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Altivar Process ATV900 Manual

Variable speed drive for asynchronous and synchronous motors
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Altivar Process ATV900
NHA80945 04/2017
Altivar Process ATV900
Variable Speed Drive for Asynchronous and
Synchronous Motors
CANopen Manual - VW3A3608, 618, 628
04/2017
www.schneider-electric.com

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  • Page 1 Altivar Process ATV900 NHA80945 04/2017 Altivar Process ATV900 Variable Speed Drive for Asynchronous and Synchronous Motors CANopen Manual - VW3A3608, 618, 628 04/2017 www.schneider-electric.com...
  • Page 2 The information provided in this documentation contains general descriptions and/or technical character- istics of the performance of the products contained herein. This documentation is not intended as a substitute for and is not to be used for determining suitability or reliability of these products for specific user applications.

  • Page 3: Table Of Contents

    Table of Contents Safety Information..........About the Book .
  • Page 4 Chapter 6 Diagnostics and Troubleshooting ....... . . Fieldbus Status LEDs............Connection for Fieldbus Mode .

  • Page 5: Safety Information

    Safety Information Important Information NOTICE Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, service, or maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure.
  • Page 6 Intended Use This product is a drive for three-phase synchronous, asynchronous motors and intended for industrial use according to this manual. The product may only be used in compliance with all applicable safety standard and local regulations and directives, the specified requirements and the technical data. The product must be installed outside the hazardous ATEX zone.
  • Page 7 Damaged products or accessories may cause electric shock or unanticipated equipment operation. DANGER ELECTRIC SHOCK OR UNANTICIPATED EQUIPMENT OPERATION Do not use damaged products or accessories. Failure to follow these instructions will result in death or serious injury. Contact your local Schneider Electric sales office if you detect any damage whatsoever. WARNING LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths and,...
  • Page 8 Machines, controllers, and related equipment are usually integrated into networks. Unauthorized persons and malware may gain access to the machine as well as to other devices on the network/fieldbus of the machine and connected networks via insufficiently secure access to software and networks. WARNING UNAUTHORIZED ACCESS TO THE MACHINE VIA SOFTWARE AND NETWORKS In your hazard and risk analysis, consider all hazards that result from access to and operation on the...

  • Page 9: About The Book

    NOTE: Read and understand this document and all related documents (see below) before installing,operating, or maintaining your drive. Validity Note This documentation is valid for the drive Altivar Process drives. The technical characteristics of the devices described in this document also appear online. To access this information online:...
  • Page 10 ATV900 Programming manual (English), (French), NHA80759 (German), NHA80760 (Spanish), NHA80761 NHA80762 (Italian), (Chinese) NHA80939 ATV900 Embedded Modbus Serial Link manual (English) NHA80940 ATV900 Embedded Ethernet manual (English) NHA80941 ATV900 PROFIBUS DP manual (VW3A3607) (English) NHA80942 ATV900 DeviceNet manual (VW3A3609) (English) NHA80943...
  • Page 11 Terminology The technical terms, terminology, and the corresponding descriptions in this manual normally use the terms or definitions in the relevant standards. In the area of drive systems this includes, but is not limited to, terms such as error, error message, failure, fault, fault reset, protection, safe state, safety function, warning, warning message, and so on.
  • Page 12 NHA80945 04/2017...

  • Page 13: Chapter 1 Presentation

    Altivar Process ATV900 Presentation NHA80945 04/2017 Chapter 1 Presentation Presentation What Is in This Chapter? This chapter contains the following topics: Topic Page Hardware Overview Software Overview NHA80945 04/2017...

  • Page 14: Hardware Overview

    Presentation Hardware Overview General The VW3A3608, VW3A3618, VW3A3628 are CANopen modules that can be used in a CANopen industrial fieldbus. The following figure shows the hardware presentation of these three CANopen modules. NHA80945 04/2017...

