Home

Detailed description of services - inverter - plc

1. Example The Altivar 71 located at CANopen address 4 COB ID 16 180 4 is in the Operation enabled state and is not faulty status word ETA 16 xxx7 In our example the status word ETA is equal to 16 0607 Furthermore the speed of the motor is equal to 1500 rpm 16 05DC 16 184 16 07 16 06 16 DC 16 05 Receive RPDO1 Master gt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 512 Control word CMD Speed target LFRD 16 200 Node ID LSB MSB LSB MSB Example The Altivar 71 located at CANopen address 4 COB ID 16 200 4 receives the command called Enable operation control word CMD 16 xxxF In our example the control word CMD is equal to 16 000F Furthermore the speed of the motor is equal to 1200 rpm 16 04B0 16 204 16 0F 16 00 16 B0 16 04 44 efesotomasyon com Detailed description of services Extended default assignment Transmit TPDO1 Master lt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 384 Status word ETA Output speed RFRD Motor torgue 165180 Node ID LSB MSB LSB MSB LSB MSB Example The Altivar 71 located at CANopen address 4 COB ID 162180 4 is in the Operation enabled state and is not faulty status word ETA 16 xxx7 In our example the status word ETA is equal to 160607 the speed of the motor is equal to 1500 rpm 16 05DC and the
2. Each Heartbeat Producer sends Heartbeat messages at regular intervals the Producer Heartbeat Time 16 1017 00 All Heartbeat Consumers check that they receive these messages in a time less than the Consumer Heartbeat Time 16 1016 01 The Producer Heartbeat Time must be less than the Consumer Heartbeat Time If the drive has been configured as a consumer and a period of time equal to the Consumer Heartbeat Time elapses without a Heartbeat message being received the drive will trigger a Heartbeat event and send an emergency telegram EMCY If CANopen is the active channel a CANopen fault COF will be triggered The Heartbeat message sent from the drive contains a Heartbeat Producer state field byte 0 described here Bit 7 Reserved This bit is always equal to 0 Bits 6 0 Heartbeat Producer state Current NMT state of the Altivar 71 Initialization 16 00 Stopped 16 04 Operational 16 05 or Pre operational 16 7F 55 efesotomasyon com Object dictionary Index Object 16 0000 Not used 16 0001 16 001F Static data 16 0020 16 003F Complex data 16 0040 16 005F Not used manufacturer specific complex data 16 0060 16 007F Device profile specific static data 16 0080 16 009F Device profile specific complex data 16 00A0 16 0FFF Reserved 16 1000 16 1FFF Communication profile zone 16 2000 16 5FFF Altivar 71 specific profi
3. Format Range Terminal display Hexadecimal 0000 FFFF Hex Signed decimal 32 767 32 767 Signed Unsigned decimal 0 65 535 Unsigned Note If a monitored parameter has been assigned to an unknown address has been assigned to a protected parameter has not been assigned the value displayed in the COMMUNICATION MAP screen is see Diagnostics section efesotomasyon com Configuration Configuring communication fault management The response of the drive in the event of a CANopen communication fault can be configured It can be configured via the graphic display terminal or the integrated display 0 00Hz terminal from the 1 8 FAULT MANAGEMENT FLt menu COM FAULT MANAGEMENT CLL submenu via the COM FAULT MANAGEMENT CANopen fault mgt COL parameter Network fault mgt Freewheel CANopen fault mgt Freewheel Modbus fault mgt E Freewheel The values of the CANopen fault mgt COL parameter which trigger a drive fault CANopen com COF are Value Meaning Freewheel YES Freewheel stop factory setting Ramp stop rMP Stop on ramp Fast stop FSt Fast stop DC injection dC DC injection stop The values of the CANopen fault mgt COL parameter which do not trigger a drive fault are Value Meaning Ignore nO Fault ignored Per STT Stt Stop according to configuration of
4. MWS Acc acceleration m CANopen slave details _ Equip name jaave Vendor name Telemecanique Description ativar Drive COBID EMCY 190 THPDO 770 Pa Total No of slaves No of MW inputs No of MW outputs Note These assignments are only valid if the Altivar 71 is the only slave on the CANopen but and if the two PDOs in sets PDO1 and PDO2 are used as described in the previous example Configuring other slaves on the same bus or modifying the configuration of the Altivar 71 PDOs will change the assignment of the input and output words described above In this case SyCon features a command that can be used to view all inputs and outputs Select Table Addresses in the View menu Note Please note that SyCon displays the addresses and byte sizes IB for inputs and OB for outputs Do not forget that these bytes are aligned to word addresses Therefore an object with 1 byte assigned in an active PDO will in fact take an entire word The object of 1 byte will be assigned to the MSB byte of this word and the LSB byte will become a free byte The table below indicates the correspondence between the Altivar 71 PDOs configured and the PLC inputs and outputs PDO Type SyCon I O PL7 PRO I O Description of the assigned object IBO IB1 MWO ETA status word default assignment Transmit PDO1 Inputs IB2 IB3 YMW1 RFRD output speed
5. Menu Parameter Value 1 6 COMMAND ctL Profile CHCF Not separ SIM Ref 1 channel Fr1 CANopen CAn Ref 2 channel Fr2 AI1 An Ref 2 switching rFC L15 L15 efesotomasyon com Configuration Command in DSP402 profile via CANopen and target switching at the terminals The command comes from CANopen The command comes either from CANopen or from the terminals Input LI5 at the terminals is used to switch the target between CANopen and the terminals The command is in DSP402 profile separate mode Configure the following parameters Parameter Value Comment Profile Separate DSP402 profile The run commands are in DSP402 profile the command and the target can come from different channels Target 1 configuration CANopen Target 1 comes from CANopen Target 1B configuration Analog input 1 on the terminals Target 1B comes from input Al1 on the terminals Target switching Input LI5 Input LI5 switches the target 1 1B Command 1 configuration CANopen Command 1 comes from CANopen Command switching Channel 1 Channel 1 is the command channel Target 1B is connected to the functions summing PID etc which remain active even after switching Configuration via the graphic display terminal or the integrated display terminal Menu Parameter Value 1 6 COMMAND C
6. 16401 R W unsigned32 16 00000000 Transmit PDO2 assignment 1st object assigned No 1st object assigned by default R ond I 16 1A01 16402 RW unsigned32 16 00000000 Transmit PDO2 assignment 2 object assigned No 2 object assigned by default Transmit PDO2 assignment 3rd object assigned 16 03 R W unsigned32 16 00000000 No 2 object assigned by default Transmit PDO2 assignment 4 object assigned 16 04 R W unsigned32 16 00000000 No 4 object assigned by default Transmit PDO3 assignment Number of objects assigned 16 00 R unsigned8 16 04 4 objects are assigned in transmit PDO3 by default although this number can be reduced to 0 Transmit PDO3 assignment 1st object assigned 152 A unisigned32 16 20640C10 Output word TP31 on the Controller Inside programmable card 16 1A02 i Transmit PDO3 assignment 2nd object assigned 16702 2 unsigneds2 16 20640010 Output word TP32 on the Controller Inside programmable card Transmit PDO3 assignment 3rd object assigned 16 03 2 unsigned32 16 20640E 10 Output word TP33 on the Controller Inside programmable card p ath p p 16404 R unsigned32 16 20640F10 Transmit PDO3 assignment 4 object assigned Output word TP34 on the Controller Inside programmable card 61 efesotomasyon com atv71_canopen_en_v1 2005 02 efesotomasyon com
7. Failure to follow this instruction can result in equipment damage efesotomasyon com Documentation structure Installation manual This manual describes How to assemble the drive How to connect the drive Programming manual This manual describes The functions The parameters How to use the drive display terminal integrated display terminal and graphic display terminal Communication parameters manual This manual describes e The drive parameters with specific information for use via a bus or communication network The operating modes specific to communication state chart The interaction between communication and local control Modbus CANopen Ethernet Profibus INTERBUS Uni Telway FIPIO Modbus Plus DeviceNet manuals These manuals describe Connection to the bus or network Diagnostics Configuration of the communication specific parameters via the integrated display terminal or the graphic display terminal They describe the protocol communication services in detail Altivar 58 58F migration manual This manual describes the differences between the Altivar 71 and the Altivar 58 58F It explains how to replace an Altivar 58 or 58F including how to replace drives communicating on a bus or network efesotomasyon com Introduction Presentation The CANopen protocol is available on the Altivar 71 speed drive via a VW3 CAN A71 adapter which must be ordered separa
8. HAZARDOUS VOLTAGE Read and understand this manual before installing or operating the Altivar 71 drive Installation adjustment repair and maintenance must be performed by qualified personnel The user is responsible for compliance with all international and national electrical standards in force concerning protective grounding of all equipment Many parts in this variable speed drive including printed wiring boards operate at line voltage DO NOT TOUCH Use only electrically insulated tools DO NOT touch unshielded components or terminal strip screw connections with voltage present DO NOT short across terminals PA and PC or across the DC bus capacitors Install and close all covers before applying power or starting and stopping the drive Before servicing the variable speed drive Disconnect all power Place a DO NOT TURN ON label on the variable speed drive disconnect Lock the disconnect in the open position Disconnect all power including external control power that may be present before servicing the drive WAIT 15 MINUTES for the DC bus capacitors to discharge Then follow the DC bus voltage measurement procedure given in the Installation Manual to verify that the DC voltage is less than 45 Vdc The drive LEDs are not accurate indicators of the absence of DC bus voltage Electric shock will result in death or serious injury CAUTION DAMAGED EQUIPMENT Do not operate or install any drive that appears damaged
9. Selected devices Vendor name Telemecanigue Node ID Product number 0 Description Product version No entry Product revision No entry EDS filename TEATV7111E EDS EDS Revision 1 Altivar 1_Drive Click OK to return to the main SyCon window The selected device appears in the required position fA SyCon C Program Files Schneider SyCon Project ATY 71 Software Setup Example co R File Edit View Insert Online Settings Window Help 1 X Add gt gt Add All gt gt lt lt Remove lt lt Remove All E Select Node in the Insert menu or click the button Move the mouse pointer which now looks like this N to the position where you wish to add the Altivar 71 then left click In the Insert Node window that appears select the ATV71_Vx y_F device and click the Add gt gt button You can also modify the address Node ID and the description of this node in this window olsa 2 TSX_Premium_CPP_110 Node iD Master Altivar71 Drive Node iD Node For Help press F1 TSX CPP 110 ATV71_V1 1_E CANopen ConfigMode 32 efesotomasyon com Software setup with PL7 and SyCon Example of how to edit and configure the Altivar 71 Double click the line corresponding to the Altivar 71 The Node Configuration window appears The Node Configuration window shown below illustrates the small number of operations required to configure Recei
