Lenze 9300 Standard Servo (ES) servo inverter Owner's Manual

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2175 (CANopen) fieldbus module

Contents

7

7.1

7

7.1

2175 (CANopen) fieldbus module

Contents

7.2

General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3

Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.1

7.3.2

General data and application conditions

Rated data

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.3

7.3.4

Communication times

Dimensions

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4

Installation

7.4.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Components of the communication module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.2

7.4.3

7.4.4

Mechanical installation

Electrical installation

Bus cable length

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5

Commissioning

7.5.1

7.5.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Enable drive via 2175 fieldbus module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6

Data transfer

7.6.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Structure of a CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.2

7.6.3

Process data channel

Process data transfer

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.4

7.6.5

7.6.6

7.6.7

7.6.8

Process-data assignments for 82XX

Process data assignment for 8200 vector

Process-data assignment for 93XX

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Process data assignment for 9300 Servo PLC and Drive PLC

Parameter data channel

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.9

Examples for parameter data telegrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.10

Notes to be observed when setting the parameters for the controllers . . . . . . . . .

7.7

CANopen objects and Lenze codes

7.7.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Communication relevant Lenze codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.7.2

7.7.3

Description of communication relevant Lenze codes

Implemented CANopen objects

. . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.8

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.9

Appendix

7.9.1

7.10 Index

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Code table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6-1

7.6-2

7.6-8

7.6-9

7.6-11

7.6-13

7.6-17

7.6-22

7.6-26

7.6-31

7.6-34

7.7-1

7.7-1

7.7-2

7.7-20

7.8-1

7.9-1

7.9-1

7.10-1

7.2-1

7.3-1

7.3-1

7.3-1

7.3-2

7.3-4

7.4-1

7.4-1

7.4-2

7.4-3

7.4-7

7.5-1

7.5-3

7.5-4

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2175 (CANopen) fieldbus module

General information

7

7.2

7.2

Identification

General information

Validity of the Instructions These Operating Instructions apply to the following fieldbus modules:

2175IB 1x.

1x.

These Operating Instructions are only valid together with the documentation of the corresponding basic devices.

L

Type

Id.-No.

Prod.-No.

Ser.-No.

E82AF000P0B201XX



33.2175IB

1x 1x

249 9371BC013

Type code

Series

Hardware version

Software version

 W

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7.2

7

Application range

2175 (CANopen) fieldbus module

General information

The communication module can be inserted together with the basic devices as of the following nameplate data:

33. 820X

33. 820X

33. 821X

33. 821X

E.

2x.

1x.

E. / C.

2x.

1x.

Vxxx

E.

2x.

2x.

E. / C.

2x.

2x.

Vxxx

33. 822X

33. 822X

E.

E.

1x.

1x.

1x.

1x.

Vxxx

33. 824X E.

1x.

1x.

33. 824X E. / C.

1x.

1x.

Vxxx

82EVxxxxxBxxxXX Vx 1x

82CVxxxxxBxxxXX Vx

82DVxxxKxBxxxXX Vx

1x

1x

EPL 10200 E

33. 93XX xE.

33. 93XX

33. 93XX

33. 93XX

1x

2x xC.

2x

EI / ET 2x

CI / CT 2x

1x

1x

1x

1x

1x

Vxxx

Vxxx

Vxxx

Vxxx

(8201 - 8204)

(8201 - 8204)

(8211 - 8218)

(8211 - 8218)

(8221 - 8225)

(8221 - 8227)

(8241 - 8246)

(8241 - 8246)

(8200 vector)

(8200 vector, Cold plate)

(8200 vector, thermally separated)

(Drive PLC)

(9321 - 9332)

(9321 - 9332, Cold plate)

(9300 Servo PLC)

(9300 Servo PLC, Cold plate)

Type

Design

Hardware version

Software version

Variant

Explanation

7.2-2 EDSCAN-1.0-06/2003

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2175 (CANopen) fieldbus module

General information

Features

7

7.2

The internationally standardised CAN bus is mainly characterised by l relatively short transfer times l low expenditure for connection

These advantages have made CAN products interesting for other industries too.

In order to reach a standardisation, drive, control and sensor manufacturers have specified a communication profile with CANopen for solving control tasks.

The necessary parts of the protocol CiA DS301, version 4.01 have been implemented in the 2175 bus module.

l Attachable additional module for the basic Lenze devices 82XX, 8200 vector, 93XX, Servo PLC 9300 and Drive PLC.

l l l l

The front DIP switch enables easy setting of

– Communication profile DeviceNet or CANopen (DS301)

– Baud rate 10, 20, 50, 125, 250 , 500 and 1000 kbit/s (depending on the communication profile)

– Node address (max. 63 participants)

Bus extension up to max. 5000m

Topology: Line terminated at both ends (R = 120 Ohm)

Easy connection because of pluggable screw terminals

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2175 (CANopen) fieldbus module

Technical data

General data and application conditions

7.3

7.3.1

7.3.2

Technical data

General data and application conditions

Field

Order name

Communication medium

Netzwork topology

Number of nodes

Cable length

Communication profile

Permissible humidity

Degree of pollution

Voltage supply (internal/external), see ^ 7.4-4

Values

EMF2175IB

DIN ISO 11898

Line (terminated at both ends with 120 Ohm)

Max. 63

Max. 7450 m (depending on the baud rate, ^ 7.5-2

)

CANopen during operation:

Transport: during storage

-20 °C

-25 °C

-25 °C to to to

60 °C

70 °C

60 °C

Class 3K3 to EN 50178 (without condensation, average relative humidity 85%)

VDE0110, part 2, pollution degree 2

External supply via separate power supply

Rated data

• Remote earth / PE

• External supply (cl. 39/59)

• Power supply unit

– 820X / 821X

– 822X / 8200 vector

– 93XX

• Control terminals

– 820X / 8200 vector

– 821X

– 822X

– 93XX

• External bus systems

-

Rated insulation voltage

50 V AC

270 V AC

270 V AC

270 V AC

-

50 V AC

270 V AC

270 V AC

0 V AC

Type of insulation

Electrical isolation

No mains isolation

Basic insulation

Double insulation

Double insulation

No mains isolation

Electrical isolation

Basic insulation

Basic insulation

No mains isolation

7

7.3

7.3.1

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7.3

7

7.3.3

2175 (CANopen) fieldbus module

Technical data

Communication times

7.3.3

Communication times

)

Note!

The communication time is the time between the start of a request and the corresponding response.

l l l l

The CAN bus communication times depend on

Processing time in the controller

Telegram time

– Baud rate

– Telegram length

Data priority

Bus load

More information about bus access control can be obtained from corresponding literature specialised on Controller Area Networks.

Processing times 820X The processing times for the 8200 controllers differ from the times for the

821X/822X/8200 vector series.

In opposite to the 821X/822X/824X series, which have parallel process data processing, the 8200 series process process and parameter data sequentially.

Therefore the time needed to respond process data depends on previous actions.

The processing time needed for telegrams also depends on the actual value conditioning (process data from controller). If these data (status word, actual frequency)are not required, they can be deactivated with the control word ” Bit 15”

(PE inhibit).

The individual telegram times are:

Telegram

PE-inhibit = 0

62...140 ms

Processing time

62...70 ms

PE-inhibit = 1

Parameters

Change of a process data value to controller (*)

Change of both process data values to controller *

Process data from controller *

27...105 ms

62...140 ms

108...140 ms

27...35 ms

4...70 ms not possible

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2175 (CANopen) fieldbus module

Technical data

Communication times

Processing times

821X/822X/8200 vector

Processing time 93XX

Telegram run time

Parameters

Process data

30 ... 50 ms

3 ... 5 ms

The processing times for the process data refer to the sync telegram ^ 7.6-10

The parameter data and process data are independent of each other.

Parameters

Process data approx. 30 ms + 20 ms tolerance (typical)

With some codes the processing time can be longer (see 9300 Manual).

approx. 3 ms + 2 ms tolerance

The telegram run time depends on the baud rate and the telegram length:

10

20

50

125

250

500

1000

Ba d rate

Tab. 7.3-1

[kBit/s]

0

5.44

2.72

1.09

0.44

0.22

0.11

0.05

Maximum telegram time in [ms]

Telegram length [Byte]

2

7.36

3.68

1.47

0.59

0.29

0.15

0.07

8

13.12

6.56

2.62

1.05

0.52

0.26

0.13

The telegram times indicated in the table above are calculated according to the following equation. This equation allows to calculate any intermediate value t

Tmax

.

t

T

54.4

+ 9.6

⋅ L d

Ü

D t

T

L d

D

Ü

= telegram time [ms]

= telegram length [byte]

= baud rate [kBit/s]

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7.3

7.3.3

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7.3

7

7.3.4

2175 (CANopen) fieldbus module

Technical data

Dimensions

7.3.4

Dimensions

62

Address Bd D/C

L

DeviceNet

CANopen

75

V-

CAN_L SHLD CAN_H

V+

2175

18

36

Fig. 7.3-1 Dimensions of the 2175 fieldbus module (all dimensions in mm)

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2175 (CANopen) fieldbus module

Installation

Components of the communication module

7.4

7.4.1

Installation

Components of the communication module

0

7

Address Bd D/C

1 2

L

DeviceNet

CANopen

3

4

V-

CAN_L SHLD CAN_H

V+

5

6

2175

2175DeN003

Fig. 7.4-1 2175 communication module

Pos.

Designation

0

1 Connection status to the basic device

(two-colour LED

Meaning

2175 communication module

OFF

Notes 25

Communication module is not supplied with voltage; basic device or external voltage supply is switched off.

BLINKING Communication module is supplied with voltage but is not connected to the controller (controller is switched off, initialising, or not available).

2 Connection status to the bus l LED) constantly

ON

The communication module is supplied with voltage and is connected to the drive controller.

OFF • No communication with the communication module

• Communication module is not supplied with voltage

GREEN BLINKING Communication via the communication module has been set up

3 Green and red

Drive-LED

(Drive)

ON Internal fault of the communication module

Operating status of the basic device 82XX, 8200 vector, 93XX, Servo PLC 9300 and Drive

PLC

(see Operating Instructions of the basic device)

4 Fixing screw

5 Plug connector with double screw connection, 5-pole

6 PE cable connection

See note below

7 DIP switch For settings see chapter 7.5

)

Note!

Only for 820X and 821X:

If necessary use an additional PE shield cable which avoids

EMC-related communication interference in especially noisy environments.

7

7.4

7.4.1

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7.4

7

7.4.2

7.4.2

Mechanical installation

2175 (CANopen) fieldbus module

Installation

Mechanical installation

26 2102LEC014 l l

Plug the communication module onto the controller (here: 8200 vector)

Screw the communication module onto the device to ensure a good PE connection.

)

Note!

An internal supply of the communication module through the 8200 vector is only possible if the jumper in the interface cutout (see figure above) is changed.

Please see the corresponding notes ^ 7.4-4 .

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2175 (CANopen) fieldbus module

Installation

Electrical installation

7.4.3

Electrical installation

)

Note!

Only for 820X and 821X:

If necessary use an additional PE shield cable which avoids

EMC-related communication interference in especially noisy environments.

Assignment of the plug connector

The 2175 fieldbus module is connected to the bus through a 5 pole plug connector with double screw connection..

V-

CAN_L SHLD CAN_H

V+

120R

Internal bus terminal assignment

Name

V-

CAN_L

SHIELD

CAN_H

V+

4

8

5

1

+V cc

3

2

7

6

Explanation 27

GND; reference for external supply

Data cable / input for terminating resistance of 120 Ohm

Shield

Data cable / input for terminating resistance of 120 Ohm

External voltage supply, see ^ 7.4-4

+V cc

+V

CAN+

Shield

CAN-

- V

7

7.4

7.4.3

2175DeN007

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7.4

7

7.4.3

2175 (CANopen) fieldbus module

Installation

Electrical installation

External supply voltage 28

Internal DC voltage supply 29

If necessary, supply the 2175 fieldbus module with a separate supply voltage 24

V DC via the plug-in contacts V+/V-

±

10 % .

820X controllers always require a separate voltage supply.

Use a separate supply unit in every control cabinet if the distance between the control cabinets is larger than normal.

Controller

820X

821X / 822X / 824X and

93XX

8200 vector

External voltage supply always required

Only necessary if the mains which supplies the corresponding controllers is to be switched off but the communication must not be interrupted.

see “internal DC voltage supply”

)

Note!

Controllers with an extended AIF interface (front of the 8200 vector) can be internally supplied. The part of the drawing highlighted in grey shows the jumper position.

l l

In the delivery state of the frequency inverter these are not internally supplied.

For internal voltage supply, put the jumper in the position indicated below.

Lenze setting only external voltage supply possible

Internal voltage supply

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2175 (CANopen) fieldbus module

Installation

Electrical installation

Wiring to a host

Wiring of the CAN bus

{

Danger!

An additional mains is required, if l l a 820X or 821X controller is connected to a host and a safe mains isolation (double basic insulation) to VDE 0160 is necessary.

For this, you can use an interface module for the host with an additional electrical isolation (see the corresponding manufacturer’s information).

For wiring, the electrical isolation of the supply voltage must be taken into account. The supply voltage is assigned to the same potential as the data bus.

CAN

VV+

2175

7

7.4

7.4.3

Specification for system bus cable 30

Fig. 7.4-2 Connection to the plug connector

Please observe our recommendations for signal cables:

Total length

Cable type

Cable resistance

Capacitance per unit length

ó 300 m

LIYCY 2 x 2 x 0.5 mm 2

(twisted in pairs with shield)

≤ 40 ê /km

≤ 130 nF/km

ó 1000 m

CYPIMF 2 x 2 x 0.5 mm 2

(twisted in pairs with shield)

≤ 40 ê /km

≤ 60 nF/km

2175DeN002

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7.4

7

7.4.3

2175 (CANopen) fieldbus module

Installation

Electrical installation

Structure of a CAN bus system

(example) 31

The CAN bus system is designed as 2 conductor (twisted pair) shielded with additional mass and termination at both ends of the line.

For sending and receiving data the following paths are available: l Max. 3 process data channels (PDO = Process Data Object)

– Process data are send via the process data channel and are used for high-speed and high-priority control tasks. Typical process data are, for instance, setpoints and actual values of a basic device.

l 2 parameter data channels (SDO = Service Data Object)

– The parameters are transferred at lower priority than the process data.

The parameters are set or changed e.g. during commissioning or product change.

– The parameters are accessed via the parameter data channel of the 2175 fieldbus module to the codes of the basic device by Lenze or the corresponding CANopen objects (description see chapter ” Parameter setting CANopen” ).

– 2 masters can be connected to the basic devices because of the 2 parameter channels. Thus, parameters can be changed directly at the basic device during operation of a machine or system networked via PLC, using a PC (e.g. with user software “ Global Drive Control) or a keypad.

The second parameter data channel can be reached under the set address (switch or L-C0009) with an offset of 64. For instance, if a PLC addresses the controller with address 1 and second commanding unit the address 65, the same basic device will be addressed. Please observe that the last telegram determines the parameter when a parameter is accessed by two units (see “ Server SDO Parameters” (

7.7-25) ).

)

Note!

The last telegram determines the parameter when a parameter is accessed by two units.

Please observe the notes in chapter 7.5, if you do not select the baud rate and address via the front switch.

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2175 (CANopen) fieldbus module

Installation

Bus cable length

7.4.4

Bus cable length

It is absolutely necessary to comply with the permissible cable lenghts.

1. Please check the compliance with the total cable length in Tab. 7.4-1.

The total cable length is specified by the baud rate.

Baud rate [kBit/s]

Total cable length [m]

Tab. 7.4-1 Total cable length

10

7450

20

3950

50

1550

125

630

250

290

500

120

1000

25

2. Please check the compliance with the segment cable length in Tab. 7.4-2.

The segment cable length is specified by the cable cross-section used and the number of participants. Without a repeater the segment cable length corresponds to the total cable length.

20

32

63

Station

2

5

10

Cable cross-section

0.25 mm 2

240 m

230 m

230 m

210 m

200 m

170 m

0.5 mm 2

430 m

420 m

410 m

390 m

360 m

310 m

0.75 mm 2

650 m

640 m

620 m

580 m

550 m

470 m

1.0 mm 2

940 m

920 m

900 m

850 m

800 m

690 m

Tab. 7.4-2 Segment cable length

3. Please compare both detected values.

If the value detected from Tab. 7.4-2 is smaller than the total cable length from

Tab. 7.4-1, repeaters must be used. Repeaters divide the total cable length into segments.

)

Note!

l l

Please note the reduction of the total cable length due to the signal delay of the repeater (see example ^ 7.4-8 ).

Mixed operation

– There is a mixed operation, if different devices are connected to the same mains.

– If the total cable lengths of the participants are different at the same baud rate, the smaller value must be used in order to determine the max. cable length.

Example: Selection help

Given:

• Cable cross-section:

• Number of devices connected:

• Repeater:

0.5 mm 2

63

(according to cable specification ^ 7.4-5 )

Lenze repeater, type 2176 (cable reduction: 30 m)

At maximum number of participants (63) the following cable lengths / number of repeaters must be complied with:

Baud rate [kBit/s]

Max. cable length [m]

Segment cable length [m]

Number of repeaters

10

7450

310

24

20

3950

310

12

50

1550

310

4

125

630

310

2

250

290

-

290

500

120

-

120

1000

25

-

25

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7.4

7.4.4

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7.4

7

7.4.4

Example: Check repeater application 32

2175 (CANopen) fieldbus module

Installation

Bus cable length

Given:

• Baud rate:

• Cable cross-section:

• Number of devices connected:

125 kBit/s

0.5 mm 2

28

• Cable length: 450 m

1. Total cable length at 125 kbits/s

630 m from Tab. 7.4-1

2. Segment cable length for 28 participants and a cable cross-section of 0.5mm

2 .

360 m

3. Comparison from Tab. 7.4-2

The value in point 2. is smaller than the cable length of 450 m.

4. Conclusion

• It is not possible to use a cable length of 450 m without applying a repeater.

• After 360 m (point 2.) a repeater must be applied.

5. Max. cable length with repeater application

• The Lenze repeater is used, type 2176 (cable reduction: 30 m)

• Calculation of the max. cable length:

à

630 m (according to Tab. 7.4-1) minus 30 m (cable reduction)

Max. possible cable length with repeater: 600 m.

à The cable length wanted is now possible.

)

Note!

Repeaters are recommended as a l l service interface

Advantage: trouble-free connection during bus operation is possible.

Calibration interface

Advantage: calibration/programming unit remains electrically isolated.

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2175 (CANopen) fieldbus module

Commissioning

7

7.5

7.5

Commissioning

)

Note!

Settings via GDC or operating module.

The settings of controller address and baud rate can be carried out by means of GDC or the operating module. For this purpose the DIP switches S1 to S6 must always be set to the OFF position.

The codes L-C0009 (controller address) and L-C0125 (baud rate) are not active, if one address switch has been set to ON before restarting the controller.

l l

Concerning this please observe the descriptions (

7.9-1) of

Node adress L-C1850/2350 and

Baud rate L-C1851/2351.

l l l

The following settings can be easily carried out via the front DIP switch of the 2175 field bus module:

Controller address S1 - S6

Baud rate S7 - S9

Communication profile CANopen S10 33

)

Note!

The Lenze setting for all switches is OFF.

The controller address and baud rate set via DIP switch will only be active after a renewed mains connection.

Only the switch combinations described in the following tables are defined states.

Communication profile setting

OFF

ON

OPEN

1 2 3 4 5 6 7 8 910

Fig. 7.5-1 Communication profile setting

Communication profile S10

DeviceNet OFF

CANopen ON

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7.5

7

2175 (CANopen) fieldbus module

Commissioning

Device address setting

Baud rate setting

7.5-2

)

Note!

Please observe that the addresses are not the same when using several controllers.

OPEN

1 2 3 4 5 6 7 8 910

OFF

ON

Fig. 7.5-2 Setting of the controller address

Adresse dec

= S

6

⋅ 20 + S

5

⋅ 21 + S

4

⋅ 22 + S

3

⋅ 23 + S

2

⋅ 24 + S

1

⋅ 25

The address calculation (decimal number) is based on the positions of switches

S1 ... S6 (’0’ = OFF and ’1’ = ON). The numbers must be entered into the equation above.

