SM-CAN User Guide
Contents
1. 3 lt gt IN1 2 IN2 Q I gt ENDCANMESSAGE GetCAN Q Status Len Length Word0O RxWord0 Word1 RxWord1 8 Slot Time TStamp ENDCANMESSAGE SM CAN User Guide 27 Issue Number 1 www controltechniques com 7 4 7 4 1 28 Remote transmit request RTR The remote transmit request frame allows a node to request a data frame from another remote node The remote node will return the RTR response frame The RTR message has the RTR bit set to 1 recessive and contains no data bytes Requesting node The requesting node must transmit an RTR frame from the slot that is to be used to receive the RTR response frame The CAN identifier of the RTR frame MUST match the CAN identifier configured for the RTR response message in the remote node In the example below slot 3 will be used to transmit the RTR message DPL CODE TxStatus PUTCAN 3 2 0x4D3 0 0 0 FUNCTION BLOCK DIAGRAM PutCAN 3 Slot TxStatus Use CANSTATUS to check the status of slot 3 and use GETCAN to retrieve the RTR response frame once it has been received See section 6 5 CANSTATUS on page 19 and section 6 4 GETCAN on page 18 SM CAN User Guide www controltechniques com Issue Number 1 7 4 2 Remote node The remote node will automatically respond if the CAN identifier of the received RTR frame matches its own RTR CAN identi2. Sy CONTROL Z TECHNIQUES www controltechniques com User Guide SM CAN Solutions Module for Unidrive SP Part Number 0471 0023 01 Issue Number 1 General Information The manufacturer accepts no liability for any consequences resulting from inappropriate negligent or incorrect installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed drive Drive with the motor The contents of this guide are believed to be correct at the time of printing In the interests of a commitment to a policy of continuous development and improvement the manufacturer reserves the right to change the specification of the product or its performance or the contents of this guide without notice All rights reserved No parts of this guide may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by an information storage or retrieval system without permission in writing from the publisher Drive software version The SM CAN can only be used with Unidrive SP firmware version V1 00 00 and later Copyright 1 May 2003 Control Techniques Drives Ltd Issue Code 1 Hardware UT77 Issue 02 00 Firmware V0 01 00 1 1 1 1 2 1 3 1 4 1 5 1 6 1 7 2 2 1 2 2 3 3 1 3 2 4 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 5 5 1 5 2 5 3 5 4 5 5 5 6 6 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 6 1
3. SM CAN User Guide 13 Issue Number 1 www controltechniques com 5 3 5 4 SM CAN can also be disabled completely by setting Pr MM 04 to 2 This ensures that a new default SM CAN will not interfere with an existing network until it has been configured and enabled CAN network status Name CAN network status Pr 15 06 N A Pr 16 06 10 to 9999 Pr 17 06 RO Network activity can be monitored in the CAN network status parameter Pr MM 06 When the SM CAN is communicating successfully with the CAN master controller the CAN network status parameter will give an indication of the number of CAN frames recevied or transmitted every second Table 5 3 CAN network status codes Pr MM 06 Parameter Description Indicates the number of CAN frames transmitted or received every Network healthy Second No message acknowledgement received Indicates that there are Initialised bad wiring connections on teh network or that SM CAN is the only node currently active on the CAN network Internal hardware Part of the SM CAN initialisation sequence was not successful If failure this fault persists after a power cycle replace the SM CAN There is an invalid setting in the SM CAN configuration Configuration error parameters Internal software Indicates that an internal software error has occurred If this fault error persists after a power cycle replace the SM CAN Auto data rate SM CAN is currently attempti
4. message has actually been transmitted SM CAN User Guide 17 Issue Number 1 www controltechniques com 6 4 GETCAN GETCAN examines the specified message slot and returns the CAN identifier data length code and the data bytes Unused data bytes will be set to 0 DPL CODE Status Length RxWord0 RxWord1 TStamp GETCAN CANS1lot FUNCTION BLOCK DIAGRAM Status Length RxWord0 RxWord1 CANSIlot TStamp Table 6 4 GETCAN arguments Argument Description Source slot in the CAN controller specified as MCC where CANSlot 0to 314 M Unidrive SP module slot containing target SM CAN CC CAN controller slot in target SM CAN Returns the status code of the GETCAN command where Status Oor1 0 command failed slot is empty 1 message read successfully output arguments are valid Length 0to8 Returns the number of data bytes received in the CAN frame 32bit data word containing bytes 0 LSB through 3 MSB of the CAN data field Unused bytes will be set to zero 32bit data word containing bytes 4 LSB through 7 MSB of the CAN data field Unused bytes will be set to zero RxWord0 231 RxWord1 231 8 bit time stamp where a value of 1 represents approximately 32 bit TStamp 0 to 255 periods TStamp should only be used to determine the order in which messages were received by the CAN controller If 2 CAN slots are configured identical
5. 16 44 Pr 17 44 Pr 15 45 Pr 16 45 Pr 17 45 Pr 15 46 Pr 16 46 Pr 17 46 Pr 15 47 Pr 16 47 Pr 17 47 Pr 15 48 Pr 16 48 Pr 17 48 Pr 15 49 Pr 16 49 Pr 17 49 oj o CO Of CO ojl OF OF o Reserved Reserved Pr 15 50 Pr 16 50 Pr 17 50 Section 8 7 on page 33 SM CAN error codes Pr 15 51 Pr 16 51 Pr 17 51 Section 8 2 on page 30 www controltechniques com Minor firmware version SM CAN User Guide Issue Number 1
6. ENABLECANTRIPS on page 21 No acknowledgement No ACK bit was seen when the last message was transmitted Indicates that there are no other devices on the network or the SM CAN is transmitting corrupt messages Refer to section 6 7 ENABLECANTRIPS on page 21 FLASH transfer error The SM CAN was unable to upload the configuration parameters from its FLASH memory to the Unidrive SP SM CAN module overtemperature If the temperature inside the SM CAN exceeds 82 C the SM CAN will trip the Unidrive SP and show error code 74 SM CAN User Guide Issue Number 1 Inter option communication error Communications time out has occurred but SM CAN is unable to determine the reason for the error 33 www controltechniques com Table 8 6 SM CAN error codes Description Communication error to slot 1 Direct communications between the SM CAN and an SM Communication error Applications in another slot has timed out This can occur to slot 2 when the SM CAN attempts to trigger an event task in an SM Communication error APPlications and gets no response to slot 3 Internal watchdog error Internal error Cycle power to the Unidrive SP to reset from this Internal software _ trip If trip persists replace the SM CAN error SM CAN User Guide www controltechniques com Issue Number 1 9 2 Advanced Features Triggering SM Applications event tasks SM CAN can be configured to
