Altivar 31
Contents
1. Index Sub index Access Type Default value Description Device type 16 1000 16 00 RO Unsigned 32 16 00010192 Bits 16 23 Device type mode 1 Bits 0 15 Device profile number 402 16 1001 16 00 RO Unsigned 8 16 00 Error register Error 1 or no error 0 Number of errors No error 0 or one or more errors 16409 RW Unsigned 8 10400 gt 0 in object 16 1003 only the value 0 can be written 16 1003 Standard Error Field 16 01 RO Unsigned 32 16 00000000 Bits 16 31 Additional information all Os Bits 0 15 Error code COB ID SYNC message 16411005 164400 RW Unsigned 32 16 00000080 You should not modify this object value 16 1008 16 00 RO Visible String ATV31 Manufacturer device name n Manufacturer software version The value given 16 100A 16 00 RO Visible String 0301 here is only an example V3 1 Node ID This object receives the value of the Node 16 100B 16 00 RO Unsigned 32 Node ID ID configured for the Altivar 31 Guard Time By default the Node Guarding Protocol 16 1000 16499 RW Unsigned16 16 0000 is inhibited the unit of this object is 1 ms Life Time Factor Multiplier applied to the Guard ABD 16408 RM Unsigned 8 dud Time in order to obtain a Life Time 165600000700 Node Guarding Identifier COB ID used for the SEITE 10499 RW Unsigned 32 Node ID Node Guarding Protocol 16 100F 16 00 RO Unsigned 32 16 00000001 Number of SDO supported 164400000080 COB ID Emergency message COB ID used2. 1 000 kbits s Maximum length of the bus 5 000 m 2 500 m 1 000 m 500 m 250m 100m 5m Some other documents specify greater lengths they only apply to CANopen devices without galvanic insulation Due to galvanic insulation of the CANopen interface of ATV 31 the lengths mentioned in the table above must be respected AN At the speed of 1 000 kbits s the lenght of the drops must be limited to 0 3 m Signalling The two signalling LEDs located immediately on the right of the 4 digit 7 segment front display unit of the Altivar 31 are used to indicate the status of the CANopen communications LED state Altivar 31 CANopen state Oo The CANopen controller is in OFF state za The Altivar 31 is in STOPPED state yig EET gt The Altivar 31 is in PRE OPERATIONAL state y Q The Altivar 31 is in OPERATIONAL state 0 No error reported 3a WARNING reported by the CANopen controller of the Altivar 31 e g too many error frames 29 2e ERROR due to the occurrence of a node guarding event or a heartbeat event gt P o The CANopen controller is in bus off state Description of the various LED states LED state Visual description of the LED state Oo The LED is OFF Y The LED is SINGLE FLASHING 0 200 ms ON and 1 second OFF Ya Y The LED is DOUBLE FLASHING 0 0 200 ms ON 200 ms OFF 200 ms ON and 1 second OFF viv The LED is BLINKING at 2 5
3. validate or cancel the changes using the OK or Cancel button N B Any byte left vacant at the end of this PDO will not be sent on the bus by the Client i e if no parameter is assigned to Bytes 6 and 7 the PDO data length will be 6 bytes instead of 8 bytes Example The first default object is kept 6040 0 but the second default object 6044 0 is replaced with Acceleration time ACC 203C 2 and bytes 4 and 5 are mapped on the Deceleration time DEC 203C 3 thus resulting in the following mapping COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 768 Control word CMDD Acceleration time ACC Deceleration time DEC 16 300 AME LSB MSB LSB MSB LSB MSB Now we consider an Altivar 31 located at CANopen address 4 COB ID 164300 4 and controlled as follows Enable operation command Control word CMDD 16 xxxF in the current example Control word CMDD is equal to 16 000F e Acceleration time ACC at 1s 10 1640004 Deceleration time DEC at 2s 20 16220014 The corresponding received frame for this control PDO should be as follows 6 data bytes 1642304 16 0F 16 00 16 0A 16 00 16 14 16 00 30 Description of the services SDO service COB ID 16 580 Node ID 16 600 Node ID Request Client Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte
4. Data length 4 bytes SENDS the SDO WRITE command WRITE_VAR ADR 0 1 SYS SDO MD500 4 MW1000 2 MW20 4 20 Software setup with PL7 and SyCon You may also configure various options available on the CANopen master Task MAST MAST or FAST Used to select the type of system task that will steer the CANopen network N B The PL7 PRO software application is also subdivided into a Mast Task and a Fast Task Bus bootup Automatic Automatic semi auto or by program Fieldbus behaviour 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 of the master PLC on which the input data from the TSX CPP 100 CANopen master PCMCIA card will be mapped Please consult the documentation of your CANopen master and that of your master PLC in order to determine the maximum number of words that may be allocated to input words Allocating more words than what is needed is useless On the other hand allocating the lowest possible size is not recommended as the fieldbus configuration may be subject to changes depending on the future needs of your application The Altivar 31 may require up to 10 bytes 5 words of input data but this input size can only be reached by combining the Transmit PDO of both PDOs 2 bytes for PDO 1 and up to 8 bytes for PDO 6 with a default size of 4 bytes e g In our example we reduce t
5. PROFIBUS In the present User s manual we shall immediately save this configuration and name it ATV31 Software Setup Example co Selecting and adding the CANopen master PLC Soci Master commanditrom the Insert menu or click on the button MERE Available devices Selected devices The Insert Master window will then appear Lx Select the TSX CPP 100 or TSX CPP 110 TSX CPP 110 Add gt gt Cancel master device then click on Add gt gt Ey ea fap fap You can edit the Node ID and the Description of this master in this same window _ lt Bemeve_ _ lt Bemeve_ lt lt Remove All Node ID address I Description TSX Premium CPP 1 00 Click on OK to return to the SyCon main window The master we selected appears in first position lz SyCon C Program Files Schneider SyCon Project ATY 31 Software Setup Example co s File Edi View Insert Online Settings Window Help oela 2 TSX_Premium_CPP_100 Node ID 1 Master TSX CPP 100 For Help press F1 CANopen Config Mode Software setup with PL7 and SyCon Select the CANopen master and run the Bus Parameter command from the Settings menu in order to configure the eee p CANopen network baud rate Baudrate 1 Mbit s Cancel The other settings featured by the Bus Parameter window will not 250 kBit s be discussed here Please refer to the online help or docume
6. mlale 3 Sim ewe e elm Application Browser HE TSX 57353 RACK O POSITION 0 ame ee tg Designation PROCESSOR TSX P 57353 Structure View STATION 5 Q Configuration CHANNEL 1 Hardware Configurati CHANNEL 1 M rex CPP 100 CAN OPEN PCMCIA CARD z Software Configurati CANopen T mast T c Program m Bus start up Inputs Outputs Maintain RAZ 1 Configuration r aM e ki No of words AMW faz TSX 57353 V5 1 v m XTi Semi Automatic bus alone t No of words 24MM 32 Inderofistxmw P A C7 By program Indexottierxmy 22 H J m Configuration load mode m Watchdog Select Database XC Configuration size 13 words e PL C SyCon Disactived Transmission speed SYNC Message COB ID SyCon tool wows Mie SYNC Message Period Auto Clear sehe Bus configuration OFFLINE lu s s Click on the hilscher button enclosed in a red box above to start the SyCon configuration tool N B This button is not displayed if you have not installed SyCon on your PC 15 Software setup with PL7 and SyCon Creating a CANopen network under SyCon Select fieldbus x Cancel Select the New command from the File menu to create a new configuration and select the CANopen fieldbus type This command creates an empty network segment in the SyCon main window InterB us