10. Semi Automatic bus alone No of words MV 2 By program Index of Ist MW fo E Index of tst MW r Configuration load mode m Watchdog Select Database Activated Configuration size 13 words PL C SyCon Disactived Transmission speed e SYNC Message COB ID aa SYNC Message Period Auto Clear ES BUS conhgureton wows Moe OFFLINE U SYS INS 74 Click the hilscher button in the red square above to start up the SyCon configuration tool N B This button will only appear if SyCon is installed on the PC 28 efesotomasyon com Software setup with PL7 and SyCon Creating a CANopen network in SyCon Select New in the File menu to create a new configuration and select the Select fieldbus X CANopen bus type InterBus PROFIBUS This command creates an empty network segment in the main SyCon window am Cancel In our example we save this configuration immediately under the name ATV71 Example Software Setup co Selecting and adding a CANopen master PLC Select Master the button The Insert Master window appears Select TSX CPP 100 ABS the TSX CPP 110 or TSX CPP 100 eel Cancel master device and click Add gt gt A A You can also modify the address Node ID lt Remove lt Remove and the description of this master device in this E E
11. Software setup with PL7 and SyCon The following sections describe the settings to be made in PL7 PRO version 2 V4 3 and SyCon version 2 V2 8 in order for the Altivar 71 to be recognized correctly by the CANopen master PLC The following software versions are used in this context PL7 PRO V4 4 and SyCon V2 8 The CANopen bus described in the following sections includes just one CANopen master Premium TSX 57353 V5 1 PLC TSX CPP 110 CANopen master PCMCIA card and one slave Altivar 71 Hardware configuration in PL7 PRO In PL7 PRO create a new application or open the application in which you wish to add a CANopen bus Edit the hardware configuration for this application by adding a TSX CPP 110 PCMCIA CAN OPEN CARD in CHANNEL 1 of the Comm slot on the TSX 57353 Note TSX CPP 100 and TSX CPP 110 cards are configured in exactly the same way in PL7 PRO bon ined PRO AT 71 SOFTWARE SETUP EXAMPLE Of x File Edit Utilities View Tools PLC Debug Options Window kl E sa Siam Sleleo 2 e L in e 1000 Configuration z Designation PROCESSOR TSX P 57353 Ta Structure Vie Sy STATION 3 Configuration CHANNEL 1 P Hardware Configurat fetter sis TSX CPP 100 110 CAN OPEN PCMCIA CARD Software Configurati Tij h manm CANopen mast z Jil Configuration Bus start up Inputs M Outputs Tsx 57353 v51 E ca m os C Maintain RAZ TA No of words MW 22
12. Status word ETA 16 xx21 23 ATV waiting ATV ready IF SMW9 16 0021 OR SMW9 16 0023 THEN SMW6 16 000F Control word CMD 16 000F Enable operation SMW7 1500 Speed target LFRD 1500 rpm START TMO Starts forward reverse time out END IF Status word ETA 16 xx27 ATV running IF SMW9 16 0027 THEN Forward reverse time out elapsed iF S1M0 0 THEN Inversion of direction of rotation by means of inversion of LFRD speed target sign Speed target LFRD 1500 rpm IF SMW7 1500 THEN MW7 1500 ELSE SMW7 1500 END_IF Checks that the status word ETA has not changed gt Enable operation command SMW6 SMW6 OR 16 000F Restarts the forward reverse time out DOWN TMO START TMO END IF END IF efesotomasyon com 39 Detailed description of services NMT commands Master gt Drive COB ID Byte 0 Byte 1 0 Command specifier Node ID 16 000 CS 1 1 lf Node ID 0 the command specifier is broadcast to all CANopen slaves including the Altivar 71 Each slave must then execute this NMT command thereby completing the corresponding transition see below Check that your CANopen slaves support broadcast communication on COB ID 0 which the Altivar 71 does see page 26 Command specifier CS Meaning 1 16 01 Start_Remote_Node 2 16 02 Stop_Remote_Node 128 16
13. 3 CAN H CAN L CAN GND D1 1 DO 1 Not connected VP 2 CAN _H 7 Common 1 I O A ww N 1 Modbus signal 2 Power supply for an RS232 RS485 converter to PowerSuite efesotomasyon com Hardware setup Connecting to the CANopen bus The diagram below illustrates an example configuration comprising four Altivar 71 drives connected to a TSX Premium master PLC fitted with a TSX CPP 110 CANopen master PCMCIA card Connection accessories should be ordered separately please consult our catalogs See also below 1 TSX Premium PLC TSX CPP 110 CANopen master PCMCIA card Te 1 2 Drop cable and cable connector supplied with TSX CPP 110 card 3 TSX CAN KCDF 180T 9 way female SUB D connector with active line terminator 2 i 4 TSX CAN Ceee CANopen cable available in lengths of 50 100 or 300 m A 5 VW3 CAN A71 CANopen adapter VW3 CAN KCDF 180T 1 j 4 9 way female SUB D connector with deactivated line se terminator 6 VW3 CAN A71 CANopen adapter VW3 CAN KCDF 180T 4 5 5 5 6 9 way female SUB D connector with active line terminator 3 Description Length m Catalog number CANopen adapter to be installed VW3 CAN A71 in the RJ45 port on the drive s control terminals The adapter provides a 9 way m
14. 57 efesotomasyon com Object dictionary Index ole Access Type Default value Description index 16 00 R unsigned8 16 03 ID object Number of objects 16401 R unsigned32 16 0200005A B object Supplier ID p This value is manufacturer specific 161018 16402 R unsigned32 71 ID object Product identification code Example ID object Product version 16 03 R unsigned32 16 00010002 Bits 16 31 Primary version ID for v1 2 Bits 0 15 Secondary version ID 16 00 R unsigned8 16 02 Receive PDO1 Number of objects Receive PDO1 COB ID entry 16 01 RAW unsigned32 Ua ad Only bit 31 can be accessed in write mode PDO activated 0 or 161400 PDO disabled 1 Receive PDO1 Transmission method 16402 RAW unsigned8 16 FF asynchronous 254 or 255 cyclic synchronous 1 240 and acyclic synchronous 0 16 00 R unsigned8 16 02 Receive PDO2 Number of objects Receive PDO2 COB ID entry 16401 RW unsigned32 16 80000300 Bit 31 can be accessed in write mode PDO disabled 1 or PDO active 0 16 1401 Node ID Bits 0 10 can be accessed in write mode to enable slave to slave communication Receive PDO2 Transmission speed 16 02 R W unsigned8 16 FF asynchronous 254 or 255 cyclic synchronous 1 240 and acyclic synchronous 0 16 00 R unsigned8 16 02 Receive PDO3 Number of objects Receive PDO3 COB ID entry 16401 RAW unsigne
15. In factory settings a CANopen communication fault triggers a resettable drive fault CANopen com COF and a freewheel stop The response of the drive in the event of a CANopen communication fault can be changed see Configuring communication fault management Drive fault CANopen com COF freewheel stop stop on ramp fast stop or DC injection stop No drive fault stop maintain fallback The fault management is described in the user guide Communication parameters chapter Communication monitoring After initialisation power up the drive checks that at least one of the command or target parameters has been written once via CANopen Then if a CANopen communication fault occurs the drive reacts according to the configuration stop maintain fallback The source of this fault is displayed on the terminal 1 2 MONITORING SUP menu COMMUNICATION MAP CMM submenu CANopen MAP submenu Error code ErCO parameter described in the Communication diagnostics section In the event of a CANopen com COF fault the drive sends an EMCY message to the CANopen master 21 efesotomasyon com Software setup Profiles Communication profile The Altivar 71 communication profile is based on CAN 2 A The CANopen specification DS301 V4 02 Simplified telegram structure communication object Identifier 11 bits Data maximum length 8 bytes COB ID Byte 0
16. R W unsigned32 16 00000000 Receive PDO2 assignment and object assigned No 2 9 object assigned 16 03 R W unsigned32 16 00000000 Receive PDO2 assignment 3rd object assigned No 3 object assigned 16 04 R W unsigned32 16 00000000 Receive PDO2 assignment qth object assigned No 4 object assigned 16 1602 16 00 R W unsigned8 167504 Receive PDO3 assignment Number of objects assigned 4 objects are assigned in receive PDO3 by default although this number can be reduced to 0 167401 unsigned32 16 20640210 Receive PDO3 assignment 1st object assigned Input word RP31 on the Controller Inside card 16 02 unsigned32 16 20640310 Receive PDO3 assignment and object assigned Input word RP32 on the Controller Inside card 16 03 unsigned32 16 20640410 Receive PDO3 assignment 3rd object assigned Input word RP33 on the Controller Inside card 16 04 unsigned32 16 20640510 Receive PDO3 assignment 4th object assigned Input word RP34 on the Controller Inside card 16 1800 16 00 unsigned8 16 05 Transmit PDO1 Number of objects 16 01 R W unsigned32 16 00000180 Node ID Transmit PDO1 COB ID entry Only bit 31 can be accessed in write mode PDO active 0 or PDO disabled 1 16 02 R W unsigned8 16 FF Transmit PDO1 Transmission speed Choice of 3 modes for this PDO asynchronous 254 or 255 cycl
17. Schematic x1 X2 o1 o 2 CAN GND 1 3 CAN L 2 o4 CAN H 3 o5 CAN L 4 o6 CAN H 5 7 CAN GND 6 o8 9 X1 Internal screw terminal X2 9 way female SUB D X1 Internal screw terminal X2 9 way female SUB D Signal 1 6 3 CAN_GND 2 4 2 CAN_L 3 5 7 CAN_H efesotomasyon com Configuration Configuring the communication parameters The configuration of the CANopen communication functions on the Altivar 71 is accessed via the 1 9 COMMUNICATION COM menu CANopen CnO submenu on the graphic display terminal or integrated display terminal Note The configuration can only be modified when the motor is stopped and the drive locked In order for modifications to take effect the drive must be shut down then restarted Parameter Possible values Terminal display Default value CANopen address AdCO CANopen deactivated OFF OFF OFF OFF 1 to 127 1 1 127 127 CANopen bit rate bdCO 20 kbps 20 1 50 kbps 50 kbps 50 125 kbps 125 kbps 125 125 kbps 125 250 kbps 250 kbps 250 500 kbps 500 kbps 500 1 000 kbps 1000 kbps 1M In this user s manual the CANopen address AdC0 parameter is referred to as the NODE ID Set this parameter to its default value OFF to deactivate CANopen communication on the Altivar 71 To activate CANopen communication on the Altivar 71 write a value other than zero to the CANopen address AdC0 p
18. THR3 Read Write Next scroll down the Mappable Objects from RFRI Read Write EDS file list until you reach the Status word 2 parameter index subindex 16 2002 07 G Transmit PDO2 To configure the Status word 2 Object2002ldx7 2029 16 Default Object2029ldx22 2002 5 Motor current Object2002ldx5 Motor power Object2002ldx12 Select this parameter and click the Append Object button or double click this parameter to add the corresponding object to the PDO Mapped Object dictionary i e to the content of its assignment Delete mapped Object 34 efesotomasyon com Software setup with PL7 and SyCon Repeat these operations for the Default index subindex 16 2029 16 Motor current index subindex 16 2002 05 and Motor power index subindex 16 2002 0C parameters These parameters correspond to drive parameters LFT LCR and OPR PDO3 In this example we are not using PDO3 as our drive does not have a Controller Inside programmable card Regardless of its nature the default assignment of PDO3 is static and cannot therefore be modified a Configuring the error control service on the Altivar 71 Click the Configuration Error Control Protocol to display the following selection of error control services that can be used on the Altivar 71 Node Guarding service or Heartbeat service Node Guarding service If this service is selected the two parameters Guard Tim
19. asynchronous mode this object defines a minimum transmission frequency for this PDO unit 1 ms minimum value 10 10 ms The duration of this event timer must be greater than that of the inhibit timer subindex 16 03 Asynchronous PDO transmission will therefore take place when the data to be transmitted change with these two periods as temporal limits 16 1A00 16 00 R W unsigned8 16 02 Transmit PDO1 assignment Number of objects assigned Two objects are assigned by default in transmit PDO1 although between 0 and 4 objects can be assigned 16 01 R W unsigned32 16 60410010 Transmit PDO1 assignment 1st object assigned Default status word ETA 16 6041 00 16 02 R W unsigned32 16 60440010 Transmit PDO1 assignment 2nd object assigned Default speed output RFRD 16 6044 00 16 03 R W unsigned32 16 00000000 Transmit PDO1 assignment 3rd object assigned No 3 object assigned by default 16 04 R W unsigned32 16 00000000 Transmit PDO1 assignment 4th object assigned No 4 object assigned by default 60 efesotomasyon com Object dictionary Sub Index index Access Type Default value Description Transmit PDO2 assignment Number of objects assigned 16 00 R W unsigned8 164400 No objects are assigned by default in transmit PDO2 although between 0 and 4 objects can be assigned