The equation also indicates the valency of a switch. The sum of valencies results in the controller addresses to be set

Switch valencies:

Switch

Valency

Example:

Switch

Switch position

Address (= 56 )

S1

32

S1

ON

32

S2

16

S2

ON

16

S3

8

S3

ON

8

S4

4

S4

OFF

0

S5

2

S5

OFF

0

S6

1

S6

OFF

0

)

Note!

Please observe that the baud rate must be the same for all controllers and the host.

OFF

ON

OPEN

1 2 3 4 5 6 7 8 910

Fig. 7.5-3 Baud rate setting

Baud rate [kBit/s] 34

10

20

50

125

250

500

1000

S7

ON

ON

OFF

OFF

OFF

OFF

ON

S8

ON

OFF

ON

ON

OFF

OFF

OFF

S9

OFF

ON

ON

OFF

ON

OFF

OFF

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2175 (CANopen) fieldbus module

Commissioning

Before switching on

7.5.1

Before switching on

(

Stop!

Before switching on the mains voltage, check the wiring for completeness, earth fault and short circuit.

)

Note!

Do not change the switch-on sequence!

1. Switch on the controller and, if necessary, the external supply of the 2175 fieldbus module.

– The operating status display of the controller (

7.4-1) must be on or blinking. If this is not the case, see chapter ” Troubleshooting” ( ¶ 7.8-1)

– The green LED (” status controller connection” ) must also be on

(

7.4-1)

. If this is not the case, see chapter ” Troubleshooting” (

7.8-1) .

2. It is now possible to communicate with the drive, i.e.

– all parameters (SDO) can be read and written

– all writable parameters (SDO), except for process data (PDO) such as frequency setpoint or control word, can be overwritten.

– For more information on the communication phases of the CAN network see ( ¶ 6.6-3) .

7

7.5

7.5.1

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7.5

7

7.5.2

2175 (CANopen) fieldbus module

Commissioning

Enable drive via 2175 fieldbus module

7.5.2

Enable drive via 2175 fieldbus module

)

Note!

During operation the change of a 2175 module to another controller can lead to undefined operating states.

82XX /

8200 vector

93XX

1. Set the Lenze parameter Operating Mode (L-C0001) from 0 to 3 to enable the drive via the 2175 fieldbus module. This can be carried out with the keypad or directly via CANopen.

Examples for Write (L-C0001=3):

– Index = 5FFE

– Subindex: 0 hex

(results from: 5FFF hex

− (L-C0001) hex

;)

– Value: 30000 dec

(results from: L-C0001 = 3 x 10000)

2. Terminal 28 (controller enable) is always active and must be set to HIGH level during CANopen operation (see Operating Instructions for the controller). Otherwise, the controller cannot be enabled via CANopen.

– With 821X, 8200vector and 822X, the function QSP (quick stop) is always active. If QSP is assigned to an input terminal (default setting: not assigned), this must be at HIGH level during

CANopen operation (see Operating Instructions for the controller).

The controller now accepts parameter and process data.

1. For drive control via CANopen set the Lenze parameter Signal Configuration (L-C0005) to a value xxx3. This change can be carried out using the 9371BB keypad or the CANopen. For the first commissioning, select the signal configuration 1013.

Examples for Write (L-C0005=1013):

– Index = 5FFA hex

– Subindex: 0

– Value: 10130000

(results from: 5FFF hex

− (L-C0005) hex

) dec

(results from: L-C0005 = 1013 x 10000)

2. Set the parameter L-C0142 to 0. Observe the chapter “Protection against unexpected start“.

3. Terminal 28 (controller enable) is always active and must be set to HIGH level during CANopen operation (see Operating Instructions 93XX). Otherwise, the controller cannot be enabled via

CANopen.

– With the signal configuration L-C0005=1013, the function QSP (quick stop) and the CW/CCW changeover are assigned to the digital input terminals E1 and E2 and thus they are always active.

For CANopen operation E1 must be set to HIGH level (see Operating Instructions 93XX).

Note

With the signal configuration L-C0005=xx13, terminal A1 is switched as voltage output. Connect the following terminals:

– X5.A1 with X5.28 (controller enable).

– X5.A1 with X5.E1 (CW/QSP)

The controller now accepts parameter and process data.

Protection against uncontrolled restart 35

)

Note!

After a fault (e.g. short-term mains failure) a restart of the drive is not always wanted.

l By setting L-C0142 = 0, the drive can be inhibited if

– the corresponding controller sets a ” fault message“

– the fault is active for more than 0.5 s

Parameter function: l l

L-C0142 = 0

– Controller remains inhibited (even if the fault is not active any longer)

– The drive restarts in a controlled mode: LOW-HIGH transition at one of the inputs for ” Controller inhibit“ (CINH, e.g. at terminal X5/28)

L-C0142 = 1

– Uncontrolled restart of the controller possible

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2175 (CANopen) fieldbus module

Data transfer

7

7.6

7.6

Data transfer

Master and slave communicate with each other by exchanging data telegrams via the CAN bus. The user data range of the data telegram contains either network management data, parameter data or process data.

In the controller, different communication channels are assigned to the parameter data and process data:

Telegram type

Parameter data

(SDO,

Service-Data-Objects)

Process data

(PDO,

Process-Data-Objects)

Tab. 7.6-1

These are, for instance,

• Operationg parameters

• Diagnostics information

• Motor data

In general, the parameter transfer is not as time-critical as the tranfer of process data.

These are, for instance,

• Setpoints

• Actual values

Exchange between host and controller required as fast as possible. Small amounts of data which can be transferred cyclically.

Communication channel

Parameter data channel

Process data channel

• Enables the access to all

Lenze codes and the CANopen index.

• Parameter changes are usually stored automatically in the controller (observe L-C0003).

• You can control the controller using the process data.

• The host has direct access to the process data.

Data are for instance directly assigned to the I/O area.

• Process data are

– not stored in the controller.

– transferred between host and controller in order to provide a continuous exchange of current input and output data.

Division of parameter data and process data into different communication channels

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7.6

7

7.6.1

2175 (CANopen) fieldbus module

Data transfer

Structure of a CAN data telegram

7.6.1

Structure of a CAN data telegram

Start

1 bit

Identifier

11 bits

Control field

RTR bit CRC sequence

CRC delimit.

ACK delimit.

ACK slot End

1 bit 6 bits

User data 0 ... 8 byte

• Network management

• Parameter data

• Process data

15 bits 1 bit 1 bit 1 bit 7 bits

Three different data types are transported in this field:

• Network telegrams (NMT)

– The NMT user data contain information about the structure of communication via CAN bus.

• Parameter data (SDO)

– The user data serve to parameterize the devices.

• Process data (PDO)

– The process data in the user data are used for fast, mainly frequent processes (e.g. speed setpoint and actual speed value).

Fig. 7.6-1 Basic structure of the CAN data telegram

The chapter mentioned goes into more detail about the data relevant for programming the bus module (identifier and user data).

The other signals refer to the transfer characteristics of the CAN telegram. These

Instructions do not describe this matter. For further information please refer to the homepage “ CAN in Automation (CiA)” : www.can-cia.org.

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2175 (CANopen) fieldbus module

Data transfer

Structure of a CAN data telegram

Identifier 36

The identifier is an important part of the data telegram. Every identifier - except the network manager and the sync telegram (see chapter 6.6.3), contains the controller address:

Identifier = Basic identifier + unit address

In case of the CANopen communication profile the controller address is used to realise a participant-oriented message addressing.

The identifier allocation is is defined in the CANopen protocol. According to Lenze settings, the basic identifier is preset with the following values (see CiA DS301,

Pre-Defined Connection Set):

Direction from the controller to the controller

Basic identifier dec hex

+ Controller address see

Network manager (NMT)

Sync telegram

Emergency object X

X

0

128

0

80 no yes

^ 7.6-10

^ 7.7-21

^ 7.7-24

Node guarding

X

X

X

X

X

X

X

X

X

X

128

384

512

640

768

896

1024

1408

1536

1472

1600

1792

80

380

400

580

600

180

200

280

300

5C0

640

700 yes

^ 7 7 26 ff

^ 7.6-26,

^ 7.7-25

^ 7.6-5,

^ 7.7-21

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7.6

7.6.1

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7.6

7

7.6.1

2175 (CANopen) fieldbus module

Data transfer

Structure of a CAN data telegram

Network manager (NMT) 37

The telegram structure used for the network manager contains the identifier and the command being located in the user data and consisting of the command byte and the device address:

1. byte: command (hex)

01, 02, 80, 81 or 82

User data (2 bytes)

2. byte: controller address

Controller address: xx

The following applies to the assignment of the bytes marked with ”xx” in the table below:

• xx = 00 hex

With this assignment, all controllers connected are addressed by the telegram.

All controller can change their status at the same time.

• xx = Controller address

If a certain address is indicated, the status will only be changed for the controller addressed.

7.6-4

State transition

(1)

Command (hex)

-

(2)

(3), (6)

(4), (7)

(5), (8)

(9)

(10)

(11)

(12)

(13)

(14)

-

01 xx

80 xx

02 xx

81 xx

82 xx

Network status after change

Initialisation

Pre-Operational

Operational

Pre-Operational

Stopped

Effect on process and parameter data after state transition

At power-on the initialisation automatically started.

The drive does not take part in the data transfer.

After initialisation

• the participant automatically passes over to the

Pre-Operational state.

• the master decides how the controller/s are to participate in the communication.

The master changes a status for the whole network.

A target address, which is part of the command, selects the slaves.

Network manager telegrams, sync, emergency, process data (PDO) and parameter data (SDO) active

(corresponds to “Start Remote Node”)

Network manager telegrams, sync, emergency and parameter data (SDO) active (corresponds to “Enter

Pre-Operational State“)

Network manager telegrams can only be received.

Initialisation of all parametersin the field bus module

( p

“R t N d ”)

(

Initialisation of communication-relevant parameters l (

) d t “R t C i ti ”)

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2175 (CANopen) fieldbus module

Data transfer

Structure of a CAN data telegram

Node Guarding Protocol 38

Node

Guard

Time

NMT master

Request

Confirm

The Node Guarding Protocol serves to monitor the connection between the NMT master and the NMT slave(s) within a CAN network.

)

Note!

A NMT master is e.g. a PLC with a CAN interface or a PC card.

The NMT slave function of the Node Guarding Protocols (DS301, version 4.01) is supported by the field bus module.

8 t

RTR

. . . .

s

1

NMT slave

Indication

Response

Node

Life

Time

Request

8 t

RTR

. . . .

s

1

Indication

Node

Guarding

Event

Confirm

Indication

Response

Life

Guarding

Event

Indication

E82ZAFD008

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7.6.1

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7.6

7

7.6.1

RTR telegram

Response telegram

Identifier

Node Life Time

OK state

2175 (CANopen) fieldbus module

Data transfer

Structure of a CAN data telegram

The NMT master sends a data telegram called “ Remote Transmit Request” (RTR) to the NMT slave in cyclic time intervals (“ Node Guard Time” , monitoring time).

– For this purpose, the RTR bit is set to the significance LOW (dominant level) in the arbitration field.

– The RTR does not contain any user data.

The NMT slave is asked by the RTR to send its actual data.

Every NMT slave on its part sends a response telegram with a user data width of one byte. Its most significant bit is a toggle bit (t). The toggle must change its significance at each response. The significance of the toggle bit at the initial activation of the Node Guarding Protocol is “ 0” .

The toggle bit is reset to the value 0 by the “ Reset_communication (NMT) telegram” of the NMT master.

The data value (s) of the other seven bits indicates one of the three possible states of the NMT slave:

Value s

4

5

127

Status

STOPPED

OPERATIONAL

PRE-OPERATIONAL

The request of the NMT master and the corresponding response of the NMT slave are sent with an identifier (1792 dec

+ slave address, ( ¶ 7.6-3) ).

The identifier (see also (

7.6-3) ) is calculated as follows:

Basic address (1792 dec

) + slave address (1  .63

dec

)

For each NMT slave a different “ Node Life Time” can be set.

The Node Life Time is the product of the “ Node Guard Time” ( ¶ 7.7-21) and the “ Life

Time Factor”

(

7.7-22)

.

The NMT master must recognise these two values. This can be done by reading the values at every restart out of the NMT slave by the NMT master.

The connection state is OK, if within the “ Node Life Time” l the NMT master has received a correct response of the NMT slave or l l l the NMT slave has received a request from the NMT master.

In this case the monitoring times for the NMT master and NMT slave have been reset the Node Guarding Protocol will be continued.

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2175 (CANopen) fieldbus module

Data transfer

Structure of a CAN data telegram

Life Guarding Event

Node Guarding Event

Through the “ Life Guarding Event” a fault is released in the NMT slave, if the NMT slave is not triggered by an RTR or NMT master within the “ Node Life Time” .

)

Note!

The reaction to a “ Life Guarding Event” is set with the code

L-C1882 / L-C2382.

The “ Node Guarding Event” is to appear in the NMT master, if l within the “ Node Life Time” the NMT master does not receive any response of the NMT slave although a request has been made, l the toggle bit has not changed within the “ Node Life Time” .

)

Note!

Please also note in this connection that the monitoring times are not to be reset. The reaction to a “ Node Guarding Event” in the

NMT master shall be implemented accordingly, if the significance of the toggle bit equals the NMT slave telegram received before.

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7.6.1

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7.6

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7.6.2

2175 (CANopen) fieldbus module

Data transfer

Process data channel

7.6.2

Process data channel

Setpoint source selection

39

82XX controller

The selection of the setpoint source for these controllers is determined under code number L-C0001 (index: 5FFE hex

). For process data evaluation, the code

L-0001 must be set to the value “ 3” when operating the controller with the fieldbus module. The setpoint source is the process data channel which overwrites the frequency setpoint (L-C0046) and the control word (L-C0135) (see 82XX

Operating Instructions).

)

Note!

Please observe that the setpoint source selection (LC0001) must be set equally in all parameter sets.

Controller 8200 vector

The selection of the setpoint source for these controllers is determined under code number L-C0001 (index: 5FFE hex

). For process data evaluation, the code

L-0001 must be set to the value “ 3” when operating the controller with the fieldbus module. (Selection: process data channel of a field bus module AIF-IN.W1 or

AIF-IN.W2). The setpoint source is the process data channel which overwrites the frequency setpoint (L-C0046) and the control word (L-C0135) (see the Operating

Instructions for 8200 vector).

)

Note!

Please observe that the setpoint source selection (LC0001) must be set equally in all parameter sets.

93XX controllers

The 93XX controller does not offer a setpoint source selection which can be set by one code only. For this purpose, you only need to connect preconfigured function blocks in order to adapt the controller to the drive task without being an expert in programming.

The user itself is able to carry out the interconnection. However, it is recommended to use the preconfigurations provided by Lenze, which are saved in the read-only memory of the controller. The Lenze preconfigurations (see code

C0005) define, which source (terminal, keyboard, field bus module) describe the frequency setpoint and the control word.

The value to be set of code C0005 must be set to “ xxx3” for operation via CAN bus (x = wildcard for selected preconfiguration).

For more information, please see the corresponding Manual or Operating

Instructions for the controller.

Basic devices 9300 Servo PLC and Drive PLC

For communicating via an AIF fieldbus module (e.g. 2175 CANopen/DeviceNet) it is necessary that the system modules AIF-IN 1 ... 3 or AIF-OUT 1 ... 3 and if required the AIF manager are integrated into the control configuration of the

IEC1131 project.

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2175 (CANopen) fieldbus module

Data transfer

Process data transfer

7.6.3

Process data transfer

Process data telegram to drive

Process data telegrams between host and controllers are distinguished as follows: l Process data telegrams to the drive l Process data telegrams from the drive

The process data telegram (device series 93XX) has a useful data length of 8 bytes

(see example below).

The process data telegram identifier also includes the drive’s address.

The CAN bus is connected to the automation interface X1.

X1 is connected to the function block AIF-IN. Here, the useful data is transformed into corresponding signal types in order to use them for further function blocks.

The control word is especially important for the drive. It contains the drive setpoint in byte 1 and byte 2 of the useful data.

AIF1-IN

7

7.6

7.6.3

Identifier

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

X1

Process data telegram from drive

Fig. 7.6-2 Example: Device series 93XX

For the cyclic process telegrams from drive, the function block to be used is called

AIF-OUT. The status word (byte 1 and byte 2) included in the process data telegram is placed on the CAN-BUS via this function block and is sent to, e.g. the master (see also chapter 7.6.6).

The sync telegram ensures that process data is sent to the drive (see also

(

7.6-3)

).

For cyclic process data processing, the sync telegram must be generated accordingly.

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7.6

7

7.6.3

2175 (CANopen) fieldbus module

Data transfer

Process data transfer

Synchronisation of process data

Sync-telegram

The sync telegram is the trigger point for l l data sent to the drive controller starting sending process from the drive controller.

Sync-telegram

PDO to Controller PDO from Controller t

1

PDO to Controller t t

1

Fig. 7.6-3 Synchronisation of cyclic PDOs (represented by a bus participant)

Explanation for Fig. 7.6-3: At the time t

1

, the process data are accepted for all

PDOs as soon as a sync telegram will be received.

)

Note!

SDOs or event-controlled PDOs are accepted asynchronously, i.e. after transfer has been carried out.

The asynchronous data are not considered above!

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2175 (CANopen) fieldbus module

Data transfer

Process-data assignments for 82XX

7.6.4

Process-data assignments for 82XX

Process data telegram to drive

User data length: 8 Byte

Identifier

More information about the process data

Byte 1

Control word

L-C0135

Low byte

Byte 2

Control word

L-C0135

High byte

Byte 1

Byte 2

Byte 3

Byte 3

Setpoint

L-C0046

Low byte

Byte 4

Setpoint

L-C0046

High byte

Byte 5 xx

Byte 6 xx

Byte 7 xx

Byte 8 xx

The bits 0 to 7 of the control word under C0135 are entered here

Bits 8 to 15 of the control word under C0135 are entered here (see

(

7.6-15)

The description of the bits can be obtained from the Code Table.

The frequency setpoint, which can also be written as parameter under C046, is entered here as process data word.

The normalization differs from the setting under C046. It is a signed value,

24000 = 480 Hz.

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

Control word: see (

7.6-15)

AIF

Control word

16 bits

.B0

.B1

.B2

.B3

...

...

.B8

.B9

.B10

.B11

.B12

.B13

.B14

.B15

0 0 1 1

0 1 0 1

JOG/

C046

QSP

R/L

CINH

TRIP-SET

TRIP-RESET

PAR

DCB

16 bits C0046

Fig. 7.6-4

2141LON010

Access to the control word and the frequency setpoint in 82XX (fixed assignment, see

(

7.6-15))

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7.6.4

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7.6

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7.6.4

2175 (CANopen) fieldbus module

Data transfer

Process-data assignments for 82XX

Process data telegram from drive

User data length: 8 Byte

Identifier

Byte 1

Status word

L-C0150

Low byte

Byte 2

Status word

L-C0150

High byte

Byte 3

Actual value

L-C0050

Low byte

Byte 4

Actual value

L-C0050

High byte

Byte 5 xx

Byte 6 xx

Byte 7 xx

Byte 1

Byte 2

More information about the process data g

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

Status word: see (

7.6-16)

The bits 0 to 7 of the status word under L-C0150 are entered here

Bits 8 to 15 of the status word under L-C0150 are entered here (see

( ¶ 7.6-16) ).

The description of the bits can be obtained from the Code Table.

The actual frequency value with signed normalization (L C0050)

24000 = 480 Hz is provided here.

Byte 8 xx

Fig. 7.6-5

PAR

IMP

Imax

- / fd=fdset fd=fdset / HLG

Qmin fd>0

RSP

Controller status

Ugmax

R/L

RDY

.B0

.B1

.B2

.B3

.B4

.B5

.B6

.B7

.B8

.B9

.B10

.B11

Status word

16 bits

.B12

.B13

.B14

.B15

AIF

C0050

+/-24.000 = +/- 480Hz

16 bits

Read access to the status word and the actual frequency value in 82XX (fixed assignment, see (

7.6-16))

2141LON012

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2175 (CANopen) fieldbus module

Data transfer

Process data assignment for 8200 vector

7.6.5

Process data assignment for 8200 vector

Process data telegram to drive

A change of code L-C0001 to 3 preconfigures the process data words in the controller.

