The device operates as if disconnected from the network 1 the CAN protocol specification the 15011898 standard is referenced as the definition of the layer 1 of this model physical layer 2 The CAN 2 0 specification defines two data frame types standard 11 bit and extended 29 bit For this implementation only the standard frames are accepted CFW100 6 meg INTRODUCTION TO THE CANOPEN COMMUNICATION 1 1 5 CAN and CANopen Only the definition of how to detect errors create and transmit a frame are not enough to define a meaning for the data transmitted via the network It is necessary to have a speci
15. length does not exceed eight bytes The mapping of an object is done indicating its index sub index and size in bits an UNSIGNED82 field with the following format UNSIGNED32 Index Sub index Size of the object 16 bits 8 bits 8 bits For instance analyzing the receive PDO standard mapping we have It is possible to modify this mapping by changing the quantity or the number of mapped objects Remembering that only objects or 8 bytes can be mapped at maximum NOTE 7 order to change the mapped objects in a PDO it is first necessary to write the value O zero the sub index 0 zero In that way the values of the sub indexes 1 to can be changed After the desired mapping has been done one must write again in the sub index O zero the number of objects that have been mapped enabling again the PDO not forget that PDOs can only be received if the CFW100 is in the operational state 6 33 Transmit PDOs The transmit PDOs or TPDOs as the name says are responsible for transmitting data for the CANopen network The frequency inverter CFW100 has transmit PDOs each one being able to transmit up to 8 data bytes a manner similar to RPDOs each TPDO has two parameters for its configuration PDO_COMM_PARAMETER and a PDO_MAPPING AS DESCRIBED NEXT PDO_COMM_PARAMETER Index 1800h up to 180h Name Transmit PDO Parameter Object Record Type PDO
16. reached P709 LOST CAN MESSAGE COUNTER Range Oto 65535 Default Proprerties RO Description It is a cyclic counter that indicates the number of messages received by the CAN interface but could not be processed by the device In case that the number of lost messages is frequently incremented it is recommended to reduce the baud rate used in the CAN network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached CFW100 18 PROGRAMMING 721 CANOPEN COMMUNICATION STATUS Range O Disabled Default 1 Reserved 2 Communication Enabled 3 Error Control Enabled 4 Guarding Error 5 Heartbeat Error Properties RO CAN Description It indicates the board state regarding the CANopen network informing if the protocol has been enabled and if the error control service is active Node Guarding or Heartbeat P722 CANOPEN NODE STATUS Range O Disabled Default 1 Initialization 2 Stopped 3 Operational 4 Preoperational Properties RO CAN Description It operates as a Slave of the CANopen network and as such element it has a state machine that controls its behavior regarding the communication This parameter indicates in which state the device is CFW100 19 OBJECT DICTIONARY 5 OBJECT DICTIONARY The object dictionary is a list containing several equipment data which can be accessed via
17. recommended characteristics for the cable Table 3 2 CANopen cable characteristics Cable length Resistance per Conductor cross m meter mOhm m section mm 70 0 40 70 40 300 300 600 600 1000 It is necessary to use a twisted pair cable to provide additional 24Vdc power supply to equipments that need this signal It is recommended to use a certified DeviceNet cable 4 Different products may have different maximum allowed cable length for installation CFW100 10 meg CANOPEN NETWORK INSTALLATION 3 5 CONNECTION IN THE NETWORK In order to interconnect the several network nodes it is recommended to connect the equipment directly to the main line without using derivations During the cable installation the passage near to power cables must be avoided because due to electromagnetic interference this makes the occurrence of transmission errors possible In order to avoid problems with current circulation caused by difference of potential among ground connections it is necessary that all the devices be connected to the same ground point Termination Drop Line Figure 3 1 CANopen network installation example To avoid voltage difference problems between the power supplies of the network devices it is recommended that the network is fed by only one power supply and the signal is provided to all devices through the cable If it is required more than one power supply these should be reference
18. two parts 16 low order bits describing the type of profile that the device uses and 16 high order bits indicating a specific function according to the specified profile 6 1 2 Object 1001h Error Register This object indicates whether or not an error in the device occurred The type of error registered for the CFW100 follows what is described in the table 6 1 Index 1001h Name Error register Object VAR Type UNSIGNED8 Access Yes Range UNSIGNEDS Default value 0 Table 6 1 Structure of the object Error Register Bit Meaning 0 Generic error Current Voltage Temperature Communication Reserved always 0 Reserved always 0 Specific of the manufacturer If the device presents any error the equivalent bit must be activated The first bit generic error must be activated with any error condition 6 1 3 Object 1018h Identity Object It brings general information about the device CFW100 22 COMMUNICATION OBJECTS DESCRIPTION Index 1018h Name dentity object Object Record Type dentity Sub index 0 Description Number of the last sub index Access RO PDO Mapping No Range UNSIGNED8 Default value 4 Sub index 1 Description Vendor ID Access RO PDO Mapping No Range UNSIGNED32 Default
19. value 0000 0123h Sub index 2 Description Product code Access RO PDO Mapping No Range UNSIGNED32 Default value Sub index 3 Description Revision number Access RO PDO Mapping No Range UNSIGNED32 Default value According to the equipment firmware version Sub index 4 Description Serial number Access RO PDO Mapping No Range UNSIGNED32 Default value Different for every CFW100 The vendor ID is the number that identifies the manufacturer at the The product code is defined by the manufacturer according to the type of product The revision number represents the equipment firmware version The sub index 4 is a unique serial number for each frequency inverter CFW100 in CANopen network 6 2 SERVICE DATA OBJECTS SDOS The SDOs are responsible for the direct access to the object dictionary of a specific device in the network They are used for the configuration and therefore have low priority since they do not have to be used for communicating data necessary for the device operation There are two types of SDOs client and server Basically the communication initiates with the client usually the master of the network making a read or write download request to a server and then this server answers the request CFW100 23 COMMUNICATION OBJECTS DESCRIPTION Data for configuration CANopen operation Master ete See ce gees SDO Server Figure 6 1 Communication between SDO cli