20. input word 3 TP33 16 2064 F Controller inside input word 4 TP34 24 efesotomasyon com Software setup Optimizing the response time The response time can be optimized for the PDO1 configurations described below In these configurations The taking into account of RPDO1 receive is processed with the same priority as a logic input from the terminals TPDO1 transmit is updated with the same priority as an output from the terminals In all other configurations a receive PDO is taken into account by the drive s background task Receive PDOs No of Parameters configured ss Index Name Comment 1 16 6040 Control word CMD Drive control No of Parameters configured EBOS Index Name Li 1 166040 Control word CMD Drive control in speed regulation mode 16 6042 Speed target LFRD No of Parameters configured Epes Index Name ees 1 16 6040 Control word CMD Drive control in torque control or speed regulation mode 16 6042 Speed target LFRD 16 6071 Torque target LTR Transmit PDOs No of Parameters configured BROS Index Name Comment 1 16 6041 Status word ETA Drive state monitoring No of Parameters configured Comment hoos Index Name 1 16 6041 Status word ETA Drive monitoring in speed regulation mode 16 6044 Output speed RFRD No of Parameters con
21. parameter for the corresponding Receive transmit PDO1 parameter object see below This bit activation will mark the PDO as invalid so that it will not be exchanged on the CANopen bus However the 31 other bits in COB ID entry PDO must not be modified Index Subindex Description PDO activated PDO deactivated 16 1400 16 01 COB ID entry receive PDO1 16 00000200 Node ID 16 80000200 Node ID 16 1800 16 01 COB ID entry transmit PDO1 16 00000180 Node ID 16 80000180 Node ID Example The PL7 example below deactivates the Altivar 71 transmit PDO1 located in address 4 MD1000 16 80000184 data to send disabling of transmit PDO1 via node 4 3MW500 1641800 logic address index in the LSB of MD500 SMW501 16 0001 logic address subindex in the MSB of MD500 3MW22 50 time out 50 x 10 ms 500 ms 3MW23 4 data length 4 bytes SEND write command SDO WRITE WRITE VAR ADR 0 1 SYS SDO MD500 6 MW1000 2 MW20 4 Note The Altivar 71 transmit PDO2 receive PDO2 transmit PDO3 and receive PDO3 are inactive by default If you configure one or more of these four PDOs in the Configured PDOs SyCon will not activate it or them due to an internal anomaly You must activate it or them via the PL7 program Transmit or receive PDOs set PDO2 or PDO3 are activated in the PL7 application by using the SDO service to deactivate bit 31 of the PDO COB ID entry parameter for the
22. 1 ms 16 100C 116200 RANY risigned16 1640000 If you use this protocol Guard Time gt 0 make sure that the Heartbeat protocol is deactivated on the Altivar 71 Producer Heartbeat Time 0 Life Time Factor Multiplier coefficient applied to the Guard Time to 16 100D 16 00 R W unsigned8 16 00 obtain the Life Time The value 0 deactivates the Node Guarding service in respect of the drive 16 00000700 Node Guarding identifier COB ID entry used for the Node Guarding 16 100E 16 00 R unsigned32 Node ID protocol and managed by the configurator SyCon 16 100F 16 00 R unsigned32 16 00000001 Number of SDOs supported COB ID entry for emergency message EMCY 16 1014 16 00 R unsigned32 16 00000080 y ula ge Node ID 16400 R unsigned8 16 01 Consumer Heartbeat Time Number of objects Consumer Heartbeat Time P Bits 24 31 not used 0 161016 Bits 16 23 Node ID of Heartbeat Producer TERON RINY unsignedaz 16400000000 Bits 0 15 Max duration of Consumer Heartbeat unit 1 ms Note A single Heartbeat Producer can be configured here By default no producers are monitored value 0 Producer Heartbeat Time By default the Altivar 71 does not produce 16 1017 16 00 R W unsigned16 16 0000 Heartbeat messages the unit of this object is 1 ms If you use this protocol Producer Heartbeat Time gt 0 make sure that the Node Guarding protocol is deactivated on the Altivar 71 Guard Time 0
23. 16 00 16 00 16 00 16 60 Write data 1 2 4 bytes in length response 16 00 16 00 16 00 16 00 16 80 Error sending cancellation code 2 Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 1 To use an SDO service reserved for reading multi byte data such as manufacturer name parameter 16 1008 16 00 segmented transfer is triggered between the master and the drive The request code 16 80 is used to stop this type of transfer 2 The response data bytes 4 to 7 correspond to a 32 bit cancellation code a complete list of all cancellation codes supported by the Altivar 71 appears in the table on the next page Note Segmented transfer can only be used for items of data larger than 4 bytes It is only used for Device name object 16 1008 in conjunction with the Altivar 71 50 efesotomasyon com Detailed description of services Cancellation code 1 16 0503 0000 16 0504 0001 16 0601 0000 Description Segmented transfer The toggle bit has not been modified Request code invalid or unknown Parameter access error e g write request on read only parameter 16 0601 0002 16 0602 0000 Attempt to execute a write request on a read only parameter The index sent in the request refers to an object which does not exist in the object dictionary 16 0604 0041 PDO object assignment The parameter cannot be assigned to the PDO this error occurs when writing to parameters 16 1600 16 1601 16 1602 16 1A00
24. In SyCon the O Len column in the Configured PDOs section indicates the size of the output data type OB Output Bytes of each receive PDO configured for a given node In our case we have 4 OBs for receive PDO1 and 2 OBs for receive PDO2 for a total of 6 output bytes We assign the output words so that they are located just behind the input words The first output word is MW6 our CANopen words are therefore MW6 to MWS8 The order in which the receive PDOs and the objects they contain are configured determines the content of the corresponding MW output words In our case words MW6 to MW8 correspond to drive parameters CMD LFRD and CMI Outputs Reset Maintain or reset Indicates if the CANopen output words are maintained or reset to zero when the associated task see above is stopped as this type of stop does not stop the TSX CPP 110 card Watchdog Activated Activated or deactivated If this option is activated the CANopen watchdog on the TSX CPP 110 CANopen PCMCIA card will be triggered as soon as the card experiences difficulty managing the CANopen bus At the same time all CANopen output words are reset to 0 37 efesotomasyon com Software setup with PL7 and SyCon Option Default value Possible values Loading configuration mode PL7 PL7 or SyCon PL7 The CANopen bus configuration is downloaded to the destination master PLC using the PL7 software application In the e
25. LCR is equal to 4 0 A 16 0028 The corresponding telegram sent for this transmit PDO is therefore as follows 8 data bytes 16 184 16 07 16 06 16 DC 16 05 16 3E 16 03 16 28 16 00 46 efesotomasyon com Detailed description of services Receive RPDO1 Master gt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Altivar 71 variable Altivar 71 variable A 512 by default control word by default speed target b Ba 0 b Ap ala 1 6 200 CMD LFRD y p y i p Node ID LSB MSB LSB MSB LSB MSB LSB MSB Example The first default assignment object is maintained 16 6040 00 but the second is deleted 16 6042 00 thereby producing the restricted default assignment of receive PDO1 This restricted default assignment then becomes a user assignment by means of the suffixing of the Acceleration ramp time ACC Acceleration 16 203C 02 and Deceleration ramp time DEC Deceleration 16 203C 03 parameters in bytes 2 to 5 thereby producing the following user assignment COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 512 Control word CMD Roceeration ramp time Pageleistion ramp time 16 200 ACC DEC Node ID LSB MSB LSB MSB LSB MSB Consider an Altivar 71 located at CANopen address 4 COB ID 16 200 4 and controlled as follows Enable operation command control
26. The length of PDO3 is always 8 data bytes 23 efesotomasyon com Software setup PDO default configuration Receive PDOs No of Parameters configured by default PDOs Comment Index Name 1 16 6040 Control word CMD Drive control in speed regulation mode 16 6042 Speed target LFRD This PDO can be reconfigured It is activated by default 2 Additional settings or commands No parameter configured by default This PDO can be reconfigured It is deactivated by default 3 16 2064 2 Controller inside output word 1 RP31 Controller inside card control x E This PDO cannot be reconfigured 16 2064 3 Controller inside output word 2 RP32 It is deactivated by default 16 2064 4 Controller inside output word 3 RP33 16 2064 5 Controller inside output word 4 RP34 Transmit PDOs No of Parameters configured by default PDOs Comment Index Name 1 16 6041 Status word ETA Drive monitoring in speed regulation mode 16 6044 Output speed RFRD This PDO can be reconfigured It is activated by default 2 Additional monitoring No parameter configured by default This PDO can be reconfigured It is deactivated by default 3 16 2064 C Controller inside input word 1 TP31 Controller inside card monitoring z This PDO cannot be reconfigured 16 2064 D Controller inside input word 2 TP32 It is deactivated by default 16 2064 E Controller inside
27. Type of stop Sit Change to fallback speed maintained as long as the fault persists and the run command has not been fallback spd LFF removed The drive maintains the speed at the time the fault occurred as long as the fault persists and the run Spd maint command has not been removed The fallback speed can be configured in the 1 8 FAULT MANAGEMENT FLt menu using the Fallback speed LFF parameter 15 efesotomasyon com Diagnostics LEDs this manual The two LEDs located on the right hand side of the 7 segment integrated display terminal indicate the CANopen communication status The two LEDs on the left hand side are reserved for Modbus and are not described in LED LED state Altivar 71 CANopen state Q The drive CANopen controller is in the OFF state xy i 64 The Altivar 71 is in the CANopen Stopped state SA RUN A Vg ma tan ait 164 gt The Altivar 71 is in the CANopen Pre operational state PTA 64 The Altivar 71 is in the CANopen Operational state Q No error signaled VI Warning output by the Altivar 71 CANopen controller KZN e g too many error frames ERR yf y ERROR due to the occurrence of a Node Guarding or Heartbeat event or an 24 AA overrun on the CANopen bus network overload 64 The CANopen controller is in the OFF state Key LED state Visual description of the LED state LED stat
28. not been received Bits 6 0 NMT state Current NMT state of the Altivar 71 Initialization 16 00 Stopped 16 04 Operational 16 05 or Pre operational 16 7F The Canopen NMT state NMTS parameter 16 201E 3A can be accessed via the drive display terminal see section CANopen communication diagnostics page 17 and via the Power Suite software workshop If the drive does not send a response or if it sends an incorrect state the master will trigger a Node Guarding event 53 efesotomasyon com Detailed description of services Example configuration for the Node Guarding service The Altivar 71 Life Time can be modified using the SDO service in order to write new values for the Guard Time and Life Time Factor parameters Parameter Index Subindex Format Unit Guard Time 16 100C 16 00 16 bit unsigned integer 1 ms Life Time Factor 16 100D 16 00 Unsigned byte In our example we are going to configure a Life Time of 2 seconds with a Guard Time of 500 ms and a Life Time Factor of 4 500 ms x 4 2 s 1 Setting the Guard Time parameter to 500 ms COB ID 16 600 Node ID for the write request or 16 580 Node ID for the write response Request code byte 0 16 2B to write data 2 bytes in length Response code byte 0 16 60 if the write operation has been completed without errors Object index bytes 1 and 2 16 100C Object subindex byte 3 16 00 Request data bytes 4 and 5 1