7. Length TxWord0 TxWord1 FUNCTION BLOCK DIAGRAM CANSIot Command CANID Length TxWord0 TxWord1 Status Table 6 3 PUTCAN arguments Argument Description Destination slot in the CAN controller specified as MCC where CANSlot 0 to 314 M Unidrive SP module slot containing target SM CAN CC CAN controller slot in target SM CAN Specifies the required command 0 transmit CAN frame 1 configure mask for specified CAN slot 2 send RTR message 3 configure RTR response message CANID 0 to 2047 Specifies the 11bit CAN identifier Specifies the number of data bytes to be sent in the CAN frame Set to 0 when configuring a CAN slot mask or sending an RTR message Specifies the 32bit data word containing byte 0 LSB through to byte 3 MSB of the CAN data field Unused bytes should be set to zero Specifies the 32bit data word containing byte 4 LSB through to byte 7 MSB of the CAN data field Unused bytes should be set to zero Returns the status code of the PUTCAN command where Status Oor1 0 command failed 1 command successfully completed Length 0to8 TxWord0 231 TxWord1 231 EGG When PUTCAN returns a status code of 1 this indicates that the message was transferred successfully to the CAN controller It does NOT indicate that the CAN message has been transmitted Use CANSTATUS or CANSTATUSALL to check when the
8. design and safety of personnel The drive is intended as a component for professional incorporation into complete equipment or a system If installed incorrectly the drive may present a safety hazard The drive uses high voltages and currents carries a high level of stored electrical energy and is used to control equipment which can cause injury Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction System design installation commissioning and maintenance must be carried out by personnel who have the necessary training and experience They must read this safety information and this User Guide carefully The STOP and SECURE DISABLE functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the sole exception of the SECURE DISABLE function none of the drive functions must be used to ensure safety of personnel i e they must not be used for safety related functions Careful consideration must be given to the functions of the drive which might result in a hazard either through their intended behaviour or through incorrect operation due to a fault In any application where a malfunction of the drive or its control system could lead to or allow
9. not fitted the noise immunity of the network is greatly reduced while if too many termination resistors are fitted the network will be over loaded and may not operate at all 8 SM CAN User Guide www controltechniques com Issue Number 1 4 5 SM CAN cable shield connections The SM CAN should be wired with the cable shields isolated from ground at each Unidrive SP The cable shields should be linked together at the point where they emerge from the cable and formed into a short pigtail to be connected to pin 3 on the CAN connector Figure 4 4 SM CAN cable shield connections la Use a tie wrap to clamp the CAN cable to the Ground Bar EX The CAN cable shield should be grounded at one place ONLY in the network to prevent it from becoming live in the unlikely event of a major fault in one of the CAN devices The shield can be grounded by exposing the braid shield and clamping it to the EMC clamp on a Unidrive SP SM CAN User Guide 9 Issue Number 1 www controltechniques com 4 6 10 CAN ground point The CAN cable shield must be grounded AT ONE POINT only usually
10. slot masks any messages received for those slots will only appear in the lowest numbered slot The higher numbered slot will never receive a message 18 SM CAN User Guide www controltechniques com Issue Number 1 6 5 CANSTATUS CANSTATUS returns the status of the specified message slot For a receive slot this will indicate if there is a message waiting to be processed while for a transmit slot it will indicate if the previous message has been transmitted or not DPL CODE Status CANSTATUS CANSlot FUNCTION BLOCK DIAGRAM CANSIlot Status Table 6 5 CANSTATUS arguments Argument Description CANSlot 0 to 314 Source slot in the CAN controller in the target SM CAN specified as MCC where M Unidrive SP module slot containing target SM CAN CC CAN controller slot in target SM CAN Status Oto2 SM CAN User Guide Returns the status of the specified CAN slot in the target SM CAN where 0 slot is empty 1 message transmission in progress 2 new message has been received 19 Issue Number 1 www controltechniques com 6 6 20 CANSTATUSALL CANSTATUSALL performs a similar function to CANSTATUS but CANSTATUSALL will return the status of all CAN slots in the specified SM CAN RxStatus3 indicates the slots with new received messages waiting and TxSlots indicates the slots with messages waiting to be transmitted RxMask3 indicates that one or more slots a
11. 2 SM CAN User Guide Issue Number 1 Contents Safety Information csecceeeceeeseeeeeeeeeeeeeeeees 1 Warnings Cautions and Notes cccccceeeeeeeeeeeeeeeeeeeees 1 Electrical safety general Warning cccceeeeeeeeeeeeeeeeeee 1 System design and safety of personnel c eeeeeeeeeee 1 Environmental limits i Compliance with regulations cccccceeeeseeeeeeteeeeeeeeeeeeee 2 MO tore fis E R A ctcaiteisdoccsstch veeeccanis teeseaaeeceerie tar oa 2 Adjusting parameters ccccccccecesseeeeeteeeeeeeeeeeeaeeeeeeaeeess 2 Introduction sinini rinnoin iaiia 3 SM CAN for Unidrive SP eeseeeeeereeeierieieriersrieree 3 General Specification 0 cceccceeecceeeeecneeeeeneeeeseeeeeeneaeeeneae 3 Mechanical Installation Installing the SM CAN Removing The SM CAN ccceeeeeeeteeeeeeeeeeeeeneeeeeeeeeeeae Electrical Installation ccsssessseteseeeeeees 6 SM CAN terminal descriptions SM CAN connections CAN cable c ccceceee wl CAN network termination ccccccccececeesseeeeeeeeesssteeeeeeeeens 8 SM CAN cable shield connections cccccccccceesstteeeeeeeeees 9 CAN ground point assesses 10 SM CAN back up power supply wl Maximum network length ceccceeeeeeeeeeeeeeeeseeeeeeeneeeeees 11 SM CAN Configuration ccesseeereeeeeseeereeees 12 SM CAN node addres ccececeecceceeessss