20. 00 and P101 as the motor acceleration and deceleration ramp times 1 The drive is configured to use the second ramp values programmed in P102 and P103 as the motor acceleration and deceleration ramp times O The drive is operating normally 1 The drive is in the configuration mode It indicates a special condition during which the drive cannot be enabled Executing the self tuning routine Executing the oriented start up routine Executing the HMI copy function Executing the flash memory card self guided routine There is a parameter setting incompatibility There is no power at the drive power section O The drive is not in alarm condition 1 The drive is in alarm condition Note The alarm number can be read by means of the parameter P048 Present Alarm 0 The motor is stopped 1 The drive is running the motor at the set point speed or executing either the acceleration or the deceleration ramp 0 General Enable is not active 1 General Enable is active and the drive is ready to run the motor 0 The motor is running in the reverse direction 1 motor i is running in the forward direction 1 Ace JOG function in Remote mode Undervoltage Reserved 0 The drive is not in a fault condition The drive has detected a fault Note The fault number can be read by means of the parameter 49 Present Fault 4 P681 MOTOR SPEED IN 13 BITS Range Description 82768 to 3
21. 2767 Properties RO Default It allows monitoring the motor speed This word uses 13 bit resolution with signal to represent the motor rated frequency P403 681 0000h 0 decimal P681 2000h 8192 decimal motor speed 0 motor speed rated frequency Intermediate or higher speed values in rpm can be obtained by using this scale E g 6QHz rated frequency if the value read is 2048 O800h then to obtain the speed in Hz one must calculate 8192 gt 60 Hz 2048 gt Frequency in Hz Frequency in Hz 60 x 2048 8192 Frequency in Hz 15 Hz Negative values in this parameter indicate that the motor is running in the reverse direction CFW100 14 PROGRAMMING P684 CANOPEN CONTROL WORD Range 0000h to FFFFh Default 0000h Properties Description It the device CANopen interface control word This parameter can only be changed via CANopen DeviceNet Profibus DP interface For the other sources HMI etc it behaves like a read only parameter In order to have those commands executed it is necessary to program the equipment to be controlled via CANopen DeviceNet Profibus DP This programming is achieved by means of parameters P105 and P220 to P228 Each bit of this word represents a command that can be executed Function E is tejo O O 2 8 2 2 3 a E Second ramp LOC REM gt General enable Run Stop
22. GNED1 6 UNSIGNED8 UNSIGNEDS2 UNSIGNED1 6 Identity Server SDO Parameter 1st Server SDO parameter SDO Parameter Receive PDO Communication Parameter PDO CommPar PDO CommPar Receive PDO Mapping Parameter PDO Mapping PDO Mapping Transmit PDO Communication Parameter PDO CommPar PDO CommPar Transmit PDO Mapping Parameter PDO Mappin PDO Mapping These objects can only be read and written via the CANopen network it is not available via the keypad HMI or other network interface The network master in general is the equipment responsible for setting up the equipment before starting the operation The EDS configuration file brings the list of all supported communication objects Refer to item 6 for more details on the available objects in this range of the objects dictionary 5 4 MANUFACTURER SPECIFIC CFW100 SPECIFIC OBJECTS For indexes from 2000h to 5FFFh each manufacture is free to define which objects will be present and also the type and function of each one In the case of the CFW100 the whole list of parameters was made available in this object range It is possible to operate the CFW100 by means of these parameters carrying out any function that the inverter can execute The parameters were made available starting from the index 2000h and by adding their number to this index their position in the dictionary is obtained The next table illustrates how the parameters ar
23. Motors Automation Energy Transmission amp Distribution Coatings CANopen CFW100 User s Manual E SRG San CANopen User s Manual Series CFW100 Language English Document Number 10002835377 02 Publication Date 10 2014 CONTENTS CONTENTS CONTENTS 3 ABOUT THE MANUAL iisicecasisscsacnsnsacsinsassennninnsstansansanananasananheastnnmanadananinnsininanantausiansiasmiannis 5 ABBREVIATIONS AND DEFINITIONS cccccssssseeeececccccennensneneeceeeneasenseeececeecsasassenceaecenesaeneseneeanaenseassenees 5 NUMERICAL REPRESENTATION ccccccssssnseeeeeeeeceeennsaeeeneeseeeeeaasaseeeseceoeaeaasnseeeeeoeaeassaseeeeeaeenaeaasaseenses 5 5 1 INTRODUCTION TO THE CANOPEN 6 1 1 6 1 1 1 Data Frame vccvssinssissdsscusesssssnsseddsdevsihduseasvdvscnusaiiuseadedusccusisdusuasedaucssvedusustesidussssesisvaucevaccuchiisssuesviues 6 1 1 2 Remote Frame cassaiconiosnaca dida doa ana ua do Nisa nana a dade caca 6 1 1 3 Access to the NetWork ss sivess cs svvanciesunnauesavennicasesnasinsuuanscdaudeascnzeunacsaaucavscnnunancdnanvaisseewandccdsevannenauuaa 6 1 1 4 Error ContrOl sicnssssccccocuccsssnnsnvviscdutoussnsativenusacdstnsaseuvevucacubindavsuiceuuau
24. NG described next PDO_COMM_PARAMETER Index 1400h up to 140h Name Receive PDO communication parameter Object Record Type PDO COMM PARAMETER Sub index 0 Description Number of the last sub index Access PDO Mapping No Range UNSIGNED8 Default value 2 Sub index 1 Description COB ID used by the PDO Access rw PDO Mapping No Range UNSIGNED32 Default value 1400h 200h Node ID 1401h 300h Node ID CFW100 26 COMMUNICATION OBJECTS DESCRIPTION Sub index 2 Description Transmission Type Access rw PDO Mapping No Range UNSIGNED8 Default value 254 The sub index 1 contains the receive PDO COB ID Every time a message is sent to the network this object will read the COB ID of that message and if it is equal to the value of this field the message will be received by the device This field is formed by an UNSIGNED32 with the following structure Table 6 5 COB ID description gt Bit Value Description 31 MSB 0 PDO is enabled 30 0 RTR permitted 29 O 11 bits 28 11 0 _Notused alwaysO_ 10 0 LSB X 11 bit COB ID The bit 31 allows enabling or disabling the PDO The bits 29 and 30 must be kept in O zero they indicate respectively that the PDO accepts remote frames RTR frames and that it uses an 11 bit identifier Since the CFW100 frequency inverter does not use 29 b