29. 16 1A01 and16 1A02 assignments of PDO1 2 and 3 16 0604 0042 PDO object assignment The number and or length of the parameters to be assigned exceeds the maximum PDO length 16 0609 0011 The subindex sent in the request does not exist 16 0609 0030 Outside parameter value limits for a write request only 16 0609 0031 Value of parameter written too high 16 0800 0000 A general error has occurred 1 Please note that the cancellation codes listed in this table have been written in accordance with general convention and must therefore be inverted in the case of byte by byte representation for bytes 4 to 7 e g 16 0609 0030 becomes byte 4 16 30 byte 5 16 00 byte 6 16 09 byte 7 16 06 Important notes about the SDO service Do not try to use SDO write requests to a parameter that has been assigned in an RPDO receive Example If the speed target rpm is assigned in RPDO1 there is no point using an SDO to write this target Any parameter connected to one of the parameters configured in an RPDO receive must not be modified using an SDO write request Example If the speed target in rpm is assigned in RPDO1 there is no point using an SDO to modify the frequency target 0 1 Hz 51 efesotomasyon com Detailed description of services Example of a read operation using the SDO service This example explains how to read the acceleration ramp time ACC parameter on an Altivar 71 located at CANo
30. 3 4 Transmit PDO3 1 Transmit PDO3 2 642 Transmit PDO3 3 10 Transmit PDO3 4 9432 18 efesotomasyon com Diagnostics Control signal diagnostics On the terminal the 1 2 MONITORING menu COMMUNICATION MAP submenu can be used to display control signal diagnostic information between the Altivar 71 drive and the CANopen master Active command channel Value of the control word CMD from the active command channel Active target channel Value of the target from the active target channel Value of the status word Values of the four parameters selected by the user The COM SCANNER INPUT MAP submenu is unnecessary for CANopen The COM SCAN OUTPUT MAP submenu is unnecessary for CANopen In the CMD WORD IMAGE submenu control words from all channels Inthe FREQ REF WORD MAP submenu frequency targets produced by all channels Example of the display of communication diagnostic information 50 00Hz 80A COMMUNICATION MAP Command Channel CANopen Cmd value 000FHex Active ref channel CANopen Frequency ref 500 0Hz Status word 8627Hex W3204 73 W3205 725 W7132 0000Hex wo Fe COM SCANNER INPUT MAP COM SCAN OUTPUT MAP CMD WORD IMAGE FREQ REF WORD MAP MODBUS NETWORK DIAG MODBUS HMI DIAG CANopen MAP PROG CARD SCANNER Control word display The Command Channel parameter indicates the active command channel The Cmd value parameter indicates t
31. 6 01F4 500 Request Master gt Drive 16 604 16 2B 16 0C 16 10 16 00 16 F4 16 01 16 00 16 00 Response Master lt Drive 16 584 16 60 16 0C 16 10 16 00 16 00 16 00 16 00 16 00 2 Setting the Life Time Factor parameter to 4 COB ID 16 600 Node ID for the write request or 16 580 Node ID for the write response Request code byte 0 16 2F to write data 1 byte in length Response code byte 0 16 60 if the write operation has been completed without errors Object index bytes 1 and 2 16 100D Object subindex byte 3 16200 Request data byte 4 16704 4 Request Master gt Drive 16 604 16 2F 16 0D 16 10 16 00 16 04 16 00 16 00 16 00 Response Master lt Drive 16 584 16 60 16 0D 16 10 16 00 16 00 16 00 16 00 16 00 54 efesotomasyon com Detailed description of services Heartbeat service Description If you do not activate the Node Guarding service described in the previous section you can use the Heartbeat service to monitoring communication with another node provided that it supports this service The Heartbeat service is deactivated by default on the Altivar 71 the Consumer Heartbeat Time and Producer Heartbeat Time parameters are both set to 0 Producer gt Consumer COB ID Byte 0 1792 16 700 a i Node ID
32. 6 bytes Example Assignment of 3 parameters Last fault occurred LFT 16 2029 16 Current in the motor LCR 16 2002 05 and Motor power OPR 16 2002 0C This produces the following user assignment COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 640 Last fault occurred LFT Current in the motor LCR Motor power OPR 16 280 Node ID LSB MSB LSB MSB LSB MSB Consider an Altivar 71 located at CANopen address 4 COB ID 164280 4 and in the following state The last fault occurred LFT is nOF no fault stored 160000 The current in the motor LCR is equal to 4 0 A 16 0028 The motor power OPR is equal to 50 16 0032 The corresponding telegram sent for this transmit PDO is therefore as follows 8 data bytes 16 284 16 00 16 00 16 28 16 00 16 32 16 00 Receive RPDO2 Master gt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 768 Altivar 71 variable Altivar 71 variable Altivar 71 variable Altivar 71 variable 16 300 by default no parameter by default no parameter by default no parameter by default no parameter Node ID LSB MSB LSB MSB LSB MSB LSB MSB 48 efesotomasyon com Detailed description of services PDO3 This PDO set is reserved for the Altivar 71 Controller Inside programmable card and must only be used on a drive equipped with this card Set P
33. 80 Enter_Pre Operational_State 129 16 81 Reset_Node 130 16 82 Reset_Communication Example Transition to pre operational state Enter_Pre Operational_State 16 80 of the Altivar 71 located at CANopen address 4 16 04 16 000 16 80 16 04 40 efesotomasyon com Detailed description of services CANopen NMT state chart Power up or hardware reset Initialization Pre operational Operational Stopped 9 Transition 1 On power up the node automatically changes to the initialization state 2 Once initialization is complete the pre operational state is activated automatically 3 6 Start_Remote_Node 4 7 Enter_Pre Operational_ State 5 8 Stop_Remote_Node 9 10 11 12 13 14 Reset_Communication Depending on the communication status of the drive the following services are available Initialization Pre operational Operational Stopped PDO X SDO X X Synchronization SYNC X X Emergency EMCY X X Bootup service X X Network management NMT X X X In the event of a resettable fault the drive must be in the Operational NMT state in order that the PDO carrying the control word CMD receive PDO1 preferably can reset the drive using the CMD reset fault bit The CANopen master will then have to set the drive to the Operational state using an NMT telegram with CS 1 Start_
34. Altivar 71 CANopen User s manual Retain for future use abrandof Schneid P i tie Telemecanique efesotomasyon com efesotomasyon com Contents Before you begin 4 Documentation structure 5 Introduction 6 Presentation 6 Notation 6 Hardware setup 7 Installing the CANopen adapter 7 Connecting to the CANopen bus 8 Configuration 10 Configuring the communication parameters 10 Control signal configuration 11 Configuring monitored parameters 14 Configuring communication fault management 15 Diagnostics 16 LEDs 16 Communication diagnostics 17 Control signal diagnostics 19 Communication faults 21 Software setup 22 Profiles 22 PDO Process Data Objects 23 SDO Service Data Objects 26 Other available services 26 Description of identifiers taken into account 27 Software setup with PL7 and SyCon 28 Detailed description of services 40 NMT commands 40 CANopen NMT state chart 41 Bootup service 43 Synchronization object SYNC 43 Emergency object EMCY 43 PDO1 44 PDO2 48 PDO3 49 SDO service 50 Node Guarding service 53 Heartbeat service 55 Object dictionary 56 Communication profile zone objects 57 3 efesotomasyon com Before you begin Read and understand these instructions before performing any procedure with this drive A DANGER
35. Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Identifier The identifier of a CANopen telegram is coded on 11 bits The identifier is also called the COB ID Communication OBject Identifier Bits 0 to 6 CANopen address Node ID of the device sending receiving the telegram Bits 7 to 10 Telegram function code The table below lists the function codes used by the Altivar 71 Function code Service Range of possible identifiers Index of parameterization bit 10 bit 7 objects 1 2 0000 NMT 16 000 2 0001 SYNC 16 080 16 1005 EMCY 16 081 to 16 0FF 2 0011 Transmit PDO1 TPD01 16 181 to 16 1FF 16 1800 16 1A00 2 0100 Receive PDO1 RPD01 165201 to 16 27F 16 1400 16 1600 2 0101 Transmit PDO2 TPD02 16 281 to 16 2FF 16 1801 16 1A01 2 0110 Receive PDO2 RPD02 16 301 to 164 37F 16 1401 16 1601 2 0111 Transmit PDO3 TPD03 16 381 to 16 3FF 16 1802 16 1A02 2 1000 Receive PDO3 RPD03 16 401 to 16 47F 16 1402 16 1602 2 1011 Transmit SDO 16 581 to 16 5FF 16 1200 2 1100 Receive SDO 16 601 to 16 67F 16 1200 2 1110 Heartbeat 16 701 to 16 77F 16 1016 16 1017 1 These objects are described in the Object dictionary on page 56 For more detailed information visit the Can In Automation website at http www can cia org Functional profile See the Parameters Manual 22 efesotomasyon com Software setup PDO Process Data Objects PDO teleg
36. DO3 on the Altivar 71 is disabled by default bit 31 of PDO COB ID entry 1 To enable it use the SDO service in write mode to set bit 31 of the PDO COB ID entry parameter in transmit PDO3 16 1802 01 and or receive PDO3 16 1402 01 to zero Unlike set PDO2 it is also possible to modify bits O to 6 of the COB IDs in set PDO3 in order to authorize slave to slave communication Unlike the assignment of PDO1 and PDO2 objects the assignment of PDO3 objects cannot be modified Transmit TPDO3 Master lt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Output word TP31 on the Output word TP32 on the Output word TP33 on the Output word TP34 on the 896 Controller Inside Controller Inside Controller Inside Controller Inside as programmable card programmable card programmable card programmable card Node LSB MSB LSB MSB LSB MSB LSB MSB Receive RPDO3 Master gt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Input word RP31 on the Input word RP32 on the Input word RP33 on the Input word RP34 on the 1024 Controller Inside Controller Inside Controller Inside Controller Inside See programmable card programmable card programmable card programmable card Node LSB MSB LSB MSB LSB MSB LSB MSB 49 efesotomasyon com Detailed description of services SDO service Request
37. Je Fl window Node ID address fi Description TSx_Premium_CPP_1 10 2 Available devices Selected devices Click OK to return to the main SyCon window The selected master appears at the top FA SyCon C Program Files Schneider SyCon Project ATY71 Software Setup Example co OF x File Edit View Insert Online Settings Window Help lej onela For Help press F1 TSX_Premium_CPP_110 Node iD 1 Master TSX CPP 110 CANopen Canti Mode 29 efesotomasyon com Software setup with PL7 and SyCon Master Node ID fi Baudrate 1 Mbit s Cancel 250 kBit s 500 kBit s 800 kBit s 1 Mbit s m Master stops in case of Node Disabled r Synchronisation Object SYNC COBD Communication Cycle Period fi 00 msec m Heartbeat Function IV Enable Master Producer Heartbeat Time 200 msec IV Enable Global Start Node m 29 Bit Selection entries I Enable 29 Bit Selector 0 Bit 28 Acceptance Code fo fo o 00 Hex Acceptance Mask oo oo 007 oo Hex Select the CANopen master and run the Bus parameters command in the Parameters menu to set the transmission speed parameter on the CANopen network The other parameters in the Bus Parameter window are not described here For more information about the functions of the bus parameters please refer to the online help or the documentation for the SyCon tool N B If
38. Master gt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 i ka Request Object index Object Request data Node ID code LSB MSB subindex Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 Response Master lt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 4 on Response Object index Object Request data Node ID code LSB MSB subindex Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 The content of the request data and response data will vary depending on the request code and the response code The two tables below indicate the various possible scenarios Request Description of the command Byte 4 Byte 5 Byte 6 Byte 7 code 16 23 Write data 4 bytes in length e g UNSIGNED 32 Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 16 2B Write data 2 bytes in length e g UNSIGNED 16 Bits 7 0 Bits 15 8 16 00 16 00 16 2F Write data 1 byte in length e g UNSIGNED 8 Bits 7 0 16 00 16 00 16 00 16 40 Read data 1 2 4 bytes in length 16 00 16 00 16 00 16 00 16 80 Cancel current SDO command 1 16 00 16 00 16 00 16 00 Response Description of the response Byte 4 Byte 5 Byte 6 Byte 7 code 16243 Read data 4 bytes of data response 1 Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 16 4B Read data 2 bytes of data response 1 Bits 7 0 Bits 15 8 16 00 16 00 16 4F Read data 1 byte of data response 1 Bits 7 0