12. 3 Not used by SM CAN These Pr 15 24 Pr 16 24 Pr 17 24 parameters can be used by the SM Applications program to specify Pr 15 25 Pr 16 25 Pr 17 25 the destination parameters for data Pr 15 26 Pr 16 26 Pr 17 26 received from the CAN network Pr 15 27 Pr 16 27 Pr 17 27 Pr 15 28 Pr 16 28 Pr 17 28 Pr 15 29 Pr 16 29 Pr 17 29 Section 9 2 on Pr 15 30 Pr 16 30 Pr 17 30 page 35 Restore SM CAN defaults SM CAN User Guide 37 Issue Number 1 www controltechniques com 38 Table 10 1 SM CAN parameter reference Pr 15 31 Pr 16 31 Pr 17 31 Default Cross reference Section 5 5 on page 15 Description Store to SM CAN FLASH memory Pr 15 32 Pr 16 32 Pr 17 32 Section 5 4 on page 14 Reset SM CAN Pr 15 33 Pr 16 33 Pr 17 33 Section 9 3 on page 35 Restore previous configuration from SM CAN FLASH memory Pr 15 34 Pr 16 34 Pr 17 34 Not used Pr 15 35 Pr 16 35 Pr 17 35 Section 8 4 on page 31 Serial number Pr 15 36 Pr 16 36 Pr 17 36 Section 9 4 on page 36 CAN slot over write enable Pr 15 37 Pr 16 37 Pr 17 37 Pr 15 38 Pr 16 38 Pr 17 38 Pr 15 39 Pr 16 39 Pr 17 39 Pr 15 40 Pr 15 41 Pr 16 40 Pr 16 41 Pr 17 40 Pr 17 41 Pr 15 42 Pr 16 42 Pr 17 42 Pr 15 43 Pr 16 43 Pr 17 43 Pr 15 44 Pr
13. CAN connections The SM CAN may be connected to the CAN network using the 9 way D type connector or the 5 way screw terminal connector See Figure 4 2 The length of the pigtail shield connection should be kept as short as possible Figure 4 2 SM CAN connections using 5 way connector 1 3 22 2 0 CAN cable CAN cable requires a single twisted pair with overall shielding for the data wires A second twisted pair may be used for a network power supply if required The data wires are usually white and blue in cable designed for use in CAN networks Table 4 2 CAN colour codes Data signal Terminal Description Blue CAN L Negative data line Braided Shield Shield Cable shield White CAN H Positive data line CAN networks run at high data rates and require cable specifically designed to carry high frequency signals Low quality cable will attenuate the signals and may render the signal unreadable for the other nodes on the network SM CAN User Guide 7 Issue Number 1 www controltechniques com 4 4 CAN network termination The CAN network must be terminated at each end by fitting a 120Q termination resistor between the CAN H and CAN L lines This prevents signals from being reflected back down the cable and interfering with each other Figure 4 3 Network termination Failure to terminate a network correctly can seriously affect the operation of the network If termination is
14. Description All commands will be directed to the lowest Unidrive SP slot containing an SM CAN All commands will be directed to the specified Unidrive SP slot If the slot does not contain an SM CAN the Status argument will indicate that the command was unsuccessful If dual SM CAN or SM Applications are fitted to the Unidrive SP it is important that all commands are directed to a specific Unidrive SP slot This ensures that all SM CAN commands will be sent to the intended module even if one of the SM CAN modules has failed If the target SM CAN has failed for any reason the Status argument for the command will indicate to the DPL program that the command was unsuccessful SYPT version SYPT is required to program the SM Applications with commands for the SM CAN SYPT V1 06 02 is required with DPLC2 Function Block Library V1 02 00 to provide full support for all SM CAN commands SM CAN User Guide www controltechniques com Issue Number 1 6 3 PUTCAN PUTCAN is used to transmit a CAN data frame set a message filter for message reception send a remote transmit request RTR frame and configure the RTR response data frame If 2 transmit slots contain messages with identical CAN identifiers the slot status information will get corrupted It will be impossible to tell which slot actually attempted to transmit the message and the actual transmission status that resulted DPL CODE Status PUTCAN CANSlot Command CANID
15. SM CAN firmware version ccccesceeceeeeeessseeeeeeesseseeeeees 30 SM CAN data rate nene nrin aaa nt aeaa 31 SM CAN serial number ia CAN network status 006 32 Unidrive SP trip display codes M82 SM CAN error codes ccceeeeeceeseeeeeeeeeeeeeeeeeeeeeeseneeeseaeees 33 Advanced Features sasien Triggering SM Applications event tasks TY Restore SM CAN defaults cccceeceeeeeeeeeeeeseeeeeeeeneeeees Restore previous SM CAN configuration 0 ceeeee 35 CAN slot over write enable ccccceeeeeeeeeeeteeeeeneeeeeneeees 36 Quick Reference ccccessseceeessseeeeeeeseseeees Complete parameter reference SM CAN User Guide www controltechniques com Issue Number 1 1 Safety Information 1 1 Warnings Cautions and Notes A Warning contains information which is essential for avoiding a safety hazard WARNING A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment gt I gt EX A Note contains information which helps to ensure correct operation of the product 1 2 Electrical safety general warning The voltages used in the drive can cause severe electrical shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to the drive Specific warnings are given at the relevant places in this User Guide 1 3 System
16. ause the Unidrive SP to trip DPL CODE Status ENABLECANTRIPS TripMode FUNCTION BLOCK DIAGRAM EnableCANTrips Status TripMode Table 6 7 ENABLECANSTRIPS arguments Argument Description Specifies SM CAN trip mode as MT where M Unidrive SP module slot containing target SM CAN T trip mode where 0 CAN trips disabled 1 Unidrive SP trip only on bus off error 2 Unidrive SP trip on bus off error and no acknowledge Returns the status of the ENABLECANTRIPS command where 0 operation failed 1 operation successful TripMode 0 to 32 Status Oor1 RESETCANTIMER RESETCANTIMER will reset the internal timer used to generate the TStamp argument in GETCAN to 0 DPL CODE Status RESETCANTIMER Reset FUNCTION BLOCK DIAGRAM ResetCANTi Reset Trig Status Table 6 8 RESETCANTIMER arguments Argument Description Reset CAN timer as MR where M Unidrive SP module slot containing target SM CAN Reset R reset where 0 no action 1 reset CAN timer Returns the status of the RESETCANTIMER command where Status 0 operation failed 1 operation successful SM CAN User Guide 21 Issue Number 1 www controltechniques com 6 9 CANSETUP CANSETUP can be used to set the configuration parameters for the Unidrive SP slot where an SM CAN is fitted CANSETUP will disable the SM CAN before changing configuration pa
17. damage loss or injury a risk analysis must be carried out and where necessary further measures taken to reduce the risk for example an over speed protection device in case of failure of the speed control or a fail safe mechanical brake in case of loss of motor braking SM CAN User Guide 1 Issue Number 1 www controltechniques com 1 4 1 5 1 6 1 7 The SECURE DISABLE function has been approved as meeting the requirements of EN954 1 category 3 for the prevention of unexpected starting of the drive It may be used in a safety related application The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards Independent approval by BIA has been given for size 1 Approval is pending for sizes 2 and 3 Environmental limits Instructions in the Unidrive SP User Guide regarding transport storage installation and use of the drive must be complied with including the specified environmental limits Drives must not be subjected to excessive physical force Compliance with regulations The installer is responsible for complying with all relevant regulations such as national wiring regulations accident prevention regulations and electromagnetic compatibility EMC regulations Particular attention must be given to the cross sectional areas of conductors the selection of fuses or other protection and protective earth ground connections The U