  • Page 15: Software Overview

    Presentation Software Overview General CANopen manages communication between the network devices with object dictionaries and objects. A network device can use process data objects (PDO) and service data objects (SDO) to request the object data from the object dictionary of another device and, if permissible, write back modified values. PDOs (process data objects) for real-time transmission of process data.
  • Page 16 Presentation NHA80945 04/2017...

  • Page 17: Chapter 2 Basics

    Altivar Process ATV900 Basics NHA80945 04/2017 Chapter 2 Basics Basics What Is in This Chapter? This chapter contains the following topics: Topic Page Object Dictionary Communication Object Identifier Service Data Communication Process Data Communication Network Management Services NHA80945 04/2017...

  • Page 18: Object Dictionary

    Basics Object Dictionary Description Each CANopen device manages an object dictionary which contains the objects for communication. Index and Subindex The objects are addressed in the object dictionary via a 16 bit index. One or more 8 bit subindex entries for each object specify individual data fields in the object. Index and subindex are shown in hexadecimal notation.

  • Page 19: Communication Object Identifier

    Basics Communication Object Identifier Description The COB ID (communication object identifier) has 2 tasks as far as controlling communication object is concerned: Bus arbitration: Specification of transmission priorities  Identification of communication objects  An 11-bit COB identifier as per the CAN 3.0 A specification is defined for CAN communication; it comprises two parts: Function code, 4 bits ...

  • Page 20: Service Data Communication

    Basics Service Data Communication Description Service Data Objects (SDO) can be used to access the entries of an object dictionary using index and subindex. The values of the objects can be read and, if permissible, also written. Every network device has at least one SDO server to be able to respond to read and write requests from a different device.
  • Page 21 Basics Request Codes and Response Codes The SDO request code differs depending on the scenarios detailed in the following table: Request code Description of the command Byte 4 Byte 5 Byte 6 Byte 7 23 hex Write 4 bytes data length (ex: Bits 7 - 0 Bits 15 - 8 Bits 23 - 16...

  • Page 22: Process Data Communication

    Basics Process Data Communication Description Process Data Objects (PDO) are used for real-time data exchange of process data such as actual and reference values or the operating state of the device. Transmission is fast because the data is sent without administration data and data transmission acknowledgment from the recipient is not required.

  • Page 23: Network Management Services

    Basics Network Management Services Description Network management (NMT) is part of the CANopen communication profile; it is used to initialize the network and the network devices and to start, stop, and monitor the network devices during operation on the network. NMT services can be divided into two groups: Services for device control, to initialize devices for CANopen communication and to control the behavior ...
  • Page 24 Basics NMT State Chart Transition Description On power-up, the node automatically changes to the initialization state Once initialization is complete, the pre-operational state is activated automatically (3), (6) Start_Remote_Node (4), (7) Enter_Pre-Operational_State (5), (8) Stop_Remote_Node (9), (10), (11) Reset_Node (12), (13), (14) Reset_Communication Depending on the communication status of the drive, the following services are available: Initialization...
  • Page 25 Basics Node Guarding Frame Description COB ID Byte 0 Byte 1 1792 (700 hex) + Node ID Bit 7 Bit 6 - 0 Toggle bit Node State The drive indicates its NMT state via the "NMT information field, described here: Bit 6-0 (node state): Current NMT state of the drive: Initialization (00 hex) ...
  • Page 26 Basics Emergency Object An Emergency object (EMCY) is sent by the drive to other CANopen devices, with a high priority, each time an error is detected or cleared. This is the case in particular for Heartbeat of Life Guard type detected errors.

  • Page 27: Chapter 3 Hardware Setup

    Altivar Process ATV900 Hardware Setup NHA80945 04/2017 Chapter 3 Hardware Setup Hardware Setup What Is in This Chapter? This chapter contains the following topics: Topic Page Hardware Presentation Firmware and Description File Installation of the Module Electrical Installation Cable Routing Practices...

  • Page 28: Hardware Presentation

    Hardware Setup Hardware Presentation CANopen Fieldbus Modules The following figure shows the VW3A3608 CANopen module with 2 RJ45 connectors: Item Description Comment Port A RJ45 connector Port B RJ45 connector The following figure shows the VW3A3618 CANopen module with a SubD9 connector: Item Description Comment...