39. Remote_Node and Node ID drive node address Note The drive NMT state is transmitted by the drive if the Node Guarding protocol has been activated see page 54 It is also available via the Canopen NMT state NMTS parameter logic address 6057 CANopen index 16 201E 3A efesotomasyon com 41 Detailed description of services NMT state chart fault Some transitions in the NMT state chart will trigger a CANopen communication fault These transitions are listed in the table and illustrated in the chart below solid lines with arrows Power up or hardware reset CS 130 12 cS 1 1 CS 129 Initialization Operational 9 Stopped Transition Description 4 Enter_Pre Operational_ State 5 8 Stop Remote Node 9 10 11 Reset Node 12 13 14 Reset Communication These transitions suppress a service which can be used to control the drive A communication fault must be triggered in order to avoid losing control of the drive Transition Service lost 4 PDO 5 SDO 8 9 10 11 12 13 14 PDO and SDO 42 efesotomasyon com Detailed description of services Bootup service Master lt Drive COB ID Byte 0 1792 162700 16 00 Node ID This service is used to indicate that the drive has changed to the pre operational state following the initialization state page 41 T
40. aken 4 Heartbeat fault requiring a return to the NMT Initialization state 5 NMT state chart fault see section CANopen NMT state chart Counters The RX Error Counter rEC1 parameter logic address 6059 CANopen index subindex 16 201E 3C counts the number of frames received with errors for all types of frame PDO SDO etc The TX Error Counter tEC1 parameter logic address 6058 CANopen index 16 201E 3B counts the number of frames transmitted with errors for all types of frame PDO SDO etc These types of error can be caused for example by network load problems or the short circuiting of electrical signals on the bus The maximum count value supported by these two counters is 65 535 PDO value display A second level of submenus can be accessed via the CANopen map submenu PDO1 IMAGE PDO2 IMAGE and PDO3 IMAGE Each of these submenus can be used to access a screen displaying the values transmitted and received by each set respectively PDO1 PDO2 and PDO3 50 00Hz 80A In each of these screens and for each PDO transmitted or received only the PDO3 IMAGE Transmit PDOe e or Received PDOe e words actually transmitted and received on the CANopen bus are displayed Lia This means for example that for a receive PDO2 containing only 4 data bytes Received PDO3 2 i e RP21 and RP22 the fields Received PDO2 3 and Received PDO2 4 will not be displayed Received PDO3 3 Received PDO
41. ale SUB D connector conforming to the CANopen standard CIA DRP 303 1 CANopen connector 1 VW3 CAN KCDF 180T 9 way female SUB D connector with line terminator can be deactivated CANopen cables LSZH 50 TSX CAN CA 50 CE certification Low smoke halogen free and flame retardant IEC 60332 1 100 TSX CAN CA 100 300 TSX CAN CA 300 CANopen cables UL IEC 60332 2 50 TSX CAN CB 50 UL certification Non flame propagating IEC 60332 2 100 TSX CAN CB 100 300 TSX CAN CB 300 CANopen cables flexible LSZH HD 50 TSX CAN CD 50 For heavy duty or mobile applications Low smoke halogen free and flame retardant IEC 100 TSX CAN CD 100 60332 1 Oil resistant 300 TSX CAN CD 300 1 For ATV 71HeeeM3 ATV 71HD11M3X HD15M3X and ATV 71H075N4 to HD18N4 drives this connector can be replaced by the TSX CAN KCDF 180T connector Length of CANopen bus The maximum length of the bus depends on the communication speed Communication speed 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 1000 kbps 2500 m 1000 m 500 m Maximum length of bus 250 m 100 m 25m These lengths are for a CANopen bus and take into account actual dispersions on the components as well as when certain devices are optocoupled to the bus Telemecanique will not accept liability for longer lengths specified in other documents efesotomasyon com Hardware setup CANopen connector VW3 CAN KCDF 180T
42. arameter The value of the CANopen bit rate bdC0 parameter must correspond to the communication speed of all other devices connected to the CANopen bus 1 Do not select 20 kbps 20 possible malfunction efesotomasyon com Configuration Control signal configuration Numerous control signal configurations are possible Please consult the Programming Manual The following configurations are just some of the possibilities available Control via CANopen in I O profile The command and target come from CANopen The command is in I O profile Configure the following parameters Parameter Value Comment Profile I O profile The run command is simply obtained by bit 0 of the control word Target 1 configuration CANopen The target comes from CANopen Command 1 configuration CANopen The command comes from CANopen Configuration via the graphic display terminal or the integrated display terminal Menu Parameter Value 1 6 COMMAND CtL Profile CHCF I O profile 10 Ref 1 channel Fr1 CANopen CAn Cmd channel 1 Cd1 CANopen CAn Control via CANopen or the terminals in I O profile Both the command and target come from CANopen or the terminals Input LI5 at the terminals is used to switch between CANopen and the terminals The command is in I O profile Configure the following parameters Parameter Value Comment The run command is s
43. are not supported by the Altivar 71 16 03 R W unsigned16 300 Transmit PDO2 Inhibit Time Minimum time between two transmissions unit 100 us minimum value 100 10 ms 16 05 R W unsigned16 1000 Transmit PDO2 Event Timer In asynchronous mode this object defines a minimum transmission frequency for this PDO unit 1 ms minimum value 10 10 ms The duration of this event timer must be greater than that of the inhibit timer subindex 16 03 Asynchronous PDO transmission will therefore take place when the data to be transmitted change with these two periods as temporal limits 16 1802 16 00 unsigned8 167505 Transmit PDO3 Number of objects 16 01 R W unsigned32 16 80000380 Node ID Transmit PDO3 COB ID entry Bit 31 can be accessed in write mode PDO disabled 1 or PDO active 0 Bits 0 10 can be accessed in write mode to enable slave to slave communication 16 02 R W unsigned8 16 FF Transmit PDO3 Transmission speed Choice of 3 modes for this PDO asynchronous 254 or 255 cyclic synchronous 1 240 and acyclic synchronous 0 The values 252 and 253 modes on receipt of RTR frames are not supported by the Altivar 71 16 03 R W unsigned16 300 Transmit PDO3 Inhibit Time Minimum time between two transmissions unit 100 us minimum value 100 10 ms 16 05 R W unsigned16 1000 Transmit PDO3 Event Timer In
44. ay a window in which you can configure a transmission mode transmit or receive PDO Adding PDOs to configured PDOs In the Predefined Process Data Objects PDOs from EDS file section select each of the PDOs to be added to the Configured PDOs section and click the Add to configured PDOs button or double click the PDO to A specific CANopen transmission type can be configured for each of the Altivar 71 receive PDOs Option 1 value 0 Acyclic synchronous mode Option 2 value 1 to 240 Cyclic synchronous mode Option 3 or 4 value 254 or 255 Asynchronous mode A specific CANopen transmission type can be configured for each of the Altivar 71 transmit PDOs Option 1 value 0 Acyclic synchronous mode Option 2 value 1 to 240 Cyclic synchronous mode Option 3 or 4 value 252 or 253 Synchronous and asynchronous modes triggered by the receipt of RTR telegrams remote frames these modes are not supported by the Altivar 71 Option 5 or 6 value 254 or 255 Asynchronous mode A given PDO can only be added once to the Configured PDOs section duplication is forbidden Important note due to a special feature of Sycon version V2 8 If you are not using one or both of the PDO1 process data objects it or they must be deactivated via the PL7 program using the SDO service Conversely if you are using at least one of the four PDO2 and or PDO3 process data objects it must be activated using the
45. corresponding Receive transmit PDO2 PDO3 parameter object see below This bit deactivation will mark the PDO as valid so that it is exchanged on the CANopen bus However the 31 other bits in COB ID entry PDO must not be modified Index Subindex Description PDO deactivated PDO activated 16 1401 16 01 COB ID entry receive PDO2 16 80000300 Node ID 16 00000300 Node ID 16 1801 16 01 COB ID entry transmit PDO2 16 80000280 Node ID 16 00000280 Node ID 16 1402 16 01 COB ID entry receive PDO3 16 80000400 Node ID 16 00000400 Node ID 16 1802 16 01 COB ID entry transmit PDO3 16 80000380 Node ID 16 00000380 Node ID Example The PL7 example below deactivates the Altivar 71 receive PDO2 located in address 6 3MD1100 16400000306 data to send activation of receive PDO2 by node 6 SMW600 16 1401 logic address index in the LSB of MD600 SMW601 16 0001 logic address subindex of the MSB of MD600 SMW32 50 time out 50 x 10 ms 500 ms 3MW33 4 data length 4 bytes SEND write command SDO WRITE WRITE VAR ADR 0 1 SYS SDO MD600 6 MW1100 2 MW30 4 36 efesotomasyon com Software setup with PL7 and SyCon The CANopen master supports the configuration of a variety of options Option Default value Possible values Task MAST MAST or FAST Used to select the type of system task which will control the CANopen network N B The PL7 PRO softwar
46. d TPDO3 transmit containing 4 output words of the Controller Inside programmable card PDO3 should only be activated and used on a drive supplied with the Controller Inside programmable card RPDO1 TPDO1 RPDO2 TPDO2 RPDO3 and TPDO3 can each be enabled or disabled independently Each PDO can be activated or deactivated using bit 31 of its COB ID Set this bit to 1 to deactivate the PDO Reset it to zero to activate the PDO By default these three PDO are asynchronous although the transmission mode of each PDO can be reconfigured by the user in accordance with requirements Asynchronous mode 255 The transmit PDO is only sent when the value of its data changes In this mode the inhibit time and event timer e g objects 16 1800 03 and 16 1800 05 for TPD01 can be modified in order to adjust the PDO transmission frequency on the bus Cyclic synchronous mode 1 240 The transmit PDO is sent each time a synchronization object SYNC is received or when a preconfigured number of synchronization objects between 1 and 240 are received Acyclic synchronous mode 0 The transmit PDO is sent each time the value of its data changes but only during the synchronous window authorized by the next synchronization object SYNC The Altivar 71 does not support the transmission of transmit PDOs on receipt of RTR frames 252 253 The drive optimizes the size of the TPDO frames transmit only useful data bytes are transmitted
47. d32 16 80000400 Bit 31 can be accessed in write mode PDO disabled 1 or PDO active 0 16 1402 Node ID Bits 0 10 can be accessed in write mode to enable slave to slave communication Receive PDO3 Transmission speed 16 02 R W unsigned8 16 FF asynchronous 254 or 255 cyclic synchronous 1 240 and acyclic synchronous 0 Receive PDO1 assignment Number of objects assigned 16 00 R W unsigned8 16 02 Two objects are assigned by default in receive PDO1 although between 0 and 4 objects can be assigned a Receive PDO1 assignment 1st object assigned 16401 R W unsigned32 16460400010 Control word CMD 16 6040 00 16 1600 Receive PDO1 assignment 2nd object assigned 16 02 R W unsigned32 16 60420010 Speed target LFRD 16 6042 00 ord Fi 16403 R W unsigned32 16200000000 Reeelve PDO1 assignment S object assigned No 3 object assigned P Ath P P 16404 RAW unsigned32 16 00000000 Recelve PDO1 assignment 4 object assigned No 4 object assigned 58 efesotomasyon com Object dictionary Index Sub index Access Type Default value Description 16 1601 16 00 R W unsigned8 167500 Receive PDO2 assignment Number of objects assigned No objects are assigned by default in receive PDO2 although between 0 and 4 objects can be assigned 16 01 R W unsigned32 16 00000000 Receive PDO2 assignment 1st object assigned No 1st object assigned 16 02