7. 16 584 16 60 16 0C 16 10 16 00 16 00 16 00 16 00 16 00 2 Setting up the life time factor to 4 e COB ID 164600 Node ID for the write request or 16 580 Node ID for the write response Request code byte 0 16 2F for writing a 1 byte data Response code byte 0 16460 if the write operation has been successfully carried out Object index bytes 1 and 2 16 100D Object sub index byte 3 16 200 Request data byte 4 16404 4 Request Client Drive 16 604 16 2F 16 0D 16 10 16 00 16 04 16 00 16 00 16 00 Response Client Drive 16 584 16 60 16 0D 16 10 16 00 16 00 16 00 16 00 16 00 Corresponding PL7 instructions in ST language MW1000 16 01F4 Data to Send Guard Time 500 MW1001 16 04 Data to Send Life Time Factor 4 MW22 50 Timeout 50 x 10 ms 500 ms MW23 4 Data length 4 bytes SENDS the SDO WRITE commands WRITE_VAR ADR 0 1 SYS SDO 16 0000100C 4 MW1000 1 MW20 4 WRITE_VAR ADR O 1 SYS SDO 16 0000100D 4 MW1001 1 MW20 4 35 Description of the services Heartbeat protocol Description As an alternative to the Node Guarding protocol described in the previous chapter the heartbeat protocol can be used to monitor the communication between a Client and the Drive provided the Client supports this protocol check that the consumer heartbeat time set of parameters index 16 1016 is d
8. 2 and AN above Hardware setup Description of the ATV 31 front panel Telemecanique Altivar 31 ATV 31eeeeeA front view Legend Red LED indicates the DC bus is under voltage when lit symbol A 4 digit 7 segment display Central programming terminal the reference potentiometer is only present on ATV 31eeeeeA RUN key used to start the motor in forward mode ATV 31eeeeeA only STOP RESET key used to stop the motor and to reset the current faults ATV 31eeeeeA only This front panel lock requires the use of a crossed or flat screwdriver in order to lock unlock the front panel of the drive These two LEDs included in the 4 digit display of the drive are used to signal the communication state RUN and the presence of any fault ERR on the CANopen bus Hardware setup Example of CANopen configuration The following diagram shows an example of four ATV 31 connected to a master PLC Premium with a CANopen master PCMCIA card TSX CPP 100 Altivar 31 Master PLC TSX CPP 100 PowerSuite ATV 31 drop cord VW3 CAN CA RRe TSX CPP ACC1 ATV 31 CANopen tap VW3 CAN TAP 2 CANopen CANopen trunk cable trunk cable Various accessories are available from the catalogue to realise connection of devices ATV 31 CANopen tap is a passive tap reference VW3 CAN TAP 2 It can be connected on a CANopen trunk cable using the two 5 screw terminals embedded co
9. Hz wer 200 ms ON and 200 ms OFF The LED is ON 11 Software setup Profiles Communication profile The communication profile of Altivar 31 is based on CAN 2 A The CANopen specification DS301 V4 02 Simplified structure of the telegram Identifier 11 bits User data maximum length of 8 bytes COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 For more information log on the Can In Automation Web site http www can cia de Functional profile The functional profile of the Altivar 31 complies with Device profile for drives and motion control DSP 402 V2 0 Velocity Mode Drivecom profile 21 Drivecom and CANopen DSP402 are compatible Software setup Available services PDO Process Data Objects PDO telegrams are used to exchange real time data related to the process PLCs refresh their inputs and outputs cyclically through PDOs periodic variables The Altivar 31 features two sets of predefined PDOs The first set of PDOs PDO 1 mandatory for all modes includes one received PDO used to control Control word CMDD the drive one transmitted PDO used to monitor Status word ETAD the drive PDO 1 are asynchronous and the transmitted PDO is only sent when the value of its data changes The second set of PDOs PDO 6 for velocity mode includes one received PDO used to control
10. Number of entries 16 00000300 16801 RW Unsigned 32 Node ID Receive PDO6 COB ID 161405 Receive PDO6 Transmission type Three modes are available for this PDO asynchronous 255 16192 Py Unsigned g TOATE synchronously cyclic 1 240 and synchronously acyclic 0 16 00 RO Unsigned 8 16401 apes PDO1 mapping Number of mapped peeuene Receive PDO1 mapping 15 mapped object Control 16401 RO Unsigned 32 1648660400010 word CMDD 1686040 p Receive PDO6 mapping Number of mapped 16490 RW Unsigned g Tonus objects 0 to 4 objects can be mapped for this PDO Receive PDO6 mapping 15 mapped object Control P 16 01 RW Unsigned 32 16 60400010 word CMDD 16 6040 Receive PDO6 mapping 2 mapped object Velocity 16 02 RW Unsigned 32 16 60420010 reference LFRD 16 6042 16 03 RW Unsigned 32 16 00000000 Receive PDO6 mapping No 3rd mapped object 16 04 RW Unsigned 32 16 00000000 Receive PDO6 mapping No 4th mapped object 16 00 RO Unsigned 8 16 05 Transmit PDO1 Number of entries 16 00000180 16501 RW Unsigned 32 Node ID Transmit PDO1 COB ID Transmit PDO1 Transmission type The only 16 02 RO Unsigned 8 16 FF available mode for this PDO is asynchronous PDO sent when its data value changes nee 1S00 Transmit PDO1 Inhibit time Minimum time 16 03 Rw Unsigned 16 30 between two transmissions unit 1 ms 16 04 RW Unsigned 8 Transmit PDO1 Reserved Transmit PDO1 Event timer In asynchronous 16 05 RW U
11. PDO under SyCon you will have to double click on the Transmit PDO 6 parameter item once you have added it to the Configured PDOs section This will open the PDO Contents Mapping Object Index 1A05 window You will then have to add remove items from the upper Mapable Objects from EDS file section to the lower Mapped Object dictionary section This is done via the two Append Object and Delete mapped Object buttons Once you have finished modifying the mapping of the Transmit PDO 6 parameter validate or cancel the changes using the OK or Cancel button N B Any byte left vacant at the end of this PDO will not be sent on the bus by the Altivar 31 i e if no parameter is assigned to Bytes 6 and 7 the PDO data length will be 6 bytes instead of 8 bytes Example The two default objects are kept 6041 0 and 6044 0 but bytes 4 and 5 are mapped on the Motor current LCR object 2002 4 and bytes 6 and 7 are mapped on the Motor torque OTR object 2002 9 thus resulting in the following mapping COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 640 Status word ETAD Velocity actual value RFRD Motor current LCR Motor torque OTR 1644280 jeu LSB MSB LSB MSB LSB MSB LSB MSB Now we consider an Altivar 31 located at CANopen address 4 COB ID 164280 4 with the following status Current state equal to Operation Enabled and without any fault Status
12. explicit symbols have been assigned beforehand to the MWO through MW 3 words so that you can figure how these words have been linked to the PDOs mapped under SyCon CAN open bus Configuration m slaves CANopen Equipment Name ATY31 m Inputs Parameter Symbol zz MO Etad status w nh Rifrd actual freq 1 2000 m Outputs Parameter Symbol Cmdd control w oo MN Lird freq ref CANopen Equipements Equip Name pma vendor Mame TELEMECANIQUE Description ativar Drive COB D EMCY 130 TaP DO 642 Total Nb slaves NbxMw Inputs NbxMw Outputs E 2 N B These allocations are only valid if the Altivar 31 is the only slave on the CANopen bus and you do use the two PDOs of PDO 6 with their default mapping If you configure other slaves on the same fieldbus or if you alter the PDO configuration of the Altivar 31 the previously described input and output words allocation would be different Should this happen SyCon features a command that allows you to view the entire set of inputs and outputs execute the Address Table command of the View menu in order to do so consider that these bytes are aligned on word addresses Hence a 1 byte object mapped into a configured PDO will Please note that SyCon displays byte addresses and byte sizes IB inputs and QB outputs You should always actually take up a full wo