  • Page 29: Installation Of The Module

    Hardware Setup Installation of the Module Before Starting Check that the module catalog number marked on the label is the same as that on the delivery note corresponding to the purchase order. Remove the fieldbus module from its packaging and check that it has not been damaged in transit. Insertion of the Fieldbus Module The table provides the procedure for insertion of the CANopen option module in the drive: Step...

  • Page 30: Electrical Installation

    Hardware Setup Electrical Installation Pin Layout of VW3A3608 The VW3A3608 option module is equipped with 2 RJ45 female sockets for the CANopen connection. The table provides the pin out details of each RJ45 connector: RJ45 signal CAN_H CAN_L CAN_GND Not connected Not connected Not connected Not connected...
  • Page 31 Hardware Setup Pin Layout of VW3A3618 The VW3A3618 option module is equipped with 1 SubD9 male connector for the CANopen connection. The table provides the pin out details of the SUB-D 9 connector: SubD signal Reserved CAN_L CAN_GND Reserved CAN_SHLD CAN_GND CAN_H Reserved...

  • Page 32: Cable Routing Practices

    Hardware Setup Cable Specification and Maximum Bus Length The following table describes the maximum length: Baud rate KBit/s Maximum bus length m (ft) 1000 (3280) 500 (1640) 250 (820) 100 (328) 1000 20 (65) The reference potential CAN_GND and the shield connection (connector housing) are galvanically isolated.

  • Page 33: Accessories Presentation

    Hardware Setup Accessories Presentation Introduction Both ends of a CAN bus line must be terminated. A 120 ohm terminating resistor between CAN_L and CAN_H is used for this purpose. According to the CANopen several solutions are available (See accessories and wear parts). The following table describes the CANopen accessories for the different bus termination: Bus termination Accessories...
  • Page 34 Hardware Setup NHA80945 04/2017...

  • Page 35: Chapter 4 Software Setup

    Altivar Process ATV900 Software Setup NHA80945 04/2017 Chapter 4 Software Setup Software Setup What Is in This Chapter? This chapter contains the following sections: Section Topic Page Basic Settings Profile Software Setup with Unity (M340) NHA80945 04/2017...

  • Page 36: Basic Settings

    Software Setup Section 4.1 Basic Settings Basic Settings What Is in This Section? This section contains the following topics: Topic Page Configuring the Communication Parameters [CANopen Address] AdCo [CANopen Baudrate] bdCO [CANopen Error] ErCO NHA80945 04/2017...

  • Page 37: Configuring The Communication Parameters

    Software Setup Configuring the Communication Parameters Overview The parameters are described according to the graphic display terminal. These settings are also possible from commissioning software. Access The parameters are accessible in the [Communication] COM, [CANopen] CnO- menu. [CANopen Address] AdCo About This Parameter This parameter defines the address of the drive on the network.

  • Page 38: [Canopen Baudrate] Bdco

    Software Setup [CANopen Baudrate] bdCO About This Parameter This parameter defines the baud rate at which data is transferred. This parameter is taken into account after a power cycle. Access This is a read/write parameter. The parameter number is 6053. Possible Settings The table presents the parameter settings: Settings...

  • Page 39: [Canopen Error] Erco

    Software Setup [CANopen Error] ErCO About This Parameter This parameter indicates the last active CANopen detected error. Access This is a read-only Parameter. The parameter number is 6056 via Modbus access.. Possible Settings The table presents the parameter settings: Settings Code Value Description...

  • Page 40: Profile

    Software Setup Section 4.2 Profile Profile What Is in This Section? This section contains the following topics: Topic Page Definition of a Profile Functional Profiles Supported by the Drive Functional Description CIA402 Operating State Diagram Description of Operating States Summary Cmd Register CMd Stop Commands Assigning Control Word Bits...

  • Page 41: Definition Of A Profile

    Software Setup Definition of a Profile Types of Profiles There are 3 types of profile: Communication profiles  Functional profiles  Application profiles  Communication Profile A communication profile describes the characteristics of a bus or network: Cables  Connectors ...