48. default assignment IB4 IB5 SoMW2 ETI extended status word configured in the example IB6 IB7 SoMW3 LFT fault configured in the example Transmit PDO2 Inputs IB8 IB9 MW4 LCR estimated motor current configured in the example 1B10 IB11 MW5 OPR output power configured in the example OBO OB1 MWE CMD control word default assignment Receive PDO1 Outputs OB2 OB3 MW7 LFRD target speed default assignment Receive PDO2 Outputs OB4 OB5 YMW8 Acceleration ACC configured in the example 38 efesotomasyon com Software setup with PL7 and SyCon Example This example is designed essentially to Start up the Altivar 71 in accordance with the DSP402 state chart Alternate between forward and reverse operation at 1500 rpm during time out TMO It uses the following memory objects Variables Eta_statusword ORIVECOM status word Ffrd_actual_speed DRIVECOM Actual speed value signed value Eti_int_status Internal status register Lit fault Fault L r Motor current Estimated motor current Opr output power Output power monitoring Cmd controlword DRIVECOM command register Lird nom speed DRIVECOM Nominal speed value signed value Acc acceleration Acceleration Masked eta Masked DRIVECOM status word Masks the status word SMW9 MWO AND 16400FF o Status word ETA 16 xx40 ATV locked IF SMW9 16 0040 THEN SMW6 16 0006 Control word CMD 16 0006 Shutdown END_IF
49. e and Life Time Factor are used to generate a Life Time For more information please refer to the Node Guarding service section on page 53 In our example we are configuring a Guard Time of 500 ms and a Life Time Factor of 4 resulting in a Life Time of 4 x 500 ms 2 seconds Heartbeat service If this service is selected the Master Consumer Time of Node parameter 16 1016 01 must be greater than the Node Heartbeat Producer Time parameter 16 1017 00 If the Master Consumer Time of Node is 0 for the node currently configured the master will not control the bus activity of this node Error Control Protocol Node Id 2 x Use Node Guarding Protocol Cancel Guard Time 500 msec Life Time Factor fa Use Heartbeat Protocol Mester Consumer line of Node 220 msec Node Heartbeat Producer Tine zoo msec Node Heartbeat Lonsurner List Node ID Active Description ConsumerTime msec Producer Time msec M N B To use the Heartbeat service with the CANopen master you must first enable the Heartbeat function in the Bus Parameter window see Creating a CANopen network in SyCon on page 18 The CANopen master must of course support this service as the CANopen master used here TSX CPP 110 does The TSX CPP 100 CANopen master PCMCIA card is an example of a CANopen master that does not support this service The Altivar 71 can also be configured to control anoth
50. e Visual description of the LED state 64 V The LED flashes at 2 5 Hz The LED is on lt on for 200 ms then off for PTA 200 ms yor A The LED is in single flash mode on for 200 ms then off for 1 second a The LED is off VY YY SUSY SA The LED is in double flash mode on for 200 ms then off for 200 ms on for 200 ms then off for 1 second efesotomasyon com Diagnostics Communication diagnostics 50 00Hz 80A COMMUNICATION MAP Command Channel CANopen Cmd value 000FHex Active ref channel CANopen Frequency ref h 500 0Hz Status word 8627Hex W3204 53 W3205 725 W7132 0000Hex wo aren COM SCANNER INPUT MAP COM SCAN OUTPUT MAP CMD WORD IMAGE FREQ REF WORD MAP MODBUS NETWORK DIAG MODBUS HMI DIAG CANopen MAP PROG CARD SCANNER On the display terminal the 1 2 MONITORING SUP menu COMMUNICATION MAP CMM submenu CANopen MAP submenu can be used to display the communication status on CANopen LED display RUN LED LED OFF Stopped Pre operational or Operational state of the CANopen controller ERR LED LED CANopen error These LEDS are equivalent to the CAN RUN and CAN ERR LEDs on the 7 segment integrated terminal where supplied together with the drive The display on the screen opposite indicates that the CANopen controller is 50 00Hz 80A in the Operational state RUN LED LED permanently lit and that the con
51. e application is subdivided into a Mast Task and a Fast Task Bus startup Automatic Automatic semi automatic or via program Behavior of the bus when the CANopen master starts up Inputs MWO to MW31 number of MW first MW Number of MW words and index of the first MW word on the master PLC to which the input data supplied by the TSX CPP 100 CANopen PCMCIA card will be assigned Please refer to the CANopen master documentation and the master PLC documentation to ascertain the maximum number of words that can be assigned to inputs It makes no sense to assign too many words Neither do we recommend assigning the fewest words possible as the bus configuration may need to be modified to meet future application requirements The Altivar 71 can use up to 24 bytes 12 words of input data but this can only be achieved by using the three transmit PDOs from the three PDO sets up to 8 bytes for transmit PDO1 by reconfiguring its default assignment up to 8 bytes for transmit PDO2 by reconfiguring its assignment and 8 bytes for transmit PDO3 static assignment of 4 objects Example In our previous example we reduced the number of MW input words to 6 12 bytes as the CANopen inputs corresponding to the Altivar 71 are those of transmit PDO1 by default ETA and RFRD parameters plus those of transmit PDO2 which we configured to contain 4 objects ETI LFT LCR and OPR parameters In SyCon the I Len co
52. er station identified uniguely by its NODE ID on the bus in the Node Heartbeat Consumer List section Each station appears in this list and its Producer Time ms is specified Check a box in the Active column to have the corresponding Node ID node checked at regular intervals by the Altivar 71 in this case the Consumer Time msec must be greater than the Producer Time msec 35 efesotomasyon com Software setup with PL7 and SyCon Saving and opening the CANopen bus configuration in PL7 PRO Save the CANopen configuration and give it a name Save or Save As in the File menu This configuration is saved in a co file In the PL7 PRO window shown in section Hardware configuration in PL7 PRO on page 28 click the Select Database button and select the file saved previously e g C Program Files Schneider SyCon Project ATV71 Example Software Setup co Once you have made your selection the Loading configuration mode section is updated Activating Deactivating PDOs via the PL7 program Note By default the Altivar 71 transmit PDO1 and receive PDO1 are active If you do not configure one or both of the two PDOs in the Configured PDOs SyCon will not deactivate it or them due to an internal anomaly You must deactivate it or them via the PL7 program Transmit or receive PDOs set PDO1 are deactivated in the PL7 application by using the SDO service to activate bit 31 of the PDO COB ID entry
53. figured ED Index Name panaan 1 16 6041 Status word ETA Drive monitoring in torque control or speed regulation mode 16 6044 Output speed RFRD 16 6077 Output torque OTR efesotomasyon com 25 Software setup SDO Service Data Objects SDO telegrams are used for configuration and adjustment The Altivar 71 manages an SDO server characterized by two identifiers One for requests telegrams sent from the PLC to the Altivar 71 One for responses telegrams sent back to the PLC by the Altivar 71 Although the Altivar 71 supports segmented transfer this is only required by the reading of object 16 1008 device name Other available services Assignment by default of address based identifiers NMT commands Start Remote Node 16 01 Stop Remote Node 16 02 Enter Pre Operational 16 80 Reset Node 16281 Reset Communication 164482 Bootup Heartbeat producer and consumer Node Guarding Emergency EMCY SYNC for all PDOs on the Altivar 71 General broadcast support on identifier O Service not available Time stamping object TIME 26 efesotomasyon com Software setup Description of identifiers taken into account The identifiers will be referred to as COB IDs Communication OBject IDentifiers in the rest of this user s manual Direction Identifier COB ID Description i 0 Master Dri
54. he hexadecimal value of the control word CMD used to control the drive The CMD WORD IMAGE submenu CANopen cmd parameter is used to display the hexadecimal value of the control word sent by CANopen 19 efesotomasyon com Diagnostics Frequency target display The Active ref channel parameter indicates the active target channel The Frequency ref parameter indicates the value in 0 1 Hz units of the frequency target LFR used to control the drive The FREQ REF WORD MAP submenu CANopen ref parameter is used to display the value in 0 1 Hz units of the speed target sent by CANopen Status word display The Status word parameter gives the value of the status word ETA Display of the parameters selected by the user The four Weee parameters give the value of the four monitored words selected by the user The address and display format of these parameters can be configured in the 6 MONITORING CONFIG menu 6 3 COM MAP CONFIG submenu The value of a monitored word equals if Monitoring has not been activated address equals WO The parameter is protected The parameter is not known e g W3200 Displaying communication scanner values The communication scanner is unnecessary for CANopen 20 efesotomasyon com Diagnostics Communication faults CANopen communication faults are displayed by the ERR indicator of the integrated display terminal or graphic display terminal
55. he only data byte sent in a Bootup frame is always equal to 16 00 Synchronization object SYNC Master gt Drive COB ID 128 16 080 The SYNC object is sent cyclically by the CANopen master It does not contain data and its frame is therefore limited to its unique COB ID identifier The purpose of this object is essentially to authorize synchronous communication modes for CANopen slaves In the case of the Altivar 71 none of the PDOs used can be defined in cyclic or acyclic synchronous communication mode Emergency object EMCY Master lt Drive COB ID Byte 0 Byte 1 Byte 2 Byte3 Byte4 Byte5 Byte6 Byte7 128 Fault code Errd Error register 0 0 0 0 0 16 080 Bit 0 0 no fault NODE ID LSB MSB or 1 fault An EMCY object is sent by the Altivar 71 to other CANopen devices with a high priority every time a fault appears byte 2 bit 0 1 or disappears byte 2 bit 0 0 This is the case in particular for Heartbeat or Life Guard type faults An EMCY object is never repeated The error code parameter Errd logic address 8606 CANopen index 16 603F is described in the parameters manual 43 efesotomasyon com Detailed description of services PDO1 Default assignment Transmit TPDO1 Master lt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 384 Status word ETA Output speed RFRD 16 180 Node ID LSB MSB LSB MSB
56. ic synchronous 1 240 and acyclic synchronous 0 The values 252 and 253 modes on receipt of RTR frames are not supported by the Altivar 71 16 03 R W unsigned16 300 Transmit PDO1 Inhibit Time Minimum time between two transmissions unit 100 us minimum value 100 10 ms 16 05 R W unsigned16 1000 Transmit PDO1 Event Timer In asynchronous mode this object defines a minimum transmission frequency for this PDO unit 1 ms minimum value 10 10 ms The duration of this event timer must be greater than that of the inhibit timer subindex 16 03 Asynchronous PDO transmission will therefore take place when the data to be transmitted change with these two periods as temporal limits 59 efesotomasyon com Object dictionary Index Sub index Access Type Default value Description 16 1801 16 00 R unsigned8 16 05 Transmit PDO2 Number of objects 16 01 R W unsigned32 16 80000280 Node ID Transmit PDO2 COB ID entry Bit 31 can be accessed in write mode PDO disabled 1 or PDO active 0 Bits 0 10 can be accessed in write mode to enable slave to slave communication 16 02 R W unsigned8 16 FF Transmit PDO2 Transmission speed Choice of 3 modes for this PDO asynchronous 254 or 255 cyclic synchronous 1 240 and acyclic synchronous 0 The values 252 and 253 modes on receipt of RTR frames