)

Note!

Frequency and speed values are normalised with  24000 ≡

 480 Hz.

Byte 1

Control word

Low byte

Byte 2

Control word

High byte

Byte 3

AIF-IN.W1

Low byte

Control word: see (

7.6-15)

Byte 4

AIF-IN.W1

High byte

Byte 5

AIF-IN.W2

Low byte

AIF-IN.Wx is parameterised under code L-C0412.

Byte 6

AIF-IN.W2

High byte

Byte 7 xx

Byte 8 xx

AIF-IN

.B8

AIF-CTRL

16 bits

.B9

.B10

.B11

.B0

.B1

.B2

.B3

QSP

DCTRL

...

...

DCTRL

CINH

TRIP-SET

TRIP-RESET

L-C0410/x = 10

L-C0410/x = 11

L-C0410/x = 12

...

...

...

...

...

...

...

...

...

AIF

.B15

AIF-IN.W1

L-C0410/x = 22

...

L-C0410/x = 25

L-C0412/x = 10 16 bits

...

...

AIF-IN.W2

16 bits L-C0412/x = 11

Fig. 7.6-6

2141LON011

Function block AIF-IN in 8200 vector (freely programmable assignment, factory setting see (

7.6-15))

Note:

The subcode (wildcard “x” in illustration) determines the meaning of the bit or the word (see Operating Instructions for 8200 vector)

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7.6.5

2175 (CANopen) fieldbus module

Data transfer

Process data assignment for 8200 vector

Process data telegram from drive

Byte 1

Status word

Low byte

Byte 2

Status word

High byte

Byte 3

AIF-OUT.W1

Low byte

Byte 4

AIF-OUT.W1

High byte

Byte 5

AIF-OUT.W2

Low byte

Status word: see ( ¶ 7.6-16)

AIF-OUT.Wx is parameterized under code L-C0421.

Byte 6

AIF-OUT.W2

High byte

Byte 7 xx

C0417/1

DCTRL1-IMP

C0417/3

C0417/4

C0417/5

C0417/6

DCTRL1-NOUT=0

DCTRL1-CINH

DCTRL1-STAT*1

DCTRL1-STAT*2

DCTRL1-STAT*4

DCTRL1-STAT*8

DCTRL1-OH-WARN

DCTRL1-OV

C0417/15

C0417/16

STAT1

.B0

.B1

.B2

.B3

.B4

.B5

.B6

.B7

.B8

.B9

.B10

.B11

.B12

.B13

.B14

.B15

AIF-OUT.W1

C0421/1

AIF-OUT

.B0

.B1

.B2

.B3

.B4

.B5

.B6

.B7

.B8

.B9

.B10

.B11

.B12

.B13

.B14

.B15

AIF-STAT

16 bits

AIF

16 bits

C0421/2

AIF-OUT.W2

16 bits

Byte 8 xx

Fig. 7.6-7

2141LON013

Function block AIF-OUT in 8200 vector (freely programmable assignment, factory setting see (

7.6-16))

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2175 (CANopen) fieldbus module

Data transfer

Process data assignment for 8200 vector

8

9

Control word for 82XX and 8200 vector 40

2

3

4

5

6

7

10

11

12

13

14

15

Default setting:

C0001=3 if C0007 < 52

00 = C0046 active

8200 vector

Default setting:

C0001=3 if C0007 > 51

00 = C0046 active

01 = JOG1 in C0037 active

10 = JOG2 in C0038 active

11 = JOG3 in C0039 active

CW/CCW (CW rotation/CCW rotation)

0 = CW rotation

1 = CCW rotation

QSP (quick stop)

0 = QSP not active

1 = QSP active

Reserved

Reserved

Reserved

Reserved

Reserved

Ctrl. inhibit (controller inhibit)

0 = controller not inhibited

1 = controller inhibited

Reserved

Reserved

PAR1 (Parameter set changeover)

0 -> 1 = Parameter set

1 -> 0 = Parameter set

Reserved

DC brake (DC injection brake)

0 = DC brake not active

1 = DC brake active

Reserved

00 = C0046 active

10 = JOG2 in C0038 active

11 = JOG3 in C0039 active

CW/CCW (CW rotation/CCW rotation)

0 = CW rotation

1 = CCW rotation

QSP (quick stop)

0 = QSP not active

1 = QSP active

RFG stop (stop of the ramp function generator)

0 = RFG stop not active

1 = RFG stop active

RFG zero (deceleration along the T if ramp C0013)

0 = RFG zero not active

1 = RFG zero active

UP function for motor potentiometer

0 = UP not active

1 = UP active

DOWN function for motor potentiometer

0 = DOWN not active

1 = DOWN active

Reserved

Ctrl. inhibit (controller inhibit)

0 = controller not inhibited

1 = controller inhibited

Reserved

TRIP reset

0 -> 1 = Edge from 0 to 1

PAR1 (Parameter set changeover)

0 -> 1 = Parameter set

1 -> 0 = Parameter set

Reserved

DC brake (DC injection brake)

0 = DC brake not active

1 = DC brake active

Reserved

10 = NSET1-JOG2 (C0038) active

11 = NSET1-JOG3 (C0039) active

DCTRL1-CW/CCW

0 = not active

1 = active

NSET1-RFG1-STOP

0 = not active

1 = active

NSET1-RFG1-0

0 = not active

1 = active

MPOT1-UP

0 = not active

1 = active

MPOT1-DOWN

0 = not active

1 = active

AIF-CTRL-QSP

0 = not active

1 = active freely configurable through user

AIF-CTRL-CINH

0 = not active

1 = active

AIF-CTRL-TRIP-SET

0 = not active

1 = active

AIF-CTRL-TRIP-RESET

0 -> 1 = Edge from 0 to 1

DCTRL1-PAR2/4

0 = not active

1 = active

DCTRL1-PAR3/4

0 = not active

1 = active

MCTRL1-DCB

0 = not active

1 = active freely configurable through user freely configurable through user

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2175 (CANopen) fieldbus module

Data transfer

Process data assignment for 8200 vector

Status word for 82XX and 8200 vector 41

Bit

0

1

2

3

820X

Actual parameter set

0 = Parameter set 1 or 3 active

1 = Parameter set 2 or 4 active

IMP (pulse inhibit)

0 = Pulses for power stage enabled

1 = Pulses for power stage inhibited

I max

(current limit reached)

0 = Current limit not reached

1 = current limit reached

Not assigned

4

5

6

7 f d

= f dset

0 = f d

1 = f d

Qmin (f d

≠ f

= f dset dset

≤ f dQmin

)

0 = Qmin not active

1 = Qmin active f d

+ 0 (act. frequency = 0)

0 = f

1 = f d d

+ 0

0

Ctrl. inhibit (controller inhibit)

0 = controller not inhibited

1 = controller inhibited

8...11 Controller status

0 = Controller initialisation

8 = Error active

12

13

14

15

Overtemperature warning

0 = No warning

1 = warning

V

Gmax

(DC-bus overvoltage)

0 = No overvoltage

1 = overvoltage

Direction of rotation

0 = CW rotation

1 = CCW rotation

Ready for operation

0 = not ready for operation

1 = ready for operation

821x, 822x

Actual parameter set

0 = Parameter set 1 or 3 active

1 = Parameter set 2 or 4 active

IMP (pulse inhibit)

0 = Pulses for power stage enabled

1 = Pulses for power stage inhibited

I max

(current limit reached)

0 = Current limit not reached

1 = current limit reached f d

= f

0 = f

1 = f d d dset

= f f dset dset

RFG on = RFG off

0 = RFG on ≠ RFG off

1 = RFG on = RFG out

Qmin (f d

≤ f dQmin

1 = Qmin active

)

0 = Qmin not active f d

+ 0 (act. frequency = 0)

0 = f

1 = f d d

≠ 0

+ 0

Ctrl. inhibit (controller inhibit)

0 = controller not inhibited

1 = controller inhibited

Controller status

0 = Controller initialisation

2 = Switch-on inhibit

3 = Operation inhibited

4 = Flying-restart circuit active

5 = DC brake active

6 = Operation enabled

7 = Message active

8 = Error active

Overtemperature warning

0 = No warning

1 = warning

V

Gmax

(DC-bus overvoltage)

0 = No overvoltage

1 = overvoltage

Direction of rotation

0 = CW rotation

1 = CCW rotation

Ready for operation

0 = not ready for operation

1 = ready for operation

8200 vector factory setting

DCTRL1-PAR-B0

DCTRL1-IMP

MCTRL1-IMAX

MCTRL1-RFG1=NOUT

NSET1-RFG1-I=0

PCTRL1-QMIN

DCTRL1-NOUT=0

DCTRL1-CINH

Controller status

0 = Controller initialisation

2 = Switch-on inhibit

3 = Operation inhibited

4 = Flying-restart circuit active

5 = DC brake active

6 = Operation enabled

7 = Message active

8 = Error active

DCTRL1-OH-WARN

DCTRL1-OV

DCTRL1-CCW

DCTRL1-RDY

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2175 (CANopen) fieldbus module

Data transfer

Process-data assignment for 93XX

7.6.6

Process-data assignment for 93XX

Process data telegram to drive

With the 93XX controller the process data assignment can be changed by reconfiguring the function blocks AIF-IN and AIF-OUT.

Byte 1

Control word

Low byte

Byte 2

Control word

High byte

Byte 3

AIF-IN.W1

Low byte

Byte 4

AIF-IN.W1

High byte

Byte 5

AIF-IN.W2

Low byte

Byte 6

AIF-IN.W2

High byte

Byte 7

AIF-IN.W3

Low byte

Byte 8

AIF-IN.W3

High byte

Control word: see ( ¶ 7.6-18)

AIF-IN.W1 to AIF-IN.W3 depend on the signal configuration selected under

L-C0005.

For detailed description of the 93XX signal configuration, see the Operating

Instructions for 93XX (only the main configurations: 1000, 4000, 5000, etc.) or the

Manual 93XX.

In the controller, other signals can be assigned to AIF-IN.W1 to AIF-IN.W3. For this, the function-block configuration - described in the Manual 93XX - is used.

The function block AIF-IN determines the input data of the controller as data interface for the 2175 fieldbus module.

For more detailed information about the function block AIF-IN, see the Manual

93XX.

Signal configuration

(L-C0005)

Speed control 1003 / 1013 /

DF master

DF-slave cascade

1113

Torque control 4003 / 4013 /

4113

5003 / 5013 /

5113

DF-slave bus 6003 / 6013 /

6113

7003 / 7013 /

7113

Cam profiler 1xxx3

Positioning 2xxx3 vector control 1xx3 / 2xx3 /

3xx3 / 5xx3 /

100x3 vector control 4xx3 vector control 6xx3 vector control 7xx3 / 8xx3 /

9xx3 vector control 100x3 vector control 110x3

AIF-IN.W1

NSET-N

Speed setpoint

100 % = 16383

MCTRL-MADD

Torque setpoint

100 % = 16383

NSET-N

Speed setpoint

100 % = 16383

DFSET-A-TRIM

Phase trimming

DFSET-VP-DIV

DF factor

YSET1-FACT not assigned

NLIM-IN1

NCTRL-MADD

DFSET-A-TRIM

DFSET-VP-DIV

NLIM-IN1 not assigned

AIF-IN.W2

not assigned

DFSET-N-TRIM

Speed trimming

DFSET-A-TRIM

Phase trimming not assigned

DFSET-N-TRIM

DFSET-A-TRIM

AIF-IN.W3

not assigned

AIF-IN.D1

not assigned

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7.6.6

2175 (CANopen) fieldbus module

Data transfer

Process-data assignment for 93XX

Control word for 93XX 42

2

3

0

1

4

9300

7

8

5

6

9

10

11

12

13

14

15

C0005

9300 Servo 9300

Cam profiler

9300 Vector

1xx3 4xx3 5xx3 6xx3,7xx3

9300

Positioning controller

2xxx3 xxx3

NSET-JOG*1 not assigned NSET-JOG*1 not assigned not assigned

NSET-JOG*2 not assigned NSET-JOG*2 not assigned not assigned

NSET-N-INV NSET-N-INV NSET-N-INV NSET-N-INV not assigned

AIF-CTRL.QSP AIF-CTRL.QSP AIF-CTRL.QSP AIF-CTRL.QSP AIF-CTRL.QSP

NSET-RFG-

STOP

NSET-RFG-

STOP

NSET-RFG-

STOP

NSET-RFG-

STOP

CSEL1-CAM*1

CSEL1-CAM*2

CSEL1-CAM*4

AIF-CTRL.QSP

POS-PRG-START CSEL1-EVENT

NSET-RFG-0 NSET-RFG-0 NSET-RFG-0 NSET-RFG-0 POS-PRG-STOP CDATA-CYCLE not assigned not assigned not assigned not assigned not assigned CSEL1-LOAD not assigned not assigned not assigned not assigned POS-PRG-RESET CSEL1-LOAD not assigned not assigned not assigned not assigned not assigned not assigned

AIF-CTRL.CINH AIF-CTRL.CINH AIF-CTRL.CINH AIF-CTRL.CINH AIF-CTRL.CINH

AIF-CTRL.TRIP-

SET

AIF-CTRL.TRIP-

SET

AIF-CTRL.TRIP-

SET

AIF-CTRL.TRIP-

SET

AIF-CTRL.TRIP-

SET

AIF-CTRL.TRIP-

RESET

AIF-CTRL.TRIP-

RESET

AIF-CTRL.TRIP-

RESET

AIF-CTRL.TRIP-

RESET

AIF-CTRL.TRIP-

RESET

AIF-CTRL.CINH

AIF-CTRL.TRIP-

SET

AIF-CTRL.TRIP-

RESET

DCTRL-PAR*1 DCTRL-PAR*1 DCTRL-PAR*1 DCTRL-PAR*1 POS-PS-CANCEL not assigned

DCTLR-PAR-

LOAD

DCTLR-PAR-

LOAD

DCTLR-PAR-

LOAD

DCTLR-PAR-

LOAD

POS-PARAM-RD not assigned

NSET-Ti*1

NSET-Ti*2

NSET-JOG*1

NSET-JOG*2

REF-ON

NSET-Ti*1

REF-ON not assigned

POS-LOOP-ONH

POS-STBY-STP not assigned not assigned

1xxx, 2xxx,

3xxx, 5xxx,

10xxx, 11xxx

4xx3 6xx3,7xx3

NSET-JOG*1 not assigned not assigned

NSET-JOG*2 not assigned not assigned

NSET-N-INV not assigned not assigned

AIF-CTRL.QSP AIF-CTRL.QSP AIF-CTRL.QSP

NSET-RFG-

STOP

NSET-RFG-

STOP not assigned

NSET-RFG-0 NSET-RFG-0 not assigned not assigned not assigned not assigned not assigned not assigned not assigned not assigned not assigned not assigned

AIF-CTRL.CINH AIF-CTRL.CINH AIF-CTRL.CINH

AIF-CTRL.TRIP-

SET

AIF-CTRL.TRIP-

SET

AIF-CTRL.TRIP-

SET

AIF-CTRL.TRIP-

RESET

AIF-CTRL.TRIP-

RESET

AIF-CTRL.TRIP-

RESET

DCTRL-PAR*1 DCTRL-PAR*1 DCTRL-PAR*1

DCTLR-PAR-

LOAD

DCTLR-PAR-

LOAD

DCTLR-PAR-

LOAD

NSET-Ti*1

NSET-Ti*2

NSET-JOG*1 not assigned

NSET-JOG*2 not assigned

)

Note!

The single bit control commands of the control word depend on other bit positions.

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2175 (CANopen) fieldbus module

Data transfer

Process-data assignment for 93XX

X 1

B i t 0

B i t 1 5

A I F - I N

1 6 b i t s

1 6 b i t s

1 6 b i t s

1 6 b i t s

C 0 8 5 5 / 1

1 6 b i n a r y s i g n a l s

A I F - C T R L . B 3

A I F - C T R L . B 8

A I F - C T R L . B 9

A I F - C T R L . B 1 0

A I F - C T R L . B 1 1

D C T R L

Q S P

D I S A B L E

C I N H

T R I P - S E T

T R I P - R E S E T

A I F - C T R L . B 0

A I F - C T R L . B 1

A I F - C T R L . B 2

A I F - C T R L . B 4

A I F - C T R L . B 5

A I F - C T R L . B 6

A I F - C T R L . B 7

A I F - C T R L . B 1 2

A I F - C T R L . B 1 3

A I F - C T R L . B 1 4

A I F - C T R L . B 1 5

A I F - I N . W 1

C 0 8 5 6 / 1

C 0 8 5 6 / 2

C 0 8 5 6 / 3

A I F - I N . W 2

A I F - I N . W 3

A I F - I N . B 0

A I F - I N . B 2

A I F - I N . B 1 4

A I F - I N . B 1 5

A I F - I N . B 1 6

A I F - I N . B 1 7

C 0 8 5 5 / 2

1 6 b i n a r y s i g n a l s

A I F - I N . B 3 0

A I F - I N . B 3 1

1 6 b i t s

L o w W o r d

1 6 b i t s

H i g h W o r d

C 0 8 5 7

A I F - I N . D 1

Fig. 7.6-8

X 1

B i t 0

B i t 1 5

A I F - I N *

1 6 b i t s

A I F - C T R L . B 3

A I F - C T R L . B 8

A I F - C T R L . B 9

A I F - C T R L . B 1 0

A I F - C T R L . B 1 1

Q S P

D C T R L

D I S A B L E

C I N H

T R I P - S E T

T R I P - R E S E T

A I F - C T R L . B 0

A I F - C T R L . B 1

A I F - C T R L . B 2

A I F - C T R L . B 4

A I F - C T R L . B 5

A I F - C T R L . B 6

A I F - C T R L . B 7

A I F - C T R L . B 1 2

A I F - C T R L . B 1 3

A I F - C T R L . B 1 4

A I F - C T R L . B 1 5

C 0 1 3 6 / 3

1 6 b i t s

1 6 b i t s

1 6 b i t s

C 0 8 5 5 / 1

1 6 b i n a r y s i g n a l s

A I F - I N . W 1

1 6 b i t s

L o w W o r d

1 6 b i t s

H i g h W o r d

C 0 8 5 6 / 1

C 1 1 9 7

A I F - I N . D 2

A I F - I N . W 2

C 0 8 5 6 / 2

C 0 8 5 6 / 3

A I F - I N . W 3

A I F - I N . B 0

A I F - I N . B 2

A I F - I N . B 1 4

A I F - I N . B 1 5

A I F - I N . B 1 6

A I F - I N . B 1 7

C 0 8 5 5 / 2

1 6 b i n a r y s i g n a l s

A I F - I N . B 3 0

A I F - I N . B 3 1

1 6 b i t s

L o w W o r d

1 6 b i t s

H i g h W o r d

C 0 8 5 7

A I F - I N . D 1

2111IBU003

Function blocks AIF-IN and AIF-IN *)

AIF-IN *) is available for the 9300 technology variants: servo, positioning controller and cam profiler as of software version 2.0. AIF-IN.D2 is new.

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2175 (CANopen) fieldbus module

Data transfer

Process-data assignment for 93XX

Process data telegram from drive

Byte 1

Status word

High byte

Byte 2

Status word

Low byte

Byte 3

AIF-OUT.W1

High byte

Status word: see ( ¶ 7.6-21)

Byte 4

AIF-OUT.W1

Low byte

Byte 5

AIF-OUT.W2

High byte

Byte 6

AIF-OUT.W2

Low byte

Byte 7

AIF-OUT.W3

High byte

Byte 8

AIF-OUT.W3

Low byte

AIF-OUT.W1 to AIF-OUT.W3 depend on the signal configuration selected under

L-C0005.

For detailed description of the 93XX signal configuration, see the Operating

Instructions for 93XX (only the main configurations: 1000, 4000, 5000, etc.) or the

Manual 93XX.