13. main purpose of this object is to allow to use the synchronous communication modes of the CANopen slaves Thus in the case of the Altivar 31 the PDO 6 if used can be set on one of the possible synchronously cyclic or acyclic communication modes Emergency Object EMCY COB ID 16 080 Node ID Client lt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 128 Emergency Error Code Error register 16 080 0 no fault 0 0 0 0 0 Node ID LSB MSB 1 fault An EMCY object is sent by the Altivar 31 to the other CANopen devices with high priority whenever an internal error appears Byte 2 1 or disappears Byte 2 0 An EMCY will never be repeated The Emergency Error Code is the same as the variable Fault code 603F refer to the users manual Communication variables 26 Description of the services Set PDO 1 COB ID 16 180 Node ID 16 200 Node ID This set of PDO is compliant with the drive and motion profile of the DSP 402 specification It is herein referred to as PDO 1 The default settings of the communication mode of PDO 1 must not be changed and its value 255 corresponds to the default communication mode of the drive profile asynchronous with the monitoring PDO being sent by the drive whenever the value of its data change In addition the object mapping of its frames cannot be changed i e only the Control word CMDD and
14. of the parameters to be mapped would exceed the maximum PDO length The sub index passed in the request does not exist 16 0609 0030 Value range of parameter exceeded only for write access 16 0609 0031 Value of parameter written too high 16 0609 0032 Value of parameter written too low 16 0609 0036 16 0800 0000 The parameter maximum value is less than its minimum value A general error has occurred 1 Please note that the Abort codes listed in this table are written in the usual representation and thus must be inverted on a byte by byte basis for the Byte 4 to 7 representation e g 16 0609 0030 becomes Byte 4 16 30 Byte 5 16 00 Byte 6 16 09 Byte 7 16 06 Important notes regarding the SDO service AN AN Do not try to use SDO write requests on the parameters included in the Transmit PDOs you have configured under SyCon For the Transmit PDO 1 this constraint applies to Control word CMDD For the Transmit PDO 6 Control word CMDD and Velocity reference LFRD are both configured by default If you replace one or both of these default parameters or if you add one or two other parameters to this PDO this restriction applies to these configured parameters Any parameter directly connected to one of the parameters placed under the previous restriction must not be modified using a SDO write request 32 Description of the services Read example f
15. on the Select Database button and select the previously saved file e g C Program Files Schneider SyCon Project ATV31 Software Setup Example co Once you have validated your choice the Configuration Loading Mode section will be updated Sycon V2 8 does not disable automatically PDO1 it must be done by the application programme PL7 If you wish to disable the transmitted PDO and or the received PDO of PDO 1 you must do so in the PL7 application using the SDO service in order to set the bit 31 of the COB ID used by PDO of the corresponding Receive Transmit PDO1 parameter object see below This will mark the PDO as being not valid However you must not modify the other 31 bits of the COB ID Index Sub index Description Enabled PDO Disabled PDO 16 1400 16 01 COB ID of the received PDO 1 16 00000200 Node ID 16 80000200 Node ID 16 1800 16 01 COB ID of the transmitted PDO 1 16 00000180 Node ID 16 80000180 Node ID You will need to do this for example if you only use the two PDOs of PDO 6 as you will then have to disable the two PDOs of PDO 1 Example The following PL7 sample disables the received PDO 1 of the Altivar 31 located at address 4 MD1000 16 80000184 Data to Send Inhibition of the PDO MW500 16 1400 Logical Address Index in MD500 LSB MW501 16 0001 Logical Address Sub Index in MD500 MSB MW22 50 Timeout 50 x 10 ms 500 ms MW23 4
16. the drive Control word CMDD and Velocity reference LFRD in addition it can be configured to include two additional variables Control word CMDD and Velocity reference LFRD can also be replaced with any two other variables with write access rights one transmitted PDO used to monitor the drive Status word ETAD and Velocity actual value RFRD in addition it can be configured to include two additional variables Status word ETAD and Velocity actual value RFRD can also be replaced with any two other variables The communication mode of PDO 6 can be set by the user depending on their needs asynchronous as for PDO 1 or cyclic based on the reception of a synchronisation object SYNC A third mode is also possible acyclic synchronous in which the transmitted PDO is sent whenever the value of its data changes but only during the synchronous window allowed by the SYNC object In asynchronous mode Inhibit time and Event timer can be modified SDO Service Data Objects SDO telegrams are used for configuration and setup PLCs realise acyclic messaging through SDOs The Altivar 31 manages one SDO characterised by two COB IDs one for the requests telegrams issued by the PLC and intended to the Altivar 31 one for the answers telegrams sent back to the PLC by the Altivar 31 The Altivar 31 supports segment transfer Other services Default assignment of identifiers COB IDs based on address e NMT service
17. 16 1008 16 00 a segmented transfer will be initiated between the Client and the Drive The 16 80 Request code is designed to stop this kind of transfer 2 The response data bytes 4 to 7 corresponds to a 32 bit abort code the full listing of all Altivar 31 supported abort codes are described in the table below Note Segment transfer only applies for information with a size that exceeds 4 bytes It only occurs for Manufacturer device name object 16 1008 31 Description of the services Abort code 1 16 0503 0000 16 0504 0000 Description Segmented transfer the toggle bit has not been alternated The SDO protocol timed out 16 0504 0001 16 0601 0000 The request code is not valid or is unknown An access fault has occurred during access to the parameter e g a write request on a read only parameter 16 0601 0001 Tried to perform a read request on a parameter with write only access rights 16 0601 0002 16 0602 0000 16 0604 0041 Tried to perform a write request on a parameter with read only access rights The index passed in the request refers to an object that does not exist in the object dictionary PDO object mapping the parameter cannot be mapped to the PDO this error occurs when writing to the 16 1600 16 1A00 16 1605 and 16 1A05 parameters PDO mappings 16 0604 0042 16 0609 0011 PDO object mapping the number and or length
18. 6 Byte 7 eco Request Object index Object sub Request data Node ID code LSB MSB index Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 Response Client Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 bem Response Object index Object Slike Response data Node ID code LSB MSB index Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 Depending on the Request code and the Response code the contents of Request data and Response data may vary This is summarised in the following two tables Request code Command description Byte 4 Byte 5 Byte 6 Byte 7 16 23 Write a 4 byte data Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 16 2B Write a 2 byte data Bits 7 0 Bits 15 8 16 00 16 00 16 2F Write a 1 byte data Bits 7 0 16 00 16 00 16 00 16 40 Read data 16 00 16 00 16 00 16 00 16 80 Abort the current SDO command 1 16 00 16 00 16 00 16 00 Response code Response description Byte 4 Byte 5 Byte 6 Byte 7 16 43 Read data 4 byte data 1 Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 16 4B Read data 2 byte data 1 Bits 7 0 Bits 15 8 16 00 16 00 16 4F Read data 1 byte data 1 Bits 7 0 16 00 16 00 16 00 16 60 Write a 1 2 4 byte data response 16 00 16 00 16 00 16 00 16 80 Error response abort code returned 2 Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 1 If you use the SDO service to read a multi byte data such as the manufacturer device name parameter