25. asussnvyevewsdabubansaveauunsddcdunssesivavence 6 1 1 5 CAN and anasa aaa aa aana a dada mana ama da arannana 7 2 CANOPEN COMMUNICATION ACCESSORY 8 2 1 PLUG IN MODULE CFW100 CCAN 8 2 2 CONNECTOR PINOUT nino dn nda 8 2 3 POWER SUPPLY sisiiesisccisasetisiisernccuacstsssvinsuavendsdnbssiunsvasoniauutssvoesuctausasussstusduudsbinehds vvadaciausdeusevissuccduands 8 24 INDIGATIONS wenvisisencevicicnndssuuauvatitiunedudhuvesvertidnauuaosvandseudcuuduianvuevuseddeusenusvuatuiedusndaluiuavadusunstuuedduntuuuuaantad 9 3 CANOPEN NETWORK INSTALLATION 10 3 1 BAUD RATE 10 3 2 ADDRESS IN THE CANOPEN NETWORK 10 3 3 TERMINATION
26. be transmitted in a fast and efficient manner Therefore they have a higher priority than the SDOs In the PDOs only data are transmitted in the telegram index and sub index are omitted and in this way it is possible to do a more efficient transmission with larger volume of data in a single telegram However it is necessary to configure previously what is being transmitted by the PDO so that even without the indication of the index and sub index it is possible to know the content of the telegram There are two types of PDOs the receive PDO and the transmit PDO The transmit PDOs are responsible for sending data to the network whereas the receive PDOs remain responsible for receiving and handling these data In this way it is possible to have communication among slaves of the CANopen network it is only necessary to configure one slave to transmit information and one or more slaves to receive this information CANopen Transmit PDO Receive Receive PDO PDO Data for operation Figure 6 2 Communication using PDOs CFW100 25 COMMUNICATION OBJECTS DESCRIPTION NOTE PDOs can only be transmitted or received when the device is in the operational state The figure 6 2 illustrates the available states for CANopen network node 6 3 1 PDO Mapping Objects In order to be able to be transmitted by a PDO it is necessary that an object be mapped into this PDO content In the description of communication o
27. bjects 1000h 1FFFh the filed PDO Mapping informs this possibility Usually only information necessary for the operation of the device can be mapped such as enabling commands device status reference etc Information on the device configuration are not accessible through PDOs and if it is necessary to access them one must use the SDOs Table 6 4 Examples of PDO mapping parameters Index Object Name Type Access 2002h 002 Motor speed UNSIGNED1 6 2008h P003 Motor current UNSIGNEDIO ro 2005h VAR POOS Motorfrequenoy UNSIGNEDIO ro 20001 VAR PO06 Inverterstatus UNSIGNEDIO ro 2007mh VAR P007 Outputvoltage UNSIGNEDIO ro INTEGERIO ro ro pro om po pro INTEGER IG 2064h VAR P100 Acceleration time UNSIGNED1 6 22ACh VAR 684 Control CANopen DeviceNet UNSIGNEDIO w 22ADh VAR P685 Speedreference CANopen DeviceNet UNSIGNEDIG ro ro ro ro ro ro ro ro rw rw ro ro rw rw The EDS file brings the list of all available objects informing whether the object can be mapped or not 6 3 2 Receive PDOs The receive PDOs or RPDOs are responsible for receiving data that other devices send to the CANopen network The frequency inverter CFW100 has receive PDOs each one being able to receive up to 8 bytes Each RPDO has two parameters for its configuration a and PDO_MAPPI
28. changed the change takes effect only if the CAN interface is not powered it is in auto baud or after the equipment is switched off and on again P701 CAN ADDRESS Range Oto 127 Default 63 Properties Description It allows programming the address used for the CAN communication It is necessary that each element of the network has an address different from the others The valid addresses for this parameter depend on the protocol programmed in P700 P700 1 CANopen valid addresses 1 to 127 If this parameter is changed the change takes effect only if the CAN interface is not powered auto baud after the equipment is switched off and on again CFW100 16 P702 CAN BAUD RATE Range O 1 Mbit s Default 0 1 Reserved 2 500 Kbit s 3 250 Kbit s 4 125 Kbit s 5 100 kbit s 6 50 Kbit s 7 Reserved 8 Reserved Properties Description It allows programming the desired baud rate for the CAN interface in bits per second This rate must be the same for all the devices connected to the network The supported bauld rates for the device depend on the protocol programmed in the parameter P700 P700 1 CANopen It is possible to use any rate specified in this parameter but it does not have the automatic baud rate detection function autobaud If this parameter is changed the change takes effect only if the CAN interface is not powered or after the
29. d to the same point The maximum number of devices connected to a single segment of the network is limited to 64 Repeaters can be used for connecting a bigger number of devices CFW100 11 PROGRAMMING 4 PROGRAMMING Next only the CFW100 frequency inverter parameters related to the CANopen communication will be presented 4 1 SYMBOLS FOR THE PROPERTIES DESCRIPTION RO Read only parameter CFG Parameter that can be changed only with a stopped motor CAN Parameter visible on the HMI if the product has the CAN interface installed P105 151 2 RAMP SELECTION 220 LOCAL REMOTE SELECTION SOURCE P221 SPEED REFERENCE SELECTION LOCAL SITUATION P222 SPEED REFERENCE SELECTION REMOTE SITUATION P223 FORWARD REVERSE SELECTION LOCAL SITUATION P224 RUN STOP SELECTION LOCAL SITUATION P225 JOG SELECTION LOCAL SITUATION P226 FORWARD REVERSE SELECTION REMOTE SITUATION P227 RUN STOP SELECTION REMOTE SITUATION P228 JOG SELECTION REMOTE SITUATION These parameters are used in the configuration of the command source for the CFW100 frequency inverter local and remote situations In order that the device be controlled through the CANopen interface the options CANopen DeviceNet Profibus DP available in these parameters must be selected The detailed description of these parameters is found in the CFW100 programming manual P313 COMMUNICATION ERROR ACTION Range O Inactive Default 1