  • Page 42: Functional Profiles Supported By The Drive

    Software Setup Functional Profiles Supported by the Drive I/O Profile Using the I/O profile simplifies PLC programming. The I/O profile mirrors the use of the terminal strip for control by utilizing 1 bit to control a function. The I/O profile for the drive can also be used when controlling via a fieldbus.The drive starts up as soon as the run command is sent.15 bits of the control word (bits 1...15) can be assigned to a specific function.

  • Page 43: Functional Description

    Software Setup Functional Description Introduction Drive operation involves two main functions, which are illustrated in the diagrams below. CiA402 The main parameters are shown with their CiA402 name and their CiA402/Drivecom index (the values in brackets are the CANopen addresses of the parameter). The following figure shows the control diagram for drive operation: Simplified diagram for speed control in Velocity mode: Altivar Drive...

  • Page 44: Cia402 Operating State Diagram

    Software Setup CIA402 Operating State Diagram State Diagram After switching on and when an operating mode is started, the product goes through a number of operating states. The state diagram (state machine) shows the relationships between the operating states and the state transitions.

  • Page 45: Description Of Operating States

    Software Setup Description of Operating States Drive Operating State The operating state of the drive changes depending on whether the control word [Cmd Register] CMd, is sent or an event occurs (an error detection, for example). The drive operating state can be identified by the value of the status word [CIA402 State Reg] EtA. Operating State Description Initialization starts.
  • Page 46 Software Setup Operating State Description The drive performs a fast stop and remains locked in the operating state 6-Quick 6 - Quick stop active stop active. Before restarting the motor, it is required to go to the operating state 2-switch on disabled. During fast stop, the drive is unlocked and power is supplied to the motor.

  • Page 47: Summary

    Software Setup Summary Device Status Summary Operating State Power Stage Supply for Power Supplied to Motor Modification of Configuration Separate Control Stage Parameters Not required 1 - Not ready to switch on Not required 2 - Switch on disabled Not required 3 - Ready to switch on Required...

  • Page 48: Cmd Register Cmd

    Software Setup Cmd Register CMd Bit Mapping of the Control Word Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Fault reset Reserved Reserved Reserved Enable Quick stop Enable Switch on (=0) (=0) (=0) operation voltage...

  • Page 49: Stop Commands

    Software Setup Stop Commands Halt Command The Halt command enables movement to be interrupted without having to leave the 5 - Operation enabled state. The stop is performed in accordance with the [Type of stop] Stt parameter. If the Halt command is active, no power is supplied to the motor and no torque is applied. Regardless of the assignment of the [Type of stop] Stt parameter [Fast stop Assign] FSt, [Ramp stop] rMP, [Freewheel Stop] nSt, or [DC Injection Assign] dCI, the drive remains in the 5 - Operation enabled state.

  • Page 50: Assigning Control Word Bits

    Software Setup Assigning Control Word Bits Function Codes In the CiA402 profile, fixed assignment of a function input is possible using the following codes: CANopen Bit 11 C211 Bit 12 C212 Bit 13 C213 Bit 14 C214 Bit 15 C215 For example, to assign the DC injection braking to bit13 of CANopen, simply configure the [ DC Injection Assign] dCI parameter with the [C213] C213value.

  • Page 51: [Cia402 State Reg] Eta

    Software Setup [CIA402 State Reg] EtA Bit Mapping of the Status Word Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Warning Switch on Quick stop Voltage Fault Operation Switched on Ready to disabled enabled enabled...

  • Page 52: Starting Sequence

    Software Setup Starting Sequence Description The command sequence in the state diagram depends on how power is being supplied to the drive. There are 3 possible scenarios: Power stage Direct Direct Mains contactor controlled by the supply drive Control stage Separate Separate Not separate...

  • Page 53: Sequence For A Drive Powered By The Power Stage Supply

    Software Setup Sequence for a Drive Powered by the Power Stage Supply Description Both the power and control stages are powered by the power stage supply. If power is supplied to the control stage, it has to be supplied to the power stage as well. The following sequence must be applied: Step 1 Apply the 2 - Shut down command...