19. Altivar 31 CANopen User s manual aaa i a brand of Schneider Ee Telemecanique Sommaire Foreword 3 Hardware setup 4 Configuration 10 Signalling 11 Software setup 12 Software setup with PL7 and SyCon 15 Description of the services 24 Object dictionary 37 Although every care has been taken in the preparation of this document Schneider Electric SA cannot guarantee the contents and cannot be held responsible for any errors it may contain nor for any damage wich may result from its use or application The products and options described in this document may be changed or modified at any time either from a technical point of view or in the way they are operated Their desciption can in no way be considered contractual Foreword Structure of the documentation The present user s manual describes the use of the CANopen interface of the Altivar 31 For general hardware setting up refer to the Installing manual For complete description of the functions parameters and variables refer to the Programming manual The user s manual Communication variables describes the drive behaviour state charts modes of operation the attributes of the parameters and variables address unit code name description The present user s manual describes the Heartbeat service of Altivar 31 This service is available only with version V1
20. LSB MSB Example The Altivar 31 located at CANopen address 4 COB ID 16 280 4 is in the state Operation Enabled and has no fault Status word ETAD 16 xxx7 In the current example Status word ETAD is equal to 16 0607 In addition the motor speed is equal to 1500 rpm 16 05DC 16 284 16 07 16 06 16 DC 16 05 Control PDO 6 COB ID 16 300 Node ID Default mapping Client gt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 768 Control word CMDD Velocity reference LFRD 16 300 Node ID LSB MSB LSB MSB Example The Altivar 31 located at CANopen address 4 COB ID 16 300 4 receives the command called Enable operation Control word CMDD 16 xxxF In the current example Control word CMDD is equal to 16 000F In addition the motor speed is set to 1200 rpm 16 04B0 16 304 16 0F 16 00 16 B0 16 04 28 Description of the services Monitoring PDO 6 COB ID 16 280 Node ID User defined mapping Client lt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Altivar variable 640 Altivar variable Altivar variable Altivar variable 164280 default Status word ETAD default Eo a value default no object default no object Node ID ToS LSB MSB LSB MSB LSB MSB LSB MSB In order to modify the mapping of the second monitoring
21. Start Remote Node 16401 Stop Remote Node 16402 Enter Pre Operational 16 280 Reset Node 16481 Reset Communication 16282 Acceptance of broadcast on COB ID 0 Heartbeat object for Altivar 31 version V1 2 and above only Node guarding object Emergency object EMCY SYNC service for the second set of PDOs PDO 6 Service not available Time stamp object TIME Address on the bus Node ID Node ID address of the drive on the CANopen bus Client designates an entity that transmits a telegram destined to the variable speed drive example PLC 13 Software setup Description of the supported identifiers COB IDs Identifiers will be referred to by their COB ID etc in the removing sections of this user s manual Direction COB ID Description Client gt Drive 0 16 000 Network ManagemenT service NMT Client gt Drive 128 16 080 SYNChronisation service SYNC 128 Client gt Drive 164080 Node ID EMergenCY service EMCY Client 3 Drive Re go Node ID Drive monitoring transmitted PDO of PDO 1 Client gt Drive eai Node ID Drive control received PDO of PDO 1 Client 1 Drive M Node ID Drive and motor monitoring transmitted PDO of PDO 6 Client c Drive d e Node ID Drive and motor control received PDO of PDO 6 Client S Drive ian Node ID Answer to drive adjustment transmitted SDO Client gt Drive A Node ID R
22. Status word ETAD can be exchanged between the Altivar 31 and a client Both the first monitoring PDO and the first control PDO include only two bytes of data Finally the set of PDO 1 and the set of PDO 6 can be used at the same time but only to a certain extent and under special conditions see the chapters describing these second PDOs Monitoring PDO 1 COB ID 16 180 Node ID Client lt Drive COB ID Byte 0 Byte 1 384 Status word ETAD 16 180 Node ID LSE MSB Example The Altivar 31 located at CANopen address 4 COB ID 16 180 4 is in the state Operation Enabled and has no fault Status word ETAD 16 xxx7 In the current example Status word ETAD is equal to 16 0607 16 184 16 07 16 06 Control PDO 1 COB ID 16 200 Node ID Client gt Drive COB ID Byte 0 Byte 1 512 Control word CMDD 16 200 Node ID LSB MSB Example The Altivar 31 located at CANopen address 4 COB ID 16 200 4 receives the command called Enable operation Control word CMDD 16 xxxF In the current example Control word CMDD is equal to 16 000F 16 204 16 0F 16 00 27 Description of the services Set PDO 6 COB ID 16 280 Node ID 16 300 Node ID This set of PDO is compliant with the drive and motion profile of the DSP 402 specification It is herein referred to as PDO 6 The settings of the co
23. T MW2 X11 ELSE SET MW2 X11 END IF Makes sure the DRIVECOM status does not change MW2 MW2 OR 16 000F Maintains Velocity reference LFRD at 1 500 rpm 96MW3 1500 Re starts the forward reverse timer DOWN TMO START TMO END_IF END_IF The main purpose of this example is to Start the Altivar 31 according to the drive state chart Alternate speed forward and reverse at 1500 rpm during timer TMO It uses the following memory objects Bui Variables Rep re Tue Sumbole Commentaire Etad status w DRIVECON status word Rifrd actual freq DRIVECOM actual speed Cmdd control w DRIVECON control word Lfrd freq ref DRIVECOM reference speed gt I j Masked_etad Masked DRIVECOM status word 23 Description of the services This chapter describes the various CANopen services of the drive listed in accordance with their increasing COB IDs Any data whose length exceeds one byte is set LSB first and MSB last in a CANopen frame Control of the NMT state machine COB ID 16 000 Frame description Client gt Drive COB ID Byte 0 Byte 1 0 Command Specifier Node ID 16 000 CS 1 1 If Node ID 0 the Command Specifier is broadcasted to all CANopen slaves Altivar 31 included each one must then execute this NMT command thus passing the corresponding transition see below Example Transition to Pr
24. Unsigned 32 16 00000000 Receive PDO6 mapping No 4th mapped object Objects from the Altivar 31 specific profile area The parameters of this area are not described in the present user s manual Please refer to the user s manual Communication variables of the Altivar 31 for a full description of these Altivar 31 specific parameters Objects from the standardised device profile area The parameters of this area are not described in the present user s manual Please refer to the user s manual Communication variables of the Altivar 31 for a full description of these parameters 39 VVDED303093EN atv31_CANopen_EN_V1 2003 10
25. X CPP 100 CANopen master PCMCIA card will be triggered as soon as the card becomes unable to properly manage the CANopen bus At the same time all CANopen outputs words will be reset to 0 Configuration Loading Mode PL7 PL7 or SyCon PL7 The configuration of the CANopen bus is downloaded as part of the PL7 application software to the target master PLC If there s not enough memory left in your application for this configuration PL7 will prohibit this mode SyCon The configuration of the CANopen bus is considered as being already loaded into the PCMCIA card thus assuming it was downloaded using SyCon PL7 PRO only checks that the card configuration is identical to the contents of the co file you selected thus preventing any configuration mishap However any modification to the bus parameters will have to be performed under SyCon 21 Software setup with PL7 and SyCon Reviewing the inputs and outputs of the CANopen master Using the information located in the selected co file PL7 PRO establishes a direct correspondence between the data of each CANopen node and its equivalent MW input and output words To review the Altivar 31 I O click on the Bus configuration button This will reveal the CANopen bus configuration window displayed here Selecting the ATV31 CANopen slave Addr 0002 will display the input and output words configured for this sole node Here on the right