In the controller, other signals can be assigned to AIF-OUT.W1 to AIF-OUT.W3.

For this, the function-block configuration - described in the Manual 93XX - is used.

The function block AIF-OUT determines the output data of the controller as data interface for the 2175 fieldbus module.

For more detailed information about the function block AIF-OUT, see the Manual

93XX.

Signal configuration

(L-C0005)

AIF-OUT.W1

AIF-OUT.W2

AIF-OUT.W3

AIF-OUT.D1

Speed control

Torque control

4003/4013/41

13

DF master

DF-slave bus

1003/1013/11

13

5003/5013/51

13

6003/6013/61

13

MCTRL-NACT

Actual speed

100 % = 16383

MCTRL-MSET2

Torque display

100 % = 16383

MCTRL-NACT

Actual speed

100 % = 16383

MCTRL-NACT

Actual speed

100 % = 16383

MCTRL-MSET2

Torque display

100 % = 16383

MCTRL-NACT

Act. speed in %

100 % = 16383

MCTRL-MSET2

Torque display

100 % = 16383

MCTRL-PHI-ACT

Actual phase

MCTRL-NSET2

Speed controller input

100 % = 16383

MCTRL-NSET2

Speed controller input

100 % = 16383

MCTRL-NSET2

Speed controller input

100 % = 16383

MCTRL-MSET2

Torque setpoint in %

100 % = 16383

MCTRL-MSET2

Torque setpoint in %

100 % = 16383

DF-slave cascade

7003/7013/71

13

Cam profiler 1xxx3

Positioning 2xxx3

MCTRL-NACT

Actual speed

100 % = 16383

MCTRL-NACT

Actual speed

100 % = 16383

MCTRL-NACT

Actual speed

100 % = 16383

MCTRL-NACT

Actual speed

100 % = 16383

MCTRL-PHI-ACT

Actual phase not assigned not assigned not assigned not assigned not assigned vector control

1xx3/4xx3/5xx

3/

10xx3 vector control

6xx3/7xx3/8xx

3/

9xx3 vector control 110x3

MCTRL-NACT

Actual speed

100 % = 16383 not assigned

MCTRL-IACT

MCTRL-PHI-ANA not assigned

MCTRL-NSET2

Speed controller input

100 % = 16383

MCTRL-MSET2

Torque setpoint in %

100 % = 16383 not assigned

For more detailed information about the function block AIF-OUT, see the Manual

93XX.

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2175 (CANopen) fieldbus module

Data transfer

Process-data assignment for 93XX

Status word for 93XX 43

12

13

14

15

4

5

6

7

2

3

0

1

9300

C0005

Servo Servo positioning controller

Servo cam profiler vector

QMIN

1xx3 4xx3

NSET-RFG-I=0 MCTRL-IMAX

DCTRL-NACT=

0 negated

QMIN

DCTRL-NACT=

0

5xx3

NSET-RFG-I=0 MCTRL-IMAX

REF-BUSY

DCTRL-NACT=

0 negated

REF-BUSY

DCTRL-NACT=

0

6xx3,7xx3 2xxx3

DCTRL-PAR1-0 DCTRL-PAR1-0 DCTRL-PAR1-0 DCTRL-PAR1-0 not assigned

DCTRL-IMP DCTRL-IMP DCTRL-IMP DCTRL-IMP

MCTRL-IMAX MCTRL-IMAX REF-OK

MCTRL-MMAX not assigned

REF-OK

MCTRL-MMAX not assigned

DCTRL-IMP

POS-REF-OK not assigned

1xxx3 xxx, 2xxx,

3xxx, 5xxx,

10xxx, 11xxx

4xxx 6xxx, 7xxx,

8xxx, 9xxx

CERR1-ERR

DCTRL-IMP

DCTRL-PAR1-0 DCTRL-PAR1-0 DCTRL-PAR1-0

DCTRL-IMP DCTRL-IMP DCTRL-IMP

MCTRL-IMAX MCTRL-IMAX MCTRL-IMAX MCTRL-IMAX

MCTRL-MMAX MCTRL-MMAX MCTRL-IMAX negated

MCTRL-MMAX

NSET-RFG-I=0 NSET-RFG-I=0 NSET-QSP-OUT MCTRL-MMAX negated

DCTRL-TRIP

POS-IN-TARGET CDATA-X0

DCTRL-NACT=

0

DCTRL-NACT=

0

QMIN

DCTRL-NACT=

0

QMIN

DCTRL-NACT=

0

QMIN

DCTRL-NACT=

0

DCTRL-CINH DCTRL-CINH DCTRL-CINH DCTRL-CINH

0 =

1 =

3 =

4 =

5 =

DCTRL-CINH

Controller status:

Unit initialisation

Switch-on inhibit

DCTRL-CINH

Operation inhibited

Flying-restart circuit active

DC-injection brake active

DCTRL-CINH DCTRL-CINH DCTRL-CINH

6 =

7 =

8 =

Operation enabled

Message active

Fault active

10 = Fail-QSP (only 9300 servo positioning controller)

DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN DCTRL-WARN

DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS DCTRL-MESS

DCTRL-CW/

CCW

DCTRL-CW/

CCW

DCTRL-CW/

CCW not assigned DCTRL-AIFL-

QSP

DCTRL-CW/

CCW

DCTRL-CW/

CCW

DCTRL-CW/

CCW

DCTRL-CW/

CCW

DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY DCTRL-RDY

C 0 1 5 6 / 1

S T A T

S T A T . B 0

D C T R L - I M P

C 0 1 5 6 / 6

C 0 1 5 6 / 7

S T A T . B 1 4

S T A T . B 1 5

1 6 b i t s

C 0 8 5 0 / 1

C 0 8 5 8 / 1

C 0 8 5 0 / 2

C 0 8 5 8 / 2

C 0 8 5 0 / 3

C 0 8 5 8 / 3

F D O - 0

F D O

C 0 1 1 6 / 1

C 0 1 1 6 / 1 6

C 0 1 1 6 / 1 7

C 0 1 1 6 / 3 2

F D O - 1 5

F D O - 1 6

F D O - 3 1

C 0 8 5 1

A I F - O U T . D 1

C 0 8 5 9

A I F - O U T . W 1

A I F - O U T . W 2

A I F - O U T . W 3

1 6 b i t s

L o w W o r d

1 6 b i t s

H i g h W o r d

1 6 b i t s

L o w W o r d

1 6 b i t s

H i g h W o r d

C 0 8 5 3

Fig. 7.6-9

A I F - O U T

B i t 0

B i t 1 5

B i t 0

C 0 8 5 2

B i t 1 5

B i t 0

B i t 3 1

A I F - O U T *

:

C 0 1 5 6 / 1

S T A T

S T A T . B 0

D C T R L - I M P

S T A T . B 1 4

S T A T . B 1 5

A I F - O U T . D 1

C 0 8 5 9

1 6 b i t s

C 0 1 5 6 / 6

C 0 1 5 6 / 7

A I F - O U T . D 2

C 1 1 9 5

C 0 8 5 0 / 1

C 1 1 9 6

A I F - O U T . W 1

C 0 8 5 8 / 1

C 0 8 5 0 / 2

C 0 8 5 8 / 2

C 0 8 5 0 / 3

C 0 8 5 8 / 3

F D O - 0

F D O

C 0 1 1 6 / 1

C 0 1 1 6 / 1 6

C 0 1 1 6 / 1 7

C 0 1 1 6 / 3 2

F D O - 1 5

F D O - 1 6

F D O - 3 1

1 6 b i t s

L o w W o r d

1 6 b i t s

H i g h W o r d

A I F - O U T . W 2

A I F - O U T . W 3

1 6 b i t s

L o w W o r d

1 6 b i t s

H i g h W o r d

C 0 8 5 1

1 6 b i t s

L o w W o r d

1 6 b i t s

H i g h W o r d

C 0 8 5 4

B i t 1 5

B i t 0

C 0 8 5 2

B i t 1 5

B i t 0

C 0 8 5 3

B i t 0

:

B i t 3 1

2111IBU002

Function blocks AIF-OUT and AIF-OUT *)

AIF-OUT *) is available for the 9300 technology variants: servo, positioning controller and cam profiler as of software version 2.0. AIF-OUT.D2 is new.

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7.6.7

2175 (CANopen) fieldbus module

Data transfer

Process data assignment for 9300 Servo PLC and Drive PLC

7.6.7

Process data assignment for 9300 Servo PLC and Drive PLC

Process data telegram to drive

The following data can be assigned to the PO data:

Explanation Name/variable name

Device control word (AIF1_wDctrlCtrl)

AIF1_nInW1_a

AIF1_nInW2_a

AIF1_nInW3_a

AIF2_nInW1_a

AIF2_nInW2_a

AIF2_nInW3_a

AIF2_nInW4_a

AIF3_nInW1_a

AIF3_nInW2_a

AIF3_nInW3_a

AIF3_nInW4_a

AIF1_dnInD1_p

AIF word 1

AIF word 2

AIF word 3

AIF word 4

AIF word 5

AIF word 6

AIF word 7

AIF word 8

AIF word 9

AIF word 10

AIF word 11

AIF double word 1

)

Note!

9300 Servo PLC

Please execute the following logic operations in the PLC program of the controller:

AIF1_wDctrlCtrl

W

DCTRL_wAIF1Ctrl

DCTRL_wStat

W

AIF1_wDctrlStat

Drive PLC

As we are dealing with a PLC here, it is necessary to use the device control.

7.6-22 EDSCAN-1.0-06/2003

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2175 (CANopen) fieldbus module

Data transfer

Process data assignment for 9300 Servo PLC and Drive PLC

Inputs_AIF1

16 bits

16 binary signals

Automation

Interface

Byte

5

Byte

6

Byte

7

Byte

8

Byte

3

Byte

4

Byte

1

Byte

2

16 bits

16 bits

C0855/1

16 binary signals

16 bits

C0855/2

16 binary signals

16 bits

Low Word

16 bits

High Word

AIF1_wDctrlCtrl

AIF1_bCtrlB0_b

AIF1_bCtrlB1_b

AIF1_bCtrlB2_b

AIF1_bCtrlQuickstop_b

AIF1_bCtrlB4_b

AIF1_bCtrlB5_b

AIF1_bCtrlB6_b

AIF1_bCtrlB7_b

AIF1_bCtrlDisable_b

AIF1_bCtrlCInhibit_b

AIF1_bCtrlTripSet_b

AIF1_bCtrlTripReset_b

AIF1_bCtrlB12_b

AIF1_bCtrlB13_b

AIF1_bCtrlB14_b

AIF1_bCtrlB15_b

AIF1_nInW1_a

C0856/1

C0856/2

C0856/3

AIF1_nInW2_a

AIF1_bInB0_b

AIF1_bInB15_b

AIF1_nInW3_a

AIF1_bIn16_b

AIF1_bIn31_b

AIF1_dnInD1_p

C0857

Automation

Interface

Inputs_AIF2

Byte

1

Byte

2

Byte

3

Byte

4

Byte

5

Byte

6

Byte

7

Byte

8

16 bits

16 binary signals

16 bits

16 binary signals

16 bits

Low Word

16 bits

High Word

16 bits

16 bits

Automation

Interface

Inputs_AIF3

Byte

1

Byte

2

Byte

3

Byte

4

Byte

5

Byte

6

Byte

7

Byte

8

16 bits

16 binary signals

16 bits

16 binary signals

16 bits

Low Word

16 bits

High Word

16 bits

16 bits

Fig. 7.6-10 Function blocks AIF-IN1, AIF-IN2 and AIF-IN3

AIF2_nInW1_a

AIF2_bInB0_b

AIF2_bInB15_b

AIF2_nInW2_a

AIF2_bInB16_b

AIF2_bInB31_b

AIF2_dnInD1_p

AIF2_nInW3_a

AIF2_nInW4_a

7

7.6

7.6.7

AIF3_nInW1_a

AIF3_bInB0_b

AIF3_bInB15_b

AIF3_nInW2_a

AIF3_bInB16_b

AIF3_bInB31_b

AIF3_dnInD1_p

AIF3_nInW3_a

AIF3_nInW4_a

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7.6.7

2175 (CANopen) fieldbus module

Data transfer

Process data assignment for 9300 Servo PLC and Drive PLC

Process data telegram from drive

The following data can be assigned to the PI data:

Name/variable name

Device status word (AIF1_DctrlStat)

AIF_nOutW1_a

AIF_nOutW2_a

AIF_nOutW3_a

AIF2_nOutW1_a

AIF2_nOutW2_a

AIF2_nOutW3_a

AIF2_nOutW4_a

AIF3_nOutW1_a

AIF3_nOutW2_a

AIF3_nOutW3_a

AIF3_nOutW4_a

AIF1_dnOutD1_p

Explanation

AIF word 1

AIF word 2

AIF word 3

AIF word 4

AIF word 5

AIF word 6

AIF word 7

AIF word 8

AIF word 9

AIF word 10

AIF word 11

AIF double word 1

)

Note!

9300 Servo PLC

Please execute the following logic operations in the PLC program of the controller:

AIF1_wDctrlCtrl

W

DCTRL_wAIF1Ctrl

DCTRL_wStat W AIF1_wDctrlStat

Drive PLC

As we are dealing with a PLC here, it is necessary to use the device control.

7.6-24 EDSCAN-1.0-06/2003

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2175 (CANopen) fieldbus module

Data transfer

Process data assignment for 9300 Servo PLC and Drive PLC

AIF1_wDctrlStat

AIF1_nOutW1_a

C0858/1

AIF1_nOutW2__a

AIF1_bFDO0_b

AIF1_bFDO15_b

C0858/2

AIF1_nOutW3_a

AIF1_bFDO16_b

AIF1_bFDO31_b

C0858/3

AIF1_dnOutD1_p

C0859

16 bits

C0151/4

16 binary signals

16 bits

C0151/4

16 binary signals

16 bits

Low Word

16 bits

High Word

16 bits

16 bits

Outputs_AIF1

Byte

1

Byte

2

Byte

3

Byte

4

Byte

7

Byte

8

Byte

5

Byte

6

Automation

Interface

AIF2_nOutW1_a

AIF2_bFDO0_b

AIF2_bFDO15_b

AIF2_nOutW2_a

AIF2_bFDO16_b

AIF2_bFDO31_b

AIF2_dnOutD1_p

AIF2_nOutW3_a

AIF2_nOutW4_a

16 bits

16 binary signals

Outputs_AIF2

Byte

1

Byte

2

16 bits

Byte

3

16 binary signals

Byte

4

16 bits

Low Word

16 bits

High Word

Byte

5

Byte

6

16 bits

Byte

7

16 bits

Byte

8

Automation

Interface

AIF3_nOutW1_a

AIF3_bFDO0_b

AIF3_bFDO15_b

AIF3_nOutW2_a

AIF3_bFDO16_b

AIF3_bFDO31_b

AIF3_dnOutD1_p

AIF3_nOutW3_a

AIF3_nOutW4_a

Fig. 7.6-11 Function blocks AIF-OUT1, AIF-OUT2 and AIF-OUT3

16 bits

16 binary signals

Outputs_AIF3

Byte

1

Byte

2

16 bits

Byte

3

16 binary signals

Byte

4

16 bits

Low Word

16 bits

High Word

Byte

5

Byte

6

16 bits

16 bits

Byte

7

Byte

8

Automation

Interface

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7.6.8

2175 (CANopen) fieldbus module

Data transfer

Parameter data channel

7.6.8

Parameter data channel

)

Note!

l In these Operating Instructions Lenze codes have an L in front to ensure that they are not mixed up with the CANopen index.

– Example: ’L-C0001’ stands for the Lenze code C0001.

l Please obtain the value range for the Lenze codes from the

Operating Instructions for the corresponding controller (see:

Code table).

Access to the codes of the controller

When using (intelligent) bus modules, it is possible to change the features and behaviour of each controller integrated into the network via a higher-level master

(e.g. a PLC).

Lenze controllers store the parameters to be changed in codes.

The controller codes are addressed via the index when accessing the codes through the bus module (see chapter 5.6.8).

The index for Lenze code numbers is between 16576 (40C0 hex

) and 24575 (5FFF hex

).

Conversion formula:

Example

Index[dec] = 24575 − Lenze code

• Addressing of Lenze codes via offset:

– Example for operating mode

L-C0001 dec

Index = 24575 - LENZE CODENO

Index = 24574 (= 24575 - 1) hex

Index hex

= 5FFF

CODENO hex hex

- LENZE-

Index hex

= 5FFE hex

(= 5FFF hex

- 1)

The parameter value is included in the useful data of the telegram (see examples

(

7.6-31) ).

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2175 (CANopen) fieldbus module

Data transfer

Parameter data channel

Lenze

Parameter sets

Parameter sets are for special code saving which is necessary because of different configurations for different application processes.

The following table informs about number and addressing of parameter sets for your controller:

82XX 8200 vector

The 82XX and 8200 vector have 2 and 4 parameter sets. The parameters can be directly addressed via CAN.

They are addressed by means of a code-digit offset:

• Offset 0 addresses parameter set 1 with the Lenze codes L-C0000 to L-C1999

• Offset 2000 addresses parameter set 2 with the Lenze codes L-C2000 to L-C3999 no additional parameter sets available.

• Offset 4000 addresses parameter set 3 with the

Lenze codes L-C4000 to L-C5999

• Offset 6000 addresses parameter set 4 with the

Lenze codes L-C6000 to L-C7999

If a parameter is available only once (see the Operating Instructions for 82XX or 8200 vector), use the code digit offset 0.

Example for L-C0011 (maximum field frequency):

L-C0011 in parameter set 1: Lenze code = 11

L-C0011 in parameter set 2: Lenze code = 2011

-

L-C0011 in parameter set 3: Lenze code = 4011

L-C0011 in parameter set 4: Lenze code = 6011

Parameter changes:

82XX: Automatic saving in the controller

8200 vector: Automatic saving is factory-set (can be switched off with L-C0003)

Process data changes:

82XX, 8200 vector: no automatic saving

93XX

93XX controllers have 4 parameter sets (depending on the variant) for saving in the EEPROM. Another parameter set is in the user memory of the controller. This is the current parameter set. Only the current parameter set can be directly addressed through CAN. For the codes, see the Operating

Instructions or Manual for 93XX. Changes of the current parameter set will be lost after switching off the controller. Code C0003 is for saving the current parameter set. After switching on the controller, parameter set 1 is automatically loaded into the current parameter set.

At first the parameter sets 2 - 4 must be activated, before the parameters included in them can be changed.

(

Stop!

(only applies to 8200 vector and 82XX controllers and the

2175 fieldbus module)

Please observe that cyclic writing of parameter data into the

EEPROM is not permissible.

Only for 8200 vector:

Please configurate the code to C0003 = 0 after each mains disconnection if you want to change the parameter data cyclically.

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7.6.8

2175 (CANopen) fieldbus module

Data transfer

Parameter data channel

Structure of parameter data telegram

“Command”

“Index Low Byte / Index High

Byte”

1st byte 2nd byte 3rd byte

User data (up to 8 byte)

4th byte 5th byte

Data 1

6th byte

Data 2

7th byte

Data 3

8th byte

Data4

Low Word

Low byte High byte

Error message

High Word

Low byte High byte

)

Note!

The user data are represented in a left-justified INTEL format.

Calculation example, see chapter 7.6.9.

The command contains the following information which must be entered if not already indicated:

Command

Access to Data 1 - Data 4

4 byte data

(5th - 8th byte) hex

2 byte data

(5th + 6th byte) hex

1 byte data

(5th byte) hex

23 2B 2F

Block hex

Write request

(Send parameters to drive)

Write Response

(Controller response to the write request (acknowledgement))

Read Request

(Request to read a parameter from the drive)

Read Response

(Response to the read request with an actual value)

Error response

(The controller indicates a communication error)

60

40

43

80

60

40

4B

80

60

40

4F

80

Writing not possible

40

41

80

The parameters or the Lenze codes are selected with these two bytes according to the formula:

Index = 24575 − ( Lenze code + 2000 ⋅ ( parameter set − 1))

Example

The code L-C0012 (acceleration time) in parameter set 1 is to be addressed.

