Lenze SMVector Reference Manual
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Lenze SMVector Reference Manual

Lenze SMVector Reference Manual

Canopen communication module
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SMVector - CANopen Communication Module
Communications Interface Reference Guide

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Summary of Contents for Lenze SMVector

  • Page 1 SMVector - CANopen Communication Module Communications Interface Reference Guide...
  • Page 2 We do not accept any responsibility nor liability for damages that may occur. Any necessary corrections will be implemented in subsequent editions. SMVector ® , and all related indicia are trademarks of Lenze AG in the United States and other countries.

  • Page 3: Table Of Contents

    Electrical Connection ......................2 1.1.5 Operation ..........................3 Reference Documentation ....................3 Introduction ........................4 Overview ........................... 4 SMVector CANopen Implementation Specifications ............4 Module Identification Label ....................4 Installation .........................5 Mechanical Installation ...................... 5 CANopen Terminal Block ....................6 Electrical Installation ......................6 3.3.1...

  • Page 4: Safety Information

    Safety Information 1.1 Warnings, Cautions and Notes 1.1.1 General Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be live, moving and rotating. Some surfaces can be hot. Non-authorized removal of the required cover, inappropriate use, and incorrect installation or operation creates the risk of severe injury to personnel or damage to equipment.

  • Page 5: Operation

    Useful tip: If observed, it will make using the drive easier 1.2 Reference Documentation • SV01, SMVector Operating Instructions, Technical Library: http://www.lenzeamericas.com • AN0022, Getting Started with CANopen (PS & SMV Drives), Technical Library: http://www.lenzeamericas.com • CiA Specifications, EN 50325-4, CAN in Automation: http://www.can-cia.org...

  • Page 6: Introduction

    DSP402 compatible control and status words are available to the user for configuring modes of operation and altering the drive operating parameters. Additionally, to offer greater interoperability with the SMVector inverter, a drive specific set of objects are available that offer further drive profile configuration and allow access to specific modes of operation.

  • Page 7: Installation

    Installation Installation 3.1 Mechanical Installation 1. Ensure that for safety reasons the AC supply has been disconnected before opening the terminal cover. 2. Insert the CANopen option module in the terminal cover and securely “click” into position as illustrated in Figure 2. 3.

  • Page 8: Canopen Terminal Block

    Installation 3.2 CANopen Terminal Block Table 2 identifies the terminals and describes the function of each. Table 2 also provides an illustration of the 5-pole 5mm CANopen connector. Table 2: CANopen Terminals Terminal Description Important Connector For reliable communication make sure terminal CAN_GND is connected to CAN CAN_GND: CAN earth ground network GND/common.

  • Page 9: Connections And Shielding

    Installation Table 3: Network Length Specifications Baud Rate Maximum Network Length 10kbps 5000 meters 20kbps 2500 meters 50kbps 1000 meters 125kbps 500 meters 250kbps 250 meters 500kbps 100 meters 800kbps 50 meters 1Mbps 25 meters 3.3.3 Connections and Shielding To ensure good system noise immunity all network cables should be correctly grounded: •...

  • Page 10: Network Termination

    CAN_L and CAN_H lines. Figure 5: Termination Resistor Wiring Diagram 3.3.5 Network Schematic Figure 6 illustrates an example CANopen network wiring diagram for the SMVector. SMV CANopen CANopen (NMT) SMV CANopen...

  • Page 11: Commissioning Canopen Communications

    Commissioning Commissioning CANopen Communications Following installation of the CANopen communications module, 4.1 Quick Set-up With drive power disconnected connect the CANopen communication module and network cable to the drive as shown in the preceding section. NOTE: If CANopen network is already operational do NOT connect the network connector until the Node ID and Baud rate parameters on installed drive are setup correctly.

  • Page 12: Extended Parameters For Canopen

    Commissioning Extended Parameters for CANopen In addition to the drive parameters (detailed in the Operating Instructions, SV01, that accompanied the drive), the installation of the CANopen module will give access to the 400 series parameters that are used exclusively for the CANopen communications module. 5.1 Parameter Menu Code Possible Settings...
  • Page 13 0 Enable: Node ID range (1...63) • P413 = 0, 1: CAN address channel 2 (SDO#2 with default COB ID for RPDO and 1...63 used for SD01 support for Lenze TPDO 64...127 used for SDO2_ Systembus) 1 Enable: Node ID range (1...63) •...
  • Page 14 Commissioning Code Possible Settings IMPORTANT Name Default Selection CANopen status 0 Not initialized • Read-only • Note: RPDOs and TPDOs are only active 1 Initializing in operational state (P419 = 5) 2 Stopped 3 Pre-operational 4 reserved 5 Operational P 20 Guard time {ms} 65535...
  • Page 15 Commissioning Code Possible Settings IMPORTANT Name Default Selection RPDO#1 Configuration Parameters P 40 RPDO#1 COB ID 2047 If P413 = 0, 2: Setting will change to 512 + Node ID during power-up or P418 reset. NOTE COB ID can only be changed when P441 = 0 (Disabled) RPDO#1 0 Disable enable/disable...
  • Page 16 Commissioning Code Possible Settings IMPORTANT Name Default Selection P 52 RPDO#2 • P452 = 0...240: transfer on every SYNC transmission type received • P452 = 254, 255: immediate transfer RPDO#2 event {ms} 65535 P454 = 0: monitoring disabled monitoring timer RPDO#2 time out 0 Not active Only active when in Network Control reaction...
  • Page 17 Commissioning Code Possible Settings IMPORTANT Name Default Selection TPDO#1 event {ms} 65535 • Sets the fixed interval for TPDO#1 timer transmission • P464 = 0: disables event timer TPDO#1 mapping 0 DSP402 (Drives & Motion (see TPDO Control): Status Word 0x6041 mapping details) 1 DSP402 (Drives &...
  • Page 18 Commissioning Code Possible Settings IMPORTANT Name Default Selection TPDO#2 event {ms} 65535 • Sets the fixed interval for TPDO#2 timer transmission • P474 = 0: disables event timer TPDO#2 mapping 0 DSP402 (Drives & Motion (see TPDO Control): Status Word 0x6041 mapping details) 1 DSP402 (Drives &...