30. ds on the used function type For the transmissions from a client to a server the following commands can be used CFW100 24 COMMUNICATION OBJECTS DESCRIPTION Table 6 2 Command codes for SDO client Command Function Description Object data Write object Not defined Write object 60h or 70h When making a request the client will indicate through its COB ID the address of the slave to which this request is destined Only a slave using its respective SDO server will be able to answer the received telegram to the client The answer telegram will have also the same structure of the request telegram the commands however are different Table 6 3 Command codes for SDO server __Command Function Description Object data Response to write object Upload Response to read object For readings of up to four data bytes a single message can be transmitted by the server for the reading of a bigger quantity of bytes it is necessary that the client and the server exchange multiple telegrams A telegram is only completed after the acknowledgement of the server to the request of the client If any error is detected during telegram exchanges for instance no answer from the server the client will be able to abort the process by means of a warning message with the command code equal to 80h 6 3 PROCESS DATA OBJECTS PDOS The PDOs are used to send and receive data used during the device operation which must often
31. dsgungiwauiaudncdsaveedussuvudusiunruuaucuseveunaluies 17 P705 CAN CONTROLLER 56 6 2422221 00000 17 P706 RECEIVED CAN TELEGRAM 18 P707 TRANSMITTED CAN TELEGRAM 18 CFW100 CONTENTS P708 BUS OFF ERROR COUNTER lt 18 P709 LOST CAN MESSAGE 18 P721 CANOPEN COMMUNICATION 19 22 CANOPEN NODE anainn anandan aiaa star ana dal aniani iaaa iaaa aana 19 5 OBJECT DICTIONARY ssa da 20 5 1 DICTIONARY STRUCTURE lt euuenndetsveeenseiuens 20 5 2 DATA TYPE tuesactubuduncesxesdtsapsuds cassasa cics 20 5 3 COMMUNICATION PROFILE COMMUNICATION
32. e CFW100 was developed based on the following specifications and documents Document Version Source CAN Specification 08 301 CANopen Application Layer and Communication Profile DRP 303 1 CiA Cabling and Connector Pin Assignment CiA DSP 306 CiA Electronic Data Sheet Specification for CANopen CiA DSP 402 Device Profile Drives and Motion Control In order to obtain this documentation the organization that maintains publishes and updates the information regarding the CANopen network CiA must be consulted CFW100 5 meg INTRODUCTION TO THE CANOPEN COMMUNICATION 1 INTRODUCTION TO THE CANOPEN COMMUNICATION In order to operate the equipment in a CANopen network it is necessary to know the manner this communication is performed Therefore this section brings a general description of the CANopen protocol operation containing the functions used by the CFW100 Refer to the protocol specification for a detailed description 1 1 CAN CANopen is a network based on CAN i e it uses CAN telegrams for exchanging data in the network The CAN protocol is a serial communication protocol that describes the services of layer 2 of the ISO OSI model data link layer This layer defines the different types of telegrams frames the error detection method the validation and arbitration of messages 1 1 1 Data Frame CAN network data is transmitted by means of a data frame This frame type is c
33. e distributed in the object dictionary Table 5 3 CFW100 object list Manufacturer Specific Name Access P000 Access parameter INTEGER16 rw P001 Speed reference ro P002 Motor speed ro 003 Motor current ro P004 DC voltage INTEGER16 P100 Acceleration time INTEGER16 rw P101 Deceleration time rw HEEETEES Refer to the CFW100 manual for a complete list of the parameters and their detailed description In order to be able to program the inverter operation correctly via the CANopen network it is necessary to know its operation through the parameters CFW100 21 COMMUNICATION OBJECTS DESCRIPTION 6 COMMUNICATION OBJECTS DESCRIPTION This item describes in detail each of the communication objects available for the frequency inverter CFW100 It is necessary to know how to operate these objects to be able to use the available functions for the inverter communication 6 1 IDENTIFICATION OBJECTS There is a set of objects in the dictionary which are used for equipment identification however they do not have influence on their behavior in the CANopen network 6 1 1 Object 1000h Device Type This object gives a 32 bit code that describes the type of object and its functionality Index 1000h Name Device type Object VAR Type UNSIGNED32 Access Range UNSIGNED32 Default value This code can be divided into
34. ent and server SDO 6 2 1 Object 1200h Server The frequency inverter CFW100 has only one SDO of the server type which makes it possible the access to its entire object dictionary Through it an SDO client can configure the communication the parameters and the drive operation Every SDO server has an object of the SDO_PARAMETER type for its configuration having the following structure Index 1200h Name Server SDO Parameter Object Record Type SDO Parameter Sub index 0 Description Number of the last sub index Access RO PDO Mapping No Range UNSIGNED8 Default value 2 Sub index 1 Description COB ID Client Server rx Access RO PDO Mapping No Range UNSIGNEDS2 Default value 600h Node lD Sub index 2 Description COB ID Server Client tx Access RO PDO Mapping No Range UNSIGNEDS2 Default value 580h Node lD 6 2 2 SDOs Operation A telegram sent by an SDO has an 8 byte size with the following structure Identifier 8 data bytes The identifier depends the transmission direction rx or tx and on the address or of the destination server For instance a client that makes a request to a server which Node ID is 1 must send a message with the identifier 6011 The server will receive this message and answer with a telegram which is equal to 58 1h The command code depen
35. equipment is switched off and on again P703 BUS OFF RESET Range O Manual Default 0 1 Automatic Properties Description It allows programming the inverter behavior when detecting a bus off error at the CAN interface Table 4 4 Options for the parameter P703 Description O Manual Reset If bus off occurs the A134 F34 alarm will be indicated on the HMI the action programmed in parameter will be executed and the communication will be disabled In order that the inverter communicates again through the CAN interface it will be necessary to cycle the power of the inverter 1 Automatic Reset If bus off occurs the communication will be reinitiated automatically and the error will be ignored In this case the alarm will not be indicated on the HMI and the inverter will not execute the action programmed in P313 705 CAN CONTROLLER STATUS Range O Disabled Default 1 Autobaud 2 CAN Enabled 3 Warning 4 Error Passive 5 Bus Off 6 No Bus Power Properties RO Description It allows identifying if the CAN interface board is properly installed and if the communication presents errors CFW100 17 PROGRAMMING Table 4 5 Values for the parameter P705 2 0 Description 0 Disabled Inactive CAN interface It occurs when the equipment does not have the CAN interface installed 1 Autobaud CAN controller is trying to detect baud rate of the network only for DeviceNet commun