Calculation

24575 - 12 - 0 = 24563 = 5FF3 hex

The code L-C0012 (acceleration time) in parameter set 2 is to be addressed.

An offset of 2000 is to be added because of parameter set 2:

24575 - 12 - 2000 = 22563 =

5823 hex

Index Low/High Byte

According to the left-justified Intel data format the entries are (see chapter 5.6.8):

Index Low Byte = F3

Index High Byte = 5F hex hex

According to the left-justified Intel data format the entries are (see chapter 5.6.8):

Index Low Byte = 23

Index High Byte = 58 hex hex

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2175 (CANopen) fieldbus module

Data transfer

Parameter data channel

“Subindex”

Table position of a parameter value under the index.

Example:

L-C0356. This code consists of 4 subcodes (see below). This results in the following entries for the subindex: 1 - 4 hex

(1 - 4 dec

)

7

7.6

7.6.8

Data

(Data 1 ... data 4)

2171CAN001

Parameter value

(length 1)

00 00

Parameter value (length 2)

Low byte High byte

Parameter value (length 4)

Low byte

Low Word

High byte

00

Low byte

High Word

High byte

Depending on the data format (see ’Attribute list’ in the Manual of the corresponding controller) the length of the parameter value needs 1 to 4 bytes.

)

Note!

Lenze parameters are mainly described as data type FIX32 (32 bit value with sign and four decimal positions, see attribute table in the corresponding system manual). In order to obtain integer values, the desired parameter value must be multiplied by

10.000

dec

.

The parameters C0135 and C0150 must be transferred as bit code and without factor.

The attribute table of the drive controller (see Operating

Instructions) contains notes concerning the parameters for which the factor 10.000

dec is to be considered.

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7.6.8

Fault messages

2175 (CANopen) fieldbus module

Data transfer

Parameter data channel

Details about the parameter data telegram Command

Index

Low byte

Index

High byte

Subindex error code

Byte 1:

In the Command byte shows in code 128 dec or 80 hex that an error has occured.

Byte 2, 3 and 4:

In the Index byte and Subindex the index and subindex of that code in which the error has occured, are entered.

Byte 5 - 8:

In the data bytes 5. - 8. the error code is entered.

The error code is described in reversed direction compared to the read direction.

Example: Error code 06 04 00 41 hex and description of error code:

41

5th byte

Low byte

Low Word

00

6th byte

High byte

04

7th byte

Low byte

Read direction of error code

06

8th byte

High Word

High byte

The following table lists the explanations for the error numbers:

0602 0000

0604 0041

0604 0042

0604 0043

0604 0047

0606 0000

0607 0010

0607 0012

0607 0013

0609 0011

0609 0030 error code (hex) Explanation

0503 0000 Toggle bit not changed

0504 0000

0504 0001

SDO protocol has been terminated

Invalid or unknown client/server command specifier

0504 0002

0504 0003

0504 0004

0504 0005

Invalid block size (only block mode)

Invalid sequence number (only block mode)

CRC fault (only block mode)

Not sufficient memory

0601 0000

0601 0001

0601 0002

Access to object is not supported

Attempt to read a writable object

Attempt to write a readable object

0609 0031

0609 0032

0609 0036

0800 0000

0800 0020

0800 0021

0800 0022

0800 0023

Object is not listed in the object directory

Object is non-transferable to PDO

Number and length of the objects to be transferred exceed length of PDO

General parameter incompatibility

General internal device incompatibility

Access denied due to a hardware error

Unsuitable data type, unsuitable service parameter length

Unsuitable data type, service parameter length exceeded

Unsuitable data type, service parameter length has not been reached

Subindex is not available

Value range of the parameter is exceeded

Parameter values are too high

Parameter values are too low

Maximum value falls below minimum value

General fault

Data cannot be transferred or saved for application

Data cannot be transferred or saved for application due to local control

Data cannot be transferred or saved due to the current device status

Dynamic generation of the object directory has been failed or the object directory is not available

(e.g. object directory is created from a file, generation is not possible due to a file error)

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2175 (CANopen) fieldbus module

Data transfer

Examples for parameter data telegrams

7.6.9

Examples for parameter data telegrams

Read parameters The heatsink temperature (value of 43

°

C) C061 is to be read of the controller with the device address 5 via parameter channel 1.

l Identifier calculation

Identifier parameter channel 1 to controller

Identifier l

= 1536 + controller address

= 1536 + 5 = 1541

Command read request (request to read a parameter from the drive)

= 40 hex

Command l Index calculation

Index = 24575 - code number Index = 24575 - 61 = 24514 = 5FC2 hex

Telegram to drive:

Identifier Command Subindex Data 1 Data 2 Data 3

1541 40 hex

Telegram from drive

Index

Low Byte

C2 hex

Index

High Byte

5F hex

00 00 00 00

Data4

00

Identifier:

Parameter channel 1 of controller (=1408) + controller address = 1413

Command:

Response to the read request with the actual value = 43 hex

Index of the read request

5FC2 hex

Subindex:

0

Data 1 to Data 4:

00 06 8F B0 = 430.000

W 430.000 : 10.000 = 43 °C

Identifier Command Subindex Data 1

1413 43 hex

Index

Low Byte

C2 hex

Index

High Byte

5F hex

00 B0 hex

Data 2

8F hex

Data 3

06 hex

Data4

00

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7.6.9

Write parameters

2175 (CANopen) fieldbus module

Data transfer

Examples for parameter data telegrams

The acceleration time C0012 (parameter set 1) of the controller with address 1 is to be changed to 20 s via parameter channel 1.

l Identifier calculation

Identifier parameter channel 1 to controller

Identifier

= 1536 + controller address

= 1536 + 1 = 1537 l Command write request (send parameter to drive)

Command = 23 hex l Index calculation

Index = 24575 - code number Index = 24575 - 12 = 24563 = 5FF3 hex l Subindex: 0 l Calculation of the acceleration time

Acceleration-time value 20 s ú 10.000 = 200.000 = 00 03 0D 40 hex l Telegram to drive

Identifier

1537

Command

23 hex

Index

Low Byte

F3 hex

Index

High Byte

5F hex

Subindex

00

Data 1

40 hex

Data 2

0D hex

Data 3

03 hex

Response of the controller when no error occurs

Data4

00

Identifier

1409

Command

60 hex

Index

Low Byte

F3 hex

Index

High Byte

5F hex

Subindex

00

Data 1

00

Data 2

00

Data 3

00

Data4

00

Identifier parameter channel 1 from controller = 1408 + controller address = 1409

Command = write response (controller response (acknowledgement)) = 60 hex

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2175 (CANopen) fieldbus module

Data transfer

Examples for parameter data telegrams

Read block parameters A product code (EKZ, code L-C0200) of the Lenze product 8200 vector is to be read from parameter set 1. The product code has 14 alphanumerical characters.

It is transferred as a block parameter. A transfer of block parameters uses the entire data width (2nd - 8th byte).

The command byte (1. byte) contains the entry (40 hex of useful data in order to be able to or 41 hex

) during the transfer

– signalise the end of the block transfer

– request the next block.

l Code L-C0200 - request

1st byte

40 hex

2nd byte

37 hex

3rd byte

5F hex

4th byte

00

5th byte

00

6th byte

00

1st byte: 40 read request (request to read a parameter from the controller)

2nd/3rd byte: Index Low/High Byte: 24575 - 200 - 0 = 24375 = 5F37 hex l Response including the block length (14 characters)

1st byte

41 hex

2nd byte

37 hex

3rd byte

5F hex

4th byte

00

5th byte

0E hex

6th byte

00

7th byte

00

7th byte

00

8th byte

00

8th byte

00

1st byte: 41 read response. The entry 41 hex

2nd/3rd byte: see above implies that it is a block telegram.

5th byte: 0E (=14 dec.

) data length 14 characters (ASCII format) l First data block - request

1st byte

60 hex

2nd byte

00

3rd byte

00

4th byte

00

5th byte

00

6th byte

00

7th byte

00

8th byte

00

1st byte: 60 hex

Write response (acknowledgement) with access to bytes 2 - 8.

Note:

The single blocks are toggled* in succession, i.e. at first it is requested with command 60 hex with command 70 hex

(=0111 0000 bin

(Bit 0 is set, see below).

*Toggle bit = Bit 4 (starting at 0)

), after this again with 60 hex

(=0110 0000 bin

), then etc. The response is send accordingly. It is alternating because of a toggle bit. The process is completed by command 11 hex l Response

1st byte

00

2nd byte

38 hex

3rd byte

32 hex

4th byte

53 hex

5th byte

38 hex

6th byte

32 hex

7th byte

31 hex

2nd byte - 8th byte, ASCII format: 8 2 S 8 2 1 2 l Second data block - request

1st byte

70 hex

2nd byte

00

3rd byte

00

4th byte

00

5th byte

00

6th byte

00

7th byte

00

1st byte: 70 hex

(Toggle) write response (acknowledgement) with access to all 4 data bytes l Second data block - response with over-detection

1st byte

11 hex

2nd byte

56 hex

3rd byte

5F hex

4th byte

31 hex

5th byte

34 hex

6th byte

30 hex

7th byte

30 hex

1st Byte: 11 last transfer of the data block

2nd byte - 8th byte: V _ 1 4 0 0 0

Result of data block transfer: 82S8212V_14000

8th byte

32 hex

8th byte

00

8th byte

30 hex

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7

7.6.10

2175 (CANopen) fieldbus module

Data transfer

Notes to be observed when setting the parameters for the controllers

7.6.10

Notes to be observed when setting the parameters for the controllers

82XX controllers

Controller 8200 vector

The following applies to the inverter series 8200:

}

Danger!

Parameter setting (codes except C046, C0135) is only possible when the controller is inhibited. Parameters are accepted when the controller is enabled, but they are not saved.

After having set a parameter, the controller must not be addressed for approx. 50 ms; otherwise the command will be ignored.

After parameter setting, the controller needs up to approx. 70 ms to set the status ’enabled’ (terminal, C040, C0135).

The function TRIP reset is activated by inhibiting the controller and enabling it again under C040 or C0135.

The function TRIP-Reset initialises the 8200 inverter and the 2175 field bus module. Therefore the TRIP reset command is not acknowledged for the master.

Digital and analog input and output signals can be freely configured (see

Operating Instructions; codes C0410, C0412, C0417 and C0421)

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2175 (CANopen) fieldbus module

Data transfer

Notes to be observed when setting the parameters for the controllers

7

7.6

7.6.10

Basic devices servo PLC 9300 and DRIVE PLC

AIF control/ status byte

Drive controller and fieldbus module are able to exchange control and status information. For this purpose a control byte and a status byte are made available in the AIF protocol.

The program package “ Drive PLC Developer Studio” (DDS) enables the user to directly access the status byte via the control configuration of the AIF module. The

2175 fieldbus module describes this byte with its fault messages.

The evaluation of these fault messages must be taken into consideration by the programmer of the PLC series, e.g. by displaying the signals as faults via a fault-warning-message-firmware module.

Assignment of the AIF status byte C2121 for the 2175 fieldbus module

5

6

3

4

1

2

AIF status bit

0

7

Function

CE11 fault

CE12 fault

CE13 fault

CE14 fault

Operational

Pre-Operational

Warning internally assigned

The control byte is used, so that the controller can send messages or commands to the 2175 fieldbus module.

The control byte is available for the user via code C2120. The commands are described as numbers. Some of the command numbers are universally applicable for all fieldbus modules, but others are only valid especially for the different modules. Altogether not more than 16 commands can be available.

10

11

12

13

14

0

1

2

Command number in C2120, bit 0..3

Function

No command

Re-initialisation of the option module

Updating of all relevant codes for the actual option module. No re-init.

Accept XCAN-OUT cycle times or boot-up time

Accept monitoring times

Accept TX mode

Accept masks

Accept configuration of CE faults

Assignment of the AIF control byte for the 2175 fieldbus module

R/W code all all

C2356

C2357

C2375

C2376-C2378

C2382

The command code C2120 is automatically reset to 0 after the command has been transferred to the option module. Because of this, no toggle bit is needed.

The command itself is written into the lower 4 bits of the control byte, so that 4 bits are available for extensions to come.

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Communication relevant Lenze codes

7.7

7.7.1

CANopen objects and Lenze codes

Communication relevant Lenze codes

The behaviour of servo inverters or frequency inverters is determined by the corresponding parameter setting. Lenze devices can be parameterised by means of codes. These Lenze codes which are part of a telegram are exchanged between the master and 2175 fieldbus module via the CAN bus.

According to the Lenze inverter used, two Lenze codes are available for the communication via CAN bus: l l

Codes ≥ L-C2350 for devices with PLC operating system according to IEC1131 (e. g. Servo

PLC 9300 and Drive PLC).

These codes are saved in the controller.

Module codes ≥ L-C1850 for all other inverters (82XX, 8200 vector or 93XX).

These codes are saved in the 2175 fieldbus module.

The condition for communication with the drive is that the drive is known as participant in the system. The recognition takes place during the module initialisation.

The setting of address and Baud rate can be made in different ways (see also from

(

7.5-1)

): l Front switch 1 - 6

OFF

Address and baud rate are defined by the switch setting.

The 2175 fieldbus module writes the front switch position into the code

L-C1859 or L-C2359.

l Front switch 1 - 6 = OFF

Address and baud rate must be defined by the codes L-C0009 (address) and L-C0125 (baud rate).

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7.7.2

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

7.7.2

L-C1810:

Software code

Description of communication relevant Lenze codes

L-C1811:

Software creation date

L-C1850/L-C2350:

Node address

44

Code

L-C1810 -

Subcode Index

22765 d

58ED h

=

Possible settings

Lenze Selection

-

Data type

VS

When initialising the modules it can be determined with the help of the product code, which device is connected as participant.

Code

L-C1811 -

Subcode Index

22764 d

58EC h

=

Possible settings

Lenze Selection

In the first place this information is important for the service.

Data type

VS

Code

L-C1850 -

Subcode

L-C2350 -

Index

58C5 h

22725 d

=

56D1 h

22225 d

=

Possible settings

Lenze Selection

1 1

3

1 1

3

[1] 6

Data type

FIX32

[1] 6 FIX32

The code serves to set the address of the 2175 module via CAN bus.

The code L-C1850 is an image of code L-C0009 of the basic device. Writing

L-C1850 has a direct effect on L-C0009.

)

Note!

This code is only effective if the DIP switches S1-S6 are set to position OFF before mains switching.

Changing the node address only gets effective by renewed mains disconnection of the 2175 module or by sending the network manager command Reset_Node or Reset_Communication via

CAN bus to the module.

With Servo PLC 9300 / Drive PLC this is also possible by assigning value 1 to the code C2120 (AIF control byte).

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

L-C1851/L-C2351: baud rate

45

Code

L-C1851 -

Subcode

L-C2351 -

Index

58C4 h

22724 d

=

56D0 h

22224 d

=

Possible settings

Lenze Selection

0 0 .... 6

0 .... 4

0: 500 kbits/s

1: 250 kbits/s

2: 125 kbits/s

3: 50 kbits/s

4: 1000 kbits/s

5: 20 kbits/s

6: 10 kbits/s

The code serves to set the Baud rate of the 2175 module.

Data type

)

Note!

This code is only effective if the DIP switches S1-S6 are set to position OFF before mains switching.

Changing the baud rate only becomes effective by renewed mains disconnection of the 2175 module or by sending the network manager command Reset_Node or

Reset_Communication via CAN bus to the module.

With Servo PLC 9300 / Drive PLC this is also possible by assigning value 1 to the code C2120 (AIF control byte).

The code L-C1851 is an image of code L-C0125 which is located in the basic device. This means that describing L-C1851 has a direct effect on L-C0125.

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7.7.2

L-C1852/L-C2352:

Master/slave operation

46

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

Code

L-C1852 -

Subcode

L-C2352 -

Index

58C3 h

22723 d

=

56CF h

22223 d

=

Possible settings

Lenze Selection

0 0 = Slave operation

1 Master operation

Data type

After switch-on the module has the state PRE-OPERATIONAL. In this state only an exchange of parameter data (SDO’s) is possible.

In slave operation, the module stays in this state until it is put by the network manager command Start_Remote_Node into the state OPERATIONAL.

In the state OPERATIONAL also process data (PDO’s) are exchanged besides parameter data (SDO’s).

In master operation, the network manager command Start_Remote_Node is transmitted after an adjustable boot-up time, which puts all nodes into the state

OPERATIONAL.

Note:

The network manager command Start_Remote_Node is a “ Broadcast” telegram which is directed to all other nodes.

)

Note!

The change of the master/slave operation only becomes effective by renewed mains disconnection of the 2175 fieldbus module or by sending one of the network manager commands

“ Reset_Node” or “ Reset-Communication” via the CAN bus to the fieldbus module.

With Servo PLC 9300 / Drive PLC this is also possible by assigning value 1 to the AIF control byte.

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

L-C1853/L-C2353:

Addressing CAN-INx/CAN-OUTx

47

Code

L-C1853

Subcode Index

58C2 h

= 22722 d

L-C2353

/1

CAN-IN1/OUT1

/2

CAN-IN2/OUT2

/3

CAN-IN3/OUT3

56CE h

= 22222 d

Possible settings

Lenze Selection

0 0

0

Data type Explanation

[1] 3 FIX32 0: Addressing to

CANopen

(Default identifier)

[1] 2 FIX32

1: Addressing to

L-C1854/

L-C2354

2 : Addressing to LENZE system bus

3 : Addressing to CANopen index

14Xx h

/18XX h

Via this code, the source for the resulting addresses of the CAN-INx/OUTx process data objects (PDO’s) on the CAN bus is selected.

)

Note!

Changing the source address in one or several subcodes only gets effective by renewed mains disconnection of the module or by sending the network manager command Reset_Node or

Reset_Communication via CAN bus to the 2175 module.

With Servo PLC 9300 / Drive PLC this is also possible by assigning value 1 to the code C2120 (AIF control byte).

Relation to CANopen

The addressing of the corresponding PDO pair or subcode under code L-C1853 /

L-C2353 is switched to CANopen indices 14XX h

/18XX h

CANopen indices 1400 h

, 1401 h

, 1402 h

, 1800 h

, 1801 h

(see above: value 3), if the or 1802 h are assigned with a new value.

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7.7.2

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

Calculation of the identifiers

PDO

0 to CANopen

(default identifier)

CAN-IN1 512 + node address

CAN-IN2

CAN-IN3

CAN-

OUT1

CAN-

OUT2

CAN-

OUT3

768 + node address

1024 + node address

384 + node address

640 + node address

896 + node address

Value L-C1853 / L - C2353

1 via code L-1854/L-2354

Default setting

2 via

Lenze system bus

384 + 129 512 + node address

384 + C1854/1 or

384 + C2354/1

384 + C1854/3 or

384 + C2354/3

384 + C1854/5 or

384 + C2354/5

384 + 257

384 + 385

640 + node address

768 + node address

384 + 1 384 + node address

384 + C1854/2 or

384 + C1854/2

384 + C1854/4 or

384 + C1854/4

384 + C1854/6 or

384 + C1854/6

384 + 258

384 + 386

641 + node address

769 + node address

Addressing to CANopen (Default identifier)

3 to CANopen index

Index 1400 h

, subindex 1

Index 1401 h

, subindex 1

Index 1402 h

, subindex 1

Index 1800 h

, subindex 1

Index 1801 h

, subindex 1

Index 1802 h

, subindex 1

This is the Lenze setting of the 2175 fieldbus module. The calculation consists of the basic identifier and the node address. The basic identifier corresponds to the preset value according to DS301 V4.01 (page 9-56, 9-85ff).

Addressing to L-C1854 / L-C2354

In case of this addressing the identifier is the sum of a fixed basic identifier 384 (180 hex

) + the value of the corresponding subcode of L-C1854 /

L-C2354. Here the node address has no influence anymore.

This configuration has been created in accordance with 8200 vector/motec controllers with E82ZAFCCxxx function module, system bus (CAN), and the integrated system bus interface of the 93XX controllers (code L-C0353 /

L-C0354, selective System bus address).

Addressing to Lenze system bus

This setting corresponds to the preset calculation of the identifiers for 8200 vector/motec controllers in connection with a E82ZAFCCxxx function module, system bus (CAN), and the integrated system bus interface of 93XX controllers.