57. imply obtained via bit O of the control Profile I O profile Word Target 1 configuration CANopen Target 1 comes from CANopen Target 1B configuration Analog input 1 on the terminals Target 1B comes from input Al1 on the terminals Target switching Input LI5 Input LI5 switches the target 1 lt 1B Command 1 configuration CANopen Command 1 comes from CANopen Command 2 configuration Terminals Command 2 comes from the terminals Command switching Input LI5 Input LI5 switches the command Target 1B is connected to the functions summing PID etc that remain active even after switching Configuration via the graphic display terminal or the integrated display terminal Menu Parameter Value 1 6 COMMAND CtL Profile CHCF I O profile IO Ref 1 channel Fr1 CANopen CAn CANopen CAn Cmd channel 2 Cd2 Terminals tEr Cmd channel 1 Cd1 Cmd switching CCS L15 LI5 1 7 APPLICATION FUNCT J FUn Ref 1B chan Fr1b AI1 A1 REFERENCE SWITCH Ref 1B switching rCb LI5 L15 11 efesotomasyon com Configuration Control via CANopen in DSP402 profile The command and target come from CANopen The command is in DSP402 profile not separate mode Configure the following parameters Parameter Value Comment Profile DSP402 profile not separate The run com
58. le zone 16 6000 16 9FFF Standardized device profile zone DSP402 16 A000 16 FFFF Reserved 56 efesotomasyon com Object dictionary Communication profile zone objects Access R designates an object that supports read access only via the SDO service whereas R W designates an object that supports both read and write access Some R W objects only support write access in certain states of the NMT CANopen chart Index Sub Access Type Default value Description index Type of device i Bits 24 31 not used 0 161000 16200 R unsigned32 16 00010192 Bits 16 23 Type of device 1 Bits 0 15 Device profile number 402 16 1001 16 00 R unsigned8 16 00 Error register Error bit 0 1 or no error bit 0 0 Number of errors Only one possible error 1 located in object 16 00 R unsigned8 16 01 1641003 01 161003 Standard error field 16401 R unsigned32 16 00000000 Bits 16 31 Additional information always 0 Bits 0 15 Error code parameter Errd 16 1005 16 00 R W unsigned32 16 00000080 COB ID entry for SYNC message 1641008 16 00 R string ATV71 iki name The SDO service segmented transfer is used to read this 164100B 16 00 R unsigned32 Node ID This object receives the value of the CANopen address configured on the Altivar 71 Guard Time By default the Node Guarding protocol is deactivated 0 5 the unit for this object is
59. lumn in the Configured PDOs section indicates the size of the input data type IB Input Bytes of each transmit PDO configured for a given node In our case we have 4 IBs for transmit PDO1 and 8 IBs for transmit PDO2 for a total of 12 input bytes The first input word remains MW0O our CANopen input words are therefore MWO to MWS5 The order in which the transmit PDOs and the objects they contain are configured determines the content of the corresponding MW input words In our case words MWO to MW5 correspond to drive parameters ETA RFRD ETI LFT LCR and OPR Outputs MW32 to MW63 number of MW first MW The Inputs description above applies equally to the outputs although in this case the outputs are master PLC output words and TSX CPP 110 CANopen PCMCIA card output data The Altivar 71 can use up to 24 bytes 12 words of output data but this can only be achieved by using the three receive PDOs from the three PDO sets Up to 8 bytes for receive PDO1 by reconfiguring its default assignment up to 8 bytes for receive PDO2 by reconfiguring its assignment and 8 bytes for receive PDO3 static assignment of 4 objects Example In our example we reduce the number of MW input words to 3 6 bytes as the CANopen outputs corresponding to the Altivar 71 are those of receive PDO1 by default CMD and LFRD parameters plus those of receive PDO2 which we configured to contain just one object CMI parameter
60. mands are in DSP402 profile the command and the target come from the same channel Target 1 configuration CANopen The command and the target come from CANopen Configuration via the graphic display terminal or the integrated display terminal Menu Parameter Value 1 6 COMMAND CtL Profile CHCF Not separ SIM factory setting Ref 1 channel Fr1 CANopen CAn Control via CANopen or the terminals in DSP402 profile Both the command and target come from CANopen or the terminals Input LI5 at the terminals is used to switch between CANopen and the terminals The command is in DSP402 profile not separate mode Configure the following parameters Parameter Value Comment Profile DSP402 profile not separate The run commands are in DSP402 profile the command and the target come from the same channel Target 1 configuration CANopen Target 1 comes from CANopen Target 2 configuration Analog input 1 on the terminals Target 2 comes from input Al1 on the terminals Target switching Input LI5 Input LI5 switches the target 1 2 and the command Warning Target 2 is directly connected to the drive reference limit If switching is performed the functions that affect the reference summing PID etc are inhibited Configuration via the graphic display terminal or the integrated display terminal
61. motor torque is equal to 50 500 x 0 1 16 01F4 16 184 16 07 16 06 16 DC 16 05 16 F4 16 01 Receive RPDO1 Master gt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 512 Control word CMD Speed target LFRD Torque target LTR 16 200 Node ID LSB MSB LSB MSB LSB MSB Example The Altivar71 located at CANopen address 4 COB ID 16 200 4 receives the command called Enable operation control word CMD 16 xxxF In our example the control word CMD is equal to 16 000F the speed target of the motor is equal to 1200 rpm 16 04B0 and its torque target is equal to 50 500 x 0 1 16 01F4 16 204 16 0F 16 00 16 B0 16 04 16 F4 16 01 Restricted default assignment Transmit TPDO1 Master lt Drive COB ID Byte 0 Byte 1 384 Status word ETA 16 180 Node ID LSB MSB Receive RPDO1 Master gt Drive COB ID Byte 0 Byte 1 512 Control word CMD 16 200 Node ID LSB MSB 45 efesotomasyon com Detailed description of services User assignment Transmit TPDO1 Master lt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 384 Ativar 7 1 variable Altivar 71 variabie Altivar 71 variable Altivar 71 variable by default status word by default output speed by default t by default t 16 180 ETA RFRD by default n
62. nsmit PDO2 to receive the Status word2 ETI Default LFT Motor current LCR and Motor power OPR parameters from the drive PDO Contents Mapping Object Index 1601 Eg Receive PDO2 To configure the T assignment of receive PDO2 select the Mapable Objects from EDS file bilde Subin Pareme Access A Receive PDO2 parameter PDO inthe APIO Read Write Cancel Configured PDOs section and click the PDO Acceleration Read Write Deceleration Read Write Dec Ramp adapt Read Write Ramp Shape Read Wri Append Object Begin Acc round Read Write End Acc round Read Write Contents Mapping button or double click this PDO Next scroll down the Mappable Objects from EDS file list until you reach the Acceleration parameter index subindex 16 203C 02 Acceleration Object203Cldx2 Select this parameter and click the Append Object button or double click the parameter to add the corresponding object to the PDO Mapped Object dictionary i e to the content of its assignment Delete mapped Object PDO Contents Mapping Object Index 1A01 x E 4 assignment of transmit PDO2 select the ean eee Transmit PDO2 parameter PDO in the Motor voltage Read Write Configured PDOs section and click the PDO ATV themal state Read Write Contents Mapping button or double click this Motor power Read Write PDO THR1 Read Write THR2 Read Write Append Object in
63. o parameter by default no parameter Node ID LSB MSB LSB MSB LSB MSB LSB MSB Note Any bytes left unused at the end of this PDO will not be transmitted on the bus by the Altivar 71 For example if no parameters have been assigned to bytes 6 and 7 the data length of transmit PDO1 will be 6 bytes Example The two default assignment parameters are maintained 16 6041 00 and 16 6044 00 and are suffixed i e in bytes 4 and 5 with the Torque Actual Value motor torque parameter 16 6077 00 thereby producing the extended default assignment of transmit PDO1 This extended default assignment then becomes a user assignment by means of the suffixing i e in bytes 6 and 7 of the parameters of the current in the motor object LCR 16 2002 05 thereby producing the following user assignment COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 384 Status word ETA Output speed RFRD Motor torque OTR Current in the motor LCR 16 180 Node ID LSB MSB LSB MSB LSB MSB LSB MSB Consider an Altivar 71 located at CANopen address 4 COB ID 162180 4 and in the following state Current state Operation enabled and no faults status word ETA 16 xxx7 In our example the status word ETA is equal to 16 0607 The output speed RFRD is equal to 1500 rpm 16 05DC The motor torque is equal to 83 830 x 0 1 16 033E The current in the motor
64. pen address 4 COB ID 16 580 Node ID or 16 600 Node ID The index subindex value of this parameter is equal to 16 203C 02 Read request Master gt Drive 16 604 16 40 16 3C 16 20 16 02 16 00 16 00 16 00 16 00 Read response Master lt Drive 16 584 16 4B 16 3C 16 20 16 02 16 E8 16 03 16 00 16 00 The value of the parameter read is equal to 1000 16 03E8 equivalent to an acceleration ramp time ACC of 100 s as the unit of this parameter is 0 1 s Example of a write operation using the SDO service This example explains how to write the value 100 s to the acceleration ramp time ACC parameter on an Altivar 71 located at CANopen address 4 COB ID 16 580 Node ID or 16 600 Node ID The index subindex value of this parameter is equal to 16 203C 02 Write request Master Drive The request code is 16 2B as we are trying to modify the value of an item of data 2 bytes in length 16 604 16 2B 16 3C 16 20 16 02 16 E8 16 03 16 00 16 00 The Request data field indicates that the value we are trying to assign to the parameter is equal to 1000 16 03E8 equivalent to an acceleration ramp time ACC of 100 s as the unit of this parameter is 0 1 s Write response Master lt Drive 16 584 16 60 16 3C 16 20 16 02 16 00 16 00 16 00 16 00 52 efesotomasyon com De
65. rams are used to exchange periodic I O data between the PLC and the drive The Altivar 71 has three predefined PDO sets The first PDO set PDO1 reserved for drive control signaling Active by default it comprises RPDO1 receive to control the drive in speed mode 2 words CMD control word and LFRD speed target TPD0O1 transmit to monitor the drive in accordance with this same mode 2 words status word ETA and output speed RFRD Each of these two PDOs can be reconfigured to include only the control word CMD or only the status word ETA thereby reducing its size to a single word It can also be reconfigured to control the drive via its torque function This changes its size to 3 words by means of the addition of the torque target LTR receive PDO and the motor torque OTR transmit PDO Finally these PDOs can be reconfigured entirely 1 to 4 words of the user s choice The second PDO set PDO2 is deactivated by default and can be configured in full 1 to 4 words of the user s choice It is reserved for adjustments and for additional control and monitoring functions By default TPD02 transmit and RPDO2 receive are not configured The third PDO set PDO3 is reserved for the Controller Inside programmable card on the Altivar 71 catalog number VW3 A3 501 Deactivated by default it cannot be configured and comprises RPDO3 receive containing 4 input words of the Controller Inside programmable car
66. same procedure Please refer to the section Activating Deactivating PDOs via the PL7 program on page 36 efesotomasyon com 33 Software setup with PL7 and SyCon Modifying the assignment of the Receive and Transmit parameters for configured PDOs Please refer to the parameters manual which describes all the drive parameters that can be configured in respect of PDO assignment and on the Altivar 71 PDO1 In this example we are not modifying the default assignment of the transmit PDO1 and the receive PDO1 in order to control and monitor the drive in accordance with DSP 402 profile speed mode moreover this enables the drive to react more quickly to this command via the CANopen bus see page 44 In SyCon a new window listing these default assignments can be opened by double clicking these PDOs or by selecting a PDO and clicking the PDO Contents Mapping button Receive PDO1 parameter Transmit PDO1 parameter Index Subindex Description Index Subindex Description 16 6040 16 00 Control word CMD 16 6041 16 00 Status word ETA 16 6042 16 00 Target velocity LFRD 16 6044 16 00 Control effort RFRD If you wish to modify the content of these PDO you can delete and add objects to the Mapped Object dictionary of the selected PDO up to 4 objects for each PDO Each object in a PDO assignment uses 2 bytes PDO2 In this example we are using receive PDO2 to transmit the Acceleration ACC parameter to the drive and tra