  • Page 54: Sequence For A Drive With Separate Control Stage

    Software Setup Sequence for a Drive with Separate Control Stage Description Power is supplied separately to the power and control stages. If power is supplied to the control stage, it does not have to be supplied to the power stage as well. The following sequence must be applied: Step 1 The power stage supply is not necessarily present.
  • Page 55 Software Setup Step 2 Check that the drive is in the operating state 3 - Ready to switch on.  Check that the power stage supply is present (Voltage enabled of the status word).  Power Stage Supply Terminal Display Status Word Absent 21 hex...
  • Page 56 Software Setup Step 3 Check that the drive is in the operating state 4 - Switched on.  Then apply the 4 - Enable operation command.  The motor can be controlled (send a reference value not equal to zero). ...

  • Page 57: Sequence For A Drive With Mains Contactor Control

    Software Setup Sequence for a Drive with Mains Contactor Control Description Power is supplied separately to the power and control stages. If power is supplied to the control stage, it does not have to be supplied to the power stage as well. The drive controls the mains contactor.
  • Page 58 Software Setup Step 2 Check that the drive is in the operating state 3 - Ready to switch on.  Apply the 3 - Switch on command, which closes the mains contactor and switch on the power stage  supply. NHA80945 04/2017...

  • Page 59: Software Setup With Unity (M340)

    Software Setup Section 4.3 Software Setup with Unity (M340) Software Setup with Unity (M340) What Is in This Section? This section contains the following topics: Topic Page Introduction Drive Configuration NHA80945 04/2017...

  • Page 60: Introduction

    Software Setup Introduction Overview Here is an example of an application that shows how to control a drive with a M340 PLC equipped with a CANopen port. The operator can control the drive directly from Unity. The version of Unity used here is Unity Pro XL NHA80945 04/2017...

  • Page 61: Drive Configuration

    Software Setup Drive Configuration Factory Setting Before configuring the drive, it is advised to make a factory setting. Go to: [File management] FMt- menu  [Factory settings] FCS- submenu  Then configure [Go to Factory Settings] GFS parameter to OK Command Configuration To control the drive with a CANopen fieldbus, it is necessary to select CANopen as command channel active.
  • Page 62 Software Setup EDS Integration If your Unity software does not contain the drive in the CANopen catalog. You must add the EDS file to the hardware catalog manager installed with Unity. Once imported, you should see the drive in the Motion & Drive section. The two topics default and PDOsonly are used in the CANopen device configuration screen of Unity to select which objects are mapped and linked to an application variable.
  • Page 63 Software Setup Configuration of the Master The master configuration consists of: Setting the baud rate  Setting the SYNC message period  Configuring the memory area which is the image of the whole PDOs handled by the PLC.  Configuration of the Slave Add a new device and select the drive in the catalog.
  • Page 64 Software Setup In the example below, TPDO1 and RPDO1 are selected which provides the basic control command of the drive with the CiA402 velocity mode profile. PDOs are linked to the %Mw variables, the mapping is automatically generated by Unity according to the index defined in the master configuration panel and to the PDOs and to the slave Node ID.

  • Page 65: Chapter 5 Operations

    Altivar Process ATV900 Operations NHA80945 04/2017 Chapter 5 Operations Operations What Is in This Chapter? This chapter contains the following sections: Section Topic Page Operating States Operating Modes NHA80945 04/2017...

  • Page 66: Operating States

    Operations Section 5.1 Operating States Operating States Configuring Communication Error Response Description The response of the drive in the event of a CANopen communication interruption can be configured. Configuration can be performed using the display terminal from the [Complete settings] CSt-, [Error/Warning handling] CSWM-, [Communication Module] COMO- menu via the [CANopen Error Resp] COL submenu.

  • Page 67: Operating Modes

    Operations Section 5.2 Operating Modes Operating Modes What Is in This Section? This section contains the following topics: Topic Page Configuring the Control Channel Configuration of the Drive for Operation in I/O Profile Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode NHA80945 04/2017...