The identifier consists of a basic identifier and the node address.

Addressing to CANopen indices 14XX hex

/18XX hex

If the subcode has the value 3, this makes clear that the identifiers have been changed via the CANopen indices 14XX hex

/18XX hex

. Now, the identifier is developed from the CANopen indices.

A change of the codes L-C1854/L-C2354 does not influence the current identifiers.

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

L-C1854/L-C2354:

Selective addressing

CAN-IN/CAN-OUT

48

L-C1855/L-C2355:

Display of resulting identifiers

CAN-IN / CAN-OUT

49

Code Subcode

L-C1854 /1 CAN-IN1

/2 CAN-OUT1

/3* CAN-IN2

/4* CAN-OUT2

/5* CAN-IN3

L-C2354 /6* CAN-OUT3

Index

58C1 h

22721 d

=

56CD h

22221 d

=

Possible settings

Lenze Selection

/1:

129

0

/2: 1

/3:

257*

/4:

258*

/5:

385*

/6:

386*

0

[1]

[1]

Data type

1663 FIX32

513

*) not effective when using 82XX, 8200 vector or 93XX controller

With code L-C1854 it is possible to set the addresses of the input and output

PDOs individually via 6 subcodes (compare with previous chapter).

The code becomes effective, if one of the subcodes of the code

L-C1853/L-C2353 contains the value 1 (selective addressing).

)

Note!

Changing the address in one or several subcodes becomes effective l l by renewed mains disconnection of the module or by sending a network manager command via CAN bus to the module.

– Reset_Node or L-C2120 = 1 or

– Reset_Communication

Code Subcode

L-C1855 /1 CAN-IN1

/2 CAN-OUT1

/3 CAN IN2

L-C2355 /4* CAN-OUT2

/5* CAN-IN3

/6* CAN-OUT3

Index

58C0 h

22720 d

=

56CC h

22220 d

=

Possible settings

-

Lenze Selection

0 [1]

Data type

2047 FIX32

*) not effective when using 82XX, 8200 vector or 93XX controller

In six subcodes of this code the resulting identifiers of the PDOs can be read out.

)

Note!

(for servo PLC 9300 / Drive PLC)

In case the addressing under L-C2353 or L-C2354 has been changed, the display will only be updated under L-C2355 by renewed mains disconnection of the module or l l by sending a network manager command via CAN bus to the module.

– Reset_Node or L-C2120 = 1 or

– Reset_Communication

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7.7.2

L-C1856/L-2356:

Boot up and cycle times

50

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

Code

L-C1856

L-C2356

Subcode

/1 Boot up time

/2 cycle times

CAN-OUT1

/3 cycle times

CAN-OUT2

/4 cycle times

CAN-OUT3

/5 Sync-Tx cycle times

Index

58BF h

22719 d

=

56CB h

22219 d

=

Possible settings

Lenze Selection

1:

3000 ms

2 .. 5:

0 ms

0 [1 ms]

Data type

65535 FIX32

FIX32

In the event-controlled/cyclic operation it is possible to define the cycle times with which the single PDOs will be sent via the CAN bus (also see L-C1875/L-C2375,

“ Tx mode” for CAN-OUT1..3).

)

Note!

In case of servo PLC 9300 / drive PLC the change only becomes effective by renewed mains disconnection of the fieldbus module or by sending one of the network manager commands

“ Reset_Node” or “ Reset_Communication” via CAN bus to the fieldbus module. It is also possible to carry out the update by assigning value 1 to the AIF control byte.

The change will be immediately valid for the controller 82XX and

93XX.

The value 0 deactivates the cyclic sending of the PDO.

Sync-Tx cycle time (C1856/5 or C2356/5)

“ Sync-Tx cycle time” describes the interval time (time basis: ms) that is required for sending a SYNC telegram to the CAN bus.

)

Note!

Changing the Sync-Tx cycle time gets immediately effective.

The value 0 in code L-C1856/5 or L-C2356/5 deactivates the cyclic sending of the sync telegram.

Relation to CANopen

The CANopen index 1006 h

“ Communication Cycle Period” reflects the contents of code L-C1856/5 or L-C2356/5 (time basis: ms).

As the data processing speed of the 2175 module amounts to 1000 µ s, the entry via CANopen 1006 h index 1006 h is rounded to an integral multiple of 1000

µ s. If the CANopen is read, the contents of this code in [

µ s] will be sent as response.

In addition, the bit 30 of the CANopen index 1005 h

(COB-ID Sync message) is automatically set by describing the codes L-C1856/5 or L-C2356/5.

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

L-C1857/L-C2357:

Monitoring time

51

L-C1859/L-C2359:

Display of DIP switch position

52

Code Subcode

L-C1857 /1 CAN-IN1

L-C2357

/2 CAN-IN2

/3 CAN-IN3

/4 BUS-OFF monitoring time

Index

58BE h

22718 d

=

56CA h

22218 d

=

Possible settings

Lenze Selection

3000 ms

0 [1 ms]

Data type

65535 FIX32

FIX32

)

Note!

The value 0 deactivates the monitoring.

A change of monitoring times becomes immediately effective for

93XX and 82XX controllers.

With Servo PLC 9300 / Drive PLC the change only becomes effective by renewed mains disconnection of the fieldbus module or by sending one of the network manager commands

“ Reset_Node” or “ Reset_Communication” via CAN bus to the field bus module. It is also possible to carry out the update by assigning value 1 to the AIF control byte.

The monitoring time starts with the arrival of the first telegram.

The monitoring time describes the period of time in which new process input data must arrive with the CAN-IN1..3-identifiers. If the time entered is exceeded, it is possible to set a corresponding reaction under code L-C1882.

BUS-OFF

(C1857/4 or C2357/4)

Even if the controller changes to the state BUS-OFF, it is possible to set a time

(time basis: ms) in which a reaction can take place.

Monitoring reaction: see code L-C1882 or L-C2382.

Code

L-C1859 -

Subcode

L-C2359 -

Index

58BC h

22716 d

56C8 h

22216 d

=

=

Possible settings

-

Lenze Selection

0 [1]

Data type

1023 U16

U16

The DIP switch position is indicated with the initialisation of the module.

The following table shows the valency:

Switch

Valency

Bit

--- --- ----- ----- S1 S2 S3 S4 S5 S6 S7 S8 S9 S10

512 256 128 64 32 16 8 4 2 1

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Example for DIP switch position: l l l

S10 = ON (CANopen communication profile)

S4, S5 = ON (address 6)

S7, 8, 9 = OFF (baud rate 500kbits/s)

From the table above the sum of the corresponding valencies amounts to: 61 h

( 97 d

), which is displayed when reading the code L-C1859 or L-C2359.

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7.7.2

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

L-C1860:

Display of the current DIP switch position

53

L-C1867/L-C2367:

Sync Rx identifier

54

Code

L-C1860 -

Subcode Index

58BB h

22715 d

= -

Possible settings

Lenze Selection

0 [1]

Data type

1023 U16

By displaying the current DIP switch position it is possible to find out if the switch position for address, baud rate and communication profile setting has changed since the last initialisation. Valency see code L-C1859.

Code

L-C1867 -

Subcode

L-C2367 -

Index

58B4 h

22708 d

=

56C0 h

22208 d

=

Possible settings

Lenze Selection

128 0 [1]

Data type

2047 FIX32

FIX32

The code contains the identifier with which the sync telegram is received.

By receiving the sync telegram it is possible for the module to e.g. send its process data objects to the CAN bus. Also see L-C1875 / L-C2375.

)

Note!

A change of the identifier will immediately become effective for the 93XX and 82XX controller.

With Servo PLC 9300 / Drive PLC the change only becomes effective by renewed mains disconnection of the fieldbus module or by sending one of the network manager commands

“ Reset_Node” or “ Reset_Communication” via CAN bus to the fieldbus module. It is also possible to carry out the update by assigning value 1 to the AIF control byte.

Relation to CANopen

The CANopen index 1005 h

“ COB-ID SYNC message” directly influences this code. The identifier of a value re-entered into the index 1005 h over from the code L-C1867/L-C2367.

will also be taken

When reading the CANopen index 1005 hex

(COB-ID Sync message) the value saved under code L-C1868/L-C2368 is displayed.

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

L-C1868/L-C2368:

Sync Tx identifier

55

L-C1868 -

Subcode

L-C2368 -

58B3 h

22707 d

=

56BF h

22207

= d

Possible settings

Lenze Selection

128 0 [1]

Data type

2047 FIX32

FIX32

The code contains the identifier with which the sync telegram is received.

With the identifier set under L-C1868/L-C2368 the sync is to the CAN bus

(concerning this also see L-C1856 or L-C2356, subcode 5).

)

Note!

Changing the identifier will immediately get effective for the 93XX and 82XX controller.

In case of servo PLC 9300 / drive PLC the change only becomes effective by renewed mains disconnection of the field bus module or by sending one of the network manager commands

“ Reset_Node” or “ Reset_Communication” via CAN bus to the field bus module. It is also possible to carry out the update by assigning the AIF control byte with the value 1.

Relation to CANopen

The CANopen index 1005 h

“ COB-ID SYNC message” directly influences this code. The identifier of a value that has been reentered into the index 1005 h will also be taken over from the code L-C1868/L-C2368. When reading the index

1005 h the value saved here will be displayed.

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7.7.2

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

L-C1873/L-C2373:

Sync rate CAN-IN1 ... CAN-IN3

56

The input process data (CAN-INx) are only transferred to the controller after a certain number of SYNC telegrams have been received.

L-C1873 /1 CAN-IN1

L-C2373

/2 CAN IN2

/3* CAN-IN3

58AE h

22702 d

56BA h

22202 d

=

=

Possible settings

Lenze Selection

1 0

1

*) not effective when using 82XX, 8200 vector or 93XX controller

Example:

[1]

[1]

240 FIX32

240 FIX32

Selection n = 23. Acceptance of input PDO (to CAN-IN1... CAN-IN3) into the controller after the arrival of the 23. Sync telegram.

The sync rate can be set individually for each input PDO.

)

Note!

Only sync telegrams are counted, that have been received with the identifier set under L-C1867 / L-C2367 of the 2175 module.

A change of the sync rate will immediately become effective for the 82XX and 93XX controller.

With Servo PLC 9300 / Drive PLC the change only becomes effective by renewed mains disconnection of the fieldbus module or by sending one of the network manager commands

“ Reset_Node” or “ Reset_Communication” via CAN bus to the fieldbus module. It is also possible to carry out the update by assigning value 1 to the AIF control byte.

Relation to CANopen

Die CANopen indices 1400 h

, 1401 h and 1402 h

(receive PDO communication parameter), subindex 2 each (transmission type), are directly mapped on the subcodes of code L-C1873 / L-C2373.

Index 14XX h

, subindex 2 = 1-240

Index 14XX h

, subindex 2 = 254

=

Code L-C1873, subcode X = 1-240

Code L-C1873, subcode 0

An exception is the value 0, which is not directly mapped on the CANopen indices

1400 hex,

1401 hex and 1402 hex

. The value 0 is mapped under CANopen index

14Xx hex

, subindex 2, with the value = 254 (vendor-specific). On the other hand, with the entry of 254 in subindex 2 the corresponding subcode of code L-C1873 is described with the value 0.

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

L-C1874/L-C2374:

Sync rate CAN-OUT1 ...

CAN-OUT3

57

Subcode

L-C1874 /1 = CAN-OUT1

L-C2374

58AD h

22701 d

=

/3* = CAN-OUT3 56B9 h

22201 d

=

Possible settings

Lenze Selection

1 1

*) not effective when using 82XX, 8200 vector or 93XX controller

[1]

Data type

240 FIX32

FIX32

The output process data (CAN-OUTx) are only transferred after a certain number of SYNC telegrams have been received.

The sync rate can be set individually for each process output data object.

)

Note!

Only those sync telegrams are counted, that have been received with the identifier set under L-C1867 / L-C2367 of the 2175 module.

A change of the sync rate will immediately become effective for the 82XX and 93XX controller.

With Servo PLC 9300 / Drive PLC the change only becomes effective by renewed mains disconnection of the fieldbus module or by sending one of the network manager commands

“ Reset_Node” or “ Reset_Communication” via CAN bus to the fieldbus module. It is also possible to carry out the update by assigning the AIF control byte with the value 1.

Relation to CANopen

The CANopen indices “ Transmit PDO communication parameter” 1800 h

, 1801 h and 1802 h

(with subindex 2, “ transmission type” ) are directly mapped on the subcodes of code L-C1874 or L-C2374.

Index 18XX h

, subindex 2 = 1-240

Index 18XX h

Index 18XX h

, subindex 2 =252

, subindex 2 = 254

Code L-C1874 or L-C2374, subcode X = 1-240

Code L-C1875, subcode X = 0

Code L-C1875, subcode X = 1

Code L-C1875, subcode X = 2

If for instance the index 1802 h is read, the value in code L-C1874 / L-C2374, subcode 3 comes back as an answer. If the index 1801 h is described with a new value, the code L-C1874, subcode 2, is described with this value, too.

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L-C1875/L-C2375:

Tx mode CAN-OUT1 ...

CAN-OUT3

58

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

This code contains a selection which indicates at which event the output PDOs

CAN-OUT1 .. CAN-OUT3 are to be sent. It is possible to make an individual selection for each output PDO by dividing the code in subcodes.

L-C1875

L-C2375

Subcode

/1 CAN-OUT1

/2* CAN-OUT2

/3* CAN-OUT3

58AC h

22700 d

=

56B8 h

22200 d

=

Possible settings

Lenze Selection

/1: 0

/2: 1

/3: 1

/1: 0

/2: 0

/3: 0

0

*) not effective when using 82XX, 8200 vector or 93XX controller l Value = 0 l

[1]

Data type

3 FIX32

FIX32

– The output PDOs are sent when a sync telegram has been received.

– Only those sync telegrams are counted, that have been received with the identifier set under L-C1867 / L-C2367. It is possible to set that the output

PDOs are only to be sent after the nth sync telegram (adjustabel with n =

1..240) under L-C1874 / L-C2374.

Value

– Output PDOs are not sent.

– With this selection the transmission of CAN-OUT1..CAN-OUT3 is deactivated.

This is useful for 82XX, 8200 vector and 9300 drives, which are only able to exchange 4 words as a maximum of control and status information via the AIF. For this purpose the use of an input and output PDO is sufficient, as each PDO contains 4 words of information (factory setting).

In this case an unnecessary load of the CAN can be avoided.

l Value = 2

– The PDO is either transmitted event-controlled or cyclically if this value is entered in one of the three available subcodes.

l

– The output PDO is transmitted cyclically, if a cycle time is defined for the same CAN-OUT1..3 under code L-C1856 or (dependent on drive)

L-C2356. If the cycle time is zero, this is sent in case of an event, i. e. bit change within the CAN-OUT object.

Value = 3

– The output PDO is event-controlled and cyclically transmitted. This means that the object is transmitted with the cycle time defined under code L-C1856 or L-C2356.

– In addition, the object will be transmitted if one or several bits are changed within the CAN-OUT object.

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

)

Note!

A change of the Tx mode will immediately become effective for the 82XX and 93XX controller for a process data output object.

With Servo PLC 9300 / Drive PLC the update must take place by assigning value 1 to the AIF control byte.

If the transmission is event-controlled (also with cyclic superpositions) some bits can be hidden by masking the object using codes L-C1876 to L-C1878 or with the Servo PLC 9300 /

Drive PLC L-C2376 up to L-C2378. That means that the

CAN-OUT object will not be sent when a bit is being changed.

If the value under code L-C1875/L-2375 = 0 , subcodes 1..3, the value of code

L-C1874/L-C2374 is reflected under CANopen index 1800 subindex 2 each.

hex

, 1801 hex or 1802 hex

,

The value = 1 under code L-C1875/L-C2375 is displayed under CANopen index

1800 hex

, 1801 hex or 1802 hex with the value = 252.

The value = 2 or 3 under code L-C1875/L-C2375 is displayed under CANopen index 1800 hex

, 1801 hex or 1802 hex with the value = 254.

When describing CANopen index 1800 hex

, 1801 hex or 1802 hex the same relation prevails, see the table below or under the description of the CANopen indices

18XX hex

.

Code L-C1875 / L-C2375, subcode 1, 2 or 3 CANopen index 1800hex, 1801hex or 1802hex, subindex 2

0 Code L-C1874 / L-C2374, subcode 1, 2 or 3 (Wert = 1 .... 240)

1

2 or 3

252

254

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L-C1876/L-C2376:

Masks CAN-OUT1

59

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

One or several bits of the output PDO CAN-OUT1 can be extracted by the mask.

Code Subcode

L-C1876 /1 CAN-OUT1.W1

L-C2376 /3 CAN-OUT1.W3

/4 CAN-OUT1.W4

Index

58AB h

22699 d

=

56B7 h

22199 d

=

Possible settings

Lenze Selection

65535 0 [1]

Data type

65535 FIX32

FIX32

The event-controlled transmission of the CAN-OUT object can be e.g. dependent on only one bit. Also see code L-C1875 / L-C2375.

Example:

The mask in word 3 of the process data object CAN-OUT 1 is set through code

L-C1876/3 with the value 20 grey.

hex

(see “ MASK“ ). Please note the field marked in

1. cycle

Result after 1. cycle: The PDO is transmitted

CAN-OUT 1.W3

MASK

Data

Result

2. cycle

0

1

0

0

1

0

0

1

0

0

1

0

0

1

0

0

1

0

0

1

0

0

1

0

0

0

0

0

1

0

1

1

1

0

0

0

0

0

0

After the 2. cycle new data have been written into CAN-OUT 1.

Result after 2. cycle: The PDO is not transmitted due to bit change

CAN-OUT 1.W3

0

0

0

0

1

0

0

0

0

MASK

Data

Result

0

1

0

0

1

0

0

1

0

0

1

0

0

1

0

0

1

0

0

1

0

0

1

0

0

0

0

0

1

0

1

0

0

0

0

0

0

0

0

0

0

0

0

1

0

)

Note!

A change of the mask will immediately become effective for the

82XX and 93XX controller.

With Servo PLC 9300 / Drive PLC the change only becomes effective by renewed mains disconnection of the fieldbus module or by sending one of the network manager commands

“ Reset_Node” or “ Reset_Communication” via CAN bus to the fieldbus module. It is also possible to carry out the update by assigning value 1 to the AIF control byte.

0

0

0

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

L-C1877/L-C2377:

Masks CAN-OUT2

60

L-C1878/L-C2378:

Masks CAN-OUT3

61

One or several bits of the output PDO CAN-OUT2 can be extracted by the mask.

Subcode

L-C1877 /1 CAN-OUT2.W1

L-C2377 /3 CAN-OUT2.W3

/4 CAN-OUT2.W4

58AA h

22698 d

=

56B6 h

22198 d

=

See L-C1876 / L-C2376.

Possible settings

Lenze Selection

65535 0 [1]

Data type

65535 FIX32

One or several bits of the output PDO CAN-OUT3 can be extracted by the mask.

Subcode

L-C1878 /1 CAN-OUT3.W1

L-C2378 /3 CAN-OUT3.W3

/4 CAN-OUT3.W4

58A9 h

22697 d

=

56B5 h

22197 d

=

See L-C1876 / L-C2376.

Possible settings

Lenze Selection

65535 0 [1]

Data type

65535 FIX32

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7.7.2

L-C1882/L-C2382:

Monitoring reaction

62

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

Subcode

L-C1882 /1 response

L-C2382

CAN-IN1

/2 response

CAN-IN2

/3 response

CAN-IN3

/4 response

BUS-OFF

/5 response Life

Guarding Event

58A5 h

22693 d

=

56B1 h

22193 d

=

Possible settings

Lenze Selection

0 0

0: no response

1: Controller inhibit

[1] 2

Data type

FIX32

FIX32

Defintion of the reaction, when the monitoring times (see L-C1857/L-C2357) have been exceeded.

)

Note!

A change of the monitoring response will immediately become effective for the 82XX and 93XX controllers.