36. es the transmission of the SYNC object optional Initiates the Guarding or Heartbeat error control protocol optional Commands the network devices to the operational state Figure 6 7 Initialization process flowchart It is necessary to observe that the frequency inverter CFW100 communication objects 1000h to 1FFFh are not stored in the nonvolatile memory Therefore every time the equipment is reset or switched off it is necessary to redo the communication objects parameter setting CFW100 36 meg FAULTS AND ALARMS RELATED TO THE CANOPEN COMMUNICATION 7 FAULTS AND ALARMS RELATED TO THE CANOPEN COMMUNICATION A133 F233 CAN INTERFACE WITHOUT POWER SUPPLY Description It indicates that the CAN interface does not have power supply between the pins 6 and 10 of the connector Actuation In order that it be possible to send and receive telegrams through the CAN interface it is necessary to supply external power to the interface circuit If the CAN interface is connected to the power supply and the absence of power is detected the alarm A133 or the fault F233 depending on the P313 programming will be signalized through the HMI If the circuit power supply is reestablished the CAN communication will be reinitiated In case of alarms the alarm indication will also be removed from the HMI Possible Causes Correction Measure the voltage between the pins 1 and 5 of the CAN interface connector
37. fication that indicates how the identifier and the data must be assembled and how the information must be exchanged Thus the network elements can interpret the transmitted data correctly In that sense the CANopen specification defines exactly how to exchange data among the devices and how everyone must interpret these data There are several other protocols based on CAN as DeviceNet CANopen J1939 etc which use CAN frames for the communication However those protocols cannot be used together in the same network CFW100 7 CANOPEN COMMUNICATION ACCESSORY 2 CANOPEN COMMUNICATION ACCESSORY In order to make the CANopen communication possible with the product it is necessary to use the CAN communication kit described next Information on the installation of this module can be obtained in the guide that comes with the kit 2 1 PLUG IN MODULE CFW100 CCAN WEG part number 12293349 Composed by the CAN communication module drawing at the left mounting instruction and fixing screw interface is electrically isolated and with differential signal which grants more robustness against electromagnetic interference External 24V supply It allows the connection of up to 64 devices to the same segment More devices be connected by using repeaters A maximum bus length of 1000 meters NOTE 7 When the CAN communication module CFW100 CCAN connected to CFW100 should be used
38. hanisms Node Guarding or Heartbeat the master and the slave can exchange periodic telegrams with a predetermined period If the communication is interrupted by some reason the master as well as the slave will be able to detect communication error through the timeout in the exchange of those messages 6 For more information on the error detection refer to the CAN specification CFW100 37 meg FAULTS AND ALARMS RELATED TO THE CANOPEN COMMUNICATION In this case the alarm A135 or the fault F235 depending on the P313 programming will be signalized through the HMI In case of alarms the alarm indication will be removed from the HMI if this error control is enabled again Possible Causes Correction Verify the times programmed in both master and slave for the message exchanging In order to avoid problems due to transmission delays and differences in the time counting it is recommended that the values programmed for message exchanging in the master be a little bit shorter than the times programmed for the error detection by the slave Verify if the master is sending the guarding telegrams in the programmed time Verify communication problems that can cause telegram losses or transmission delays F236 TIMEOUT IN THE DATA EXCHANGE BETWEEN CFW100 AND MODULE Description Fault indicating a problem in the data exchange between the CFW100 and CCAN communication module Indicates that the CFW100 sto
39. ication protocol CAN interface is active and without errors CAN controller has reached the warning state CAN controller has reached the error passive state CAN controller has reached the bus offstate 6 No Bus Power CAN interface does not have power supply between the pins 1 and 5 of the connector P706 RECEIVED CAN TELEGRAM COUNTER Range Oto 65535 Default Properties RO Description This parameter works as a cyclic counter that is incremented every time a CAN telegram is received It informs the operator if the device is being able to communicate with the network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached P707 TRANSMITTED CAN TELEGRAM COUNTER Range Oto 65535 Default Properties RO Description This parameter works as a cyclic counter that is incremented every time a CAN telegram is transmitted It informs the operator if the device is being able to communicate with the network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached P708 BUS OFF ERROR COUNTER Range O to 65535 Default Properties RO Description It is a cyclic counter that indicates the number of times the device entered the bus off state in the CAN network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is
40. it identifiers the bits from 28 to 11 must be kept in O zero whereas the bits from 10 to O zero are used to configure the COB ID for the PDO The sub index 2 indicates the transmission type of this object according to the next table Table 6 6 Description of the type of transmission Type of transmission PDOs transmission Acyclic RTR Reserved Values O 240 any RPDO programmed in this range presents the same performance When detecting message it will receive the data however it won t update the received values until detecting the next SYNC telegram Values 252 and 253 not allowed for receive PDOs Values 254 and 255 they indicated that there is no relationship with the synchronization object When receiving a message its values are updated immediately PDO_MAPPING Index 1600h up to 160h Name Receive PDO mapping Object Record Type PDO MAPPING Sub index 0 Description Number of mapped objects Access RO PDO Mapping No Range O disable 1 number of mapped objects Default value 0 CFW100 27 COMMUNICATION OBJECTS DESCRIPTION Sub index tupto Description 1 to object mapped in the PDO Access Rw PDO Mapping No Range UNSIGNED32 Default value According EDS file This parameter indicates the mapped objects in the CFW100 receive PDOs It is possible to map up to different objects for each RPDO provided that the total