26. ct ON or disconnect OFF the internal line termination 120 Q 6 Lug for connecting the green yellow grounding wire 7 CANopen terminal blocks labelled S4 and S5 on the circuit board for wiring of the trunk cable 8 Holes for 4 screws used to mount the tap on a plate or panel 60 mm mounting distance 9 Ground plate for the trunk cable shield 10 Openings for the CANopen trunk cable 11 Opening for the green yellow grounding wire Hardware setup Connecting the drive to the ATV 31 CANopen tap Connect the cord with 2 RJ45 connectors VW3 CAN CA RR 03 or VW3 CAN CA RR 1 to the RJ45 connector of the drive and to the ATV1 or ATV2 female RJ45 connector located on the ATV 31 CANopen tap VW3 CAN TAP 2 If only one Altivar 31 is connected to the ATV 31 CANopen tap the ATV1 connector must be used Hardware setup Setup of the CANopen tap 20 21 Tools required 2 5 mm flat screwdriver e PZ01 cross recess screwdriver Procedure Note the numbers shown below correspond to the numbers in the tap description Unscrew screw 1 using a PZ01 screwdriver Open cover e Fix the tap base to its support either to an AM1 DP200 or AM1 DE 200 DIN rail orto a plate or panel using 2 M4 screws at least 20 mm long Prepare trunk cables 20 and 21 as shown on the following pages Position grounding clamps 22 on the cables Position ground connection 23 e Connect the
27. ducers must be lower than this Consumer Heartbeat Time If a Heartbeat message is not received within the Consumer Heartbeat Time the consumer triggers a Heartbeat event Considering that the configuration of Consumer Heartbeat Time and Producer Heartbeat Time parameters is supported by SyCon v2 8 and its future versions it will not be described in this user s manual as the Heartbeat Protocol is one of the many possibilities of the SDO service 36 Object dictionary General contents of the object dictionary The general breakdown of the Altivar 31 object dictionary is the same for all CANopen devices Index Object 16 0000 Unused 16 0001 16 001F Static data types 16 0020 16 003F Complex data types 16 0040 16 005F Unused Manufacturer specific complex data types 16 0060 16 007F Device profile specific static data types 16 0080 16 009F Device profile specific complex data types 16 00A0 16 0FFF Reserved for further use 16 1000 16 1FFF Communication profile area 16 2000 16 5FFF Altivar 31 specific profile area 16 6000 16 9FFF Standardised device profile area 16 A000 16 FFFF Reserved for further use Objects from the communication profile area This area contains the communication specific parameters for the CANopen network All entries that appear here are common to ALL CANopen devices
28. e ID Master TSX CPP 100 Altivar31 Drive Node ID Node For Help press F1 ATV31 CANopen ConfigMode Software setup with PL7 and SyCon Editing and Configuring the Altivar 31 Double click on the line that corresponds to the Altivar 31 The Node Configuration window appears The Node Configuration window displayed below illustrates the few operations that have been done in order to configure both Received and Transmitted PDO 6 Node Configuration Node ATV31 Node ID address 2 Ok nix Cancel Description Drive_of_fan Configuration Error 5 Control Protocol Node BootUp File name ATV31_V11 EDS IV Activate node in actual configuration Emergency COB ID f 30 t Automatic COB ID allocation in accordance with Profile 301 Nodeguard COB ID fi 794 bject Device Profile 402 Device type Frequency Converter Configuration Predefined Process Data Objects PDOs from EDS file Actual node PDO name 2 ATV31 Receive PDO1 parameter Receive PD B parameter PDO mapping method Transmit PDO1 parameter D5301 v4 X Transmit PDOB parameter 2 Add to configured PDOs T 4 Receive UE ic d PDO Characteristics Define new Receive PDO Define new Transmit PDO Delete configured PDO Symbolic Names These operations are summarised here 1 Disable the Automatic COB ID allocation in accordance with Profile 301 option by unchecking the associated c
29. e Operational state Enter Pre Operational State 16 80 of the Altivar 31 located at CANopen address 4 Command Specifier CS Meaning 1 16 01 Start_Remote_Node 2 16 02 Stop_Remote_Node 128 16 80 Enter_Pre Operational_State 129 16 81 Reset_Node 130 16 82 Reset_Communication 16 04 16 000 16 80 16 04 24 Description of the services Network management state chart NMT State Machine Power on or hardware reset Power on or hardware reset Initialisation Pre Operational Transition Description 1 At Power on the initialisation state is entered autonomously 2 Once initialisation is finished the Pre Operational state is automatically entered 3 6 Start_Remote_Node 4 7 Enter_Pre Operational_State 5 8 Stop_Remote_Node 9 10 11 Reset_Node 12 13 14 Reset_Communication Depending on the communication state of the drive the following services are available Initialising Pre operational Operational Stopped PDO X SDO X X Synchronisation SYNC X X Emergency X X Boot Up X X Network Management X X X Description of the services Synchronisation object SYNC COB ID 16 080 Client gt Drive COB ID 128 16 080 The SYNC object is cyclically emitted by the CANopen master It does not include any data hence limiting its frame to its sole COB ID The
30. e node s parameter Node Heartbeat Producer Time 1631017 16400 If the Master Guarding Time of Node is set to 0 for the currently configured node the master will not check the fieldbus activity of this node N B If you wish to use the Heartbeat Protocol with your CANopen master you should first enable its Heartbeat Function in the Bus Parameter window see chapter Creating a CANopen network under SyCon page 16 Of course the CANopen master must support this protocol which is not the case of the CANopen master used here TSX CPP 100 The TSX CPP 110 CANopen master PCMCIA card is an example of CANopen master that supports this protocol In addition the Node Heartbeat Consumer List section allows you to configure the Altivar 31 to check another station made distinct by its Node ID on the bus Each station is named and its Producer Time msec is recalled for convenience By checking a box in the Active column the corresponding Node ID will be periodically checked by the Altivar 31 in this case the corresponding ConsumerTime msec must be greater than the Producer Time msec Saving and opening the CANopen fieldbus configuration under PL7 PRO Save the CANopen configuration and give it a name Save or Save As command from the File menu This configuration is saved in a co file In the window of PL7 PRO displayed in chapter Setting up the hardware configuration under PL7 PRO page15 click
31. ect state the Client triggers a Node Guarding event If after its life time has elapsed the Drive does not receive any polling ittriggers a Life Guarding event goes to L OF fault CANopen communication fault and sends an emergency telegram EMCY 34 Description of the services Example of node guarding protocol setup As described earlier the life time of the Altivar 31 may be modified using the SDO service in order to write new values for its guard time and life time factor parameters Parameter Index Sub index Format Unit Guard time 16 100C 16 00 16 bit unsigned integer 1 ms Life time factor 16 100D 16 00 unsigned byte a In the current example we will configure a life time of 2 seconds with a guard time of 500 ms and a life time factor equal to 4 500 ms x 4 2 9 1 Setting up the guard time to 500 ms e 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 for writing a 2 byte data Response code byte 0 16 60 if the write operation has been successfully carried out Object index bytes 1 and 2 16 100C e Object sub index byte 3 162200 Request data bytes 4 and 5 16 01F4 500 Request Client Drive 16 604 16 2B 16 0C 16 10 16 00 16 F4 16 01 16 00 16 00 Response Client lt Drive