With Servo PLC 9300 / Drive PLC the change only becomes effective by renewed mains disconnection of the fieldbus module or by sending one of the network manager commands

“ Reset_Node” or “ Reset_Communication” via CAN bus to the fieldbus module. It is also possible to carry out the update by assigning value 1 to the AIF control byte.

Relation to CANopen

Under the CANopen indices 100C h

“ guard time” and 100D h

“ life time factor” it is possible to set a time for the node guarding protocol. The node guarding protocol has been developed in order to monitor the connection of master and slave (in this case 2175IB). Under CANopen index 100C h time in milliseconds. Under index 100D h

“ guard time” it is possible to enter a

“ life time factor” a factor is stored. The product of both indices results in a monitoring time in which the master must send the slave 2175IB a specific telegram. If one of the two indices is set to zero, the monitoring time is also zero and thus deactivated. The slave transmits a telegram with its current NMT state to the master. These states can be pre-operational, operational or stopped.

If the monitoring time is exceeded, the slave reacts with the life guarding event and the master with the node guarding event.

The sequence of the node guarding protocol must be programmed and started in the master. The 2175IB module supports the node guarding protocol, it is only possible to enter a response under this code.

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Description of communication relevant Lenze codes

L-C2120:

AIF control byte

L-C2121:

AIF status byte

Code

L-C2120 -

Subcode Index

22455 d

57B7 h

=

Possible settings

Lenze Selection

0 0 = No command

1 = Update codes L-23XX and CAN re-initialisation ≡ Reset node

2 = Update codes L-C23XX

10 = L-C2356/1...4 re-read

11 = L-C2357 re-read

12 = L-C2375 re-read

13 = L-C2376 ... L-C2378 re-read

14 = L-C2382 re-read

Data type

FIX32

Wit the AIF control byte it is possible to read the codes L-C23XX saved in the servo

PLC 9300 / Drive PLC into the 2175 field bus module. By writing a value indicated in the table into the AIF control byte this process can be initiated per command.

By writing the value = 2 into the AIF control byte all L-C23XX codes are re-read.

For some codes however it is necessary to carry out a CAN re-initialisation so that new values or the functions derived from them will become effective. Here is a list:

Code

L-C2350

Value L-C2120

1

L-C2351

L-C2352

L-C2353

1

1

1

L-C2354

L-C2355

L-C2356, subcode 1..4

1

1

1, 2 or 10

L-C2356, subcode 5 1 or 2

L-C2357, subcode 1..4

1, 2 or 11

L-C2359

L-C2367

L-C2368

1

1

1

L-C2373

L-C2374

L-C2375

1 or 2

1 or 2

1, 2 or 12

L-C2376 to L-C2378 1, 2 or 13

L-C2382 1, 2 or 14

Function

Activation of the new identifiers for SDO, PDO or Emergency, if these are dependent on the node address

Activation of new Baud rate

Activation of changed function (master/slave)

Activation of new addressing

Activation of new addressing (selective)

Representation of the new identifiers

Activation of new times (boot-up, cycle AIF-XCAN1..3)

Activation of sync cycle time

Activation of monitoring times

Representation of changed switch position

Activation of new receiving identifiers for sync telegrams

Activation of new transmitting identifiers for sync telegrams

Activation of new sync rate receiving POD

Activation of new sync rate transmitting PDO

Activation of new mode transmitting PDO

Activation of new mask transmitting PDO

Activation of new fault response PDO, bus OFF and life guarding event

Code

L-C2121 -

Subcode Index

22454 d

57B6 h

=

Possible settings

Lenze Selection

0 0 1

Data type

255 FIX32

The AIF status byte provides information of the 2175 fieldbus module of the

Servo PLC 9300 and Drive PLC. By reading the status bit the Servo PLC 9300 and Drive PLC can monitor the status of the 2175 fieldbus module. Depending on this it is possible for the user to take corresponding countermeasures.

AIF status byte

Bit 0

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

Bit 7

Description

CE11 fault, monitoring time CAN-IN1 exceeded

CE12 fault, monitoring time CAN-IN2 exceeded

CE13 fault, monitoring time CAN-IN3 exceeded

CE14 fault, module in BUS-OFF state

Operational state

Pre-Operational state

Warning state internally assigned

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7.7.3

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

7.7.3

1000 hex

:

Device type

63

1001 hex

:

Error Register

64

Implemented CANopen objects

Lenze devices can be parameterised either with Lenze codes (see ( ¶ 7.9-1) ) or with the vendor-independent “ CANopen objects” . In order to achieve a completely CANopen-conform communication, only the CANopen objects are allowed to be used for parameter setting. The CANopen objects described in these Instructions are defined in the “ CiA Draft Standard 301/Version 4.01” .

All CANopen objects can be mapped on Lenze codes. In section “Relation to

CANopen” the effects on Lenze codes through changing the CANopen objects are described.

)

Note!

Some of the terms used have their origin in the CANopen protocol which is written in English. The translation of these terms is only partly allowed.

1003 hex

:

Pre-defined Error Field

65

The CANopen index 1000 hex describes the profile for this device. Furthermore, it is possible to enter additional information, being defined in the device itself. If no special device profile is considered, the contents are 0000 hex

(2175IB).

Index [ hex

1000

] Subindex

0

Name

Device type

Bit assignment in the telegram data

Data type

U32

Value range Rights

0 ... (2 32 - 1) ro

5th byte 6th byte 7th byte 8th byte

U32

LSB MSB

Device profile number Additional information

Reading the fault register

Index [ hex

1001

] Subindex

0

Name

Error register

Data type

U8

Bit assignment in the data byte (U8) of the telegram

Bit 7

0

Bit 6

0

Bit 5

0

Bit 4

0

Bit 3

0

Bit 2

0

Bit 1

0

Value range Rights

0 ... 255 ro

Bit 0

0: no TRIP

1: device TRIP/ fault CANopen module

Fault analysis: see L-C0161 in the Instructions of the corresponding controller

Fault history l l

Index [ hex

] Subindex

0

1

Name

Recording numbers of error

Standard error field

Data type

U8

U32

Value range

0 ... 255

0 .... (2 32

Rights rw

- 1) r0

This object serves to detect faults in the module and the basic device:

Subindex 0: Number of the stored fault messages.

Subindex 1: Display of the fault list.

The fault messages (U32) consist of a 16-bit error code and a vendor-specific information field comprising 16 bits.

)

Note!

The value in “ Standard error field” under subindex 1 is deleted, if subindex “ recording number of errors” is 0.

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

1005 hex

:

Identifier sync message

66

1006 hex

:

Communication Cycle Period

67

1008 hex

:

Manufacturer Device Name

68

100A hex

:

Manufacturer software version

69

100C hex

:

Guard Time

70

With this object it is possible l l to create sync telegrams for the module to describe the value of the identifier.

Index [ hex

1005

] Subindex

0

Name

Identifier sync message

Sync telegram creation

Data type

U32

Value range

0 .... (2 32 - 1)

Rights rw

For creating sync telegrams, bit 30 (see below) must be set to the value 1.

The intervals of the sync telegrams can react to another object (index 1006 hex

).

Identifier description

For the receipt of PDOs the value 80 hex is entered as default setting (and in accordance with CANopen specification) in the 11 bit identifier. This means, that all modules are preset to the same sync telegram.

If sync telegrams are only to be received from specific modules, the corresponding identifiers can be entered with a value up to 7FF hex

. The identifier may only be changed, if the 2175 fieldbus module does not send any sync (bit 30 = 0).

5th byte

0

11-bit identifier

6th byte 7th byte 8th byte

U32

10 11 - 28 29 30 31

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0/1 X

Bit no.

0 - 10

(11 - 28)*

29*

30

31

0

0

0

1

X

Value

X

Explanation

Identifier (also see chapter 36)

* ) ) The extended identifier (29 bits) is not supported. Each bit in this area must have the value 0.

The device does not create any SYNC telegrams

The device creates SYNC telegrams optional

Cycle time setting of sync telegrams

Index [ hex

1006

] Subindex

0

Name

Communication cycle period

Data type

U32

Value range

0 ... (2 32 - 1)

Rights rw

With the preset value (default) of t = 0 no sync telegrams are created.

The cycle time can be selected with the entry 1000 or the integral multiple of this figure. The unit of the entered time is [ µ s]. The maximum value to be set of the 2175 fieldbus module is 65535000 [

µ s].

Announcement of the controller and module names

Index [ hex

1008

] Subindex

0

Name

Manufacturer device name

Software version of the controller and module

Data type

Visible string {9 digits}

Index [ hex

100A

] Subindex

0

Monitoring time

Name Data type

Manufacturer software version Vis. string {11 digits}

Rights const

Rights const

Index [ hex

100C

] Subindex

0

Name

Guard time

The monitoring time is indicated in [ms].

Data type

U16

Value range

0 ... 65535

Rights rw

If the monitoring shall not be supported, the default entry of 0 is to be maintained.

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100D hex

:

Life Time Factor

71

1010 hex

:

Store Parameters

72

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

Index [ hex

100D

] Subindex

0

Name

Life time factor

Data type

U8

Value range

0 ... 255

Rights rw

If the monitoring shall not be supported, the default entry of 0 is to be maintained.

Storage of parameters in the EEPROM.

Index [ hex

] Subindex

0

1 ... 3*

Name

The subindices 1, 2 and 3 are not supported at the moment

Store parameters

Data type Value range

0 ... (2 32 - 1)

Rights ro/rw

Fault message in case of l l faulty storing (in the bytes 5 ...8): 0606 0000 hex false signature: 0800 0020 hex

)

Note!

For storing module parameters the signature “ save ” must be included in the telegram data.

Assignment of the telegram data words to store parameters

Signature

ISO 8859 (ASCII) hex

MSB e

65

Bit assignment for write authorisation v

76 a

61 s

73

LSB

0

0/1

0

1

0/1 ro

0 0 0

Subindex Rights

Writing

• If you attempt to write the following fault message occurs:

0601 0002

U32

2 - 31

..

Explanation

Supported subindex = 3

Reading

1

2

3

• This function is not yet supported at the moment.

• If you attempt to write the following fault message occurs:

0800 0020

0 0 0

Read memory functionality of all parameters

Only read memory functionality of the communication parameters of the objects.

Only read memory functionality of the vendor-specific parameters

(Memory area: 6000

9FFF hex

) hex

-

The following functionalities are possible in dependence on the controller and are described by reading the values of the bit positions

0 and 1:

Value 0: Storing is not carried out

Value 1: Storing on command

Value 2: Automatic storing

Value 3: Automatic storing and storing on command

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

1011 hex

:

Restore Default Parameters

73

2

3

6

7

4

5

Loading of the default setting.

)

Note!

If this function is applied, the subindices used depend on the controller type.

Index [ hex

1011

] Subindex

0 ... 7

Name restore default parameters

Data type

U32

Value range

0 ... (2 32 - 1)

Rights rw/ro

Besides index and subindex the signature “ load “ must be included in the telegram data, so that the parameters can be loaded (see table).

LSB Signature

ISO 8859 (ASCII) hex

MSB d

64

Bit assignment for write authorisation a

61 o

6F l

6C

U32

0

0: Loading not possible

1: Loading possible

0 0 0

1 - 31

..

0 0 0

Subindex Rights

0 ro

Writing

• If you attempt to write the following fault message occurs:

0601 0002 hex

Reading

Maximally available subindex dependent on the controller type:

7: 8200 vector/motec frequency inverter

• This function is not yet supported

• at the moment.

If you attempt to write the following fault message occurs:

0800 0020 hex

Only loading of the communication parameters of the objects is possible

Only loading of the vendor-specific parameters (index 6000 hex

- 9FFF hex

)

Loading of parameter set 1 possible

Loading of parameter set 2 possible

Loading of parameter set 3 possible

Loading of parameter set 4 possible

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7.7.3

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

1014 hex

:

COB-ID emergency object

74

1015 hex

:

Inhibit time emergency

75

1018 hex

:

Identity object

76

If an internal fault of the bus module or the controller occurs or is accepted (e.g.

TRIP), a fault message is sent via the CAN bus. The telegram is transmitted once at each fault.

Index [ hex

1014

] Subindex

0

Name

COB-ID emergency object

Assignment of the data telegram

0

5th byte

11-bit identifier

Data type

U32

Value range

0 ... (2 32 - 1)

Rights rw

6th byte 7th byte 8th byte

U32

10 11 - 28 29 30 31

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0/1

Explanation

Bit no.

0 - 10

(11 - 28)*

29*

30

31

Value

0/1

0

0

0

0/1

Explanation

Identifier (also see chapter 36)

* ) ) The extended identifier (29 bits) is not supported. Each bit in this area must have the value 0.

Reserved

0: valid emergency object

1: invalid emergency object

The “ Emergency” telegram sent via CAN bus is structured as follows:

1st byte 2nd byte

Emergency error code

LENZE: Error code “10XX”

3rd byte

Error register

Object

1001 hex

4th byte 5th byte 6th byte 7th byte

Field for vendor-specific fault message

8th byte

This object serves to select the interval between the occurence of an internal fault and the sending of the fault message to the bus (“ COB-ID Emergency object” , code: 1014 hex

).

Only integral multiples of 10 are processed as entered values. The entered value multiplied by 100 results in the period of time in [

µ s].

Index [ hex

1015

] Subindex

0

Name

Inhibit time emergency

Data type

U16

Value range

0 ... 65535

Rights rw

Entry of the vendor ID

Index [ hex

1018

] Subindex

0 ... 4

Name

Identity object

Data type

Identity

Rights ro

The identification number for Lenze allocated by the “ Organisation CAN in

Automation e. V.” can be read out via this object:

Subindex

2

3

0

1

4

Meaning

Highest subindex

Vendor ID

Product code

Version number

Serial number

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

1200 hex

/ 1201 hex

:

Server SDO parameters

77

Two objects (CAN parameter data channel 1 = 1200 hex and CAN parameter data channel 2 = 1201 hex

) are available for parameter setting of the servers SDOs.

With index 1201 the identifier can be described in receiving direction and sending direction while index 1200 only possesses read rights. The server SDO parameter is only valid when the bit 31 contains the value 0 in both transmission directions

(subindes 1 and 2).

Index [ hex

] Subindex Name

0

1

Server SDO Parameter

Identifier client → Server

(rx)

2

0

1

2

Identifier server → Client

(tx)

Server SDO Parameter

Identifier client → Server

(rx)

Identifier server → Client

(tx)

Data type Rights Explanation of subindex

SDO U 8 ro

Param U 32 ro

U 32 ro

U 8 ro

U 32 rw

U 32 rw

0: Max. supported subindex = 2

1: Specification of receiving identifier

Assignment of the data telegram

0

5th byte

11-bit identifier

6th byte 7th byte 8th byte

U32

10 11 - 28 29 30 31

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0/1

Explanation

Bit no.

0 - 10

(11 - 28)*

29*

30

31

Value

0/1

0

0

0

0/1

Explanation

Identifier (also see

(

7.6-3)

)

* ) The extended identifier (29 bits) is not supported. Each bit in this area must have the value 0.

Reserved

0: SDO valid

1: SDO invalid

Example:

The CAN parameter data channel 2 of the drive with the controller address 4 is to be switched off.

This command must be sent from the master to the drive via the parameter data channel 1 (SDO1). The table on

(

7.6-3) includes the basic identifier of the SDO1 with 1536 dec

.

(resulting) identifier = basic identifier + controller address = 1540 dec

= 0604 hex

In order to switch off the parameter data channel (= invalid), the bit 31 must be set to “ 1” . The value results in 80 00 00 00 hex

+ 604 hex

= 80 00 06 04 hex

(see above).

Byte:

Name:

Read request:

1

Command

23

(Write request)

2

Index

(Low byte)

01

3

Index

(High byte)

12

4

Subindex

01

Client → Server

(rx)

5

04 hex

6

U 32

7

06 hex

0000

0000

8

80 hex

7

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7

7.7.3

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

1400 hex

:

Receive PDO1 communication parameter

78

Receipt of communication parameters of PDO 1

Index [ hex

] Subindex Name

0

1

Number of entries

COB-ID used by PDO

2 Transmission type

Data type

PDO U 8 ro comm. U 32 rw

U 8

Rights Explanation rw

Max. supported subindex = 2

Setting of the identifier for this PDO

(200 hex

+ node ID) ^ 7.6-3

Setting of the transmission type (see table)

Assignment of the data telegram

0

11-bit identifier

U32

10 11 - 28 29 30 31

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0/1 0/1

Explanation subindex 1:

Bit no.

0 - 10 (LSB)

(11 - 28)*

Value

X

0

29* 0

Meaning contains the identifier (basic + controller address)

* ) The extended identifier (29 bits) is not supported. Each single bit must adopt the state 0!

* ) The extended identifier (29 bits) is not supported. Each single bit must adopt the state 0!

30

31 (MSB) 0

1

Explanation subindex 2:

0

1

RTR to this PDO is permitted (Lenze)

RTR to this PDO is not permitted (not adjustable)

RTR = remote transmission request

0: PDO active

1: PDO not active cyclic

X

PDO transmission synchronous

X eventcontrolled

X

Transmission type n = 1 ... 240 n = 254

Explanation

If a value n is entered, this PDO is accepted at every nth SYNC.

PDO is immediately accepted, see

L-C1873 / L-C2373

)

Note!

The value n = 254 will only be supported as of version 1.0 of the field bus module.

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

1401 hex

:

Receive PDO2* Communication

Parameter

1402 hex

:

Receive PDO3* Communication

Parameter

)

Note!

*) The object is not available for 82XX, 8200 vector/motec and

93XX controllers.

Receipt of communication parameters of PDO 2

Index [ hex

] Subindex Name

1401

0

1

2

Number of entries

COB-ID used by PDO

Transmission type

Data type

Value range

PDO U 8 ro comm. U 32 rw

U 8

Rights Explanation rw

Max. supported subindex = 2

Setting of the identifier for this PDO

(300 hex table)

+ node ID) ^ 7.6-3

Setting of the transmission type (see

For further description regarding this object please see the description for

1400 hex

.

Receipt of communication parameters of PDO 3

)

Note!

*) The object is not available for the 82XX, 8200 vector/motec and

93XX controllers.

Index [ hex

] Subindex Name

1402

0

1

2

Number of entries

COB-ID used by PDO

Transmission type

Data type

Value range

Rights Explanation

PDO U 8 ro comm. U 32 rw

Max. supported subindex = 2

U 8 rw

Setting of the identifier for this PDO

(400 hex table)

+ node ID) ^ 7.6-3

Setting of the transmission type (see

For further description regarding this object please see the description for

1400 hex

.

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7

7.7.3

1600 hex

:

Receive PDO1 Mapping

Parameter

79

1601 hex

:

Receive PDO2* mapping parameter

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

This object serves to receive parameter data as PDO1.

)

Note!

The functionality of this object is not yet available at the moment.

On the attempt to read the object, the following values are sent back in dependence of the subindices:

Subind. 0: value 4 hex

Subind. 1 - 4: value 10 hex

Index [ hex

1600

] Subindex Name

0

1

2

3

4

Number of mapped objects in PDO’s

PDO mapping 1

PDO mapping 2

PDO mapping 3

PDO mapping 4

Data type

PDO

Mapping

Value range

U 8

U 32

U 32

U 32

U 32

Rights Explanation ro Subindex 0:

Max. supported subindex = 4

In case of read requests regarding this object the value 10 hex will be

This object serves to receive parameter data as PDO2.

)

Note!

The functionality of this object is not yet available at the moment.

On the attempt to read the object, the following values are sent back in dependence of the subindices:

Subind. 0: value 4 hex

Subind. 1 - 4: value 10 hex

*) The object is not available for the 82XX, 8200 vector/motec and

93XX controllers.

Index [ hex

1601

] Subindex Name

0

1

2

3

4

Number of mapped objects in PDO’s

PDO mapping 1

PDO mapping 2

PDO mapping 3

PDO mapping 4

Data type

PDO

Mapping

Value range

U 8

U 32

U 32

U 32

U 32

Rights Explanation ro Subindex 0:

Max. supported subindex = 4

In case of read requests regarding this object the value 10

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

1602 hex

:

Receive PDO3* mapping parameter

This object serves to receive parameter data as PDO3.