41. n node state diagram Table 6 7 Transitions Description Description The device is switched on and initiates the initialization automatic Initialization concluded it goes to the preoperational state automatic It receives the Start Node command for entering the operational state It receives the Enter Pre Operational command and goes to the preoperational state It receives the Stop Node command for entering the stopped state It receives the Reset Node command when it executes the device complete reset It receives the Reset Communication command when it reinitializes the object values and the CANopen device communication During the initialization the Node ID is defined the objects are created and the interface with the CAN network is configured Communication with the device is not possible during this stage which is concluded automatically At the end of this stage the slave sends to the network a telegram of the Boot up Object used only to indicate CFW100 31 COMMUNICATION OBJECTS DESCRIPTION that the initialization has been concluded and that the slave has entered the preoperational state This telegram has the identifier 7001 Node ID and only one data byte with value equal to O zero In the preoperational state it is already possible to communicate with the slave but its PDOs are not yet available for operation In the operational state all the objects are available whereas in the st
42. n order that the reference written in this parameter be used it is necessary that the drive be programmed to use the speed reference via CANopen DeviceNet Profibus DP This programming is achieved by means of parameters P221 and 222 This word uses a 13 bit resolution with signal to represent the motor rated frequency P403 685 0000h 0 decimal speed reference O P685 2000h 8192 decimal speed reference rated frequency P403 CFW100 15 PROGRAMMING Intermediate or higher reference values can be programmed by using this scale E g 60Hz rated frequency to obtain a speed reference of 30 Hz one must calculate 60 Hz gt 8192 30 Hz gt 13 bit reference 13 bit reference 30 x 8192 60 13 bit reference 4096 gt Value corresponding to 30 Hz 13 bit scale This parameter also accepts negative values to revert the motor speed direction The reference speed direction however depends also on the control word P684 bit 2 setting Bit 2 1 and P685 gt 0 reference for forward direction Bit 2 1 and P685 lt 0 reference for reverse direction Bit 2 0 and P685 gt 0 reference for reverse direction Bit 2 P685 lt 0 reference for forward direction P700 CAN PROTOCOL Range 1 CANopen Default 1 2 DeviceNet Properties Description It allows selecting the desired protocol for the CAN interface If this parameter is
43. nication with the CANopen network both by the master and the slave as well In this type of service the master sends periodical telegrams to the slave which responds to the received telegram If some error that interrupts the communication occurs it will be possible to identify this error because the master as well as the slave will be notified by the 7imeout in the execution of this service The error events are called Node Guarding for the master and Life Guarding for the slave CFW100 32 COMMUNICATION OBJECTS DESCRIPTION CANopen Periodic Request Response Communication Failure Request Error Timeout waiting for the response Error Timeout waiting for the request Figure 6 5 Error control service Node Guarding There are two objects of the dictionary for the configuration of the error detection times for the Node Guarding service Index 100Ch Name Guard Time Object VAR Type UNSIGNED16 Access rw PDO Mapping No Range UNSIGNED16 Default value 0 Index 100Dh Name Life Time Factor Object VAR Type UNSIGNED8 Access rw PDO Mapping No Range UNSIGNED8 Default value 0 The 100Ch object allows programming the time necessary in milliseconds for a fault occurrence being detected in case the CFW100 does not receive any telegram from the master The 100Dh object indicates how many faults in sequence are necessary until it be co
44. nsidered that there was really a communication error Therefore the multiplication of these two values will result in the total necessary time for the communication error detection using this object The value 0 zero disables this function Once configured the CFW100 starts counting these times starting from the first Node Guarding telegram received from the network master The master telegram is of the remote type not having data bytes The identifier is equal to 7001 Node lD of the destination slave However the slave response telegram has 1 data byte with the following structure bit 6 bit O 700h Toggle This telegram has one single data byte This byte contains in the seven least significant bits a value to indicate the slave state 4 stopped 5 operational and 127 preoperational and in the eighth bit a value that must be changed at every telegram sent by the slave toggle bit CFW100 33 COMMUNICATION OBJECTS DESCRIPTION NOTE 7 This object is active even in the stopped state see table 6 8 The value 0 zero in any of these two objects will disable this function f after the error detection the service is enabled again then the error indication will be removed from the HMI minimum value accepted by the CFW100 is but considering the transmission rate and the number of nodes in the network the times programmed for this function must be consistent s
45. nt producers to be monitored by the inverter Index 1016h Name Consumer Heartbeat Time Object ARRAY Type UNSIGNED32 Sub index 0 Description Number of the last sub index Access PDO Mapping No Range Default value CFW100 34 COMMUNICATION OBJECTS DESCRIPTION Sub index 1 Description Consumer Heartbeat Time 1 Access rw PDO Mapping No Range UNSIGNED32 Default value 0 At sub indexes 1 to it is possible to program the consumer by writing a value with the following format UNSIGNED32 Reserved Heartbeat time 8 bits 8 bits 16 bits Node ID it allows programming the Node ID for the heartbeat producer to be monitored Heartbeat time it allows programming the time in 1 millisecond multiples until the error detection if no message of the producer is received The value 0 zero in this field disables the consumer Once configured the heartbeat consumer initiates the monitoring after the reception of the first telegram sent by the producer In case that an error is detected because the consumer stopped receiving messages from the heartbeat producer the frequency inverter will turn automatically to the preoperational state and indicate As a producer the frequency inverter CFW100 has an object for the configuration of that service Index 1017h Name Prod