32. equest of drive adjustment receive SDO Client gt Drive Network management NMT Node Guard Heartbeat 1792 16 700 Node ID Client e Drive Network management Bootup protocol The Altivar 31 supports the automatic assignment of COB IDs calculated using its CANopen address only for PDOs of PDO1 Software setup with PL7 and SyCon Requirements and CANopen architecture The following chapters describe the steps in PL7 PRO version gt V4 3 and SyCon version 2 V2 8 which you will need to go through so that the Altivar 31 is correctly recognised by the CANopen master PLC The software versions used here are PL7 PRO V4 3 and SyCon V2 8 The CANopen bus which is described in the following chapters only includes one CANopen master TSX 57353 V5 1 Premium PLC TSX CPP 100 CANopen master PCMCIA card and one slave Altivar 31 So you will need to adapt the addressing of the inputs and outputs shown below IW and QW according to any other slaves on the CANopen bus which you need to configure Setting up the hardware configuration under PL7 PRO Under PL7 PRO create a new application or open an application for which you want to add a CANopen bus Edit the hardware configuration of this application add a TSX CPP 100 CANopen PCMCIA card in the Channel 1 of the Comm slot of the TSX 57353 mt PL PRO lt Untitled gt File Edit Utilities Yiew Tools PLC Debug Options Window 5 e g
33. for the 16 1014 16 00 RO Unsigned 32 Node ID EMCY service 16 00 RO Unsigned 8 16 01 Consumer Heartbeat Time Number of entries Consumer Heartbeat Time 16 1016 Bits 16 23 Node ID of the producer 16 01 RW Unsigned 32 16 00000000 Bits 0 15 Heartbeat time unit 1 ms N B Only one heartbeat producer can be configured here By default no producer is monitored Producer Heartbeat Time The unit of this object is 16 1017 16 00 RW Unsigned 16 16 0000 1 ms By default the Altivar 31 sends no Heartbeat messages 16 00 RO Unsigned 8 16 01 Identity object Number of entries 16 1018 i ject Thi is uni 16401 RO Unsigned 32 1640000005F Identity object Vendor ID This value is unique for each manufacturer 37 Object dictionary Index Sub index Access Type Default value Description 16 00 RO Unsigned 8 16 02 Server SDO Number of entries 16 00000600 1641200 16 01 RO Unsigned 32 Node ID Server SDO COB ID Client gt Drive receive 16 02 RO Unsigned 32 16 00000580 Server SDO COB ID Client Drive transmit 16 200 RO Unsigned 8 16 402 Receive PDO1 Number of entries 16401 RW Unsigned a2 9500000200 Receive PDO1 COB ID 1641400 Node ID Receive PDO1 Transmission type The only 168502 RO Unsigned 8 16 FF available mode for this PDO is asynchronous PDO sent when its data value changes 16 00 RO Unsigned 8 16 02 Receive PDO6
34. he number of MW input words to 2 because the only CANopen inputs are those of the default mapping of the Transmit PDO 6 I Len of 4 IB as indicated under SyCon The first input word remains MWO Thus our CANopen input words are MWO and MW1 Outputs MW32 to MW63 Number of MW First MW The description of the Inputs given above holds true here but is related to the output words of the master PLC and to the output data of the TSX CPP 100 CANopen master PCMCIA card The Altivar 31 may require up to 10 bytes 5 words of output data but this output size can only be reached by combining the Receive PDO of both PDOs 2 bytes for PDO 1 and up to 8 bytes for PDO 6 with a default size of 4 bytes e g In our example we reduce the number of MW output words to 2 because the only CANopen outputs are those of the default mapping of the Receive PDO 6 O Len of 4 QB as indicated under SyCon In addition we allocate these output words so that they are placed just behind the input words the first output word is MW2 Thus our CANopen output words are MW2 and MW3 Outputs Reset Hold or Reset Determines whether the CANopen outputs words are held or reset to zero when the associated task see above is stopped because such a halt does not cause the TSX CPP 100 card to stop Watchdog Enabled Enabled or Disabled If this option is enabled the CANopen watchdog of the TS
35. heckbox please note that this is only useful and mandatory in this case if you intend to use one or both of the PDO 6 parameters If you don t plan to use any of the two PDO 6 parameters leave this box checked 2 Add PDOs to Configured PDOs For each PDO that you wish to add to the Configured PDOs section select it in the Predefined Process Data Objects PDOs from EDS file section then click on the Add to configured PDOs button or double click on the PDO entry Before adding the PDO to the Configured PDOs section SyCon will first display a window allowing you to configure the transmission mode of this PDO For both PDO 1 you MUST NOT change the setting of their transmission mode asynchronous 255 For PDO 6 you can configure a Resulting CANopen specific transmission type of 0 first option 1 to 240 second option or 255 fourth and last option which correspond respectively to acyclic synchronous cyclic synchronous and asynchronous transmission modes As explained in chapter Important notes regarding the SDO service page 32 you may mix PDO 1 and PDO 6 parameters Please refer to this chapter if you wish to do so Any given PDO can only be added once to the Configured PDOs section no duplicate is allowed 3 Manually set the COB ID of any PDO 6 parameter you selected The COB ID of Transmit PDO 6 is always equal to 164280 640 Node ID and the COB ID of Receive PDO 6 is al
36. ication variables of the Altivar 31 Write request Client Drive The request code of this write request is 16 2B because we are trying to modify the value of a 2 byte data 16 604 16 2B 16 3C 16 20 16 02 16 E8 16 03 16 00 16 00 The 2 byte data field of the request frame displayed above indicates that the value we try to attribute to the Acceleration parameter is equal to 1000 16 03E8 which equates to an Acceleration time ACC of 100 s the unit of this parameter is 0 1s Write response Client lt Drive The response code of the write response is 16 260 because the write operation was successfully performed 16 584 16 60 16 3C 16 20 16 02 16 00 16 00 16 00 16 00 33 Description of the services Error control protocols COB ID 162700 Node ID Bootup protocol Client lt Drive COB ID Byte 0 This protocol is used to signal that the Drive has entered the node state Pre Operational after the 1792 state Initialising 1644700 16400 eI The only data byte sent in a bootup protocol frame is always equal to 16200 Node guarding protocol Description The monitoring of the communication between the Client the NMT master and the Drive is either achieved using the Node Guarding protocol described here or with the Heartbeat protocol described thereafter Only one of these two protocols may be active at any given time C
37. lient Drive The Client polls the drive and any other NMT slave at regular time intervals using remote transmit requests Each NMT slave is assigned a specific time period for this poll called life time Its value may be changed via the two parameters guard time 16 100C 16 200 and life time factor 16 100D 165200 The life time is given by the guard time multiplied by the life time factor By default the Node Guarding Protocol is inhibited on the Altivar 31 the guard time and life time factor parameters are both set to 0 Client Drive COB ID Byte 0 1792 168700 NMT Node ID information The response of the Drive contains its NMT state in the NMT information field described here Bit 7 Toggle bit the value of this bit must alternate between two consecutive responses from the Drive The value of the toggle bit of the first response after the node guarding protocol becomes active is 0 It is only reset to 0 when a Reset Communication command is passed to the Drive see chapter Network management state chart NMT State Machine page 25 If a response is received with the same value of the toggle bit as in the previous response then the new response is handled as if it was not received Bits 6 0 NMT state Current NMT state of the Altivar 31 Stopped 16 04 Operational 16 05 or Pre Operational 16 7F If the Drive does not transmit its response or if it transmits an incorr