18. e SM CAN will be loaded in Pr 17 PP parameters If Pr 17 30 is set to ON 1 the SM CAN default parameter values will be stored in the SM CAN FLASH memory 6 The SM CAN will reset and re initialise using the default values Restore previous SM CAN configuration akon Name Upload from SM CAN FLASH memory Pr 15 33 OFF 0 Pr 16 33 OFF 0 or ON 1 Pr 17 33 RW If valid configuration parameters have previously been stored in the SM CAN FLASH memory these values can be restored to the Unidrive SP When the configuration parameter values have been uploaded to the Unidrive SP the SM CAN will reset and re configure using the updated parameter values SM CAN User Guide 35 Issue Number 1 www controltechniques com This feature allows a pre configured SM CAN to be fitted to a Unidrive SP without losing the SM CAN configuration If the SM CAN is unable to upload the configuration parameters to the Unidrive SP or configuration parameters have never been stored in the SM CAN FLASH memory the Unidrive SP will trip SLx ER and set the error code Pr MM 49 to 70 When Pr MM 33 is set to ON the SM CAN will transfer the configuration parameters from its FLASH memory to the Unidrive SP over writing the existing values in the Unidrive SP The full sequence of events for restoring values from a SM CAN fitted in slot 3 is as follows 1 Set Pr 17 33 to ON 2 CAN communications will be stopped 3 The SM CAN wil
19. e Unidrive SP EXE This sequence does NOT store the SM CAN configuration parameters in the Unidrive SP or the SM CAN FLASH memory SM CAN User Guide 15 Issue Number 1 www controltechniques com 6 1 6 2 16 SM CAN Commands SM CAN has 14 CAN slots slot 0 to 13 available for transmitting and receiving CAN frames from a CAN network An additional slot slot 14 may be used for receiving CAN frames only CAN slot and Unidrive SP slot addressing All SM CAN commands must be given a target Unidrive SP module slot and or a target SM CAN CAN slot This is specified as MCC and M and CC are detailed in Table 6 1 Table 6 1 Target Unidrive SP and SM CAN slots eera Unidrive SP Specifies the Unidrive SP slot number where the target module slot SM CAN or SM Applications is fitted CAN slot 0 to 14 Specifies the CAN slot in the target SM CAN If the target Unidrive SP slot is set to 0 the SM Applications will direct the CAN commands to the lowest Unidrive SP slot that contains an SM CAN Similarly the SM CAN will direct any event task triggers to the lowest Unidrive SP slot that contains an SM Applications This method is ideal if the Unidrive SP is fitted with one SM CAN and one SM Applications as it guarantees that the CAN commands and event task triggers will be directed to the correct modules irrespective of which slots the SM CAN and SM Applications are fitted in Table 6 2 Unidrive SP module slot destinations
20. eeeeeesssesseeeeeeeees 13 SM CAN data rate wach CAN network status ccccccccessseeeceeesessseeeeeeeesessseeeeeeees 14 Resetting the SM CAN cccceecseeeeeeteeeeeeeeeteseeeeteneeeetes 14 Storing SM CAN configuration parameters 15 Reset all Solutions Modules cccecceececeeeeesssteeeeeeeeeeeees 15 SM CAN Commands sesseeeeeeeeeeeeeees 16 CAN slot and Unidrive SP slot addressing 0e 16 SY PUT VErsiOn ata ar a a ni 16 PUTCAN GETCAN CANSTATUS eed GANSTATUSALL wz ccccccsccsvcscewazessaveaseossceescacacevadieeiveccesuaenges ENABLECANTRIPS cccccccsssceessseceessseceesseecessseeeesssseeens RESETCANTIMER ne CANSETUPiscsigs E E nent spiel ies tessa CANGETNODEADDR ccccccssseccesseeecesseeceesseecesseeceesaaees 23 GANREADY cc ciecodicoeceieccsecpscagenvaaceaucotecmesdecusevedseeyedesecuacnees 23 CANCONFIGEVENT cccccccessecccesseeecssseeccsseecessseeeeeaeees 24 www controltechniques com 7 1 7 2 7 3 7 4 8 1 8 2 8 3 8 4 8 5 8 6 8 7 9 1 9 2 9 3 9 4 10 10 1 Using the SM CAN Commands 000 Configuring a CAN slot to receive messages i Transmitting a CAN frame ssesseeeeeeseeseieerereerirssrrrerrreee Receiving a CAN frame ccccceeeeceeeeeneeeeeeeeeseeeeeteeeeetes Remote transmit request RTR ccccseeeeeeseeeseeeeeeseneeeees Diagnostics Module ID code Me
21. fier The RTR response frame can be placed in any of the slots reserved for transmitting data frames The SM Applications can update the RTR response message at any time provided it is not currently being transmitted The RTR response is handled entirely by SM CAN and the SM Applications will not know when an RTR response message has actually been transmitted Use the PUTCAN command with Cmd set to 3 to update the CAN identifier data length code and data bytes for the RTR response frame In the example below the RTR response will consist of 2 bytes containing the Unidrive SP status word and will be transmitted from slot 3 DPL CODE RTRStatus PUTCAN 1 3 0x4D3 2 10 40 0 FUNCTION BLOCK DIAGRAM RTRStatus SM CAN User Guide 29 Issue Number 1 www controltechniques com Diagnostics 8 2 30 The information from the parameters described below should always be noted before contacting Control Techniques for technical support Module ID code Name Module ID code Pr 15 01 N A Pr 16 01 0 to 499 Pr 17 01 RO The module ID code indicates the type of solutions module that is fitted in the corresponding slot The table below shows a list of the solutions modules available for Unidrive SP Table 8 1 Solution module ID codes Module code Module type None fitted Category None SM Resolver Position feedback SM Universal Encode
22. igger settings when it is reset DPL CODE Status CANCONFIGEVENT CANSlot Trigger TaskNo ModuleSlot FUNCTION BLOCK DIAGRAM CANConfigEvent CANSIot Slot Trigger TLink TaskNo Task ModuleSlot Status Table 6 12 CANCONFIGEVENT arguments Argument Description Slot in the CAN controller that will trigger the specified event task when a message is received Specified as MCC where M Unidrive SP module slot containing target SM CAN CC CAN controller slot in target SM CAN Trigger 03 Specifies the event task trigger link to be configured CANS1lot 0 to 314 Specifies the event task to be triggered in the target SM Applications where 0 no event task use to disable a previous configuration TaskNo 1 EVENT 2 EVENT1 3 EVENT2 4 EVENT3 Specifies the Unidrive SP module slot containing the SM Applications whose event task is to be triggered ModuleSlot Returns the status of the CANCONFIGEVENT command where 0 event task trigger configuration failed 1 event task trigger configured successfully Status EX AS CANCONFIGEVENT automatically resets the SM CAN to make the event task trigger active it is strongly advised to call CANCONFIGEVENT before PUTCAN is used to configure the receive slot masks 24 SM CAN User Guide www controltechniques com Issue Number 1 7 Using the SM CAN Commands 7 1 Configuring a CAN slot t