46. o that there is enough time for the transmission of the telegrams and also that the rest of the communication be able to be processed For any every slave only one of the two services Heartbeat or Node Guarding can be enabled 6 5 3 Error Control Heartbeat The error detection through the Heartbeat mechanism is done using two types of objects the Heartbeat producer and the Heartbeat consumer The producer is responsible for sending periodic telegrams to the network simulating a heartbeat indicating that the communication is active and without errors One or more consumers can monitor these periodic telegrams and if they cease occurring it means that any communication problem occurred gt Heartbeat 1 Message 2 Periodic gl Heartbeat Consumer Heartbeat Producer Communication interrupted Error Timeout waiting for the message Figure 6 6 Error control service Heartbeat One device of the network can be both producer and consumer of heartbeat messages For example the network master can consume messages sent by a slave making it possible to detect communication problems with the master and simultaneously the slave can consume heartbeat messages sent by the master also making it possible to the slave detect communication fault with the master The CFW100 has the producer and consumer of Heartbeat services As a consumer it is possible to program up to 4 differe
47. omposed mainly by an 11 bit identifier arbitration field and by a data field that may contain up to 8 data bytes Identifier 8 data bytes 11 bits byte O byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 1 1 2 Remote Frame Besides the data frame there is also the remote frame RTR frame This type of frame does not have a data field but only the identifier It works as a request so that another network device transmits the desired data frame 1 1 3 Access to the Network Any device in a CAN network can make an attempt to transmit a frame to the network in a certain moment If two devices try to access the network simultaneously the one that sends the message with the highest priority will be able to transmit The message priority is defined by the CAN frame identifier the smaller the value of this identifier the higher the message priority The telegram with the identifier O zero is the one with the highest priority 1 1 4 Error Control The CAN specification defines several error control mechanisms which makes the network very reliable and with a very low undetected transmission error rate Every network device must be able to identify the occurrence of these errors and to inform the other elements that an error was detected A CAN network device has internal counters that are incremented every time a transmission or reception error is detected and are decremented when
48. opped state only the NMT object can receive or transmit telegrams to the network The next table shows the objects available for each state Table 6 8 Objects accessible in each state Initialization Preoperational Operational Stopped SDO ee eee FR e e po Je fl e 5 This state machine is controlled by the network master which sends to each slave the commands so that the desired state change be executed These telegrams do not have confirmation what means that the slave does only receive the telegram without returning an answer to the master The received telegrams have the following structure Identifier byte 2 00h Destination Node ID Table 6 9 Commands for the state transition Destination Node ID 1 START node transition 3 2 STOP node transition 4 Alihesiaves 1 127 Specific slave 128 Enter pre operational transition 5 129 Reset node transition 6 130 Reset communication transition 7 The transitions indicated in the command code correspond to the state transitions executed by the node after receiving the command according to the Figure 6 4 The Reset node command makes the CFW100 execute a complete reset of the device while the Reset communication command causes the device to reinitialize only the objects pertinent to the CANopen communication 6 5 2 Error Control Node Guarding This service is used to make it possible the monitoring of the commu
49. ourth transmit PDO we have Therefore every time this PDO transmits its data it elaborates its telegram containing four data bytes with the values of the parameters P680 and P681 It is possible to modify this mapping by changing the quantity or the number of mapped objects Remember that a maximum of objects or 8 bytes can be mapped NOTE 7 In order to change the mapped objects in a PDO it is first necessary to write the value 0 zero in the sub index 0 zero In that way the values of the sub indexes 1 to can be changed After the desired mapping has been done one must write again in the sub index O zero the number of objects that have been mapped enabling again the PDO 6 4 SYNCHRONIZATION OBJECT SYNC This object is transmitted with the purpose of allowing the synchronization of events among the CANopen network devices It is transmitted by a SYNC producer and the devices that detect its transmission are named SYNC consumers The frequency inverter CFW100 has the function of a SYNC consumer and therefore it can program its PDOs to be synchronous As described in table 6 6 synchronous PDOs are those related to the synchronization object thus they can be programmed to be transmitted or updated based in this object of oF ot oP LL gt EP S P o 5 1 pe Period When receiving the SYNC every inverter Update data received by the RPDOs Update values and transmit
50. pped receiving valid data from CCAN module for a period longer than 1s Operation After the communication timeout has been identified the F236 fault message is shown on the HMI Possible Causes Correction CCAN module not properly connected to the equipment Hardware Problem in module CCAN CFW100 38 WEG Drives amp Controls Automa o LTDA Jaragu do Sul SC Brazil Phone 55 47 3276 4000 Fax 55 47 3276 4020 S o SP Brazil Phone 55 11 5053 2300 Fax 55 11 5052 4212 automacao weg net www weg net