38. mmunication mode of PDO 6 can be changed its default value 255 corresponds to the default communication mode of the drive profile asynchronous synchronously cyclic 1 240 the drive sends the PDO once every 1 to 240 receptions of the SYNC object synchronously acyclic 0 the drive sends the PDO synchronously with the SYNC object but its transmission is only triggered by a change in the value of its data Moreover the object mapping of the frames of the set PDO 6 can be changed Their default mapping include the Control word CMDD Velocity reference LFRD Status word ETAD and Velocity actual value RFRD and these will be presented first Then an example of object mapping will be given for the PDO 6 in order to illustrate the possibilities of mapping for this PDO Finally the set of PDO1 and the set of PDO6 can be used at the same time this will be discussed in the last section of the current chapter If you want to use the transmitted and or received objects of the PDO 6 to the Configured PDOs under SyCon you AN must first uncheck the Automatic COB ID allocation in accordance with Profile 301 checkbox Should you leave this check the COB IDs of these objects will not be correct and you will then have to manually fix them Monitoring PDO 6 COB ID 162280 Node ID Default mapping Client Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 640 Status word ETAD Velocity actual value RFRD 1642280 nae LSB MSB
39. nnectors Two RJ45 connectors allow the connection of two Altivar 31 by ATV 31 CANopen drop cords One RJ45 connector is designed to interface these two Altivar 31 with PowerSuite Commissioning software tool for PC or Pocket PC If only one ATV 31 is connected on the tap it should be on the connector labelled ATV1 If two ATV 31 are connected PowerSuite can access the two drives in multidrop mode The Modbus address of each drive must be different A remote terminal VW3 A31101 can also be connected to the PowerSuite connector but in this case only one ATV 31 drive can be connected to the CANopen tap on the plug labelled ATV1 ATV 31 CANopen drop cord is a cable equipped with 2 RJ45 connectors Two lengths are available 0 3 m reference VW3 CAN CA RR 03 and 1 m reference VW3 CAN CA RR1 A Only a 0 3 m drop cord can be used in a CANopen network at a speed of 1 Mbits s Hardware setup Description of the ATV 31 CANopen tap VW3 CAN TAP 2 External view Internal view Legend 1 Cover fixing screw 2 ATV1 female RJ45 connector where the first Altivar 31 drive must be connected 3 ATV2 female RJ45 connector where the second if any Altivar 31 drive must be connected Do not use if a remote terminal is connected to the PowerSuite connector 4 PowerSuite female RJ45 connector where PowerSuite PC or Pocket PC or a remote terminal can be connected 5 Switch used to conne
40. nsigned 16 100 mode this object sets a minimum rate of transmission for this PDO unit 1 ms 16 00 RO Unsigned 8 16 05 Transmit PDO6 Number of entries 16 00000280 F 16 01 RW Unsigned 32 Node ID Transmit PDO6 COB ID Transmit PDO6 Transmission type Three modes are available for this PDO asynchronous 255 16202 i Unsigned 8 TORTE synchronously cyclic 1 240 and synchronously 16 1805 acyclic 0 Transmit PDO6 Inhibit time Minimum time 19793 RW peeing 36 9n between two transmissions unit 1 ms 16404 RW Unsigned 8 EN Transmit PDO6 Reserved Transmit PDO6 Event timer In asynchronous 16 05 RW Unsigned 16 100 mode this object sets a minimum rate of transmission for this PDO unit 1 ms 38 Object dictionary Index Sub index Access Type Default value Description 16400 RO Unsigned 8 16401 bleu PDO1 mapping Number of mapped 16 1A00 objects i Transmit PDO1 mapping 1 mapped object Status 16 01 RO Unsigned 32 16 60410010 word ETAD 16 6041 Transmit PDO6 mapping Number of mapped 16 00 RW Unsigned 8 1040 objects 0 to 4 objects can be mapped for this PDO Transmit PDO6 mapping 19 mapped object Status ee 16 01 RW Unsigned 32 16 60410010 word ETAD 16 6041 Transmit PDO6 mapping 2 mapped object velocity 16 02 RW Unsigned 32 16 60440010 actual value RERD 16 6044 16 03 RW Unsigned 32 16 00000000 Receive PDO6 mapping No 3rd mapped object 16 04 RW
41. ntation Master stops in case of Node 500 kBit s t Error of SyCon if you need more information on Bus Parameter features Disabled EOE 1 Mbit s m Synchronisation Object SYNC N B Should you use the PDO 6 of the Altivar 31 and configure it in COB D 128 synchronous mode cyclic or acyclic you should also consider communes iie Reno 100 msec adjusting the Communication Cycle Period which default value is equal to 100 ms as shown in the adjacent window m Heartbeat Function Enable Master Producer Heartbeat Time 200 msec v Enable Global Start Node r 29 Bit Selection entries Enable 29 Bit Selector 20 7 U Bit Acceptance Code 00 00 oo 00 Hex Acceptance Mask 00 00 oo 00 Hex Adding the Altivar 31 EDS files to the CANopen devices managed by SyCon The EDS file that describes the Altivar 31 must be imported under SyCon so that it includes it in its devices database This file is called ATV31_Vxy eds Vx y software version of Altivar 31 x major revision y minor revision To import that file under SyCon run the Copy EDS command from the File menu and select the EDS file aforementioned You will then be prompted to choose whether or not to import the corresponding bitmap files Click on Yes to add the three Altivar 31 status icons to the bitmap database of SyCon these icons are displayed hereafter If the command completes successfully a message window will inform y
42. ocumented for your Client e g the TSX CPP 100 CANopen master PCMCIA card does not support this protocol but the TSX CPP 110 does Only one of these two protocols may be active at any given time Contrary to the Node Guarding Protocol the Heartbeat Protocol does not require the Client to send frames not even remote frames to any device Client lt Drive COB ID Byte 0 1732 Heartbeat producer 16 700 status Node ID Instead each Heartbeat Producer transmit a heartbeat message cyclically see above and any Heartbeat Consumer receives this message and checks it arrives within a maximum given time Two parameters are used to configure this relationship consumer heartbeat time 16 1016 16 01 and producer heartbeat time 16 1017 16 00 By default the Heartbeat Protocol is inhibited on the Altivar 31 the consumer heartbeat time and producer heartbeat time parameters are both set to 0 The Heartbeat message from the Drive contains a Heartbeat producer status field described here Bit 7 reserved this bit is always set to 0 Bits 6 0 Heartbeat producer state Current state of the Altivar 31 Bootup 16 00 Stopped 16 04 Operational 16 05 or Pre Operational 16 7F A Heartbeat Consumer does cyclically check the reception of the Heartbeat messages within the Consumer Heartbeat Time Thus the Producer Heartbeat Time of the Heartbeat Pro
43. ommon 2 8 Common 2 8 Common 2 2 Modbus signals 3 Supply for RS232 RS485 converter or a remote terminal Configuration Configuration of the CANopen communication functions of the Altivar 31 can be accessed from the Communication menu L DTI The configuration can only be modified when the motor is stopped and the drive is locked Any change will only be applied after a power cycle of the drive power off then power on Parameter Possible values Terminal display Default value CANopen Address HdLD 0 to 127 oto lel 0 10 kbits s 10 0 20 kbits s Dou 50 kbits s 050 0 aci s 125 kbits s 125 0 125 kbits s 250 kbits s 250 0 500 kbits s 5DID U 1 000 kbits s IBUU The A d E D parameter will thereafter be referred to as Node ID in the present User s Manual The default value 0 of this parameter disables the CANopen communications of the Altivar 31 In order to enable CANopen on the Altivar 31 you must set a non zero value for A dL D The value of the b d E O parameter must match the communication speed of all the other devices connected to the CANopen bus In addition the maximum length of the bus depends on the communication speed The following table specifies the maximum bus length when an Altivar 31 is placed on a CANopen bus depending on the actual communication speed Communication speed 10 kbits s 20kbits s 50 kbits s 125 kbits s 250 kbits s 500 kbits s