  • Page 68: Configuring The Control Channel

    Operations Configuring the Control Channel Overview This chapter explains how to configure the drive for operation from the communication network through three following examples. I/O mode - a simple command word (based on forward, reverse, and reset binary commands).  Combined mode (with native profile CiA 402) - Both reference value and command word come from the ...

  • Page 69: Configuration Of The Drive For Operation In I/O Profile

    Operations Configuration of the Drive for Operation in I/O Profile Description For the I/O profile, here is a simple example, which can be extended with additional features. The command word is made of run forward (bit 0 of CMd), run reverse (bit 1 of CMd), and the function fault reset (bit 7 of CMd).

  • Page 70: Configuration Of The Drive For Operation With Cia 402 Profile In Combined Mode

    Operations Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode Description This section describes how to configure the settings of the drive if it is controlled in CiA 402 mode. The example focuses on the not separate mode. Additional modes are detailed in the drive programming manual.

  • Page 71: Configuration Of The Drive For Operation With Cia 402 Profile In Separate Mode

    Operations Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode Description Alternate combinations are possible, see the drive programming manual for the list of possible settings. For example: The drive is controlled from the communication (CANopen) but the reference value is adjusted on the display terminal.
  • Page 72 Operations NHA80945 04/2017...

  • Page 73: Chapter 6 Diagnostics And Troubleshooting

    Altivar Process ATV900 Diagnostics and Troubleshooting NHA80945 04/2017 Chapter 6 Diagnostics and Troubleshooting Diagnostics and Troubleshooting What Is in This Chapter? This chapter contains the following topics: Topic Page Fieldbus Status LEDs Connection for Fieldbus Mode Monitoring of Communication Channel...

  • Page 74: Fieldbus Status Leds

    Diagnostics and Troubleshooting Fieldbus Status LEDs LED Indicators The following figure describes the LEDs status for the module:: LED Description Item Description CAN_RUN CANopen status CAN_ERR CANopen error CANopen Status This LED indicates the CANopen status: Color & Status Description The CANopen controller is in OFF state Green single flash The Altivar 9xx is in STOPPED state...
  • Page 75 Diagnostics and Troubleshooting Error Status This LED indicates the CANopen error status: Color & Status Description No detected error reported Red single flash Detected error reported by the CANopen controller of the Altivar 9xx (example: too many detected error frames) Red double flash Detected error due to the occurence of a Node Guarding or a Hearbeat event Red ON...
  • Page 76 Diagnostics and Troubleshooting Last CANopen Detected Error The [Error code] ErCO parameter (index/subindex 201E hex/39) indicates the last active CANopen detected error and maintains its value until the last detected error has been cleared. This parameter is accessible: in the [Display] MOn- → [Communication map] CMM- → [CANopen map] CnM- menu ...

  • Page 77: Connection For Fieldbus Mode

    Diagnostics and Troubleshooting Connection for Fieldbus Mode Description If the product cannot be addressed via the fieldbus, first check the connections. The productmanual contains the technical data of the device and information on network and device installation. Check the following: Power connections to the device.

  • Page 78: Monitoring Of Communication Channel

    Diagnostics and Troubleshooting Monitoring of Communication Channel Command and Reference Channels All the drive command and reference parameters are managed on a channel-by-channel basis. Parameter Name Parameter Code Taken Into Modbus CANopen Fieldbus Module Ethernet Account by the Serial Embedded Drive CMd1 CMd2...
  • Page 79 Diagnostics and Troubleshooting The drive reacts according to the communication interruption configuration (operating state Fault, maintenance, fallback, and so on) If a communication warning occurs on a channel that is not being monitored, the drive does not trigger a communication interruption. Enabling of Communication Channels A communication channel is enabled once all the parameters involved have been written at least one time.The drive is only able to start if all channels involved in command and reference value are enabled.