51. ration Recommendations to perform the connection of the product in this network are presented next 3 1 BAUD RATE Equipments with CANopen interface generally allow the configuration of the desired baud rate ranging from 10Kbit s to 1Mbit s The baud rate that can be used by equipment depends on the length of the cable used in the installation The next table shows the baud rates and the maximum cable length that can be used in the installation according to the recommendation Table 3 1 Supported baud rates and installation size Cable Length 10 Kbit s 1000 m All network equipment must be programmed to use the same communication baud rate At the CFW100 frequency inverter the baud rate configuration is done through the parameter P702 3 2 ADDRESS IN THE CANOPEN NETWORK Each CANopen network device must have an address or Node ID and may range from 1 to 127 This address must be unique for each equipment For CFW100 frequency inverter the address configuration is done through the parameter P701 3 3 TERMINATION RESISTOR The CAN bus line must be terminated with resistors to avoid line reflection which can impair the signal and cause communication errors The extremes of the CAN bus must have a termination resistor with 1210 0 25W value connecting the CAN_H and CAN_L signals 3 4 CABLE The connection of CAN_L and CAN_H signals must done with shielded twisted pair cable The following table shows the
52. s TPDOs Figure 6 3 SYNC O gt of A The SYNC message transmitted by the producer does have any data in its data field because its purpose is to provide a time base for the other objects There is an object in the CFW100 for the configuration of the COB ID of the SYNC consumer CFW100 30 COMMUNICATION OBJECTS DESCRIPTION Index 1015h Name COB ID SYNC Object VAR Type UNSIGNED32 Access rw PDO Mapping No Range UNSIGNED32 Default value 80h NOTE 7 The period of the SYNC telegrams must be programmed in the producer according to the transmission rate and the number of synchronous PDOs to be transmitted There must be enough time for the transmission of these objects and it is also recommended that there is a tolerance to make it possible the transmission of asynchronous messages such as EMCY asynchronous PDOs and SDOs 6 5 NETWORK MANAGEMENT NMT The network management object is responsible for a series of services that control the communication of the device in a CANopen network For the CFW100 the services of node control and error control are available using Node Guarding or Heartbeat 6 5 1 Slave State Control With respect to the communication a CANopen network device can be described by the following state Ny machine 6 7 Initialization tm 2 Pre operational 3 Stopped Operational Figure 6 4 CANope
53. s the name of the object in order to facilitate its identification Type indicates directly the stored data type For simple variables this type may be an integer a float etc For arrays it indicates the type of data contained in the array For records it indicates the record format according to the types described in the first part of the object dictionary indexes 0001h 03601 Access informs if the object in question is accessible only for reading ro for reading and writing rw or if it is a constant const For objects of the array or record type a sub index that is not described in the dictionary structure is also necessary 5 2 DATATYPE The first part of the object dictionary index 0001h 025Fh describes the data types that can be accessed at a CANopen network device They can be basic types as integers and floats or compound types formed by a set of entries as records and arrays 5 3 COMMUNICATION PROFILE COMMUNICATION OBJECTS The indexes from 1000h to 1FFFh in the object dictionary correspond to the part responsible for the CANopen network communication configuration Those objects are common to all the devices however only a few are obligatory A list with the objects of this range that are supported by the frequency inverter CFW100 is presented next CFW100 20 OBJECT DICTIONARY Table 5 2 Object list Communication Profile 2 Name 24 UNSIGNEDS2 UNSIGNED8 UNSIGNEDS2 UNSI
54. ssion must occur immediately after the reception of a SYNC telegram but not periodically Values 1 240 the PDO must be transmitted at each detected SYNC telegram or multiple occurrences of SYNC according to the number chosen between 1 and 240 Value 252 indicates that the message content must be updated but not sent after the reception of a SYNC telegram The transmission of the message must be done after the reception of a remote frame RTR frame Value 253 the PDO must update and send a message as soon as it receives a remote frame Values 254 The object must be transmitted according to the timer programmed in sub index 5 Values 255 the object is transmitted automatically when the value of any of the objects mapped in this PDO is changed It works by changing the state Change of State This does also allow that the PDO be transmitted according to the timer programmed in sub index 5 In the sub index it is possible to program a minimum time in multiples of 100us that must elapse after the a telegram has been sent so that a new one can be sent by this PDO The value 0 zero disables this function The sub index 5 contains a value to enable a timer for the automatic sending of a PDO Therefore whenever a PDO is configured as the asynchronous type it is possible to program the value of this timer in multiples of ims so that the PDO is transmitted periodically in the programmed time NOTE
55. ucer Heartbeat Time Object VAR Type UNSIGNED16 Access rw PDO Mapping No Range UNSIGNED8 Default value 0 The 1017h object allows programming the time in milliseconds during which the producer has to send heartbeat telegram to the network Once programmed the inverter initiates the transmission of messages with the following format ae bit 6 bit O 700h Node ID Always O NOTE 7 This object is active even in the stopped state see table 6 8 The value O zero in the object will disable this function f after the error detection the service is enabled again then the error indication will be removed from the HMI The time value programmed for the consumer must be higher than the programmed for the respective producer Actually it is recommended to program the consumer with a multiple of the value used for the producer For any every slave only one of the two services Heartbeat or Node Guarding can be enabled 6 6 INITIALIZATION PROCEDURE Once the operation of the objects available for the frequency inverter CFW100 is known then it becomes necessary to program the different objects to operate combined in the network In a general manner the procedure for the initialization of the objects in a CANopen network follows the description of the next flowchart CFW100 35 COMMUNICATION OBJECTS DESCRIPTION Configuration of all device parameters via SDO Initiat
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