67. tL Profile CHCF Separate SEP Ref 1 channel Fr1 CANopen CAn Cmd channel 1 Cd1 CANopen CAn Cmd switching CCS ch1 active Cd1 REFERENCE SWITCH 1 7 APPLICATION FUNCT FUn Ref 1B chan Frib Al1 An Ref 1B switching rCb L15 L15 13 efesotomasyon com Configuration Configuring monitored parameters It is possible to select up to 4 parameters to display their values in the 1 2 MONITORING menu on the graphic display terminal The selection is made via the 6 MONITORING CONFIG menu 6 3 COM MAP CONFIG submenu Each parameter in the range Address 1 select Address 4 select can be used to select the parameter logic address An address at zero is used to disable the function 6 3 COM MAP CONFIG Address 1 select 3204 In the example given here the monitored words are FORMAT 1 Signed Parameter 1 Motor current LCR logic address 3204 signed decimal Address 2 select 3205 format Parameter 2 Motor torque OTR logic address 3205 signed decimal FORMAT 2 i Signed format Address 3 select Parameter 3 Last fault occurred LFT logic address 7121 hexadecimal format Disabled parameter 0 default format Hexadecimal format FORMAT 3 Hex Address 4 select 0 FORMAT 4 Hex One of the three display formats below can be assigned to each monitored word
68. tailed description of services Node Guarding service Description Either the Node Guarding service described here or the Heartbeat service described below can be used for communication monitoring Only one of these two services can be active at any one time The Node Guarding service is deactivated by default on the Altivar 71 Master gt Drive The master scans the drive at regular intervals Life Time by sending remote transmit requests RTR The Life Time is calculated by multiplying the Guard Time by the Life Time Factor These two parameters are described on page 57 If once the Life Time has expired the drive has not received the RTR It triggers a Life Guarding fault see section Configuring communication fault management and sends an emergency telegram EMCY see page 43 Master lt Drive COB ID Byte 0 1792 16 700 E ton Node ID The drive response indicates it NMT state via the NMT information field described here Bit 7 Toggle bit The value of this bit must alternate from one drive response to the other The value of the toggle bit for the first response following activation of the Node Guarding service is 0 This bit can only be reset to 0 by sending the Reset_Communication command to the drive see section Detailed description of services page 41 If a response is received with the same toggle bit value as the previous response the new response is treated as if it had
69. tely The CANopen adapter features a CANopen compliant 9 way male SUB D connector referred to as the CANopen port in this manual The CANopen port on the Altivar 71 can be used for the following functions Configuration Adjustment Control Monitoring This manual describes how to set up the Altivar 71 drive on CANopen and also describes the CANopen services that are available on this drive Notation Drive terminal displays The graphic display terminal menus are shown in square brackets Example 1 9 COMMUNICATION The integrated 7 segment display terminal menus are shown in round brackets Example COM Parameter names are displayed on the graphic display terminal in square brackets Example Fallback speed Parameter codes are displayed on the integrated 7 segment display terminal in round brackets Example LFF Formats In this manual hexadecimal values are written as follows 16 efesotomasyon com Hardware setup Installing the CANopen adapter Install the VW3 CAN A71 CANopen adapter in the RJ45 port located on the drive s control terminals Note This adapter MUST be screwed to the drive via its CANopen bus metal grounding plate Modbus terminal port HMI Modbus network port 73 VW3 CAN A71 ST CANopen Ll Al i Pinout of 9 way male SUB D connector Modbus network port pinout on CANopen adapter View from underneath Pin Signal CAN L 2 CAN GND
70. troller has not detected any errors present ERR LED not lit CANopen MAP RUN LED X indicates an LED which is not lit is PDO1 IMAGE 69 indicates an LED which is lit seasick PDO3 IMAGE Canopen NMT state Operational Number of TX PDO 2438 Number of RX PDO 2438 Error code 0 RX Error Counter 0 TX Error Counter 0 17 efesotomasyon com Diagnostics NMT chart display The CANopen NMT state NMTS parameter logic address 6057 CANopen index subindex 16 201E 3A indicates the NMT chart state The various possible values are Boot Stopped Operational and Pre Op Pre operational PDO counter display Number of RX PDO and Number of TX PDO indicate the number of PDOs received and the number of PDOs transmitted by the drive all PDO sets PDO1 PDO2 and PDO3 combined These counters are modulo 65 536 counters i e the value is reset to zero once 65 535 is reached Last CANopen fault The Error code ErCO parameter index subindex 16 201E 39 indicates the last active CANopen fault and maintains its value until the last fault has disappeared The possible values are listed below Display Description 0 No errors detected since the start of CANopen communication 1 Bus Off requiring the drive to be restarted 2 Life Guarding fault reguiring a return to the NMT Initialization state 3 CAN overrun error not reguiring any specific action to be t
71. ve 164000 Service Network ManagemenT NMT Master Drive 128 SYNChronization service SYNC 16 080 Master Drive 1 Node ID EMergenCY service EMCY 16 080 g Master Drive a Node ID Drive monitoring TPDO1 16 180 g Master Drive al Node ID Drive control RPDO1 162200 2 640 bie Master Drive Node ID Drive periodic input words TPDO2 162280 f 768 oa Master gt Drive 16 300 Node ID Drive periodic output words RPDO2 i 896 Periodic input words on the Altivar 71 s Controller Inside Master Briye 16 380 S Node Ip programmable card TPDO3 s 1024 Periodic output words on the Altivar 71 s Controller Inside Master gt Dryg 16 400 Y NadeslD programmable card RPDO3 1408 Master Drive 164580 Node ID Response to a drive setting transmit SDO 1536 f Master gt Drive Node ID Drive setting request receive SDO 16 600 Master Drive Network management NMT Node Guard Heartbeat 1792 164700 Node ID Master Drive Network management Bootup The Altivar 71 supports the automatic assignment of identifiers COB IDs based on its CANopen address The term master designates a device transmitting a reguest to a variable speed drive example a PLC The terms input and output are understood from the point of view of the master Bit 31 of PDO COB ID entry coded on 32 bits is egual to 1 for TPDO2 RPDO2 TPDO3 and RPDO3 as they are inactive by default efesotomasyon com 27
72. ve PDO1 Transmit PDO1 Receive PDO2 and Transmit PDO2 at the same time Node Configuration Node ATV 71_ 1 1_E Node ID address TEATV7111E EDS IV Activate node in actual configuration IV Automatic COB ID allocation in accordance with Profile 301 Device Profile 402 Frequency Converter File name Description alivar71 Drive Configuration Error lt Control Protocol Emergency COB ID fi 30 Nodeguard COB ID fi 794 Cancel Node BootUp itp HPP Gbjects Object Configuration tine m Predefined Process Data Objects PDOs from EDS file Ob ldx PDO name OA Receive PDO1 parameter G Receive PDO2 parameter Receive PDO3 parameter Transmit PDO1 parameter Transmit PDO2 parameter Transmit PDO3 parameter r Actual node 2 ATV VII E x m PDO mapping method Ds301 V4 d m Configured PDOs Receive PDO1 parameter PDO_1400 Receive PDO2 parameter PDO_1401 QB 2 2 Transmit PDO1 parameter PDO_1800 Transmit PDO2 parameter PDO_1801 Symbolic Name COB4D Typel Addr Len O Type Addr 0 Len B 0 4 PDO Contents Mapping PDO Characteristics Define new Receive PDO Define new Transmit PDO Delete configured PDO Symbolic Names These operations are summarized here be added Before adding a PDO to the Configured PDOs section SyCon will displ
73. vent of insufficient application memory for this configuration PL7 will disable this mode SyCon The CANopen bus configuration is considered to have been loaded to the PCMCIA card supposing therefore that it has been downloaded using SyCon PL7 PRO simply checks that the configuration of the card is identical to the content of the co file selected thereby avoiding any configuration inconsistencies Nevertheless any bus parameter modifications must be performed in SyCon Viewing CANopen master inputs and outputs PL7 PRO uses the information stored in the co file selected to match up the data from each CANopen node directly with its equivalent MW input and output words To view the Altivar 71 inputs outputs click the TTT Bus Configuration button The CANopen bus CaNopen slaves Inputs configuration window appears see opposite Parameter Symbol 4 Eta_statusword hw Rfrd_actual_speet Equipment Name Act Life T Select the ATV71_V1 1_F CANopen slave ATWLYILE 1 20 addr 0002 to display the input and output words configured for this word only nmw Eti_int_status MWS Lit fault m Outputs Parameter Symbol 2j In this window on the right hand side explicit Cmd_controlword symbols have been attributed in advance to MW _ Lird nom mea words MWO0 to MW8 in order to illustrate the link between these words and the PDOs configured in SyCon
74. word CMD 16 xxxF In our example the control word CMD is equal to 16 000F The acceleration ramp time ACC is 1 s 10 16 000A The deceleration ramp time DEC is 2 s 20 16 0014 The corresponding telegram received for this receive PDO is therefore as follows 6 data bytes 16 204 16 0F 16 00 16 0A 16 00 16 14 16 00 47 efesotomasyon com Detailed description of services PDO2 Set PDO2 on the Altivar 71 is disabled by default PDO COB ID entry parameter 16 80000XXxX To enable it use the SDO service in write mode to set bit 31 of the PDO COB ID entry parameter in transmit PDO2 16 1801 01 and or receive PDO2 16 1401 01 to zero Unlike set PDO1 it is also possible to modify bits O to 6 of the COB IDs in set PDO2 in order to authorize slave to slave communication Transmit TPDO2 Master lt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 640 Altivar 71 variable Altivar 71 variable Altivar 71 variable Altivar 71 variable 16 280 by default no parameter by default no parameter by default no parameter by default no parameter Node ID LSB MSB LSB MSB LSB MSB LSB MSB Note Any bytes left unused at the end of this PDO will not be transmitted on the bus by the Altivar 71 For example if no parameters have been assigned to bytes 6 and 7 the data length of transmit PDO2 will be
75. you are using a PDO set in synchronous mode cyclic or acyclic you may need to adjust the value of Communication Cycle Period the default value of which is 100 ms as shown in the window opposite The PDO is then actually synchronized on this Communication Cycle 30 efesotomasyon com Software setup with PL7 and SyCon Adding Altivar 71 files to CANopen devices managed by SyCon The EDS file describing the Altivar 71 must be imported into SyCon so that it features in its device database This file is called TEATV7 1xyE eds x y Altivar 71 software version x Major revision y Minor revision To import this file into SyCon run the Copy EDS command in the File menu and select the EDS file indicated above The user can choose whether or not to import corresponding bitmap files Click Yes to add the three Altivar 71 state icons shown below to the SyCon bitmaps database If this command is executed correctly a window will appear to inform the user that 1 EDS file and 3 bitmap files have been imported correctly CAMs Alea TEATV71xyE_s dib TEATV71xyE_r dib TEATV71xyE_d dib The EDS file and the icon files can be found on the PowerSuite CD ROM or on the CD ROM supplied with the Altivar 71 drive 31 efesotomasyon com Software setup with PL7 and SyCon Selecting and adding the Altivar 71 to the CANopen bus Insert Node x Node filter Vendor All Profile All Available devices

Detailed description of services - inverter - plc

Contents

Download Pdf Manuals

Related Search

Related Contents