23. igured with the wrong data rate it may cause errors on the CAN network and eventually trip on SLx Er with error code 66 in Pr MM 50 Refer to section 8 7 SM CAN error codes on page 33 The SM CAN must be reset to make a change of data rate take effect If an invalid data rate is set the SM CAN will reject the configured data rate and revert to the default setting Table 5 2 SM CAN data rates Pr MM 04 bits s Pr MM 04 bits s Disabled Auto 1 0M 800K 500K 250K The SM CAN can automatically detect the network data rate by setting Pr MM 04 to 1 SM CAN will monitor the CAN network and if the data rate is detected it will set Pr MM 04 to the indicate the detected data rate However it should be noted that the new value of Pr MM 04 will NOT be stored The recommended sequence of events using auto detection of the data rate as follows Power up the Unidrive SP Set Pr MM 04 to 1 Reset the SM CAN by setting Pr MM 32 to ON Connect the SM CAN to the CAN network Wait for Pr MM 04 to change from 1 Store the Unidrive SP parameters by setting Pr MM 00 to 1000 and pressing RESET Oaron gt DGG The SM CAN may have problems detecting the network data rate if there is little traffic on the CAN network Auto detection of the data rate is ideal when connecting a new node to an existing network but may not work reliably if a network is powered up with all nodes attempting to detect the network data rate
24. l overwrite all Pr 17 PP parameters with the values stored in its internal FLASH memory 4 Pr 17 33 will be reset to OFF 5 The SM CAN will reset and re initialise using the restored values This procedure will NOT store the updated Unidrive SP parameters Deeg The SM CAN will restore its configuration parameters to the menu of parameters 9 4 36 associated with the slot that it is installed in If an SM CAN is moved from slot 3 on a Unidrive SP it can be re installed in any slot on another Unidrive SP CAN slot over write enable Name CAN slot over write enable Pr 15 36 Default OFF 0 Pr 16 36 Range OFF 0 or ON 1 Pr 17 36 Access RW This parameters specifies how the SM CAN behaves if a receive CAN slot already contains a message when a new message arrives for that slot By default SM CAN discard the new message and leave the existing message in the CAN slot for the SM Applications to retrieve CAN slot over write enable configures the SM CAN such that the new message will over write the old message in the CAN slot Table 9 1 CAN slot over write enable settings Peme semma peron CS OFF 0 Discard The old message waiting in the CAN slot will be left intact and the new message will simply be discarded The old message currently waiting in the CAN slot will be over written with the new message ON 1 Over write SM CAN User Guide www controltechniques com Issue Number 1 10 Quick Refe
25. links to SM Applications event tasks Full RTR message support SM CAN User Guide 3 Issue Number 1 www controltechniques com 3 Mechanical Installation The Unidrive SP must be disconnected from the mains supply before installing or removing the SM CAN 3 1 Installing the SM CAN Locate the SM CAN into the required slot and press down until it clicks into place Figure 3 1 Installing the SM CAN 4 SM CAN User Guide www controltechniques com Issue Number 1 3 2 Removing The SM CAN To remove the SM CAN from the slot press both clips inwards A and lift it away B from the Unidrive SP Figure 3 2 Removing the SM CAN SM CAN User Guide 5 Issue Number 1 www controltechniques com 4 Electrical Installation 4 1 SM CAN terminal descriptions The SM CAN module has a 9 way D type connector and a 5 way screw terminal block connector Either terminal connector can be used for the CAN network connections Figure 4 1 SM CAN The connections for the CAN connectors are given in the table below Table 4 1 SM CAN connections D type 5 way connector connector 6 OV EXTERNAL OV CAN external supply optional 2 CAN L Negative data line 3 5 Shell Shield Cable braided shield connection 7 CAN H Positive data line 9 24V EXTERNAL 24V CAN external supply optional Function Description 6 SM CAN User Guide www controltechniques com Issue Number 1 4 2 4 3 SM
26. ll automatically handle network arbitration and will transmit the message when it gains control of the CAN network If SM CAN has 2 or more messages waiting to be transmitted it will attempt to transmit the message with the highest priority i e lowest CAN identifier first The example below shows how to transmit a CAN frame from slot 2 with CAN identifier 0x0D3 211 decimal and 2 data bytes containing the value in Pr 18 11 DPL CODE TxStatus PUTCAN 2 0 0x0D3 2 18 11 0 FUNCTION BLOCK DIAGRAM PutCAN 2 Slot TxStatus TxStatus will indicate if the message was successfully transferred to the SM CAN but this does NOT mean that the message has actually been transmitted CANSTATUS or CANSTATUSALL must be used to check when the message has actually been transmitted SM CAN User Guide www controltechniques com Issue Number 1 7 3 Receiving a CAN frame SM CAN does not notify the SM Applications when new messages have arrived SM Applications must use CANSTATUS or CANSTATUSALL to see any new messages have arrived and GETCAN to retrieve the data from any slot containing a message The example below shows how to use CANSTATUS to check for a new message in slot 8 and call GETCAN to retrieve the message if a new message is present DPL CODE if CANSTATUS 8 2 then RxStatus Length RxWord0 RxWord1 TStamp GETCAN 8 FUNCTION BLOCK DIAGRAM
27. near the centre point of the cable run This is to prevent the cable shield from becoming live in the event of catastrophic failure of another device on the CAN network If a Unidrive SP node is the desired ground point the shield of one of the CAN cables can be exposed and clamped to the Grounding Bar as shown in Figure 4 5 below Figure 4 5 SM CAN ground point Use a tie wrap to clamp the CAN cable to the Ground Bar SM CAN User Guide www controltechniques com Issue Number 1 4 7 SM CAN back up power supply If the CAN network is required to continue operating in the event of a loss of the main supply to the Unidrive SP a back up 24V power supply should be connected to the Unidrive SP All option modules draw their power from the Unidrive SP internal power supply and this will guarantee that the SM CAN will continue to communicate The external power supply pins on the SM CAN connectors will NOT keep the SM CAN module powered up These pins will only supply power to the CAN transceiver circuitry and the maximum current drawn is 10mA 4 8 Maximum network length The maximum