44. or the SDO service This example demonstrates how to read the parameter Acceleration time ACC of an Altivar 31 located at the CANopen address 4 COB ID 16 580 Node ID or 16 600 Node ID The index sub index of this parameter is equal to 16 203C 02 N B The indexes and sub indexes for all the variables of the Altivar 31 are listed in the user s manual Communication variables of the Altivar 31 Read request Client Drive The request code of a read request is 16 40 16 604 16 40 16 3C 16 20 16 02 16 00 16 00 16 00 16 00 Read response Client lt Drive In our current example the response code of the read response is 16 4B because the read operation was successfully performed on a 2 byte data 16 584 16 4B 16 3C 16 20 16 02 16 E8 16 03 16 00 16 00 The response frame displayed above indicates that the value of the read parameter is equal to 1000 16 03E8 which equates to an Acceleration time ACC of 100 s the unit of this parameter is 0 1s Write example for the SDO service This example demonstrates how to write the value 100 s to the parameter Acceleration time ACC of an Altivar 31 located at the CANopen address 4 COB ID 162580 Node ID or 16 600 Node ID The index sub index of this parameter is equal to 16 203C 02 N B The indexes and sub indexes for all the variables of the Altivar 31 are listed in the user s manual Commun
45. ou that 1 EDS file and 3 bitmap files were imported 1 cA x Ve A TS A31 Vxy s dib A31 Vxy r dib A31 Vxy d dib The eds files and icon files are available in PowerSuite CD ROM or in the CD ROM distributed with the Altivar 31 drive 17 Software setup with PL7 and SyCon Selecting and adding the Altivar 31 to the CANopen fieldbus Node filter Vendor All bd Profile All ic Available devices Selected devices Add gt gt _Addall gt gt _Addall gt gt lt lt __ lt Bemove_ CIFIO4P COS CIF30 COS z Reeve Vendor name TELEMECANIQUE Node ID Product number 0 Description C _Drive Product version No entry Product revision No entry EDS file name A31 E EDS EDS Revision 1 Click on OK to return to the SyCon main window The node device we selected appears at the selected position lz SyCon C Program Files Schneider SyCon Project AT 31 e File Edit View Insert Online Settings Window Help Run the Node command from the Insert menu or click on the Ed button ia Move the mouse pointer which now looks like a N to the position where you want to add the Altivar 31 then left click In the Insert Node window that appears select the ATV31 device then click the Add gt gt button You can edit the Node ID and the Description of this node in this same window Software Setup Example co ojsjaj le TSX_Premium_CPP_100 Nod
46. rd the 1 byte object will be allocated to the MSB byte of this word and its LSB byte becomes a spare byte The correspondence between the configured PDOs of the Altivar 31 and the PLC inputs and outputs is given in the following table PDO Type SyCon I O PL7 PRO I O Description of the mapped object IBO IB1 9e MWO Status word ETA T it PD sneer S Lon IB2 iB3 9 MWT Velocity actual value RFRD QBO QB1 MW2 Control word CMD Receive PD pene POR SUA QB2 QB3 9 MW3 Velocity Setpoint LFRD 22 Software setup with PL7 and SyCon Example The following example of a short PL7 PRO program illustrates the configuration described in chapter Software setup with PL7 and SyCon page 15 Masks the DRIVECOM Status Word MW5 MWO AND 16 00FF Status word ETAD 16 xx40 Switch on disabled IF MW5 16 0040 THEN MW2 16 0006 Control word CMDD 16 0006 Shutdown END_IF Status word ETAD 16 xx21 23 Ready to switch on Switched on IF MW5 16 0021 OR MW5 16 0023 THEN MW2 16 000F Control word CMDD 16 000F Enable operation MW3 1500 Velocity reference LFRD 1 500 rotations per minute START TMO Starts the forward reverse timer END_IF Status word ETAD 16 xx27 Operation enabled IF MW5 16 0027 THEN Forward reverse timer elapsed IF TMO0 Q THEN Control word CMDD Forward lt gt Reverse IF MW2 X11 THEN RESE
47. trunk cables to terminal blocks 7 as shown on the following pages Use a 2 5 mm flat screwdriver Thread torque on terminal block screw 0 25 N m Screw down the grounding clamps and connections using screws 19 and a cross recess screwdriver PZ01 Connect the green yellow grounding wire to the connection lug 6 Immobilise the cables using nylon clamps Position micro switch to ON if line termination is required and to OFF if not Break the tabs on the cover so that the cables can pass through e Replace cover and fix it in place with screw 1 using a cross recess screwdriver PZ01 Hardware setup Connecting the trunk cable Cable preparation guide 54 mm 8mm Pin Signal Wire colour Description 1 GND Black Ground 2 CAN_L Blue CAN_L bus line 3 SHLD bare cableshield Optional shield 4 CAN_H White CAN_H bus line 5 V Red Optional supply 1 1 If the CANopen cables have a fourth red wire it should be connected to pin 5 in order to relay the V optional signal to the other CANopen stations Pin out of the RJ45 connectors ATV1 ATV2 PowerSuite Pin Signal Pin Signal Pin Signal 1 CAN_H 1 CAN_H 1 Not connected 2 CAN_L 2 CAN_L 2 Not connected 3 CAN_GND 3 CAN_GND 3 Not connected LETT 4 D1 2 4 D1 2 4 D1 2 5 DO 2 5 DO 2 5 DO 2 6 Not connected 6 Not connected 6 Not connected 7 VP 3 7 Not connected 7 VP 3 8 C
48. ways equal to 16 300 768 Node ID If you configure one or both PDO 1 parameters please note that the default values of their COB IDs are correct and should not be modified 4 The mapping of each PDO 6 parameter can be modified By clicking on the PDO Contents Mapping button the contents of the currently selected configured PDO are displayed in a specific window where the objects already mapped can be deleted and available objects can be appended to them up to a limit of 4 objects per PDO This feature must not be used with any PDO 1 parameter because their mapping is static 19 Software setup with PL7 and SyCon 5 Configure the Error Control Protocol of the Altivar 31 By clicking on the Configuration Error Control Protocol button you will be allowed to choose which control protocol to apply to the Altivar 31 Node Guarding Protocol or Heartbeat Protocol Node Guarding Protocol If this protocol is selected the two parameters Guard Time and Life Time Factor are used to generate a Life Time duration Please refer to chapter Node guarding protocol page 34 for more details on this topic e g in our example we configure a Guard Time of 500 ms and a Life Time Factor or 4 thus configuring a Life Time or 4 x 500 ms 2 seconds Heartbeat Protocol If this protocol is selected the master s parameter Master Guarding Time of Node 164211016 16 xx must be greater than th
49. word ETAD 16 xxx7 In the current example Status word ETAD is equal to 1620607 Velocity actual value RFRD equal to 1500 rpm 16 05DC e Motor current LCR equal to 4 0 A 16520028 Motor torque OTR equal to 83 16320053 The corresponding sent frame for this monitoring PDO should be as follows 8 data bytes 16422284 16207 16206 16 DC 16 05 16 28 16 00 16 53 16 00 29 Description of the services Control PDO 6 COB ID 16 300 Node ID User defined mapping Client Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Altivar variable Altivar variable 768 i Altivar variable Altivar variable 164300 D word default Ee eM default no object default no object Node ID Node LSB MSB LSB MSB LSB MSB LSB MSB In order to modify the mapping of the second control PDO under SyCon you will have to double click on the Receive PDO 6 parameter item once you have added it to the Configured PDOs section This will open the PDO Contents Mapping Object Index 1605 window You will then have to add remove items from the upper Mapable Objects from EDS file section to the lower Mapped Object dictionary section This is done via the two Append Object and Delete mapped Object buttons Once you have finished modifying the mapping of the Receive PDO 6 parameter
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