  • Page 19: Canopen Mapping Details

    Commissioning 5.2 CANopen Mapping Details The tables in the following sections may use descriptions from the CANopen DSP 402 standard. This terminology should not be interpreted as referring to drive hardware. 5.2.1 RPDO Mapping (P446/P456) P446 / P456 setting = 0 P446 / P456 setting = 1 Output Switch Output Switch 0 = switch OFF (i) 0 = switch OFF (i)
  • Page 20 Commissioning P446 / P456 setting = 2 P446 / P456 setting = 3 Run Forward Run Forward 0 = NOT Run Forward 0 = NOT Run Forward 1 = Run Forward 1 = Run Forward Run Reverse Run Reverse 0 = NOT Run Reverse 0 = NOT Run Reverse 1 = Run Reverse 1 = Run Reverse Fault Reset: on transition from 0 to 1 Fault Reset: on transition from 0 to 1...
  • Page 21 Commissioning P446 / P456 setting = 4 Run Forward 0 = NOT Run Forward 1 = Run Forward Run Reverse 0 = NOT Run Reverse 1 = Run Reverse Fault Reset: on transition from 0 to 1 Reserved Reserved Control 0 = Local Control 1 = Network Control Speed Reference 0 = Local Reference 1 = Network Reference...

  • Page 22: Tpdo Mapping (P466/P476)

    Commissioning 5.2.2 TPDO Mapping (P466/P476) P466 / P476 setting = 0 P466 / P476 setting = 1 Ready Ready 0 = Not ready to switch on 0 = Not ready to switch on 1 = Ready to switch on 1 = Ready to switch on Output Switch Output Switch 0 = switch OFF 0 = switch OFF 1 = switch ON 1 = switch ON...
  • Page 23 Commissioning P466 / P476 setting = 2 P466 / P476 setting = 3 Drive Fault Drive Fault 0 = No Fault 0 = No Fault 1 = Faulted 1 = Faulted Reserved Reserved Run Forward Run Forward 0 = NOT Run Forward 0 = NOT Run Forward 1 = Run Forward 1 = Run Forward Run Reverse...
  • Page 24 Commissioning P466 / P476 setting = 5 P466 / P476 setting = 4 (Special for Daisy Chaining) Drive Fault Run Forward 0 = No Fault 0 = NOT Run Forward 1 = Faulted 1 = Run Forward Run Reverse Reserved 0 = NOT Run Reverse 1 = Run Reverse Run Forward 0 = NOT Run Forward Fault Reset: on transition from 0 to 1 1 = Run Forward Run Reverse...

  • Page 25: Troubleshooting And Fault Elimination

    Troubleshooting and Fault Elimination Troubleshooting and Fault Elimination 6.1 Faults Display Status Cause Remedy Module to Drive communication Connection between drive Check cable and connection time out and module is not made. between module and drive Guard Time Fault See parameters P420, P421, P423 Message Monitoring time-out See parameters P425, P426 RPDO#1 Monitoring time-out...

  • Page 26: A1 Appendix A - Configuration Example

    Appendix A1 Appendix A - Configuration Example A1.1 Master / Follower Drive System The following example shows how to set up for a typical “Master - Follower” drive system using CANopen as the link between the two drives. The “Master” drive can be controlled by CANopen or by traditional control elements (relays, switches, potentiometers, etc.), the “Follower” will receive it’s commands (run, speed, etc.) from the “Master”...
  • Page 27 Appendix After setting the parameters, perform Node reset using parameter P418 or cycle the power. NOTE: ANY time the PDO modes or addresses are changed, they must be either disabled/enabled (using P441 or P451) or the drive must be reset by cycling power.
  • Page 28 Lenze AC Tech Corporation 630 Douglas Street • Uxbridge MA 01569 • USA Sales: 800-217-9100 • Service: 508-278-9100 www.lenzeamericas.com CMVCAN01B-en1...

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