  • Page 80: Control-Signal Diagnostics

    Diagnostics and Troubleshooting Control-Signal Diagnostics Introduction On the display terminal, the [Display] MON-, [Communication map] CMM- submenu can be used to display control-signal diagnostic information between the drive and the controller: Active command channel [Command Channel] CMdC  Value of the control word [Cmd Register] CMd from the active command channel [Command Channel] ...

  • Page 81: Chapter 7 Appendix A - Object Dictionary

    Altivar Process ATV900 Appendix A - Object Dictionary NHA80945 04/2017 Chapter 7 Appendix A - Object Dictionary Appendix A - Object Dictionary What Is in This Chapter? This chapter contains the following topics: Topic Page Communication Profile Area SDO Server Parameters...

  • Page 82: Communication Profile Area

    Appendix A - Object Dictionary Communication Profile Area Communication Objects The table provides the drive supported communication objects: Index Subindex Access Type Default value Description 1000 hex 00 hex Read only Unsigned32 00410192 hex Device type: Bits 16-23 = Device type mode Bits 00-15 = Device profile number (402) 1001 hex...

  • Page 83: Sdo Server Parameters

    Appendix A - Object Dictionary SDO Server Parameters Communication Object The table provides the communications objects used by the SDO server of the drive: Index Subindex Access Type Default Value Description 1200 hex 00 hex Read only Unsigned 8 02 hex SDO Server - Number of entries 01 hex Read only...

  • Page 84: Receive Pdo1, Pdo2, And Pdo3 Mapping

    Appendix A - Object Dictionary Receive PDO1, PDO2, and PDO3 Mapping Communication Objects The table provides the communication objects used for the PDOs mapping of the drive: Index Subindex Access Type Default value Description 1600 hex 00 hex Read/write Unsigned8 02 hex Receive PDO1 mapping - Number of mapped objects: 0 to 4 objects can be...

  • Page 85: Transmit Pdos Parameters

    Appendix A - Object Dictionary Transmit PDOs Parameters Communication Objects The table provides the communications objects used for transmit PDOs configuration of the drive: Index Subindex Access Type Default value Description 1800 hex 00 hex Read only Unsigned8 05 hex Transmit PDO1 - Number of entries 01 hex Read/write...

  • Page 86: Transmit Pdo1, Pdo2, And Pdo3 Mapping

    Appendix A - Object Dictionary Transmit PDO1, PDO2, and PDO3 Mapping Communication Object The table provides the communication objects used for the PDOs mapping of the drive: Index Subindex Access Type Default value Description 1A00 hex 00 hex Read/write Unsigned8 02 hex Transmit PDO1 mapping - Number of mapped objects.

  • Page 87: Manufacturer Specific Area

    Appendix A - Object Dictionary Manufacturer Specific Area Description The ATV900 parameters are based and documented with their CANopen address. NOTE: In the communication parameters excel sheet you find CANopen addresses. Application Profile Area Standardized Objects The table provides the standardized objects, in conformance with CiA402 velocity mode profile, supported...
  • Page 88 Appendix A - Object Dictionary NHA80945 04/2017...

  • Page 89: Glossary

    Altivar Process ATV900 Glossary NHA80945 04/2017 Glossary Abbreviations Req. = Required Opt. = Optional Controller Area Network is an internally standardized serial bus system Communication Object. A unit of transportation in a CAN network. Data must be sent across a CAN Network inside a COB.
  • Page 90 Glossary Monitoring function Monitoring functions acquire a value continuously or cyclically (for example, by measuring) in order to check whether it is within permissible limits. Monitoring functions are used for error detection. Most Significant Byte Network Management. One of the service elements of the application layer in the CAN Reference Model. The NMT serves to configure, initialize, and handle detected errors in a CAN network.
  • Page 91 Glossary Zone of operation This term is used in conjunction with the description of specific hazards, and is defined as it is for a hazard zone or danger zone in the EC Machinery Directive (2006/42/EC) and in ISO 12100-1. NHA80945 04/2017...
  • Page 92 Glossary NHA80945 04/2017...
  • Page 94 ATV900_CANOpen_Manual_EN_NHA80945_01 04/2017...

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