28. ng to automatically detect the network detect data rate SM CAN has detected an excessive number of transmission errors Busroff error and has entered the bus off condition If a configuration error or network error is detected the Unidrive SP may trip Refer to section 8 6 Unidrive SP trip display codes on page 32 for details about the Unidrive SP trip display Resetting the SM CAN Pr 15 32 0 OFF Pr 16 32 0 OFF to 1 ON Pr 17 32 RW Changes to the SM CAN configuration in menu 15 16 and 17 parameters will not take effect until the SM CAN has been reset To reset an SM CAN in slot 3 1 Set Pr 17 32 to ON 2 When the reset sequence has been completed Pr 17 32 will be reset to OFF 3 The SM CAN will re initialise using the updated configuration EXE This sequence does NOT store the SM CAN configuration parameters in the Unidrive 14 SP or the SM CAN FLASH memory SM CAN User Guide www controltechniques com Issue Number 1 5 5 Storing SM CAN configuration parameters Name Store to SM CAN FLASH memory Pr 15 31 OFF Pr 16 31 OFF 0 to ON 1 Pr 17 31 RW Menu 15 16 and 17 parameters are stored in the Unidrive SP The SM CAN will always use these values during initialisation to configure itself so if a new SM CAN is fitted to the same slot it will communicate using the same settings as the previous SM CAN If the stored values in the Unidrive SP are for a differen
29. nidrive SP User Guide contains instruction for achieving compliance with specific EMC standards Within the European Union all machinery in which this product is used must comply with the following directives 98 37 EC Safety of machinery 89 336 EEC Electromagnetic Compatibility Motor Ensure the motor is installed in accordance with the manufacturer s recommendations Ensure the motor shaft is not exposed Standard squirrel cage induction motors are designed for single speed operation If it is intended to use the capability of the drive to run a motor at speeds above its designed maximum it is strongly recommended that the manufacturer is consulted first Low speeds may cause the motor to overheat because the cooling fan becomes less effective The motor should be fitted with a protection thermistor If necessary an electric forced vent fan should be used The values of the motor parameters set in the drive affect the protection of the motor The default values in the drive should not be relied upon It is essential that the correct value is entered in Pr 0 46 motor rated current This affects the thermal protection of the motor Adjusting parameters Some parameters have a profound effect on the operation of the drive They must not be altered without careful consideration of the impact on the controlled system Measures must be taken to prevent unwanted changes due to error or tampering SM CAN User Guide www controltechnique
30. nly node currently active on the CAN network Internal hardware Part of the SM CAN initialisation sequence was not successful If failure this fault persists after a power cycle replace the SM CAN There is an invalid setting in the SM CAN configuration Configuration error parameters Internal software Indicates that an internal software error has occurred If this fault error persists after a power cycle replace the SM CAN Auto data rate SM CAN is currently attempting to automatically detect the network detect data rate SM CAN has detected an excessive number of transmission errors and has entered the bus off condition Unidrive SP trip display codes If the SM CAN detects an error during operation it will force a trip on the Unidrive SP However the trip code displayed on the Unidrive SP will only indicate which slot initiated the trip The exact reason for the trip will be indicated in the SM CAN error code parameter Pr MM 50 Table 8 5 below shows the possible trip codes that will be displayed on the Unidrive SP when a problem is detected with the SM CAN or when the SM CAN initiates a trip Table 8 5 Unidrive SP trip display codes a Description Unidrive SP has detected that a solutions module is Hardware present but is unable to communicate with it This trip will also occur if the SM CAN is removed from the Unidrive SP while it is powered up Bus off error Watchdog timeout Not
31. number of nodes that can be connected to a single CAN network segment is 32 nodes Repeaters may be used to increase the number of nodes ona network to a maximum of 127 The maximum network length depends on the specified data rate Table 4 3 Maximum network lengths Data rate Maximum bus bits sec length m SM CAN User Guide 11 Issue Number 1 www controltechniques com 5 SM CAN Configuration EX The Unidrive SP must be fitted with firmware V1 00 00 or later for use with the SM CAN Unidrive SP has 3 slots available for option modules and each slot has a dedicated menu of configuration parameters Figure 5 1 Unidrive SP slot arrangement The SM CAN can be fitted to any slot and each slot has a corresponding menu of parameters When referring to a specific parameter for any slot e g module ID code the parameter will be referred to as Pr MM 01 Table 5 1 Slot configuration menu Pr 15 PP Pr 16 PP Pr 17 PP 12 SM CAN User Guide www controltechniques com Issue Number 1 5 1 5 2 SM CAN node address SM CAN node address 0 Pr 16 03 0 to 127 Pr 17 03 RW Pr MM 03 has been reserved for use as the node address parameter when a CAN protocol is implemented in the SM Applications SM CAN data rate SM CAN data rate Pr 15 04 Pr 16 04 Pr 17 04 Every node on a CAN network must be configured to run at the network data rate Ifa node is conf
32. o receive messages When a valid CAN frame is received from the CAN network the 11 bit identifier is compared with the mask values for all receive slots If a match is found the data length code and data bytes will be placed in the corresponding slot If no match is found the frame is discarded This allows frames to be filtered by the CAN controller in hardware ensuring that only CAN frames intended for the local node are kept Use PUTCAN with the command argument set to 1 The example below shows how to configure CAN slot 8 to accept CAN frames with 11 bit identifier of OxOD3 211 decimal DPL CODE MaskStatus PUTCAN 8 1 0x0D3 0 0 0 FUNCTION BLOCK DIAGRAM PutCAN 8 Slot InitStatus A CAN slot will lose its mask value if it is subsequently used to transmit a message so the slot mask must be re configured before any new messages will be received While this does not cause a problem for the CAN controller it may be difficult to keep track in the controlling software of which slots are being used for which purpose Usually it is best to dedicate CAN slots to receive certain CAN frames and use remaining slots for transmitting CAN frames SM CAN User Guide 25 Issue Number 1 www controltechniques com 7 2 26 Transmitting a CAN frame PUTCAN can be used to configure a CAN frame and transfer it to the specified CAN slot to await transmission The CAN controller wi