)

Note!

The functionality of this object is not yet available at the moment.

On the attempt to read the object, the following values are sent back in dependence of the subindices:

Subind. 0: value 4 hex

Subind. 1 - 4: value 10 hex

*) The object is not available for the 82XX, 8200 vector/motec and

93XX controllers.

Index [ hex

1602

] Subindex Name

0 Number of mapped objects in PDO’s

3

4

1

2

PDO mapping 1

PDO mapping 2

PDO mapping 3

PDO mapping 4

Data type

PDO U 8

U 32

U 32

U 32

U 32

Rights Explanation ro Subindex 0:

Max. supported subindex = 4

In case of read requests regarding this object the value 10 hex will be

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7.7.3

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

1800 hex

:

Transmit PDO1 Communication

Parameter

80

Process data transmission

Index [ hex

1800

] Subindex Name

0 Number of subindices supported

1 Identifier of the PDO

2 Transmission type

Data type

PDO

Comm.

U 8

Rights Explanation ro

U 32 rw

Max. supported subindex = 2

U 8 rw

Setting of the identifier for this PDO

(180 hex

+ node ID)

Setting of the transmission type

(see table)

Explanation subindex 1:

Bit no.

0 - 10 (LSB)

(11 - 28)*

Value

X

0

29* 0

Meaning contains the identifier (basic + controller address)

* ) The extended identifier (29 bits) is not supported. Each single bit must adopt the state 0!

* ) The extended identifier (29 bits) is not supported. Each single bit must adopt the state 0!

30

31 (MSB) 0

1

Explanation subindex 2:

0

1

RTR to this PDO is permitted (Lenze)

RTR to this PDO is not permitted (not adjustable)

RTR = remote transmission request

0: PDO active

1: PDO not active cyclic

PDO transmission synchronous

Transmission type

Explanation eventcontrolled x X

X

X n = 1 ... 240 n = 252 n = 254

If a value n is entered, this PDO is accepted at every nth SYNC.

PDO is filled with new data but only transmitted to RTR.

vendor-specific, see L-C1875 / L-C2375

)

Note!

The value n = 252 will only be supported as of version 1.0 of the fieldbus module.

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

1801 hex

:

Transmit PDO2* Communication

Parameter

Process data transmission

)

Note!

*) The object is not available for the 82XX, 8200 vector/motec and

93XX controllers.

Index [ hex

1801

] Subindex Name

0 Number of subindices supported

1 Identifier of the PDO

2 Transmission type

Data type

PDO

Comm.

U 8

Rights Explanation ro

U 32 rw

Max. supported subindex = 2

U 8 rw

Setting of the identifier for this PDO

(280 hex

+ node ID)

Setting of the transmission type

(see table)

Explanation subindex 1:

Bit no.

0 - 10 (LSB)

(11 - 28)*

Value

X

0

29* 0

30

31 (MSB) 0

1

Explanation subindex 2: cyclic

X

PDO transmission synchronous eventcontrolled

X

X

0

1

X

Meaning contains the identifier (basic + controller address)

* ) The extended identifier (29 bits) is not supported. Each single bit must adopt the state 0!

* ) The extended identifier (29 bits) is not supported. Each single bit must adopt the state 0!

RTR to this PDO is permitted (Lenze)

RTR to this PDO is not permitted (not adjustable)

RTR = remote transmission request

0: PDO active

1: PDO not active

Transmission type n = 1 ... 240 n = 252 n = 254

Explanation

If a value n is entered, this PDO is accepted at every nth SYNC.

PDO is filled with new data but only transmitted to RTR.

vendor-specific, see L-C1875 / L-C2375

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7

7.7.3

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

1802 hex

:

Transmit PDO3* Communication

Parameter

Process data transmission

)

Note!

*) The object is not available for the 82XX, 8200 vector/motec and

93XX controllers.

Index [ hex

1802

] Subindex Name

0 Number of subindices supported

1 Identifier of the PDO

2 Transmission type

Data type

PDO

Comm.

U 8

Rights Explanation ro

U 32 rw

Max. supported subindex = 2

U 8 rw

Setting of the identifier for this PDO

(380 hex

+ node ID)

Setting of the transmission type

(see table)

Explanation subindex 1:

Bit no.

0 - 10 (LSB)

(11 - 28)*

Value

X

0

29* 0

30

31 (MSB) 0

1

Explanation subindex 2: cyclic

X

PDO transmission synchronous eventcontrolled

X

X

0

1

X

Meaning contains the identifier (basic + controller address)

* ) The extended identifier (29 bits) is not supported. Each single bit must adopt the state 0!

* ) The extended identifier (29 bits) is not supported. Each single bit must adopt the state 0!

RTR to this PDO is permitted (Lenze)

RTR to this PDO is not permitted (not adjustable)

RTR = remote transmission request

0: PDO active

1: PDO not active

Transmission type n = 1 ... 240 n = 252 n = 254

Explanation

If a value n is entered, this PDO is accepted at every nth SYNC.

PDO is filled with new data but only transmitted to RTR.

Vendor-specific, see L-C1875 / L-C2375

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2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

1A00 hex

:

Transmit PDO1 Mapping

Parameter

81

1A01 hex

:

Transmit PDO2* mapping parameter

This object serves to send parameter data as PDO1.

)

Note!

The functionality of this object is not yet available at the moment.

On the attempt to read the object, the following values are sent back in dependence of the subindices:

Subind. 0: value 4 hex

(max. supported subindex)

Subind. 1 - 4: In case of read requests regarding this object the value 10 hex will be sent back.

Rights Index [ hex

] Subindex Name

0

1

2

Number of mapped objects in PDO’s

PDO mapping 1

PDO mapping 2

3

4

PDO mapping 3

PDO mapping 4

Data type

U 8

U 32

PDO Mapping U 32

U 32

U 32

This object serves to send parameter data as PDO2.

)

Note!

The functionality of this object is not yet available at the moment.

On the attempt to read the object, the following values are sent back in dependence of the subindices:

Subind. 0: value 4 hex

(max. supported subindex)

Subind. 1 - 4: In case of read requests regarding this object the value 10 hex will be sent back.

*) The object is not available for the 82XX, 8200 vector/motec and

93XX controllers.

Index [ hex

] Subindex Name

0 Number of mapped objects in PDO’s

3

4

1

2

PDO mapping 1

PDO mapping 2

PDO mapping 3

PDO mapping 4

Data type

U 8

PDO Mapping

U 32

PDO Mapping U 32

U 32

U 32

Rights

7

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7

7.7.3

1A02 hex

:

Transmit PDO3* mapping parameter

2175 (CANopen) fieldbus module

CANopen objects and Lenze codes

Implemented CANopen objects

This object serves to send parameter data as PDO3.

)

Note!

The functionality of this object is not yet available at the moment.

On the attempt to read the object, the following values are sent back in dependence of the subindices:

Subind. 0: value 4 hex

(max. supported subindex)

Subind. 1 - 4: In case of read requests regarding this object the value 10 hex will be sent back.

*) The object is not available for the 82XX, 8200 vector/motec and

93XX controllers.

Index [ hex

] Subindex Name

0 Number of mapped objects in PDO’s

3

4

1

2

PDO mapping 1

PDO mapping 2

PDO mapping 3

PDO mapping 4

Data type

U 8

PDO Mapping

U 32

PDO Mapping U 32

U 32

U 32

Rights

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2175 (CANopen) fieldbus module

Troubleshooting

7.8

Troubleshooting

No communication with the controller

Possible causes

Is the controller switched on?

Is the fieldbus module supplied with voltage?

Does the controller receive telegrams?

Diagnostics

The operation status LED of the basic unit must be on

^ 7.4-1 .

The green LED “Status controller connection” at the fieldbus module

^ 7.4-1 must be on

(remedy 1) or blinking

(remedy 2)

The LED “Status bus connection“ at the fieldbus module

^ 7.4-1 must blink green when communicating with host.

Remedy

Supply controller with voltage (see Operating Instructions for the basic unit)

In case of supply from the basic unit check correct connection. With external supply check the 24 V voltage at terminals 39 and 59.

A voltage of 24 V +10 % must be applied.

The fieldbus module has not been initialised with the controller yet.

Possibility 1: Controller not switched on (see fault possibility 1).

Possibility 2: Check the connection to the controller

Check wether the connection corresponds to the instruciton given in chapter ”electrical installation“.

Check whether host sends telegrams and uses the appropriate interface.

Has the available device address already been assigned?

Check the setting of the other participants in the

DeviceNet.

7

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2175 (CANopen) fieldbus module

Appendix

Code table

7.9

Appendix

7.9.1

Code table

Overview

82

L-C18xx

(for 82xx, 8200 vector and 93XX)

How to read the table

Column

Code

Subcode

Index

Lenze

Selection

Data type

-

-

1

Abbreviation

L-C1853

1

2 .. 4

Meaning

(Lenze) code C1853

Subcode 1 of code C1853

Subcode 2 to 4 of code C1853

The indicated value must be entered into byte 2 and byte 3 of the parameter telegram.

Default setting of code

[1] 99 minimum value [minimum increment/unit]

VS: Visible String, character string with given length

FIX32: Fixed value 4 bytes (= 32 bits)

U16: Unsigned Integer 2 bytes (= 16 bits) maximum value

Code

L-C1810 -

L-C1811

L-C1850

L-C1851 -

-

-

Subcode Index

22765

58ED h

58C5 h

22725 d

22764 d

58EC h

58C4 h

22724 d

= d

=

=

=

L-C1852

L-C1853

L-C1854

L-C1855

/1 ... /2

/3* ... /6*

58C0 h

22720 d

=

L-C1856 /1 ... /5 58BF h

22719 d

=

L-C1857

L-C1859 -

-

/1 ... /3

/1 ... /2

/3* ... /6*

/1 ... /4

58C3

22723

58C2 h

22722

58C1

22721

58BE h h

22718

58BC h h d d d

22716 d

=

= d

=

=

Possible settings

Lenze Selection

1

-

1

-

[1]

Data type

VS

Name

Software product code

VS Software creation date

63 FIX32 Node address

=

0

0

0

/1: 129

/2: 1

/3:

257*

/4:

258*

/5:

385*

/6:

386*

0 0

0 = 500 kbits/s, 1 = 250 kbits/s

2 = 125 kbits/s, 3 = 50 kbits/s

4 = 1000 kbits/s, 5 = 20 kbits/s

6 = 10 kbits/s

FIX32 baud rate

0 = Slave operation

1 = Master operation

FIX32 Master/slave operation

0 = Addressing to CANopen

1 = Addressing to L-C1854/L-C2354

FIX32 Addressing

CAN-INx/

CAN-OUTx 2 = Addressing to LENZE system bus

3 = Addressing to CANopen index

14Xx h

0

/18XX h

[1] 1663 FIX32 Selective addressing

CAN-IN/

CAN-OUT

[1] 2047 FIX32 Display of resulting identifiers

[1 ms] 655 FIX32 Boot up and cycle times

-

/1:

3000 ms

/2 .. /5:

0 ms

3000 ms

0

35

0

35

0

[1 ms] 655 FIX32 Monitoring time

[1] 1023 U16 Display of DIP switch position

7

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7.9

7

7.9.1

L-C23xx

(for servo PLC 9300 / Drive PLC)

2175 (CANopen) fieldbus module

Appendix

Code table

L-C1860

L-C1867

L-C1868

L-C1873

L-C1874

-

-

-

/1

/2*, /3*

/1

/2*, /3*

58BB h

22715 d

=

58B4 h

22708 d

58B3 h

22707 d

58AE h

22702 d

=

=

=

58AD h

22701 d

=

-

Possible settings

Lenze

128

128

1

1

Selection

0

0

0

0

1

L-C1875

/1

/2*, /3*

L-C1876 /1 ... /4

58AC h

22700 d

= /1: 0

/2: 1*

0

/3: 1*

65535 0

L-C1877

L-C1878

L-C1882

/1 ... /4

/1 ... /4

/1 ... /5

58AB h

22699 d

58AA h

22698 d

58A9 h

22697 d

58A5 h

22693 d

=

=

=

=

65535 0

65535 0

0 0

0: no response

1: Controller inhibit

2: Quickstop

*) not effective when using 82XX, 8200 vector or 93XX controller

Code

L-C1810 -

L-C1811

L-C2120

L-C2121

L-C2350

L-C2351

L-C2352

L-C2353

-

-

-

-

-

-

Subcode Index

/1 ... /3

22765

58ED h

57B6

56D1

22225

56D0

22224

56CF h h h h

22223

56CE h d

22764 d

58EC h

22455 d

57B7 h

22454 d d d d

22222 d

=

=

=

=

=

=

=

= 0

1

0

0

0

0

Possible settings

Lenze Selection

-

0 = 500 kbits/s, 1 = 250 kbits/s

2 = 125 kbits/s, 3 = 50 kbits/s

4 = 1000 kbits/s

0 = Slave operation

1 = Master operation

0 = Addressing to CANopen

1 = Addressing to L-C1854/L-C2354

2 = Addressing to LENZE system bus

Data type

VS

VS

0 = No command

1 = Update codes L-23XX and

CAN re-initialisation ≡ Reset node

2 = Update codes L-C23XX

10 = L-C2356/1...4 re-read

FIX32

11 = L-C2357 re-read

12 = L-C2375 re-read

13 = L-C2376 ... L-C2378 re-read

14 = L-C2382 re-read

15 = not assigned

0 [1] 255 FIX32

1 [1] 63 FIX32

FIX32

FIX32

FIX32

Data type

[1] 1023 U16 Display of the current DIP switch position

[1] 2047 FIX32 Sync Rx identifier

[1] 2047 FIX32 Sync Tx identifier

[1] 240 FIX32 Sync rate

CAN-IN1 ...

CAN-IN3

[1] 240 FIX32 Sync rate

CAN-OUT1 ...

CAN-OUT3

[1] 3 FIX32 Tx mode

CAN-OUT1 ...

CAN-OUT3

[1] 65535 FIX32 Masks

CAN-OUT1

[1] 65535 FIX32 Masks

CAN-OUT2

[1] 65535 FIX32 Masks

CAN-OUT3

[1] 2 FIX32 Monitoring reactions

Name

Software product code

Software creation date

AIF control byte

AIF status byte

Node address baud rate

Master/slave operation

Addressing

CAN-INx/

CAN-OUTx

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2175 (CANopen) fieldbus module

Appendix

Code table

L-C2354

/1 ... /6

56CD h

22221 d

=

L-C2355

/1 ... /6

L-C2356

/1 ... /5

56CC h

22220

= d

56CB h

22219 d

=

L-C2357

L-C2359 -

L-C2367

L-C2368 -

-

/1 ... /4

L-C2373

/1 ... /3

L-C2374 /1 ... /3

L-C2375

/1 ... /3

L-C2376 /1 ... /4

L-C2377 /1 ... /4

L-C2378 /1 ... /4

L-C2382 /1 ... /5

56CA h

22218 d

56C8 h

22216 d

=

=

56C0 h

22208 d

56BF h

22207 d

56BA h

22202 d

=

=

=

56B9 h

22201 d

=

56B8 h

22200 d

=

56B7 h

22199 d

=

56B6 h

22198 d

56B5 h

22197 d

56B1 h

22193 d

=

=

=

Possible settings

Lenze Selection

0

/1: 129

/2: 1

/3: 257

/4: 258

/5: 385

/6: 386

0

1:

3000 ms

2 .. 5:

0 ms

3000 ms

-

0

5

0

5

0

128

128

1

0

0

1

1 1

/1: 0

/2: 1

/3: 1

0

65535 0

65535 0

65535 0

0 0

0: no response

1: Controller inhibit

2: Quickstop

[1]

Data type

513 FIX32 Selective addressing

CAN-IN/

CAN-OUT

[1] 2047 FIX32

[1 ms] 6553 FIX32

Display of resulting identifiers

Boot up and cycle times

[1 ms] 6553

[1]

[1]

FIX32

[1] 1023 U16

[1] 2047 FIX32

[1] 2047 FIX32

[1] 240 FIX32

240 FIX32

3 FIX32

[1] 65535 FIX32

[1] 65535 FIX32

[1] 65535 FIX32

[1] 2 FIX32

Monitoring time

Display of DIP switch position

Sync Rx identifier

Sync Tx identifier

Sync rate

CAN-IN1 ...

CAN-IN3

Sync rate

CAN-OUT1 ...

CAN-OUT3

Tx mode

CAN-OUT1 ...

CAN-OUT3

Masks

CAN-OUT1

Masks

CAN-OUT2

Masks

CAN-OUT3

Monitoring reactions

7

7.9

7.9.1

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EDSCAN-1.0-06/2003 7.9-3

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2175 (CANopen) fieldbus module

Index

7.10

Index

0 ... 9

8200 inverter series, 7.6-34

8200 vector

- Control word, 7.6-15

- Status word, 7.6-16

82XX, Status word, 7.6-16

82XX

- Control word, 7.6-15

- Status word, 7.6-16

93XX

- Control word, 7.6-18

- Status word, 7.6-21

A

Address setting, 7.5-2

AIF-IN, Function block, 7.6-19

AIF-OUT, Function block, 7.6-21

Appendix, 7.9-1

Application conditions, 7.3-1

Application range, 7.2-2

B

Baud rate, setting, 7.5-2 baud rate, Function module system bus (CAN).

baud rate

Siehe

Bus cable length, 7.4-7

C

CANopen objects, 7.7-1

Code numbers, Access via the field bus module,

7.6-26

Code numbers / index, Conversion, 7.6-26

Code table, 7.9-1

Codes, Lenze, 7.6-26

Commissioning, 7.5-1

Components of the communication module, 7.4-1

Connection

- Connections of the fieldbus module, 7.4-3

- Plug-in terminal (5 pole), 7.4-3

Control word, 7.6-8

- 8200 vector, 7.6-15

- 82XX, 7.6-15

- 93XX, 7.6-18, 7.6-21

D

Data transfer, 7.6-1

Device address setting, 7.5-2

Dimensions, 7.3-4

DIP switch settings / CANopen, 7.5-1

Double insulation, 7.4-5

E

Electrical installation , 7.4-3

Example

- Read block parameters, 7.6-33

- Read parameter, 7.6-31

- Write parameter, 7.6-32

F

Fieldbus module, Connections, 7.4-3

Fieldbus module 2175 (CANopen), 7.1-1

Frequency setpoint, 7.6-8

Function module system bus (CAN), baud rate, 7.4-7

G

General data, 7.3-1

General information, 7.2-1

H

Hardware version, Type code, 7.2-1

I

Identification, 7.2-1

Index, 7.10-1

- Conversion, 7.6-26

Installation, 7.4-1

L

Lenze codes, 7.6-26, 7.7-1

M

Mains isolation, 7.4-5

Mechanical installation , 7.4-2

N

Network manager (NMT), 7.6-4

L

EDSCAN-1.0-06/2003

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7.10

7.10-1

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7.10

P

Parameter channel, 7.4-6

Parameter data channel, 7.6-26

Parameter sets, 7.6-27

- Lenze, 7.6-27

Parameters

- Control word (C0135), 7.6-8

- Frequency setpoint (C0046), 7.6-8

- L-C0142, 7.5-4

Plug-in terminal for external supply, Connections,

7.4-3

Process data channel, 7.4-6

Process data telegram

- from the controller, 7.6-12

- to the controller, 7.6-11

Process data transfer, 7.6-9

Process-data assignment, AIF-CTRL

- 9300 Servo PLC, 7.6-22

- Drive PLC, 7.6-22

Processing times

- 8200, 7.3-2

- 8200 vector, 7.3-3

- 821X, 7.3-3

- 822X, 7.3-3

2175 (CANopen) fieldbus module

Index

R

Rated data, 7.3-1

S

Setpoint source, 7.6-8

Setting of participant address, 7.5-2

Software version, Type code, 7.2-1

System bus (CAN), Technical data, Communication times, 7.3-2

T

Technical data, 7.3-1

Telegram run time, 7.3-3

Troubleshooting, 7.8-1

Type code, 7.2-1

U

User data, 7.6-28

V

Voltage supply, external, 7.4-3

7.10-2 EDSCAN-1.0-06/2003

L

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