33. ot Table 6 10 GETNODEADDRESS arguments Argument Description ModuleSlot 0to3 Specifies the Unidrive SP slot containing the target SM CAN Returns the status of the CANGETNODEADDR command where 0 command failed 1 command successful NodeID 0 to 127 The specified SM CAN node address 6 11 CANREADY CANREADY should be used to check that the SM CAN has completed the initialisation routine after power up It should also be used to check if the CANSETUP or CANCONFIGEVENT commands have been completed DPL CODE Status Ready CANREADY ModuleSlot FUNCTION BLOCK DIAGRAM Status Oor1 Status Ready ModuleSlot Table 6 11 CANREADY arguments Argument Description Specifies the Unidrive SP module slot containing the target SM CAN Returns the status of the CANREADY command where Status 0 command failed 1 command successful ModuleSlot Indicates if the previous CANSTETUP has completed or not Ready 0 re initialisation still in progress 1 initialisation complete SM CAN User Guide 23 Issue Number 1 www controltechniques com 6 12 CANCONFIGEVENT SM CAN can trigger an event task in an SM Applications when the specified CAN slot receives a message CANCONFIGEVENT is used to configure an event task trigger link and 3 separate event task trigger links may be defined for a single SM CAN Des SM CAN will retain all event task tr
34. r Plus Position feedback SM SLM Position feedback SM I O Plus I O expansion SM Applications Applications module SM Applications Lite Applications module SM PROFIBUS DP Fieldbus SM INTERBUS Fieldbus SM CAN Fieldbus SM DeviceNet Fieldbus SM CANopen SM CAN firmware version Name SM CAN firmware major version Pr 15 02 N A Pr 16 02 00 00 to 99 99 Pr 17 02 RO SM CAN firmware minor version Pr 15 51 Pr 16 51 Pr 17 51 Fieldbus The full version of the SM CAN firmware can be read for the corresponding slot Table 8 2 shows how to construct the full firmware version from these values Table 8 2 SM CAN firmware version Major Minor 5 i h Firmware version version version www controltechniques com SM CAN User Guide Issue Number 1 8 3 8 4 SM CAN data rate SM CAN data rate Pr 15 04 Default Pr 16 04 Range Pr 17 04 Access Every node on a CAN network must be configured to run at the network data rate Ifa node is configured with the wrong data rate it may cause errors on the CAN network and eventually trip on SLx Er with error code Pr MM 50 of 66 The SM CAN must be reset to make a change of data rate take effect If an invalid data rate is set the SM CAN will reject the configured data rate and revert to the default setting Table 8 3 SM CAN data rates Pr MM 04 bits s Pr MM 04 bit
35. rameters and re enable using the new configuration when complete Use CANREADY to ensure that SM CAN has completed the re initialisation sequence DPL CODE Status CANSETUP NodeID DataRate OWEnable ModuleSlot FUNCTION BLOCK DIAGRAM NodelD DataRate OWEnable ModuleSlot Status Table 6 9 CANSETUP arguments Argument Description Node ID 0 to 127 Node address Pr MM 03 DataRate 2 to 8 Data rate Pr MM 04 CAN slot over write enable Refer to section 9 4 CAN slot over write enable on page 36 for full details ModuleSlot 0to3 Specifies the Unidrive SP slot containing the target SM CAN OWEnable Oor1 Returns the status of the CANSETUP command where Status Oor1 0 command failed 1 command successful As CANSETUP automatically resets the SM CAN to make the configuration changes take effect it is strongly advised to call CANSETUP before PUTCAN is used to configure the receive slot masks 22 SM CAN User Guide www controltechniques com Issue Number 1 6 10 CANGETNODEADDR CANGETNODEADDR will return the node address parameter Pr MM 03 for the specified SM CAN All CAN protocols will require some sort of node identification and it is strongly recommended to use Pr MM 03 for this purpose DPL CODE Status NodeID CANGETNODEADDR ModuleSlot3 FUNCTION BLOCK DIAGRAM CANGetNodeAddr Status NodelD ModuleSl
36. re currently configured to receive CAN frames SM CAN will lose the slot mask settings when it is reset so RxMask allows the SM Applications detect that SM CAN has been reset and re configure the slot receive masks DPL CODE RxStatus TxStatus RxMask CANSTATUSALL ModuleSlot FUNCTION BLOCK DIAGRAM RxStatus TxStatus RxMask ModuleSlot Table 6 6 CANSTATUSALL arguments Argument Description Specifies the Unidrive SP module slot containing the target ModuleSlot SM CAN Bits 0 to 14 represent the receive status of CAN slots 0 to 14 Any bit set to 1 indicates that the corresponding CAN slot has received a new message and it can be retrieved using the GETCAN command RxStatus 0 to 32767 Bits 0 to 13 represent the transmit status of CAN slots 0 to 13 Slot 14 cannot be used to transmit messages Any bit set to 1 indicates that the corresponding CAN slot contains a message that is still waiting to be transmitted TxStatus 0 to 16383 Indicates that one or more slots are currently configured to receive CAN frames SM CAN will lose the slot mask settings when it is reset so this argument allows the SM Applications to detect when SM CAN has been reset and restore the slot mask settings SM CAN User Guide www controltechniques com Issue Number 1 6 7 6 8 ENABLECANTRIPS ENABLECANTRIPS specifies which CAN network errors detected by SM CAN will c
37. rence 10 1 Complete parameter reference Table 10 1 shows every parameter available in the Unidrive SP for configuring the SM CAN plus a cross reference to the section in the manual where more information can be found Table 10 1 SM CAN parameter reference Cross Default reference Description Section 8 1 on Pr 15 01 Pr 16 01 Pr 17 01 page 30 Module ID code Pr 15 02 Pr 16 02 Pr 17 02 Section 8 2 on Major firmware version page 30 Pr 15 03 Pr 16 03 Pr 17 03 Section 6 10 Node address on page 23 Section 8 3 on page 31 Pr 15 05 Pr 16 05 Pr 17 05 Not used Section 8 5 on page 32 Pr 15 04 Pr 16 04 Pr 17 04 Data rate Pr 15 06 Pr 16 06 Pr 17 06 Network operating status Pr 15 07 Pr 16 07 Pr 17 07 Pr 15 08 Pr 16 08 Pr 17 08 Not used Pr 15 09 Pr 16 09 Pr 17 09 Pr 15 10 Pr 16 10 Pr 17 10 Pr 15 11 Pr 16 11 Pr 17 11 Pr 15 12 Pr 16 12 Pr 17 12 Pr 15 13 Pr 16 13 Pr 17 13 Not used by SM CAN These parameters can be used by the Pr 15 14 Pr 16 14 Pr 17 14 SM Applications program to specify Pr 15 15 Pr 16 15 Pr 17 15 the source parameters for data to be transmitted over the CAN Pr 15 16 Pr 16 16 Pr 17 16 network Pr 15 17 Pr 16 17 Pr 17 17 Pr 15 18 Pr 16 18 Pr 17 18 Pr 15 19 Pr 16 19 Pr 17 19 Pr 15 20 Pr 16 20 Pr 17 20 Pr 15 21 Pr 16 21 Pr 17 21 Pr 15 22 Pr 16 22 Pr 17 22 Pr 15 23 Pr 16 23 Pr 17 2
38. s com Issue Number 1 2 Introduction Unidrive SP parameters are denoted in this manual by Pr MM PP where MM refers to 2 1 2 2 the menu number and PP refers to the parameter number within that menu Please refer to the Unidrive SP manual for full parameter definitions SM CAN for Unidrive SP The SM CAN for Unidrive SP is an solutions module that can be fitted to any one of the three expansion slots in the Unidrive SP The SM CAN module uses a 16 bit processor and communicates at up to 1 0 Mbit s currently the fastest data rate available for CAN Figure 2 1 Unidrive SP solution module The SM CAN module is powered from the Unidrive SP internal power supply The Unidrive SP can be connected to a back up power supply This keeps the control electronics and option modules powered up allowing the SM CAN module to continue communicating with the CAN master controller when the main supply to the Unidrive SP is switched off SM CAN can only be used if an SM Applications is fitted in another slot on the Unidrive SP The SM Applications must contain system file V1 02 00 or later and the Function Block Library in SYPT must also be V1 02 00 or later General Specification CAN 2 0 Part B passive 11 bit identifiers only 14 transmit receive CAN slots plus 1 receive only CAN slot Data rates supported 1M 800K 500K 250K 125K 100K 50K 20K 10K Auto detection of network data rate 3 separate event task trigger
39. s s Disabled Auto 1 0M 800K 500K 250K SM CAN can be configured to automatically detect the CAN network data rate by setting Pr MM 04 to 1 SM CAN will monitor the CAN network and set Pr MM 04 to the correct value when detection is complete SM CAN can also be disabled completely by setting Pr MM 04 to 2 This ensures that a new default SM CAN will not interfere with an existing network until it has been configured and enabled SM CAN serial number Pr 15 35 Pr 16 35 Pr 17 35 Returns the last 6 digits of the 10 digit serial number on the part description label This number is entered during manufacture of the SM CAN and cannot be changed SM CAN User Guide 31 Issue Number 1 www controltechniques com 8 5 32 CAN network status CAN network status Pr 15 06 N A Pr 16 06 10 to 9999 Pr 17 06 RO Network activity can be monitored in the CAN network status parameter Pr MM 06 When the SM CAN is communicating successfully with the CAN master controller the CAN network status will give an indication of the number of cyclic data messages per second that are being processed Table 8 4 CAN network status codes Pr MM 06 Parameter Description Indicates the number of CAN frames transmitted or received every Network healthy second No message acknowledgement received Indicates that there are Initialised bad wiring connections on teh network or that SM CAN is the o
40. t type of Solutions Module the 5 5 1 Unidrive SP will trip on SLx dF The slot configuration parameters will be set to default values for SM CAN but the default values will NOT be stored in the Unidrive SP The SM CAN configuration parameters can also be stored in the FLASH memory on the SM CAN If the Unidrive SP is replaced the SM CAN configuration parameters can subsequently be restored to the Unidrive SP Saving Unidrive SP parameters To store Unidrive SP parameters 1 Set Pr MM 00 to 1000 2 Press the red RESET button The Unidrive SP will store all parameters except Menu 20 but the operation of the SM CAN will not be affected Changes made to the SM CAN configuration parameters will not take effect until the SM CAN is reset Unidrive SP parameters are NOT stored in the SM CAN 5 5 2 5 6 Storing parameters to SM CAN FLASH memory To store the SM CAN configuration parameters in the FLASH memory in the SM CAN in slot 3 1 Set Pr 17 31 to ON 2 Set PrMM 00 to 1000 3 Press the red RESET button The Unidrive SP will store its parameters and CAN communication will be halted immediately The SM CAN configuration parameters will be saved within the SM CAN FLASH memory The SM CAN will then reset and re initialise using the updated configuration parameter values Reset all Solutions Modules To reset all Solutions Modules fitted on a Unidrive SP 1 Set Pr MM 00 to 1070 2 Press the red RESET button on th
41. trigger an event task in an SM Applications when a message is received in a specific CAN slot Up to 3 slots can be used to trigger event tasks in the SM Applications If 2 SM Applications are fitted the target SM Applications can also be specified Full details about configuring SM CAN event task triggers can be found in section 6 12 CANCONFIGEVENT on page 24 Restore SM CAN defaults Name Restore SM CAN defaults Pr 15 30 OFF 0 Pr 16 30 OFF 0 or ON 1 Pr 17 30 RW If the SM CAN detects that the Unidrive SP has been restored to default values it will over write the slot configuration parameters with the SM CAN default values If the stored values in the Unidrive SP are for a different type of Solutions Module the 9 3 SM CAN will trip SLx DF but no error code will be set It will over write the parameter values with the SM CAN default values but will NOT store these values in the Unidrive SP Pr MM 30 specifies whether the default values should be written to the SM CAN FLASH memory If Pr MM 30 is set to ON the default values will be written into the SM CAN FLASH memory The full sequence of events to restore default settings for a SM CAN fitted in slot 3 is as follows 1 Set Pr 17 00 to 1233 to restore European defaults 1244 for USA defaults to the Unidrive SP CAN communications will be stopped The Unidrive SP will load and store its default parameter values Default parameter values for th
42. used by SM CAN SM CAN User Guide www controltechniques com Issue Number 1 Table 8 5 Unidrive SP trip display codes Stott f siot2 slots Fom oveeroton Error User trip generated by the SM CAN This trip will occur if a Unidrive SP slot is configured for a SM CAN but a different module is fitted in the slot It will also occur if the SM CAN has crashed Not fitted The slot configuration parameters stored in the Unidrive SP are not valid SM CAN configuration parameters This trip will also occur when an SM CAN is fitted to a previously un used slot Different module fitted If Unidrive SP has V1 00 xx firmware fitted the SLx nF trip will be seen if the SM CAN is removed while the Unidrive SP is powered up 8 7 SM CAN error codes SM CAN error code Pr 15 50 Default N A Pr 16 50 Range 0 to 255 Pr 17 50 Access RO If the SM CAN detects an error during operation it will force a trip the Unidrive SP and update the SM CAN error code parameter Pr MM 50 The table below shows the SM CAN error codes Table 8 6 SM CAN error codes No error detected Description Indicates that the trip was not caused by the SM CAN It is possible to trip the Unidrive SP externally via various communication channels Bus off error The CAN controller has seen an excessive number of transmission errors and has taken itself off the CAN network Refer to section 6 7
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